CN103853158A - High-performance controlling and calculating system of multi-rotor-wing flying robot - Google Patents

Abstract

The invention discloses a high-performance control and calculation system of a multi-rotor flying robot, which belongs to the technical field of unmanned aerial vehicle control and intelligent application. The high-performance computing and control system includes a computing processing module composed of a computing processor, a multi-mode startup circuit, a power management module, an external storage module, a USB interface module, a graphical interface interface output module, a camera module and a first power supply module, and consists of A flight controller module composed of a second power supply module, a microcontroller, an inertial measurement module, a navigation module and an AD digital-to-analog conversion module. The invention directly couples the flight control module and the calculation processing module through the data bus, separates from the ground station, and directly performs video data processing and application of algorithms on the multi-rotor flying robot, which can realize more intelligent control of the multi-rotor flying robot , which greatly expands the application field of the multi-rotor flying robot, improves the calculation efficiency and enhances the reliability.

Description

A high-performance control and computing system for a multi-rotor flying robot

technical field

The invention belongs to the technical field of unmanned aerial vehicle control and intelligent application, and in particular relates to a high-performance control and calculation system of a multi-rotor flying robot.

Background technique

An unmanned aerial vehicle is an unmanned aircraft controlled by a radio remote control device and its own program control device, and it can take off under the remote control of a remote operator. The multi-rotor flying robot is a kind of unmanned aerial vehicle. Most of the existing unmanned aerial vehicles are controlled by the ground control system and the airborne flight control system on the unmanned aerial vehicles, which are greatly affected by the ground station. At the same time, with the development of computer vision and intelligent control algorithms, as well as the advancement of embedded technology, more and more control algorithms based on computer vision and images are applied to unmanned aerial vehicles, which requires a powerful computing power, volume The embedded computing and control system with small size, stable performance and low power consumption can realize the intelligent control of unmanned aerial vehicles without the influence of the ground station. Therefore, it is an urgent need to design a flight control system with high safety and high stability.

Contents of the invention

Aiming at the problems existing in the above-mentioned prior art, the present invention proposes a high-performance control and computing system of a multi-rotor flying robot. The high-performance computing and control system includes a computing processing module 1 and a flight controller module 2, and the computing processing module 1 and The flight controller module 2 is coupled and connected through the data bus 3;

The calculation processing module 1 is composed of a calculation processor 4, a multi-mode startup circuit 5, a power management module 6, an external storage module 7, a USB interface module 8, a graphical interface interface output module 9, a camera module 10 and a first power module 11. ;

Described flight controller module 2 is made up of microcontroller 12, inertial measurement module 13, navigation module 14, AD digital-to-analog conversion module 15 and second power supply module 16;

The calculation processor 4 is the control and calculation core of the calculation processing module 1. By processing the video information collected by the camera module 10, the flight control information of the multi-rotor flying robot is obtained, and it is passed to the microcontroller 12 to realize the control of the multi-rotor flight. The flight control of the robot; the microcontroller 12 returns the feedback information of the successful transmission of the flight control information to the computing processing module 1;

The multi-mode start-up circuit 5 is connected with the calculation processor 4 to realize the start-up mode selection of the calculation processing module 1;

The power management module 6 is connected with the computing processor 4 to realize the power management of the computing processing module 1;

The external storage module 7 is connected with the computing processor 4 and is externally connected to a storage medium for storing embedded operating systems and user application data in the entire system;

The USB interface module 8 is connected with the calculation processor 4, and is connected with an external USB device to charge the whole system;

The graphical interface interface output module 9 is connected with the computing processor 4, and outputs the graphical interface of the embedded operating system;

Camera module 10 is connected with computing processor 4, gathers the video data in the flight environment of multi-rotor flying robot;

The first power supply module 11 is connected with the calculation processor 4, and supplies power for the calculation processing module 1;

The microcontroller 12 is the core of the flight control module 2, which realizes the control of the flight attitude of the multi-rotor flying robot;

Inertial measurement module 13 is connected with microcontroller 12, detects the three-axis acceleration signal of multi-rotor flying robot in the multi-rotor flying robot coordinate system and the angular velocity signal relative to the navigation coordinate system, and solves the attitude of multi-rotor flying robot;

Navigation module 14 is connected with microcontroller 12, receives and processes latitude and longitude data, realizes the navigation of multi-rotor flying robot;

The AD digital-to-analog conversion module 15 is connected with the microcontroller 12, and converts the analog signal detected by the inertial measurement module 13 into a digital signal;

The second power supply module 16 is connected to the microcontroller 12 to supply power to the flight controller module 2 .

The flight control information includes angle control quantities of pitch angle, roll angle, and yaw angle of the multi-rotor flying robot.

The computing processor 4 adopts a dual-core processor.

The multi-mode startup circuit 5 uses a pull-up resistor to form a binary logic combination.

Described microcontroller 12 adopts 8/16/32 one-chip computer.

Beneficial effects of the invention: the present invention directly couples the flight control module with the high-performance computing module, separates from the ground station, and directly performs video data processing and application of algorithms on the multi-rotor flying robot, which can realize more control over the multi-rotor flying robot. The intelligent control greatly expands the application field of multi-rotor flying robots, improves the efficiency of calculation, and enhances the reliability.

Description of drawings

Fig. 1 is the structural diagram of the high-performance control and computing system of the multi-rotor flying robot in the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figure 1, it is a structural diagram of the high-performance control and computing system of the multi-rotor flying robot in the present invention. The high-performance computing and control system includes a computing processing module 1 and a flight controller module 2, and the computing processing module 1 and the flight controller module 2 are coupled and connected through a data bus 3;

The calculation processing module 1 is composed of a calculation processor 4, a multi-mode startup circuit 5, a power management module 6, an external storage module 7, a USB interface module 8, a graphical interface interface output module 9, a camera module 10 and a first power supply module 11.

The flight controller module 2 is composed of a microcontroller 12 , an inertial measurement module 13 , a navigation module 14 , an AD conversion module 15 and a second power supply module 16 .

The calculation processor 4 is the control and calculation core of the calculation processing module 1. By processing the video information collected by the camera module 10, the flight control information of the multi-rotor flying robot is obtained, and it is passed to the microcontroller 12 to realize the control of the multi-rotor flight. The flight control of the robot; the microcontroller 12 returns the feedback information of the successful transmission of the flight control information to the calculation processing module 1; the calculation processor 4 adopts a dual-core processor.

The flight control information includes the angle control amount of the multi-rotor flying robot's pitch angle, roll angle, and yaw angle.

The multi-mode starting circuit 5 is connected with the calculation processor 4 to realize the selection of the starting mode of the calculation processing module 1; the starting mode is determined according to the specific processor model, such as: starting from flash, starting from system memory, starting from SRAM (static random memory) starts. The multi-mode startup circuit 5 uses a pull-up resistor to form a binary logic combination.

The power management module 6 is connected with the computing processor 4 to realize the power management of the computing processing module 1 . The form of power management depends on the specific processor model, such as entering power saving mode or hibernation mode.

The external storage module 7 is connected with the computing processor 4 and connected with an external storage medium, and is used for storing embedded operating system and user application data in the whole system.

The USB interface module 8 is connected with the computing processor 4 and connected with an external USB device to charge the entire system.

The graphic interface output module 9 is connected with the computing processor 4, and outputs the graphic interface of the embedded operating system.

The camera module 10 is connected with the computing processor 4 to collect video data in the flying environment of the multi-rotor flying robot.

The first power supply module 11 is connected to the computing processor 4 to supply power to the computing processing module 1 .

The microcontroller 12 is the core of the flight control module 2, and realizes the control of the flight attitude of the multi-rotor flying robot; the microcontroller 12 adopts an 8/16/32-bit single-chip microcomputer.

The inertial measurement module 13 is connected with the microcontroller 12, detects the three-axis acceleration signal of the multi-rotor flying robot in the multi-rotor flying robot coordinate system and the angular velocity signal relative to the navigation coordinate system, and solves the attitude of the multi-rotor flying robot.

The navigation module 14 is connected with the microcontroller 12 to receive and process the latitude and longitude data to realize the navigation of the multi-rotor flying robot.

The AD conversion module 15 is connected with the microcontroller 12, and converts the analog signal detected by the inertial measurement module 13 into a digital signal.

The second power supply module 16 is connected to the microcontroller 12 to supply power to the flight controller module 2 .

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present invention can easily think of changes or Replacement should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (5)

1. the high performance control of rotor flying robot and computing system more than one kind, it is characterized in that, this high-performance calculation and control system comprise computing module (1) and flight controller module (2), and computing module (1) and flight controller module (2) are of coupled connections by data bus (3);

Described computing module (1) is made up of computation processor (4), multi-mode startup circuit (5), power management module (6), outer memory module (7), usb interface module (8), graphical interfaces interface output module (9), camera module (10) and the first power module (11);

Described flight controller module (2) is made up of microcontroller (12), inertia measuring module (13), navigation module (14), AD D/A converter module (15) and second source module (16);

Computation processor (4) is the control of computing module (1) and calculates core, the video information collecting by processing camera module (10), obtain the flight control information of many rotor flying robots, passed to microcontroller (12), realized the flight control to many rotor flying robots; The feedback information that microcontroller (12) successfully transmits flight control information returns to computing module (1);

Multi-mode startup circuit (5) is connected with computation processor (4), realizes the start-up mode of computing module (1) and selects;

Power management module (6) is connected with computation processor (4), realizes the power management to computing module (1);

Outer memory module (7) is connected with computation processor (4), and external storage medium, for storing embedded OS and user's application data of whole system;

Usb interface module (8) is connected with computation processor (4), and circumscribed USB equipment is whole system charging;

Graphical interfaces interface output module (9) is connected with computation processor (4), the graphical interfaces of output embedded OS;

Camera module (10) is connected with computation processor (4), gathers the video data in many rotor flying robots flight environment of vehicle;

The first power module (11) is connected with computation processor (4), is computing module (1) power supply;

Microcontroller (12) is the core of flight control module (2), realizes the control to many rotor flying robots flight attitude;

Inertia measuring module (13) is connected with microcontroller (12), detect the 3-axis acceleration signal of many rotor flying robots in many rotor flying robots coordinate system and the angular velocity signal that is with respect to navigation coordinate, calculate the attitude of many rotor flying robots;

Navigation module (14) is connected with microcontroller (12), and reception & disposal longitude and latitude data, realize the navigation of many rotor flying robots;

AD D/A converter module (15) is connected with microcontroller (12), and the simulating signal that inertia measuring module (13) is detected is converted to digital signal;

Second source module (16) is connected with microcontroller (12), is flight controller module (2) power supply.

2. the high performance control of a kind of many rotor flying robots according to claim 1 and computing system, is characterized in that, described flight control information comprises the elevation angle that flies of many rotor flying robots, roll angle, the angle controlled quentity controlled variable of crab angle.

3. the high performance control of a kind of many rotor flying robots according to claim 1 and computing system, is characterized in that, described computation processor (4) adopts dual core processor.

4. the high performance control of a kind of many rotor flying robots according to claim 1 and computing system, is characterized in that, described multi-mode startup circuit (5) adopts the combination of pull-up resistor composition binary logic.

5. the high performance control of a kind of many rotor flying robots according to claim 1 and computing system, is characterized in that, described microcontroller (12) adopts 8/16/32 single-chip microcomputer.