CN104656664B - Vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems and guiding control method - Google Patents
Vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems and guiding control method Download PDFInfo
- Publication number
- CN104656664B CN104656664B CN201510083934.0A CN201510083934A CN104656664B CN 104656664 B CN104656664 B CN 104656664B CN 201510083934 A CN201510083934 A CN 201510083934A CN 104656664 B CN104656664 B CN 104656664B
- Authority
- CN
- China
- Prior art keywords
- control
- delta
- vehicle
- rotor unmanned
- many rotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 46
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims description 35
- 230000008859 change Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000009795 derivation Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 abstract description 8
- 238000006073 displacement reaction Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 6
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 229910052744 lithium Inorganic materials 0.000 description 5
- 230000018109 developmental process Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000004520 electroporation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000015654 memory Effects 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000009993 protective function Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses the vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems of one kind and guiding control method, control system includes vehicle-mounted guiding subsystem and airborne control subsystem, and vehicle-mounted guiding subsystem mainly includes two sets of vision processing systems and navigational computer.Based on the guidance control system, using the guidance method of binocular vision, pass through the data calculation to two sets of vision processing systems, realization is accurately positioned to many rotor unmanned helicopters, the target location that many rotor unmanned helicopters are dropped on vehicle is controlled by flight-control computer, the practicality and application of many rotor unmanned helicopters is improved.
Description
Technical field
The invention discloses the vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems of one kind and guiding control method, category
In the autonomous flight control technical field of telecontrolled model (nobody) multirotor helicopter.
Background technology
Many rotor unmanned helicopters be it is a kind of it is simple in construction, be easily manipulated, can stable nobody of VTOL, floating state
Aircraft.Many rotor unmanned helicopters can substantially be divided into according to support arm number difference：Three axles, four axles, six axles and eight axles, except three axles
Beyond structure, each support arm of other structures can be using individual layer rotor-hub configuration or double-deck rotor-hub configuration.Multi-rotor aerocraft is different
Support arm number and rotor quantity, it is possible to achieve different load capacity.Many rotor unmanned helicopters have high controllability, motor-driven
Property and stability, and with low noise, pollution-free, easy to carry, safety hazard is small the features such as, be very suitable in execution
Short-range aerial mission.It is respectively provided with wide application prospect in military and civilian field, such as reconnaissance and surveillance, communication relay,
Searching rescue, target following, electric power overhaul, imaging etc. of taking photo by plane.
The independent landing mode of current many rotor unmanned helicopters is mostly by the way of accuracy.This causes many rotors
Depopulated helicopter can only be landed on ground or fixed immovable object, thus greatly limit many rotors nobody
The way of recycling and application of helicopter.
Therefore, realize technology that many rotor unmanned helicopters land in mobile target be in the urgent need to.
The content of the invention
Goal of the invention：For above-mentioned prior art, a kind of vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems are proposed
System and guiding control method, the engineering problem for solving many rotor unmanned helicopters independent landing on mobile object vehicle.
Technical scheme：A kind of vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems, including vehicle-mounted guiding subsystem
With airborne control subsystem；
The vehicle-mounted guiding subsystem includes two sets of vision processing systems, navigational computer, first wireless data transmission modules；Its
In, the often set vision processing system includes camera, two axle The Cloud Terraces, two stepper motor drivers and data processing core
Piece；In every set vision processing system, camera is arranged in two axle The Cloud Terraces, and connects navigational computer；The two of two axle The Cloud Terraces
Individual motor connects a stepper motor driver respectively；The data processing chip connects navigational computer, while connection two
Stepper motor driver；Two sets of vision processing systems are separately mounted to the both sides in drop target region on vehicle；
The airborne control subsystem includes many rotor flying platforms, flight controller, the second wireless data transmission module；Its
In, the flight controller includes flight-control computer, and connects the sensor assembly of the flight-control computer；Institute
The sensor assembly stated includes ultrasonic height meter, six axle attitude transducers and electronic compass；Many rotor flying platforms
Including symmetrical frame and executing agency, the control end connection flight-control computer of the executing agency；Described second is wireless
Digital transmission module connects flight-control computer, and can connect the first wireless data transmission module by Radio Link.
The guiding control method of vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems, comprises the following steps：
Step (1), two cameras of vehicle-mounted guiding subsystem constantly lead the image transmitting of captured in real-time to vehicle-mounted
The navigational computer of directions subsystem, navigational computer image is identified processing, when many rotations for pasting having identification mark image
Wing depopulated helicopter enters after camera view, and navigational computer is to recognize many rotor unmanned helicopters；
Step (2), the navigational computer be based on technique of binocular stereoscopic vision calculate obtain many rotor unmanned helicopters with
The relative position relation of each camera, then constantly adjusts the corner of two two axle The Cloud Terraces so that many rotor unmanned helicopters
It is always located in the center of each camera view；
Step (3), on the premise of many rotor unmanned helicopters are always located in the center of camera view, navigational computer
The number of revolutions count value of two motors of each two axle The Cloud Terraces obtained according to vision processing system, calculating many rotors, nobody is straight
Relative position (x of the machine of liter relative to fiducial cameras0, y0, z0), it is specially：
If the camera in wherein a set of vision processing system is the camera in origin O, another set of vision processing system
For point O1, with OO1For x-axis, set up right hand rectangular coordinate system straight up for y-axis, if at origin O camera head yaw angle
For α1, the angle of pitch be β1, point O1The head yaw angle for locating camera is α2, the angle of pitch be β2, OO1=s, then obtain：
(formula 1)
According to the positional information (x0, y0, z0) obtain unmanned plane relative vehicle landing pointPositional information (x,
Y, z)：
(formula 2)
The positional information (x, y, z) is then sent to the airborne control subsystem of unmanned plane by radio transmission apparatus
System；
Step (4), the airborne control subsystem of many rotor unmanned helicopters receives the unmanned plane relative vehicle and landed
After the positional information (x, y, z) of point, the mesh that many rotor unmanned helicopters are dropped on vehicle is controlled by flight-control computer
Region is marked, is comprised the following steps：
(41), the sensor assembly of many rotor unmanned helicopters gathers ultrasonic height meter, six axle attitude transducers in real time
And the detection data of electronic compass, flight-control computer, which is resolved, obtains altitude information, the attitude of many rotor unmanned helicopters
Data, and the speed for obtaining many rotor unmanned helicopter relative vehicles is resolved according to the real time data of the positional information (x, y, z)
Degrees of data；
(42), by the speed data of the altitude information, attitude data, station-keeping data and relative vehicle and expectation
Data are compared, and obtain error information；
(43) controlled quentity controlled variable of executing agency, is calculated according to the error information and unmanned aerial vehicle (UAV) control rule, and is sent to many
The executing agency of rotor unmanned helicopter；The unmanned aerial vehicle (UAV) control rule includes attitude control law, height-holding control law, horizontal direction control
System rule；Wherein, the attitude control law includes angle of pitch control rate, roll angle control rate, yaw angle control rate；
The height-holding control law is：
Wherein, Δ z is height error data,It is short transverse speed,It is short transverse acceleration, Δ δcIt is logical for height
Road controlled quentity controlled variable,Expression pairDerivation,WithIt is control parameter；
Many horizontal x directions Landing Controls of rotor unmanned helicopter are to be restrained with the tracing control in horizontal x directions as external loop, institute
Angle of pitch control rate is stated for inner looping；Wherein, the tracing control rule in the horizontal x directions is：
Many horizontal y directions Landing Controls of rotor unmanned helicopter are to be restrained with the tracing control in horizontal y directions as external loop, institute
Roll angle control rate is stated for inner looping；Wherein, the tracing control rule in the horizontal y directions is：
Wherein, Δ δθ、ΔδφRespectively x, y direction controlling amount,The respectively speed number of x, y direction relative vehicle
According to Δ x, Δ x ' are site error and the error change rule in x-axis direction, and Δ y, Δ y ' are the site error and error in y-axis direction
Change rule,WithIt is the control parameter in x-axis direction,WithIt is the control in y-axis direction
Parameter processed, e is the fixed error value of setting.
Beneficial effect：(1) using the guidance method of binocular vision, by the data calculation of two cameras, achievable pair
Many rotor unmanned helicopters are accurately positioned, and then can realize its landing above the mobile devices such as automobile, improve many rotations
The practicality and application of wing depopulated helicopter.
(2) control method is realized many rotor unmanned helicopters and is followed mobile target using segmentation PID control method
Accuracy.It is final actual test result indicate that, by the control method, the tracking error of many rotor unmanned helicopters can ensure
In the range of 5cm.
(3) can be using the control mode for controlling, automatically controlling and combining automatically manually manually so that automatically controlling appearance
During failure, using manual control, it is to avoid the uncontrollable state of many rotor unmanned helicopters.
Brief description of the drawings
Fig. 1 is present system hardware block diagram；
Fig. 2 is invention software control flow block diagram；
Fig. 3 is binocular vision processing system schematic diagram of the present invention；
Fig. 4 is many rotor unmanned helicopter control system block diagrams of the invention.
Embodiment
The present invention is done below in conjunction with the accompanying drawings and further explained.
As shown in figure 1, a kind of vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems, including vehicle-mounted guiding subsystem
With airborne control subsystem.Vehicle-mounted guiding subsystem includes two sets of vision processing systems, navigational computer, first wireless data sending moulds
Block, Switching Power Supply and remote control.
Wherein, often set vision processing system is included at camera, two axle The Cloud Terraces, two stepper motor drivers and data
Manage chip.Camera：USB camera is selected in the present embodiment, hardware pixel is 100W720p, and angle is 170 °, frame rate
For 30fps/1280 × 720, the storage format after Dynamical capture is AVI/WMV.It is clear that the resolution ratio of the camera can take into account image
Clear degree and image processing speed.
Two axle The Cloud Terraces：Two axle The Cloud Terraces are by two step motor controls, and one follows many rotor unmanned helicopter yaw directions
Rotation, referred to as yaw motor；Another follows the rotation of many rotor unmanned helicopter pitch orientations, referred to as pitching electricity
Machine.Stepper motor is the opened loop control element that electric impulse signal is changed into angular displacement or displacement of the lines.In the case of non-overload,
The rotating speed of motor, the position stopped being solely dependent upon the frequency and umber of pulse of pulse signal, without being influenceed by load change, that is, give
Motor adds a pulse signal, and motor then turns over a step angle.Pass through the size and umber of pulse of recording pulse signal, you can really
Determine the angle that motor is turned over, that is, yaw angle or the angle of pitch corresponding to head.Stepper motor has not by external interference, by mistake
Difference is not the features such as long term accumulation, control performance be good.
Stepper motor driver：Stepping motor can not be directly connected to work in direct current or AC power, it is necessary to using special
Driving power supply, i.e. stepping motor driver.Stepper motor driver is a kind of holding for angular displacement by electroporation
Row mechanism.When step actuator receives a pulse signal, it rotates one admittedly with regard to Driving Stepping Motor by the direction of setting
Fixed angle, its rotation is run step by step with fixed angle.Can be by controlling pulse number come pilot angle position
Shifting amount, so as to reach the purpose being accurately positioned.In the present embodiment, the stepping motor driver of driving yaw motor is referred to as partially
Navigate driver, and the stepping motor driver of driving pitching motor is referred to as pitch drive.
Data processing chip：Data processing chip, which is used, in the present embodiment uses ATmega328p-AU for core
Arduino Mini Pro microcontroller circuit plates.It has 14 digital input/output pins, 8 simulation inputs, 1 pair of TTL electricity
Flat serial ports receives and dispatches port, and 16MHz resonator a, SR supports that serial ports is downloaded, supports external 3.3V~12V
Dc source is powered.ATmega328p-AU is the single-chip microcomputer with 32Kb flash memories that American ATMEL is produced.Utilize the number
Computerized information can be completed to the conversion of pwm control signal according to process chip, and implementation method is simple to operation.
Switching Power Supply is a kind of high frequency device for converting electric energy, and the present invention selects 36V, 8.3A specification, for four
Stepper motor driver is powered.The features such as it has small volume, lightweight, efficiency high, wide voltage stabilized range.
First wireless data transmission module be used for realize be located at vehicle on navigational computer and positioned at aerial UAV flight's
Data between flight control system are mutually passed, and its communication range determines that unmanned plane can collect mail the scope of breath.In the present embodiment, first
Wireless data transmission module selects 3DR Radio Telemetry digital transmission modules, and transmission frequency is 433MHz, and maximum transmission distance is
700m, uses UART interface output data.
Vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems can be applied to many rotors such as four axles, six axles and eight axles
Depopulated helicopter, vehicle-mounted guiding subsystem is installed on drop target vehicle, often covers camera and cloud in vision processing system
Platform is installed on the side in roof drop target region, and the line of centres of two cameras is vertical with the length direction of vehicle, two sets
Other parts, navigational computer in vision processing system and it is positioned over vehicle interior, first for the Switching Power Supply of power supply
The antenna of wireless data transmission module is installed on outside car body.
In every set vision processing system, camera is arranged on the top of two axle The Cloud Terraces, and passes through UART serial ports and navigation
Computer is connected.The signal control end of two motors of two axle The Cloud Terraces connects a stepper motor driver respectively.Data processing
Chip is connected with the input port of two stepper motor drivers；Meanwhile, data processing chip is counted by UART serial ports with navigation
Calculation machine is connected.First wireless data transmission module is connected by UART serial ports with navigational computer.
Airborne control subsystem includes many rotor flying platforms, flight controller, the second wireless data transmission module.Wherein, fly
Line control unit includes flight-control computer, sensor assembly and power module.Sensor assembly include ultrasonic height meter,
Six axle attitude transducers and electronic compass.Many rotor flying platforms include symmetrical frame and executing agency, executing agency
Control end connects flight-control computer.
The power device of multi-rotor aerocraft includes brushless electric machine, electricity tune, propeller and electrical source of power, wherein electric mechanical, electrical
The propeller that reconciles is also referred to as executing agency.Power device determines the maximum load ability of many rotors, cruising time with it is motor-driven
Property.The present embodiment uses the brushless electric machine of the models of T-motor 4014,10000mAh 25C 22.2V lithium batteries and 1555 of arranging in pairs or groups
The carbon fiber spiral oar of model.When the brushless electric machine 1555 type propellers of collocation and 22.2V lithium batteries, correspondence at 100% throttle
Electric current is 29.9A, thus electricity tune make good use of be full of company production 30A electricity adjust.Based on above power device type selecting, the unmanned plane load-carrying
Ability >=4.1kg, cruising time >=21min.
The flight-control computer of the present embodiment select STM32F407 microcontrollers, the microcontroller by
STMicroelectronics companies produce, and are 32 ARMCortex-M4F kernels, 1MB Flash, 192KB RAM,
LQFP100 is encapsulated.STM32F407 has 140 railway digital input/output, 2 road UART, 3 road SPI, 3 road I2C interfaces and 2 tunnels
CAN interface.Control computer is controlled as flight, its core frequency and peripheral hardware resource can be made full use of.
Flight-control computer is mainly completed：Collecting sensor signal processing, control law are resolved, motor drives, earth station
Communication, remote information are received.Flight-control computer is control core, and the work of all completions constitutes the closed loop control with feedback
System.It handles sensor information, and feed back input is provided for flight control system；Manually or automatically control instruction is handled, according to tool
Body instruction uses different control modes；Motor is acted.STM32F407 microcontrollers are with powerful instruction system and interface
Function shows the advantages such as perfect in shape and function, speed are fast, exploitation is convenient, high speed and miniature contradiction is can effectively solve the problem that, so as to be
The design of unmanned plane amount body integrates high speed, high accuracy and the new flight control modules minimized.
In sensor assembly, six axle attitude transducers：The axles of MPU-6000 six produced from Invensense companies of the U.S.
Attitude transducer, it incorporates 3 axle gyroscopes, 3 axle accelerators, is the global the first axle motion process component of conformability 6.MPU-
6000 calculate data with the fusion of the spin matrix of the axle of numeral output 6 or 9 axles, quaternary number, Eulerian angles form.Compared to multicompartment
Scheme, the problem of between centers when MPU-6000 eliminates combination gyroscope with accelerator is poor, reduces substantial amounts of packaging space, has
There are low-power consumption, low cost, high performance feature.The sensing range of angular speed be ± 250 °, ± 500 °, ± 1000 ° with ±
2000 °/sec (dsp), can accurately be followed the trail of quickly with acting at a slow speed；Simultaneously programmable accelerometer sensing range for ± 2g, ±
4g, ± 8g and ± 16g.The measurement data of sensor finally can be total by highest 400kHz IC buses or highest 20MHz SPI
Line is exported.
Electronic compass：The HMC5883 electronic compass produced from Honeywell Corp. USA, it is a kind of surface mount
Highly integrated module, and with digital interface weak magnetic sensor chip, applied to inexpensive compass and magnetic field detection field.Energy
Make 12 analog-digital converters of the compass precision controlling at 1 °~2 °, with 16 pins, interface is easy I2C serial bus,
Size is 3.0 × 3.0 × 0.9mm.It is sensitivity highest and reliability with axial high sensitivity and linear high-precision feature
The best sensor of property.
Ultrasonic sensor：The LV-MaxSonar-EZ1 sonic sensors produced from Pololu companies of the U.S..The ultrasound
The characteristics of ripple range finder module has low in energy consumption, high precision, remote detection range, its detection range is 0 to 6.45M (21.2ft), point
Resolution 2.5cm, non-blind area.This sensor provides three output interfaces：The output of digital pulse width, analog signal output,
Exported with asynchronous serial, using more convenient.
Second wireless data transmission module is identical with the first wireless data transmission equipment setting of vehicle mounted guidance part, and both pass through definition
Good communication protocol completes the transmission of information.The second wireless data transmission module selects 3DR Radio Telemetry in the present embodiment
Digital transmission module, transmission frequency is 433MHz, and maximum transmission distance is 700m, uses UART interface output data.
In the present embodiment flight control be powered using two pieces of independent lithium batteries, respectively using 10000mAh, 25C,
22.2V lithium battery is that the flying power of unmanned plane is powered and 900mAh, 15C, 7.4V lithium battery is flight-control computer
Power supply.Wherein, the power supply of flight-control computer need to be depressured there is provided both dc sources of 5V, 3.3V to meet master control
The demand of chip.The UBEC-3A produced using Shenzhen Hao Ying scientific ＆ technical corporation realizes 7.4V → 5V high step-down, and 5V is used as digital electricity
The VCC on road.UBEC is a kind of DC voltage-stabilizing system of Switching Power Supply mode, is operated in 300KHz switching frequency, chip efficiency
Up to 92%, and there is provided excessively stream and overheat protective function.The MIC5219-3.3 produced using MICREL companies of the U.S. is realized
5V → 3.3V low pressure drop, can reach very high efficiency, and low cost, and noise is low, and quiescent current is small, and circuit structure is simple.
Many rotor unmanned helicopter executing agencies are located on each end points of frame, by PWM output driving circuits with flying
Row control computer is connected.Six axle attitude transducers are connected by spi bus level conversion with flight-control computer.Electronics
Compass is connected by I2C interfaces with flight-control computer.Ultrasonic height meter passes through Transistor-Transistor Logic level interface and flight control meter
Calculation machine is connected.Second wireless data transmission module is connected by UART serial ports with flight-control computer.
In the present embodiment, the communication of vehicle-mounted guiding subsystem and airborne control subsystem has two ways, and mode one is logical
Cross the first wireless data transmission module and the second wireless data transmission module completes communication, mode two is to realize to communicate by remote control.Firstth,
Second wireless data transmission module transmission frequency is 433MHz, and maximum transmission distance is 700m；First wireless data transmission module is referred to as
Ground modules (USB interface) are used for connection navigational computer on vehicle and used, and the first wireless data transmission module is referred to as Air modules
(serial ports) is carried for aircraft.Remote control selects FUTABA remote controls in the present embodiment, and 2.4GHz FUTABA remote controls are
The general remote control of a model plane of Japanese Futaba Denshi Kogyo Kabushiki Kaisha production, is supported the use with the brand receiver.Boat
Mould operator can be by stirring some driving levers on remote control, and the diverse location residing for each driving lever corresponds to different strokes,
Each passage remote control pwm signal with distinct pulse widths can be produced.
The system of being illustrated in figure 2 realizes overall flow figure of many rotor unmanned helicopters in mobile roof Autonomous landing.Car
Carrying guiding subsystem mainly includes 3 functional modules：(1) picture recognition module；(2) target tracking module；(3) position data solution
Calculate module.Airborne control subsystem mainly includes 4 functional modules：(1) data acquisition module；(2) data calculation module；(3)
Control law resolves module；(4) motor control module.In fig. 2, it is the control of vehicle-mounted guiding subsystem in the square frame of left-half
Flow, it is main to complete to catch identification target, tracking target, calculate deflection angle, calculate range deviation；In the square frame of right half part
It is the software control flow of airborne control subsystem, it performs the cycle for 10ms, completes digital independent, data calculation, calculates PID
The tasks such as output quantity, setting PWM outputs.
Vehicle-mounted guiding subsystem realizes that many rotor unmanned helicopter descents comprise the following steps：
Step (11), image recognition：Two cameras of vehicle-mounted guiding subsystem constantly pass the image of captured in real-time
The navigational computer of vehicle-mounted guiding subsystem is defeated by, navigational computer image is identified processing.When stickup having identification mark
Many rotor unmanned helicopters of image enter after camera view, and navigational computer can recognize many rotor unmanned helicopters.
Image recognition processing realizes that development environment is windows7 systems in navigational computer, and exploitation software is
Microsoft Visual Studio 2010, use the storehouse OpenCV that increases income (Open Source Computer Vision
Library) develop.Wherein, OpenCV is a cross-platform computer vision library issued based on (increasing income), its lightweight
And efficiently --- it is made up of a series of C functions and a small amount of C++ class, while there is provided language such as Python, Ruby, MATLAB
Interface, realizes many general-purpose algorithms in terms of image procossing and computer vision.
In the present embodiment, identification unmanned plane method be on its fuselage paste color be " flag is red " (RGB=176,
22,4) and shape fix mark.Camera passes the image of shooting back, navigational computer constantly judge be in each two field picture
It is no " flag is red " occur；Matched when color meets default " flag is red ", then to the profile of the part；When the profile and in advance
If form fit, then it is believed that the target is unmanned plane, seizure and identification to UAV targets are realized.Existed according to unmanned plane
Position in image, the relative position relation for obtaining unmanned plane and each camera is resolved according to technique of binocular stereoscopic vision, and
The information is sent in data processing chip Arduino mini pro by UART interface.
Step (12), target following：Two sets of vision processing systems taking the photograph according to each system respectively of vehicle-mounted guiding subsystem
As the relative position of head and unmanned plane, the corner of its two axle The Cloud Terraces is constantly adjusted, is regarded with ensureing that unmanned plane is always located in camera
Wild center.The process realizes that its development environment is windows7, exploitation in data processing chip Arduino mini pro
Software is Arduino IDE, and the software is the computer program development environment supporting with Arduino, it is only necessary to write in IDE
Program code, program is uploaded to after Arduino circuit boards, you can realize functional requirement.
Data processing chip Arduino mini pro obtain the relative position of camera and unmanned plane by UART interface,
The relative position relation determines the steering of the yaw motor and pitching motor of two axle The Cloud Terraces.When unmanned plane is not hit exactly in camera
During the heart, Arduino mini pro send pwm pulse signal and direction signal respectively by four road I/O pins to two motors；
Wherein, pulse signal size is fixed, and direction signal is determined by relative position relation.Yaw motor often receives a pulse letter
Number, just according to direction signal, a step angle clockwise or counterclockwise, similarly pitching motor also can be according to signal rotation.
When unmanned plane is in camera center, Arduino mini pro four road I/O pins no longer send signal, and two motors stop
Spin-ended turn, it is achieved thereby that target tracking, it is ensured that unmanned plane is always located in the center of camera view.In addition, data processing core
Piece Arduino mini pro to motor send signal when, the value of corresponding counter can be incremented by, to record two motors respectively
Number of revolutions, and timing navigational computer is passed back by UART interface.
Step (13), position data is resolved：On the premise of unmanned plane is always located in the center of camera view, navigation meter
The number of revolutions count value of two motors of each two axle The Cloud Terraces that calculation machine is obtained according to vision processing system, calculates unmanned plane phase
For the relative position of fiducial cameras, and obtained according to the positional information after the positional information of unmanned plane relative vehicle landing point
The airborne control subsystem of unmanned plane is sent to by the first wireless data transmission module.
The partial routine realizes that development environment is windows7 systems in navigational computer, and exploitation software is
Microsoft Visual Studio 2010.Specially：If the camera in wherein a set of vision processing system is origin O,
Camera in another set of vision processing system is point O1, with OO1For x-axis, it is straight up y-axis, sets up the right side as shown in Figure 3
Hand rectangular coordinate system M.The number of revolutions that navigational computer passes through the data processing chip Arduino mini pro motors passed back
Count value, calculates the deflection angle of yaw motor and pitching motor in two sets of vision processing systems；If the cloud of camera at origin
Platform yaw angle is α1, the angle of pitch be β1, O1The head yaw angle of camera is α at point2, the angle of pitch be β2.Then in known OO1=s
In the case of, the coordinate (x in rectangular coordinate system of the unmanned plane at point A can be calculated0, y0, z0)：
(formula 1)
Station-keeping data of the unmanned plane relative to fiducial cameras obtained according to formula 1.If the level point of unmanned plane
For OO1Midpoint, then using the midpoint as origin, set up rectangular coordinate system N, thirdly axle respectively three axles corresponding with M coordinate systems put down
Go and direction is identical, then under rectangular coordinate system N, unmanned plane relative vehicle landing pointPositional information for (x, y,
Z) it is：
(formula 2)
Positional information (x, y, z) data in formula 2 are sent to machine by navigational computer by the first wireless data transmission equipment
Carry control subsystem.Airborne control subsystem realizes that many rotor unmanned helicopter landing comprise the following steps：
Step (21), data acquisition：The sensor assembly of unmanned plane gathers the attitude data for obtaining unmanned plane, height in real time
Data are detected, and the data collected are sent to flight-control computer；Meanwhile, airborne control subsystem is wireless by second
The positional information that data transmission equipment receives unmanned plane relative vehicle landing point is (x, y, z), and the relative position information (x, y, z) is
The tracking error data of each control rate.Wherein, the relative velocity data is the speed of relative automobile, according to relative position information meter
Calculate and obtain.
Step (22), data calculation：The sensing data received is calculated attitude data, height by flight-control computer
Degrees of data, then calculates the speed of many rotor unmanned helicopter relative vehicles according to the real time data of positional information (x, y, z)
Data；Then by the speed data of the altitude information calculated, attitude data, station-keeping data and relative vehicle and expectation
Data are compared, and obtain error information.Wherein, expected data includes desired position data, altitude information, also desired
Speed, attitude data.
Step (23), control law is resolved：Error information and the unmanned aerial vehicle (UAV) control rule obtained according to step (22), which is calculated, to be held
The controlled quentity controlled variable of row mechanism；Wherein, unmanned aerial vehicle (UAV) control rule include attitude control law, height-holding control law, horizontal direction control law and
Speed control rate.
For unmanned plane be a under-actuated systems and the characteristics of be difficult to control to, using classical PID controller come to many
Heligyro is controlled, and control system block diagram is as shown in Figure 4：
(1) attitude control law
The axis attitude of unmanned plane three keeps the control law of system to be all made up of attitude angular rate and angular displacement feedback, uses this
Planting electrical feedback mode improves the stability of unmanned plane.For vertical/horizontal gesture stability and Heading control, attitude keeps system
Controlled using classical PID.Attitude keeps system to be in innermost ring, all needs to connect in whole flight course.
Attitude keeps the attitude angle a reference value in loop to refer to that unmanned plane matches somebody with somebody level values under hovering mode, is obtained by experiment
, generally differ and be set to zero；The actual measured value of attitude is that attitude data is measured by six airborne axle attitude transducers
's.The difference of actual value and a reference value is error, here it is the source of error feedback control；For attitude keeps loop,
Two errors of attitude angular velocity and attitude angular displacement can be obtained.
The attitude of unmanned plane pitch channel keeps the control law to be：
The attitude of unmanned plane roll passage keeps the control law to be：
The attitude of unmanned plane jaw channel keeps the control law to be：
Wherein, Δ δe、Δδa、ΔδrRespectively pitching, roll, the controlled quentity controlled variable of yaw direction, Δ θ and Δ θ ' bow respectively
The error of elevation angle error and rate of pitch, Δ φ and Δ φ ' are the error of roll angle error and roll angular speed, Δ ψ respectively
It is the error of driftage angle error and yaw rate respectively with Δ ψ ',WithAs pitching angular displacement, the angle of pitch position
The coefficient of allochthonous deposit point and pitch rate,WithAs roll angular displacement, roll angular displacement integration and rolling angle rate
Coefficient,WithAs yaw displacement, yaw displacement integration and yawrate coefficient.
So that the attitude of pitch channel keeps control law as an example,WithConstitute a kind of PID control rule.ΔδeTurn
The pwm signal of correspondence ratio is turned to, is acted on aviation mechanism.When unmanned plane is bowed, corresponding control law can make front two
Individual motor speed increase produces a nose-up pitching moment, allows unmanned plane to come back, to offset the trend bowed, and unmanned plane is kept flat
Weighing apparatus, vice versa.WithThe acquisition of three parameters is the scheme for taking " first according to modelling, adjustment is tested again "
What debugging came out, it is therefore an objective to make the fast response time of unmanned plane, overshoot small.
It is demonstrated experimentally that this control program is simple and easy to apply, effect is notable so that unmanned plane, which possesses certain anti-air-flow, to be done
The ability disturbed.
(2) height-holding control law
Change the method for height, that is, change motor speed, so as to improve lift.Highly control is that nobody is straight by many rotors
The positional information z risen under machine rectangular coordinate system N adjusts the size of motor speed with the difference DELTA z of Desired Height 0.Highly control
Controlled using classical PID.
The height of landing mission is the command signal on class slope, and the control law of altitude channel is：
Wherein, Δ z is height error,It is short transverse speed,It is short transverse acceleration, Δ δcFor altitude channel control
Amount processed,Expression pairDerivation,WithIt is control parameter, constitutes PID control rule.Control
The output Δ δ of rulecIt is superimposed upon on motor, so, when unmanned plane is highly less than Desired Height, motor speed can be increased, lift-rising；
When unmanned plane highly exceedes Desired Height, motor speed reduces, and produces a kind of automatic control effect of negative-feedback.These three controls
Parameter processed also debugs out using the scheme of " first according to modelling, adjustment is tested again ".
(3) horizontal direction control law
Position control is unmanned plane TRAJECTORY CONTROL.TRAJECTORY CONTROL mainly by it is vehicle-mounted guiding subsystem feedback positional information not
The position of unmanned plane is corrected disconnectedly to ensure landing point that unmanned plane is dropped on vehicle exactly.As shown in Figure 4, pitch channel
Rate information is fed back to by position deviation and P controls by inner looping by PID control respectively with roll channel.
Many horizontal x directions Landing Controls of rotor unmanned helicopter are to be restrained with the tracing control in horizontal x directions as external loop, with
Angle of pitch control rate is inner looping；Wherein, the tracing control rule in horizontal x directions is：
Many horizontal y directions Landing Controls of rotor unmanned helicopter are to be restrained with the tracing control in horizontal y directions as external loop, with
Roll angle control rate is inner looping；Wherein, the tracing control rule in horizontal y directions is：
Wherein, Δ δθ、ΔδφRespectively x, y direction controlling amount,The respectively speed data in x, y direction, Δ x, Δ
X ' is site error and the error change rule in x-axis direction, and Δ y, Δ y ' are the site error and error change rule in y-axis direction,WithIt is the control parameter in x-axis direction,WithIt is the control parameter in y-axis direction,
Δ x is equal to the difference of the positional information x and 0 under many rotor unmanned helicopter rectangular coordinate system N, and Δ y is equal to many rotors, and nobody is straight
The difference of the positional information y and 0 under machine rectangular coordinate system N is risen, e is a fixed error value, and the value is determined by actual conditions,
Generally 10cm.
So that unmanned plane is in the tracing control rule in horizontal x directions as an example,WithConstitute PID control rule.
The output Δ δ of control lawθIt is used as the input of pitch channel inner looping.So, when unmanned plane is located at vehicle landing point rear, the phase
The angle of pitch of prestige is, on the occasion of increase, to act on inner looping and increase unmanned plane forward flight speed；Conversely, when unmanned plane lands positioned at vehicle
During point front, the desired angle of pitch increases for negative value, acts on inner looping and reduces unmanned plane forward flight speed.This four control parameters
Also debug out using the scheme of " first according to modelling, adjustment is tested again ".It is demonstrated experimentally that this control program is simply easy
OK, effect is notable.
Each loop is all that, using classical pid control algorithm, need to choose rational control parameter from inside to outside above, is made each
The command signal of individual channels track controller, improves its stability.The selection process of parameter is that elder generation is according to modelling by mechanism and distinguishes
The result for knowing modeling picks out each channel transfer function, for the method successively design control law of single channel root locus；It will set
The parameter of meter is transplanted in the actual control algolithm for flying control plate, is constantly adjusted and is participated in the experiment winged, finally gives optimum parameter value.
Take a flight test through theoretical modeling and actually and adjust ginseng, achievement of the present invention has reached expected purpose.This method can make vehicle-mounted draw
The many rotor unmanned helicopters of guide system tenacious tracking, land in vehicle landing point for many rotor unmanned helicopters and provide effective
Guidance information, there is stronger antijamming capability, solves many rotor unmanned helicopters independent landing on mobile object vehicle
Engineering problem.Meanwhile, design of hardware and software of the invention can apply on a variety of many rotor unmanned helicopters, possess certain reality
With property and versatility.
In addition to the above steps, the manual control realized by remote control can also be added.Remote-control receiver receives remote control
Signal transmission is to flight-control computer, and flight-control computer is to output extremely controls execution machine respectively after the signal transacting of reception
Structure works, and realizes that control unmanned plane is dropped on roof manually.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (1)
1. a kind of vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems, it is characterised in that：Including vehicle-mounted guiding subsystem
With airborne control subsystem；
The vehicle-mounted guiding subsystem includes two sets of vision processing systems, navigational computer, first wireless data transmission modules；Wherein,
The often set vision processing system includes camera, two axle The Cloud Terraces, two stepper motor drivers and data processing chip；
Often in set vision processing system, camera is arranged in two axle The Cloud Terraces, and connects navigational computer；Two motors of two axle The Cloud Terraces
A stepper motor driver is connected respectively；The data processing chip connects navigational computer, while connecting two stepping electricity
Machine driver；Two sets of vision processing systems are separately mounted to the both sides in drop target region on vehicle；
The airborne control subsystem includes many rotor flying platforms, flight controller, the second wireless data transmission module；Wherein, institute
Stating flight controller includes flight-control computer, and connects the sensor assembly of the flight-control computer；Described
Sensor assembly includes ultrasonic height meter, six axle attitude transducers and electronic compass；Many rotor flying platforms include
Symmetrical frame and executing agency, the control end connection flight-control computer of the executing agency；Second wireless data sending
Module connects flight-control computer, and can connect the first wireless data transmission module by Radio Link；
Comprise the following steps：
Step (1), two cameras of vehicle-mounted guiding subsystem are constantly by the image transmitting of captured in real-time to vehicle-mounted guiding
The navigational computer of system, navigational computer image is identified processing, when paste having identification mark image many rotors without
People's helicopter enters after camera view, and navigational computer is to recognize many rotor unmanned helicopters；
Step (2), the navigational computer is based on technique of binocular stereoscopic vision calculating and obtains many rotor unmanned helicopters and each
The relative position relation of camera, then constantly adjusts the corner of two two axle The Cloud Terraces so that many rotor unmanned helicopters are always
Positioned at the center of each camera view；
Step (3), on the premise of many rotor unmanned helicopters are always located in the center of camera view, navigational computer according to
The number of revolutions count value of two motors of each two axle The Cloud Terraces that vision processing system is obtained, calculates many rotor unmanned helicopters
Relative to the relative position (x of fiducial cameras0,y0,z0), it is specially：
If the camera in wherein a set of vision processing system is that the camera in origin O, another set of vision processing system is point
O1, with OO1For x-axis, right hand rectangular coordinate system is set up for y-axis straight up, if the head yaw angle of camera is α at origin O1、
The angle of pitch is β1, point O1The head yaw angle for locating camera is α2, the angle of pitch be β2, OO1=s, then obtain：
According to the positional information (x0,y0,z0) obtain unmanned plane relative vehicle landing pointPositional information (x, y, z)：
The positional information (x, y, z) is then sent to the airborne control subsystem of unmanned plane by radio transmission apparatus；
Step (4), the airborne control subsystem of many rotor unmanned helicopters receives the unmanned plane relative vehicle landing point
After positional information (x, y, z), the target area that many rotor unmanned helicopters are dropped on vehicle is controlled by flight-control computer
Domain, comprises the following steps：
(41), the sensor assembly of many rotor unmanned helicopters gather in real time ultrasonic height meter, six axle attitude transducers and
The detection data of electronic compass, flight-control computer resolves altitude information, the attitude data for obtaining many rotor unmanned helicopters,
And the number of speed for obtaining many rotor unmanned helicopter relative vehicles is resolved according to the real time data of the positional information (x, y, z)
According to；
(42), by the speed data and expected data of the altitude information, attitude data, station-keeping data and relative vehicle
It is compared, obtains error information；
(43) controlled quentity controlled variable of executing agency, is calculated according to the error information and unmanned aerial vehicle (UAV) control rule, and is sent to many rotors
The executing agency of depopulated helicopter；The unmanned aerial vehicle (UAV) control rule includes attitude control law, height-holding control law, horizontal direction control
Rule；Wherein, the attitude control law includes angle of pitch control rate, roll angle control rate, yaw angle control rate；
The height-holding control law is：
Wherein, △ z are height error data,It is short transverse speed,It is short transverse acceleration, △ δcFor altitude channel control
Amount processed,Expression pairDerivation,WithIt is control parameter；
Many horizontal x directions Landing Controls of rotor unmanned helicopter are to be restrained with the tracing control in horizontal x directions as external loop, described to bow
Elevation angle control rate is inner looping；Wherein, the tracing control rule in the horizontal x directions is：
Many horizontal y directions Landing Controls of rotor unmanned helicopter are to be restrained with the tracing control in horizontal y directions as external loop, the rolling
Corner control rate is inner looping；Wherein, the tracing control rule in the horizontal y directions is：
Wherein, △ δθ、△δφRespectively x, y direction controlling amount,The respectively speed data of x, y direction relative vehicle, △
X, △ x ' are site error and the error change rule in x-axis direction, and △ y, △ y ' are the site error and error change in y-axis direction
Rule,WithIt is the control parameter in x-axis direction,WithIt is the control parameter in y-axis direction,
E is the fixed error value of setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510083934.0A CN104656664B (en) | 2015-02-16 | 2015-02-16 | Vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems and guiding control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510083934.0A CN104656664B (en) | 2015-02-16 | 2015-02-16 | Vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems and guiding control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104656664A CN104656664A (en) | 2015-05-27 |
| CN104656664B true CN104656664B (en) | 2017-07-11 |
Family
ID=53247922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510083934.0A Expired - Fee Related CN104656664B (en) | 2015-02-16 | 2015-02-16 | Vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems and guiding control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104656664B (en) |
Families Citing this family (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104820435A (en) * | 2015-02-12 | 2015-08-05 | 武汉科技大学 | Quadrotor moving target tracking system based on smart phone and method thereof |
| US10824168B2 (en) * | 2015-07-06 | 2020-11-03 | Zero Co., Ltd. | Rotorcraft landing device |
| CN105068542A (en) * | 2015-07-15 | 2015-11-18 | 北京理工大学 | Rotor unmanned aerial vehicle guided flight control system based on vision |
| CN105119683B (en) * | 2015-08-18 | 2018-03-06 | 昆明理工大学 | A kind of UAV Communication interference countercheck based on real-time embedded control system |
| CN105204515B (en) * | 2015-08-27 | 2018-04-10 | 泉州装备制造研究所 | The measurement parsing of unmanned plane independent landing and control method and device |
| CN105346706B (en) | 2015-11-13 | 2018-09-04 | 深圳市道通智能航空技术有限公司 | Flight instruments, flight control system and method |
| CN105323487A (en) * | 2015-11-20 | 2016-02-10 | 广州亿航智能技术有限公司 | Camera apparatus pointing direction control device |
| CN105739523B (en) * | 2015-12-07 | 2018-09-14 | 北京航空航天大学 | A kind of police vehicle-mounted unmanned aerial vehicle monitoring system and control method |
| CN105758397B (en) * | 2016-02-14 | 2018-09-25 | 中国船舶工业系统工程研究院 | A kind of aircraft camera positioning method |
| CN105843251B (en) * | 2016-03-28 | 2020-04-07 | 沈阳上博智拓科技有限公司 | Method, device and system for controlling aircraft |
| CN105913036B (en) * | 2016-04-21 | 2019-12-24 | 广州极飞科技有限公司 | Unmanned aerial vehicle identification method and device |
| CN105955288B (en) * | 2016-07-15 | 2021-04-09 | 北京远度互联科技有限公司 | Aircraft positioning and control method and system |
| CN106125765B (en) * | 2016-08-03 | 2019-01-29 | 中国人民解放军总参谋部第六十研究所 | A kind of vehicle-mounted landing simulation system of boat-carrying unmanned helicopter |
| CN106323332A (en) * | 2016-08-09 | 2017-01-11 | 安庆建金智能科技有限公司 | Airplane-descending auxiliary device with laser detection device |
| CN106200662A (en) * | 2016-08-11 | 2016-12-07 | 国网四川省电力公司检修公司 | A kind of UAV Flight Control System |
| CN107765710B (en) * | 2016-08-23 | 2020-06-19 | 比亚迪股份有限公司 | Automatic homing method and system for vehicle-mounted aircraft |
| CN106502257B (en) * | 2016-10-25 | 2020-06-02 | 南京奇蛙智能科技有限公司 | Anti-interference control method for precise landing of unmanned aerial vehicle |
| EP3519906B1 (en) * | 2016-11-02 | 2021-10-13 | SZ DJI Technology Co., Ltd. | Systems and methods for height control of a movable object |
| CN107065924A (en) * | 2017-03-15 | 2017-08-18 | 普宙飞行器科技（深圳）有限公司 | The vehicle-mounted landing system of unmanned plane, can vehicle-mounted landing unmanned plane and landing method |
| US10926871B2 (en) * | 2017-11-27 | 2021-02-23 | Textron Innovations Inc. | System and method for pilot-in-control sensing in a rotorcraft |
| CN108255188B (en) * | 2018-01-15 | 2020-12-11 | 大连理工大学 | Vector propulsion accelerating device and method suitable for unmanned aerial vehicle |
| CN108363405A (en) * | 2018-04-08 | 2018-08-03 | 广东华中科技大学工业技术研究院 | A kind of method and system of unmanned plane collaboration unmanned boat charging |
| CN108572670A (en) * | 2018-06-08 | 2018-09-25 | 赫星科技有限公司 | A kind of control device and control method of motor speed |
| CN108873935A (en) * | 2018-07-06 | 2018-11-23 | 山东农业大学 | Control method, device, equipment and the storage medium of logistics distribution unmanned plane landing |
| CN109334541B (en) * | 2018-08-24 | 2020-07-28 | 南京航空航天大学 | Vehicle-mounted multi-rotor unmanned aerial vehicle cluster cooperation system and method |
| CN109612333B (en) * | 2018-11-08 | 2021-07-09 | 北京航天自动控制研究所 | Visual auxiliary guide system for vertical recovery of reusable rocket |
| CN109597432B (en) * | 2018-11-30 | 2022-03-18 | 航天时代飞鸿技术有限公司 | Unmanned aerial vehicle take-off and landing monitoring method and system based on vehicle-mounted camera unit |
| CN110077595B (en) * | 2019-04-28 | 2021-04-30 | 北京理工大学 | Automatic landing and recovery system of unmanned autonomous aircraft under complex dynamic bump condition |
| CN112198885B (en) * | 2019-12-31 | 2022-04-05 | 北京理工大学 | Unmanned aerial vehicle control method capable of meeting autonomous landing requirement of maneuvering platform |
| CN112364854B (en) * | 2021-01-14 | 2021-05-28 | 南京理工大学 | Airborne target approaching guidance system and method based on detection, tracking and fusion |
| CN112987718B (en) * | 2021-01-15 | 2022-03-04 | 北京理工大学 | Autonomous tracking system and method based on heterogeneous robot |
| CN113596714B (en) * | 2021-07-21 | 2022-01-28 | 军事科学院系统工程研究院后勤科学与技术研究所 | Positioning communication device and method for unmanned fleet and motorcade |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101000243A (en) * | 2007-01-16 | 2007-07-18 | 北京航空航天大学 | Pilotless plane landing navigation method and its device |
| CN101420530A (en) * | 2008-11-26 | 2009-04-29 | 上海大学 | Method for reducing blind region by dual video camera monitoring system on movement platform |
| CN102814047A (en) * | 2012-07-19 | 2012-12-12 | 南京航空航天大学 | Autonomous return system and control method of dual-rotor remote-controlled model helicopter |
| CN103488173A (en) * | 2013-09-09 | 2014-01-01 | 上海电控研究所 | Multi-terrain intelligent mobile platform and control method thereof |
| CN103587708A (en) * | 2013-11-14 | 2014-02-19 | 上海大学 | Method for field fixed point zero-dead-zone autonomous soft landing of subminiature unmanned rotor aircraft |
| CN103825408A (en) * | 2014-02-28 | 2014-05-28 | 深圳市大疆创新科技有限公司 | Motor, cloud deck using the motor and shooting device using the cloud deck |
| CN104331086A (en) * | 2014-11-06 | 2015-02-04 | 国家电网公司 | Flight control system of small multi-rotor for power line patrol |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL219836A (en) * | 2012-05-16 | 2017-02-28 | Meir Yoffe | Point take-off and landing of unmanned flying objects |
-
2015
- 2015-02-16 CN CN201510083934.0A patent/CN104656664B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101000243A (en) * | 2007-01-16 | 2007-07-18 | 北京航空航天大学 | Pilotless plane landing navigation method and its device |
| CN101420530A (en) * | 2008-11-26 | 2009-04-29 | 上海大学 | Method for reducing blind region by dual video camera monitoring system on movement platform |
| CN102814047A (en) * | 2012-07-19 | 2012-12-12 | 南京航空航天大学 | Autonomous return system and control method of dual-rotor remote-controlled model helicopter |
| CN103488173A (en) * | 2013-09-09 | 2014-01-01 | 上海电控研究所 | Multi-terrain intelligent mobile platform and control method thereof |
| CN103587708A (en) * | 2013-11-14 | 2014-02-19 | 上海大学 | Method for field fixed point zero-dead-zone autonomous soft landing of subminiature unmanned rotor aircraft |
| CN103825408A (en) * | 2014-02-28 | 2014-05-28 | 深圳市大疆创新科技有限公司 | Motor, cloud deck using the motor and shooting device using the cloud deck |
| CN104331086A (en) * | 2014-11-06 | 2015-02-04 | 国家电网公司 | Flight control system of small multi-rotor for power line patrol |
Non-Patent Citations (5)
| Title |
|---|
| Autonomous Landing of an UAV with a Ground-Based Actuate Infrared Stereo Vision System;Weiwei Kong 等;《2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)》;20131107;2963-2970 * |
| Vision-based Guidance，Navigation and Control for Unmanned Aerial Vehicle Landing;Y.F.Cao 等;《Proceedings of 2012 9th International Bhurban Conference on Applied Sciences&Technology》;20120131;87-91 * |
| 基于视觉的无人直升机着陆引导系统研究;郑翰;《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》;20140131;C031-41 * |
| 旋翼空中机器人系统架构及设计;王冠林 等;《计算机工程与应用》;20101231;第46卷(第27期);66-69 * |
| 用于无人直升机着舰控制的计算机视觉技术研究;邱力为;《航空学报》;20030731;第24卷(第4期);351-354 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104656664A (en) | 2015-05-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104656664B (en) | Vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems and guiding control method | |
| CN104597912A (en) | Tracking flying control system and method of six-rotor unmanned helicopter | |
| CN204440169U (en) | The control system of the multi-modal autonomous flight of Miniature Unmanned Helicopter | |
| CN104656660A (en) | Control system for micro-unmanned helicopter multi-mode autonomous flight and method thereof | |
| CN105353762B (en) | The control method of six rotor wing unmanned aerial vehicles based on double remaining attitude transducers | |
| CN103365295B (en) | Based on the autonomous hover control system of four rotor unmanned aircrafts and the method for DSP | |
| CN103611324A (en) | Unmanned helicopter flight control system and control method thereof | |
| CN205891228U (en) | Flying robot | |
| CN102830622B (en) | Auto-disturbance-rejection automatic flight control method for four-rotor aircraft | |
| CN107368091A (en) | A kind of stabilized flight control method of more rotor unmanned aircrafts based on finite time neurodynamics | |
| CN107831783A (en) | A kind of ground station control system for supporting multiple no-manned plane autonomous flight | |
| CN108062108A (en) | A kind of intelligent multi-rotor unmanned aerial vehicle and its implementation based on airborne computer | |
| CN108803639A (en) | A kind of quadrotor flight control method based on Backstepping | |
| CN110347171A (en) | A kind of flying vehicles control method and aircraft | |
| CN107703972A (en) | The particularly flying wing type fixed-wing unmanned plane with automatic Pilot is driven with auxiliary hand-operating | |
| CN104460685A (en) | Control system for four-rotor aircraft and control method of control system | |
| CN203825466U (en) | Airborne-sensor-based small-sized four rotor aircraft control system | |
| CN101515178A (en) | Master-slave burden type redundancy automatic unmanned aircraft pilot based on CAN bus | |
| CN107132851A (en) | A kind of unmanned plane during flying navigation control system | |
| CN105404308A (en) | Flight control unit for parafoil type unmanned plane | |
| CN107272740A (en) | A kind of new four rotor wing unmanned aerial vehicles control system | |
| CN107804474A (en) | Carry more rotor flying robot Complete machine system design methods of redundancy mechanical arm | |
| CN107264813A (en) | A kind of tailstock vertical takeoff and landing vehicle flight control system | |
| CN1669874A (en) | Automatic pilot for aircraft | |
| CN108706099A (en) | One kind is verted three axis composite wing unmanned planes and its control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170711 Termination date: 20190216 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |