CN106444810A - Unmanned plane mechanical arm aerial operation system with help of virtual reality, and control method for unmanned plane mechanical arm aerial operation system - Google Patents
Unmanned plane mechanical arm aerial operation system with help of virtual reality, and control method for unmanned plane mechanical arm aerial operation system Download PDFInfo
- Publication number
- CN106444810A CN106444810A CN201610929553.4A CN201610929553A CN106444810A CN 106444810 A CN106444810 A CN 106444810A CN 201610929553 A CN201610929553 A CN 201610929553A CN 106444810 A CN106444810 A CN 106444810A
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- Prior art keywords
- head
- earth station
- unmanned plane
- mechanical arm
- transmission module
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Abstract
The invention discloses an unmanned plane mechanical arm aerial operation system with the help of virtual reality, and a control method for the unmanned plane mechanical arm aerial operation system. The system consists of an unmanned plane part and a ground station part. The unmanned plane part comprises a triaxial self-stabilizing holder, a camera, an unmanned plane image transmission module, an unmanned plane data transmission module, a mechanical arm, and an airborne computer. The ground station part comprises a virtual reality glasses, a ground station data transmission module, a ground station image transmission module, a mechanical arm operation module, and a ground station computer. Through wearing the virtual reality glasses with a head posture measurement module, an operator can control the field of the camera on the unmanned plane through head movement, so the operation can focus on the control of the mechanical arm, thereby greatly improving the capturing precision and speed of an object.
Description
Technical field
The present invention relates to unmanned plane application, more particularly, to a kind of unmanned plane mechanical arm by virtual reality is made in the air
Industry system and its control method.
Background technology
Develop rapidly with the unmanned air vehicle technique with rotor type aircraft as representative, unmanned plane is scouting, the field such as take photo by plane
It is widely applied.In order to develop the application potential of unmanned plane further, make-up machinery arm on unmanned plane, make unmanned function
Object carried out capture, move etc. with operation and has become as study hotspot.Allow the unmanned plane automatic identification object technology that captures is existing
Still immature, there is big, the low shortcoming of motility of realizing difficulty.Unmanned plane and crawled thing are obtained by human eye or photographic head
The state of body, then operating robotic arm completes to capture operation is the mode that a kind of technology is simply easily realized.But due to human eye with
The visual angle of photographic head limits, and the precision of grasping body is subject to extreme influence with effect.
In order to increase the visual range of photographic head, photographic head can be installed on head, thus realizing the visual angle of photographic head
Control.Although controlling by stick and enabling the motor control to head by way of head, operator's control can be disturbed
Mechanical arm, has a strong impact on control accuracy and the effect of mechanical arm.
Content of the invention
Limited view and head operation interference robotic arm manipulation when the present invention is directed to unmanned plane mechanical arm remote manipulation
Problem, provides a kind of unmanned plane mechanical arm aerial work system by virtual reality and its control method, effective gram of this system
Take the problem running in background technology, meeting unmanned plane will to the higher of grasping body accuracy and speed in fields such as carry an objects
Ask.
The purpose of the present invention is achieved through the following technical solutions：A kind of unmanned plane mechanical arm by virtual reality
Aerial work system, it is made up of unmanned plane part and earth station's part；Wherein,
Described unmanned plane part include three axles from steady head, photographic head, unmanned plane figure transmission module, unmanned plane digital transmission module,
Mechanical arm, airborne computer；Described earth station part includes virtual reality glasses, earth station's digital transmission module, earth station's figure biography mould
Block, robotic arm manipulation module, earth station's computer；
Described photographic head is fixed on three axles from steady head end, for collection machinery arm movement environment image, and by image
Information is sent to unmanned plane figure transmission module；
Described three axles are used for maintaining photographic head sensing stable from steady head；
Described unmanned plane figure transmission module receives the image information that photographic head sends, and image information is sent to earth station's figure
Transmission module；
The video information receiving is sent to earth station's computer by described earth station figure transmission module；
Described virtual reality glasses comprise video display unitss and head pose measurement module；
Described head pose measurement module includes accelerometer, gyroscope and magnetometer, for real-time measurement head pose
Information, and head pose information is sent to earth station's computer, earth station's computer is by head pose information transmission to ground
Stand digital transmission module；
Described robotic arm manipulation module sends mechanical arm operational order to earth station's computer, and earth station's computer is by machinery
Arm operational order resolves as mechanical arm control instruction, and mechanical arm control instruction is sent to earth station's digital transmission module；
The head pose receiving information and mechanical arm control instruction are sent to unmanned plane by described earth station digital transmission module
Digital transmission module；
The head pose receiving information and mechanical arm control instruction are sent to airborne meter by described unmanned plane digital transmission module
Calculation machine；
The head pose receiving information is resolved and instructs from the cradle head control of steady head for three axles by described airborne computer,
And cradle head control instruction is sent to three axles from steady head, thus changing three axles from the attitude of steady head, airborne computer will connect
The mechanical arm control instruction receiving is sent to mechanical arm, changes the attitude of mechanical arm；
The video information receiving is sent to video display unitss and is shown in real time by described earth station computer.
The present invention also provides a kind of control method of the unmanned plane mechanical arm aerial work system by virtual reality, including
Following steps：
(1), after people puts on virtual reality glasses, the head rotation information that virtual reality glasses measure is incoming by SDK
Earth station's computer；
(2) the XY deviation of directivity manipulation amount incoming earth station computer of robotic arm manipulation module；
(3) in earth station's computer, this head rotation measured value, should by calculating used as the setting value of PID controller
Setting value and the difference of current head angle, calculate the value of head Spin Control amount by PID controller；
(4) in earth station's computer, head Spin Control amount and mechanical arm XY manipulated variable will by serial ports router
It switchs to hexadecimal data stream, adds that data head and check bit become packet, is sent to earth station's digital transmission module；
(5) earth station's digital transmission module delivers a packet to unmanned plane digital transmission module；
(6) airborne computer obtains packet by unmanned plane digital transmission module, obtains head Spin Control amount and mechanical arm
XY manipulated variable；
(7) this head Spin Control amount and mechanical arm XY manipulated variable are generated corresponding PWM ripple by airborne computer, are sent to
Three axles are from steady head and mechanical arm；
The steering wheel rotation from motor and mechanical arm on steady head for (8) three axles, reaches the position that operator specifies；
(9) photographic head is rotated from steady head by three axles, and video stream is to unmanned plane figure transmission module；
(10) unmanned plane figure transmission module by video stream to earth station's figure transmission module, and then be transferred to earth station calculate
Machine；
(11) earth station's computer obtains video flowing, plays in the window, by print screen pattern, video input is empty
Intend Reality glasses.
The invention has the beneficial effects as follows：The present invention realizes unmanned plane robotic arm manipulation by virtual reality glasses and photographic head
The virtual transplanting at visual angle；Photographic head is equipped on three axles from steady head, the visual range of very big extended operation mechanical arm；Pass through
Measurement head attitude information instruct from steady cradle head control resolving three axles, reduces the control difficulty of head, and makes to operate
The both hands of member can be absorbed in control machinery arm, thus improving grasping body accuracy and speed.
Brief description
Fig. 1 is the system block diagram of the present invention；
Fig. 2 is the structural representation of the embodiment of the present invention；
In figure, photographic head 1, three axles are from steady head 2, unmanned plane figure transmission module 3, earth station's figure transmission module 4, virtual reality eye
Mirror 5, robotic arm manipulation module 6, earth station's digital transmission module 7, unmanned plane digital transmission module 8, airborne computer 9, earth station's computer
10th, mechanical arm 11.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings：
As shown in figure 1, a kind of unmanned plane mechanical arm aerial work system by virtual reality it is characterised in that it by
Unmanned plane part and earth station's part form；Wherein,
Described unmanned plane part includes three axles and passes mould from steady head 2, photographic head 1, unmanned plane figure transmission module 3, unmanned plane number
Block 8, mechanical arm 11, airborne computer 9；Described earth station part includes virtual reality glasses 5, earth station's digital transmission module 7, ground
Stand figure transmission module 4, robotic arm manipulation module 6, earth station's computer 10；
Described photographic head 1 is fixed on three axles from steady head 2 end, for collection machinery arm 11 movement environment image, and will
Image information is sent to unmanned plane figure transmission module 3；
Described three axles are used for maintaining photographic head 1 sensing stable from steady head 2；
Described unmanned plane figure transmission module 3 receives the image information that photographic head 1 sends, and image information is sent to earth station
Figure transmission module 4；
The video information receiving is sent to earth station's computer 10 by described earth station figure transmission module 4；
Described virtual reality glasses 5 comprise video display unitss and head pose measurement module；
Described head pose measurement module includes accelerometer, gyroscope and magnetometer, for real-time measurement head pose
Information, and head pose information is sent to earth station's computer 10, head pose information transmission is given by earth station's computer 10
Earth station's digital transmission module 7；
Described robotic arm manipulation module 6 sends mechanical arm operational order to earth station's computer 10, earth station's computer 10
It is mechanical arm control instruction that robotic arm manipulation instruction is resolved, and mechanical arm control instruction is sent to earth station's digital transmission module 7；
The head pose receiving information and mechanical arm control instruction are sent to unmanned plane by described earth station digital transmission module 7
Digital transmission module 8；
The head pose receiving information and mechanical arm control instruction are sent to airborne meter by described unmanned plane digital transmission module 8
Calculation machine 9；
The head pose receiving information is resolved and refers to from the cradle head control of steady head 2 for three axles by described airborne computer 9
Order, and cradle head control instruction is sent to three axles from steady head 2, thus changing three axles from the attitude of steady head 2, airborne computer
The mechanical arm receiving control instruction is sent to mechanical arm 11 by 9, changes the attitude of mechanical arm 11；
The video information receiving is sent to video display unitss and is shown in real time by described earth station computer 10.
In the present invention, virtual reality glasses can adopt the product of Oculus company Oculus DK2 model, but is not limited to
This；
In the present invention, earth station's digital transmission module can adopt the XBee Pro digital transmission module of MaxStream company, but does not limit
In this；
In the present invention, earth station's figure transmission module selects the Lightbridge of DJI company, but not limited to this；
In the present invention, robotic arm manipulation module selects the PS2 rocking bar module of Ao Song robot, but not limited to this；
In the present invention, the Precision M7510 of Dell selected by earth station's computer, but not limited to this；
In the present invention, three axles select the Mini 3D holder for aerial photographing of Fei Yu scientific ＆ technical corporation from steady head, but not limited to this；
In the present invention, photographic head selects the GoPro Hero 3+ of GoPro company, but not limited to this；
In the present invention, unmanned plane figure transmission module selects the Lightbridge of DJI company, but not limited to this；
In the present invention, unmanned plane digital transmission module selects the XBee Pro digital transmission module of MaxStream company, but not limited to this；
In the present invention, mechanical arm selects the AS-6DOF mechanical arm of Ao Song robot, but not limited to this；
In the present invention, the NUC of Intel Company selected by airborne computer, but not limited to this；
The work process of the present invention is as follows：
(1), after people puts on virtual reality glasses 5, the head rotation information that virtual reality glasses 5 measure is passed by SDK
Enter earth station's computer 10；
(2) the XY deviation of directivity manipulation amount incoming earth station computer 10 of robotic arm manipulation module 6；
(3) in earth station's computer 10, this head rotation measured value as the setting value of PID controller, by calculating
This setting value and the difference of current head angle, calculate the value of head Spin Control amount by PID controller；
(4) in earth station's computer 10, head Spin Control amount and mechanical arm XY manipulated variable pass through serial ports router
Switched to hexadecimal data stream, add that data head and check bit become packet, be sent to earth station's digital transmission module 7；
(5) earth station's digital transmission module 7 delivers a packet to unmanned plane digital transmission module 8；
(6) airborne computer 9 obtains packet by unmanned plane digital transmission module 8, obtains head Spin Control amount and machinery
Arm XY manipulated variable；
(7) this head Spin Control amount and mechanical arm XY manipulated variable are generated corresponding PWM ripple by airborne computer 9, send
To three axles from steady head 2 and mechanical arm 11；
The steering wheel rotation from motor and mechanical arm 11 on steady head 2 for (8) three axles, reaches the position that operator specifies；
(9) photographic head 1 is rotated from steady head 2 by three axles, and video stream is to unmanned plane figure transmission module 3；
(10) unmanned plane figure transmission module 3 by video stream to earth station's figure transmission module 4, and then be transferred to earth station calculate
Machine 10；
(11) earth station's computer 10 obtains video flowing, plays in the window, by print screen pattern by video input
Virtual reality glasses 5.
Above-mentioned specific embodiments are used for illustrating the present invention, only the preferred embodiments of the present invention, rather than
Limit the invention, in the protection domain of spirit and claims of the present invention, any modification that the present invention is made,
Equivalent, improvement etc., both fall within protection scope of the present invention.
Claims (2)
1. a kind of unmanned plane mechanical arm aerial work system by virtual reality it is characterised in that it by unmanned plane part and
Earth station's part forms；Wherein,
Described unmanned plane part includes three axles from steady head, photographic head, unmanned plane figure transmission module, unmanned plane digital transmission module, machinery
Arm, airborne computer；Described earth station part includes virtual reality glasses, earth station's digital transmission module, earth station's figure transmission module, machine
Tool arm operation module, earth station's computer.
Described photographic head is fixed on three axles from steady head end, for collection machinery arm movement environment image, and by image information
It is sent to unmanned plane figure transmission module；
Described three axles are used for maintaining photographic head sensing stable from steady head；
Described unmanned plane figure transmission module receives the image information that photographic head sends, and image information is sent to earth station's figure biography mould
Block；
The video information receiving is sent to earth station's computer by described earth station figure transmission module；
Described virtual reality glasses comprise video display unitss and head pose measurement module；
Described head pose measurement module includes accelerometer, gyroscope and magnetometer, for real-time measurement head attitude information,
And head pose information is sent to earth station's computer, head pose information transmission is passed by earth station's computer to earth station's number
Module；
Described robotic arm manipulation module sends mechanical arm operational order to earth station's computer, and mechanical arm is grasped by earth station's computer
Make instruction to resolve is mechanical arm control instruction, and mechanical arm control instruction is sent to earth station's digital transmission module；
The head pose receiving information and mechanical arm control instruction are sent to unmanned plane number and pass by described earth station digital transmission module
Module；
The head pose receiving information and mechanical arm control instruction are sent to airborne computer by described unmanned plane digital transmission module；
The head pose receiving information is resolved the cradle head control instruction from steady head for three axles by described airborne computer, and will
Cradle head control instruction is sent to three axles from steady head, thus changing three axles from the attitude of steady head, airborne computer will receive
Mechanical arm control instruction be sent to mechanical arm, change the attitude of mechanical arm；
The video information receiving is sent to video display unitss and is shown in real time by described earth station computer.
2. utilize the control method of the unmanned plane mechanical arm aerial work system by virtual reality described in claim 1, its
It is characterised by, comprise the steps：
(1), after people puts on virtual reality glasses, the head rotation information that virtual reality glasses measure passes through the incoming ground of SDK
Stand computer；
(2) the XY deviation of directivity manipulation amount incoming earth station computer of robotic arm manipulation module；
(3) in earth station's computer, this head rotation measured value as the setting value of PID controller, by calculating this setting
Value and the difference of current head angle, calculate the value of head Spin Control amount by PID controller；
(4) in earth station's computer, head Spin Control amount and mechanical arm XY manipulated variable pass through serial ports router by its turn
For hexadecimal data stream, add that data head and check bit become packet, be sent to earth station's digital transmission module；
(5) earth station's digital transmission module delivers a packet to unmanned plane digital transmission module；
(6) airborne computer obtains packet by unmanned plane digital transmission module, obtains head Spin Control amount and mechanical arm XY behaviour
Vertical amount；
(7) this head Spin Control amount and mechanical arm XY manipulated variable are generated corresponding PWM ripple by airborne computer, are sent to three axles
From steady head and mechanical arm；
The steering wheel rotation from motor and mechanical arm on steady head for (8) three axles, reaches the position that operator specifies；
(9) photographic head is rotated from steady head by three axles, and video stream is to unmanned plane figure transmission module；
(10) unmanned plane figure transmission module, by video stream to earth station's figure transmission module, and then is transferred to earth station's computer；
(11) earth station's computer obtains video flowing, plays in the window, will be virtual for video input existing by print screen pattern
Real glasses.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610929553.4A CN106444810A (en) | 2016-10-31 | 2016-10-31 | Unmanned plane mechanical arm aerial operation system with help of virtual reality, and control method for unmanned plane mechanical arm aerial operation system |
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|---|---|---|---|
| CN201610929553.4A CN106444810A (en) | 2016-10-31 | 2016-10-31 | Unmanned plane mechanical arm aerial operation system with help of virtual reality, and control method for unmanned plane mechanical arm aerial operation system |
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Family
ID=58177307
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| CN201610929553.4A Pending CN106444810A (en) | 2016-10-31 | 2016-10-31 | Unmanned plane mechanical arm aerial operation system with help of virtual reality, and control method for unmanned plane mechanical arm aerial operation system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329487A (en) * | 2017-08-31 | 2017-11-07 | 西南交通大学 | A kind of unmanned plane and robot link job platform in the air |
| CN107943068A (en) * | 2017-10-24 | 2018-04-20 | 浙江大学 | A kind of unmanned plane vision by Pisces eye is autologous to perceive group system and its control method |
| CN108279562A (en) * | 2018-01-08 | 2018-07-13 | 南京信息工程大学 | A kind of flight mechanical arm based on sliding formwork PID control |
| CN108510833A (en) * | 2018-05-31 | 2018-09-07 | 中国人民解放军第四军医大学 | The training device and raising night that fly under simulation night vision goggles make the method for instruction ability |
| CN108629842A (en) * | 2017-03-16 | 2018-10-09 | 亮风台（上海）信息科技有限公司 | A kind of unmanned equipment moving information provides and motion control method and equipment |
| CN109164829A (en) * | 2018-10-23 | 2019-01-08 | 哈尔滨工业大学（深圳） | A kind of flight mechanical arm system and control method based on device for force feedback and VR perception |
| WO2019095210A1 (en) * | 2017-11-16 | 2019-05-23 | 深圳市大疆创新科技有限公司 | Smart glasses, method for controlling gimbal by means of same, gimbal, control method and unmanned aerial vehicle |
| CN110234003A (en) * | 2019-06-24 | 2019-09-13 | 北京润科通用技术有限公司 | A kind of method, apparatus, terminal and system emulating unmanned plane during flying |
| CN110401799A (en) * | 2019-08-02 | 2019-11-01 | 睿魔智能科技（深圳）有限公司 | A kind of auto-tracking shooting method and system |
| WO2021022579A1 (en) * | 2019-08-02 | 2021-02-11 | 睿魔智能科技（深圳）有限公司 | Automatic surround photographing method and system for target |
| CN115357053A (en) * | 2022-10-19 | 2022-11-18 | 北京亮亮视野科技有限公司 | Unmanned aerial vehicle control system and method based on AR glasses |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108629842A (en) * | 2017-03-16 | 2018-10-09 | 亮风台（上海）信息科技有限公司 | A kind of unmanned equipment moving information provides and motion control method and equipment |
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| CN107329487A (en) * | 2017-08-31 | 2017-11-07 | 西南交通大学 | A kind of unmanned plane and robot link job platform in the air |
| CN107943068A (en) * | 2017-10-24 | 2018-04-20 | 浙江大学 | A kind of unmanned plane vision by Pisces eye is autologous to perceive group system and its control method |
| WO2019095210A1 (en) * | 2017-11-16 | 2019-05-23 | 深圳市大疆创新科技有限公司 | Smart glasses, method for controlling gimbal by means of same, gimbal, control method and unmanned aerial vehicle |
| CN108279562A (en) * | 2018-01-08 | 2018-07-13 | 南京信息工程大学 | A kind of flight mechanical arm based on sliding formwork PID control |
| CN108510833A (en) * | 2018-05-31 | 2018-09-07 | 中国人民解放军第四军医大学 | The training device and raising night that fly under simulation night vision goggles make the method for instruction ability |
| CN109164829A (en) * | 2018-10-23 | 2019-01-08 | 哈尔滨工业大学（深圳） | A kind of flight mechanical arm system and control method based on device for force feedback and VR perception |
| CN110234003A (en) * | 2019-06-24 | 2019-09-13 | 北京润科通用技术有限公司 | A kind of method, apparatus, terminal and system emulating unmanned plane during flying |
| CN110401799A (en) * | 2019-08-02 | 2019-11-01 | 睿魔智能科技（深圳）有限公司 | A kind of auto-tracking shooting method and system |
| CN110401799B (en) * | 2019-08-02 | 2020-12-15 | 睿魔智能科技（深圳）有限公司 | Automatic tracking shooting method and system |
| WO2021022579A1 (en) * | 2019-08-02 | 2021-02-11 | 睿魔智能科技（深圳）有限公司 | Automatic surround photographing method and system for target |
| WO2021022580A1 (en) * | 2019-08-02 | 2021-02-11 | 睿魔智能科技（深圳）有限公司 | Method and system for automatic tracking and photographing |
| CN115357053A (en) * | 2022-10-19 | 2022-11-18 | 北京亮亮视野科技有限公司 | Unmanned aerial vehicle control system and method based on AR glasses |
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