CN107515622A - A kind of rotor wing unmanned aerial vehicle autonomous control method of drop in mobile target - Google Patents
A kind of rotor wing unmanned aerial vehicle autonomous control method of drop in mobile target Download PDFInfo
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- CN107515622A CN107515622A CN201710621463.3A CN201710621463A CN107515622A CN 107515622 A CN107515622 A CN 107515622A CN 201710621463 A CN201710621463 A CN 201710621463A CN 107515622 A CN107515622 A CN 107515622A
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- unmanned aerial
- aerial vehicle
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- 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
- G05D1/12—Target-seeking control
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- 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
-
- 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
Abstract
The invention discloses a kind of rotor wing unmanned aerial vehicle of view-based access control model in mobile target autonomous the control method of drop, the rotor wing unmanned aerial vehicle of the view-based access control model includes flight controller, ultrasonic distance measuring module and vision guided navigation module, during work, the real-time flying height and the positional information of object particle that flight controller combination ultrasonic distance measuring module and vision guided navigation module provide resolve the practical relative error distance and tracking angular error between rotor wing unmanned aerial vehicle and object particle, flight controller inputs this angular error as PID, the falling head of rotor wing unmanned aerial vehicle is calculated by pid algorithm and controls rotor wing unmanned aerial vehicle to be declined, until successfully landing, so as to complete rotor wing unmanned aerial vehicle autonomous task of drop in mobile target.
Description
Technical field
The present invention relates to rotor wing unmanned aerial vehicle it is autonomous drop technology neighborhood, particularly a kind of rotor wing unmanned aerial vehicle of view-based access control model exist
Autonomous the control method of drop in mobile target.
Background technology
In recent years, rotor wing unmanned aerial vehicle by its stabilized flight that can hover, can VTOL the advantages that, it is civilian, rescue very
Highly important role is all play into Military Application, as traffic department using rotor wing unmanned aerial vehicle checks road conditions, hidden in real time
Capture the motoring offence on highway in ground；Power large-scale electric generating station carries out inspection using rotor wing unmanned aerial vehicle to solar energy electroplax；
Express company sends parcel with charge free using rotor wing unmanned aerial vehicle；Recovery force is using rotor wing unmanned aerial vehicle detecting disaster-stricken situation and in time to disaster-stricken
The masses deliver the necessary goods and materials such as food and medicine.However, performing increasingly complex task to rotor wing unmanned aerial vehicle, that is, require rotor
Unmanned plane can have longer flight time and bigger flight range, this just cruising time to on-board batteries and service life
Propose a higher requirement.Fuselage weight is also increased while increasing battery capacity, extends cruising time effect and fails to understand
It is aobvious.Realize that the rotor wing unmanned aerial vehicle can that cooperated with ground mobile vehicle vacant lot effectively alleviates this problem, so-called vacant lot association
Make to require that rotor wing unmanned aerial vehicle can realize autonomous landing in mobile vehicle, both, which cooperate with, completes a series of complex task.
Mostly by the way of drop is pinpointed, this drop mode and just defines rotor wing unmanned aerial vehicle rotor wing unmanned aerial vehicle at this stage
It can only be landed in fixed target.For autonomous the drop in mobile target, the mode being easily achieved in engineering is
Using stepped drop mode, i.e., when meeting the condition of landing, rotor wing unmanned aerial vehicle enters landing mode, reduces certain height
After degree, enter tracing mode again, both of which is alternately performed, finally, rotor wing unmanned aerial vehicle drop track into a ladder.Obviously,
This drop mode is not a continuous process, also, when rotor wing unmanned aerial vehicle drops to certain altitude, will be by ground
The influence of effect, and this influence can increase with the reduction of flying height, this stability flown to tracking, drop
Accuracy can all affect.
Therefore, realize rotor wing unmanned aerial vehicle continuously and stably autonomous the drop technology in mobile target be there is an urgent need to.
The content of the invention
The defects of technical problems to be solved by the invention are involved in background technology, there is provided be easy in a kind of engineering
The rotor wing unmanned aerial vehicle of the view-based access control model of realization autonomous method of drop in mobile target, can not be for solving rotor wing unmanned aerial vehicle
Stablize the engineering problem of drop in the mobile target of Unknown Motion state.
The present invention uses following technical scheme to solve above-mentioned technical problem：
The present invention uses a kind of rotor of the view-based access control model proposed in disclosed patent (Publication No. CN106774436A)
Unmanned plane tenacious tracking moves the control system of target, completes the tenacious tracking to mobile target before autonomous drop, and incite somebody to action this
The method that invention proposes is used in the system architecture that above-mentioned patent proposes, realizes rotor wing unmanned aerial vehicle autonomous drop in mobile target
Task.
The invention discloses a kind of rotor wing unmanned aerial vehicle of view-based access control model in mobile target autonomous the control method of drop, institute
Stating the rotor wing unmanned aerial vehicle of view-based access control model includes flight controller, ultrasonic distance measuring module and vision guided navigation module, and the vision is led
Model plane block includes image processor, camera module and the brushless head of two axles being fixed on immediately below rotor wing unmanned aerial vehicle, described to take the photograph
As head module and ultrasonic distance measuring module are both secured on the brushless head of two axles, and keep the camera lens and ultrasonic wave of camera module
Range finder module is and plane-parallel；Wherein, the brushless head of two axles is used for the camera lens that camera module is kept after upper electricity
With ultrasonic distance measuring module all the time vertically downward；The ultrasonic distance measuring module is used in real time fly the rotor wing unmanned aerial vehicle of acquisition
Row height is exported to flight controller；The camera module is used to shoot the image below rotor wing unmanned aerial vehicle, and image is defeated
Go out to image processor；Described image processor is used to the image captured by camera module is analyzed and processed to obtain target
The positional information of material point, and the positional information of object particle is exported to flight controller；The flight controller is used for
According to the positional information of the object particle received and real-time flying height, rotor wing unmanned aerial vehicle and object particle are calculated
Between practical relative error distance, and according to obtain practical relative error distance controlling rotor wing unmanned aerial vehicle tracking flight and
On object drop；
Rotor wing unmanned aerial vehicle control method of autonomous drop in mobile target comprises the following steps：
Step 1), control rotor wing unmanned aerial vehicle are maintained at preset height before drop is started and the vision of mobile target are tracked；
Whether step 2), flight controller judge the image space of continuous 20 frame movement target all in imaging plane
The heart, if the image space of continuous 20 frame movement target performs step 3) at the center of imaging plane；Otherwise step is jumped to
1)；
Step 3), entering drop pattern, rotor wing unmanned aerial vehicle keeps default first distance threshold of preset height flight forward,
Default first distance threshold is less than or equal to htan50 °, and wherein h is the real-time flying height of rotor wing unmanned aerial vehicle, and 50 ° are rotation
Fly the half of the camera module angle of visual field on direction before wing unmanned plane, the distance ensure that target signature mark is still located at camera
Module is within sweep of the eye；
Step 4), keep the position of rotor wing unmanned aerial vehicle and highly constant, rotor wing unmanned aerial vehicle and shifting of the calculating positioned at the position
The actual relative error distance X of moving-target, then in conjunction with flying height h now, according to formulaCalculate
To desired tracking angle, θ0Value；
Step 5), flight controller control rotor wing unmanned aerial vehicle begins to decline height, in combination with real-time reality with respect to position
Error distance and flying height are put, and according to formulaCalculate actual tracking angle, θ；
Step 6), calculate the line between the image space of object particle, imaging plane center and cross in imaging plane
The heart and the angle β for being perpendicularly oriented to imaging plane lower edge ray；
Step 7), by β and angle threshold β set in advance0It is compared；
Step 7.1), if β is more than β0, move target and change the direction of motion, flight controller control rotor wing unmanned aerial vehicle carries
Preset height is risen to, redirects and performs step 1)；
Step 7.2), if β is less than or equal to β0, the propulsion of mobile target, θ can increase, with desired tracking angle, θ0
Contrast will have angular error eθ, eθ=θ0- θ, flight controller control input this angular error as PID, pass through PID
Algorithm calculates the falling head of rotor wing unmanned aerial vehicle and controls rotor wing unmanned aerial vehicle to be declined, cause actual tracking angle, θ with
Desired tracking angle, θ0It is identical, until rotor wing unmanned aerial vehicle success is landed in mobile target.
Preferably, described preset height is 2m, and the real-time flying height of rotor wing unmanned aerial vehicle passes through above-mentioned ultrasound
Measured away from module, and be compared to judge whether to be located at preset height with preset height.
Preferably, the angle threshold β0For 15 °.
The present invention compared with prior art, has following technique effect using above technical scheme：
1st, the present invention is using the PID control method being easily achieved in engineering, with reference to optimization drop strategy realize rotor
Unmanned plane autonomous task of drop in the mobile target of Unknown Motion state, so as to which expand rotor wing unmanned aerial vehicle applies model
Enclose.
2nd, drop method proposed by the present invention its process that drop process is a continuous vertical landing, so as to avoid
The influence of the ground effect suffered by drop mode using staged, improves the stability of system.In addition, dropped whole
Cheng Zhong, mobile target are moved towards close to the direction of rotor wing unmanned aerial vehicle all the time, and this just efficiently avoid because under flying height
The situation of drop and target loss.
3rd, a kind of rotor wing unmanned aerial vehicle proposed by the present invention it is autonomous the method for drop, the descent of complexity is converted into tracking
One desired angle, θ0, reduce the amount of calculation of system again while simplifying and dropping process, test result indicates that, with this
Invention propose drop method, drop precision and can be controlled within 5 centimetres.
Brief description of the drawings
Fig. 1 be rotor wing unmanned aerial vehicle it is autonomous drop process schematic；
Fig. 2 is target signature mark；
Fig. 3 is a kind of structural representation for control system embodiment that the present invention uses；
Fig. 4 is object positioning schematic diagram；
Fig. 5 is that practical relative error distance resolves schematic diagram；
Fig. 6 is angle beta schematic diagram.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
The invention discloses a kind of rotor wing unmanned aerial vehicle of view-based access control model in mobile target autonomous the control method of drop, institute
Stating the rotor wing unmanned aerial vehicle of view-based access control model includes flight controller, ultrasonic distance measuring module and vision guided navigation module, and the vision is led
Model plane block includes image processor, camera module and the brushless head of two axles being fixed on immediately below rotor wing unmanned aerial vehicle, described to take the photograph
As head module and ultrasonic distance measuring module are both secured on the brushless head of two axles, and keep the camera lens and ultrasonic wave of camera module
Range finder module is and plane-parallel；Wherein, the brushless head of two axles is used for the camera lens that camera module is kept after upper electricity
With ultrasonic distance measuring module all the time vertically downward；The ultrasonic distance measuring module is used in real time fly the rotor wing unmanned aerial vehicle of acquisition
Row height is exported to flight controller；The camera module is used to shoot the image below rotor wing unmanned aerial vehicle, and image is defeated
Go out to image processor；Described image processor is used to the image captured by camera module is analyzed and processed to obtain target
The positional information of material point, and the positional information of object particle is exported to flight controller；The flight controller is used for
According to the positional information of the object particle received and real-time flying height, rotor wing unmanned aerial vehicle and object particle are calculated
Between practical relative error distance, and according to obtain practical relative error distance controlling rotor wing unmanned aerial vehicle tracking flight and
On object drop；
As shown in figure 1, rotor wing unmanned aerial vehicle control method of autonomous drop in mobile target comprises the following steps：
Step 1), control rotor wing unmanned aerial vehicle are maintained at preset height before drop is started and the vision of mobile target are tracked,
That is the A-B stages in Fig. 1；
Whether step 2), flight controller judge the image space of continuous 20 frame movement target all in imaging plane
The heart, if the image space of continuous 20 frame movement target performs step 3) at the center of imaging plane；Otherwise step is jumped to
1)；
Step 3), enter drop pattern, i.e., the position of B points in Fig. 1, rotor wing unmanned aerial vehicle keeps preset height to fly forward
Default first distance threshold of row, i.e. flown by B points to C points in Fig. 1.Default first distance threshold is less than or equal to
Htan50 °, wherein h is the real-time flying height of rotor wing unmanned aerial vehicle, and 50 ° regard to fly camera module on direction before rotor wing unmanned aerial vehicle
The half of rink corner, the distance ensure that target signature mark is still located at camera module within sweep of the eye；
Step 4), keep the position of rotor wing unmanned aerial vehicle and highly constant, rotor wing unmanned aerial vehicle and shifting of the calculating positioned at the position
The actual relative error distance X of moving-target, then in conjunction with flying height h now, according to formulaCalculate
To desired tracking angle, θ0Value.
Fig. 4 is that object positions schematic diagram.Coordinate system OcXcYcFor image pixel coordinates system, coordinate system Oc′Xc′Yc′For image
Physical coordinates system.The focal length f=3.6mm, h of wherein camera module are that the real-time flight that ultrasonic distance measuring module measures is high
Degree.Conversion relational expression between two image coordinate systems is：
Wherein, (Px,Py) it is coordinate position of the imaging point in image physical coordinates system, (u, v) sits for it in image pixel
Coordinate position in mark system；(u0,v0) it is point Oc′Position coordinates in image pixel coordinates system, its physical significance are to invent
As the optical centre of image, and ku,kvIt is the width of each pixel and the high physical length in size sensor, these parameters are all
It can be obtained by being demarcated to camera module.
It is assumed that imaging point position of the object particle in image pixel coordinates system marked in figure,
Its coordinate position in image physical coordinates system can be obtained using above-mentioned relational expression, this coordinate position is projected respectively
To Oc′Xc′Axle and Oc′Yc′Deviation delta x and Δ y are obtained on axle.
Described actual relative error distance X cans shown in Fig. 5 by being calculated, by deviation delta obtained above
The elevation information h that x combinations camera focal length f and ultrasonic distance measuring module measure, calculated according to similar triangles rule can
Obtain the actual relative error distance X of object particle and rotor wing unmanned aerial vehicle on the preceding winged direction.
After known actual relative error distance X value, with reference to flying height h now, according to formulaDesired tracking angle, θ can be calculated0。
Step 5), flight controller control rotor wing unmanned aerial vehicle begins to decline height, in combination with real-time reality with respect to position
Error distance and flying height are put, and according to formulaCalculate actual tracking angle, θ；
Step 6), as shown in fig. 6, calculating the line and mistake between the image space of object particle, imaging plane center
Imaging plane center and the angle β for being perpendicularly oriented to imaging plane lower edge ray；
Step 7), by β and angle threshold β set in advance0It is compared；
Step 7.1), if β is more than β0, move target and change the direction of motion, flight controller control rotor wing unmanned aerial vehicle carries
Preset height is risen to, redirects and performs step 1)；
Step 7.2), if β is less than or equal to β0, the propulsion of mobile target, θ can increase, with desired tracking angle, θ0
Contrast will have angular error eθ, eθ=θ0- θ, flight controller control input this angular error as PID, pass through PID
Algorithm calculates the falling head of rotor wing unmanned aerial vehicle and controls rotor wing unmanned aerial vehicle to be declined, cause actual tracking angle, θ with
Desired tracking angle, θ0It is identical, until rotor wing unmanned aerial vehicle success is landed in mobile target.
Preferably, described preset height is 2m, and the real-time flying height of rotor wing unmanned aerial vehicle passes through above-mentioned ultrasound
Measured away from module, and be compared to judge whether to be located at preset height with preset height.
Preferably, the angle threshold β0For 15 °.
The present invention uses target signature mark as shown in Figure 2, and the main body of target signature mark is an A4 paper size
Red rectangle, its grow and it is wide be respectively 297 millimeters and 210 millimeters, it is (255,0,0) to be worth corresponding to RGB color, and periphery is 3 lis
The wide dark border of rice.And target signature mark is placed on mobile target.
The present invention moves the control system of target using a kind of rotor wing unmanned aerial vehicle tenacious tracking of view-based access control model as shown in Figure 3
System, with the system can stably to rotor wing unmanned aerial vehicle provide vision guided navigation signal and land instruct, ensured tracking and from
Lead the stability and precision of drop.The system include airborne portion, the first wireless communication module, the second wireless communication module and
Ground test module.The airborne portion includes flight controller, ultrasonic distance measuring module and the vision guided navigation of rotor wing unmanned aerial vehicle
Module, the vision guided navigation module include image processor, camera module and two axles being fixed on immediately below rotor wing unmanned aerial vehicle
Brushless head, the camera module and ultrasonic distance measuring module are both secured on the brushless head of two axles, and keep shooting head mould
The camera lens and ultrasonic distance measuring module of block are and plane-parallel；Wherein,
The brushless head of two axles that the embodiment of the present invention uses is the brushless head of the axles of GoPro two that TAROT companies develop, at it
It double 32 is high speed ARM core processors that reason device, which is, and equipped with three rotor MEMS gyroscopes and three rotor mems accelerometers, control
Precision can reach 0.1 degree, be respectively -135~90 degree of degree in the scope of pitching, the aspect control angle of rolling two, -45 spend~45
Degree.It can be ensured in the flight course of rotor wing unmanned aerial vehicle using this brushless head of two axles, cam lens and ultrasonic ranging mould
Block all the time vertically downward, without being influenceed by UAV Attitude.
The ultrasonic distance measuring module that the embodiment of the present invention uses is a model I2CXL-MaxSonar-EZ4 industry
Level ultrasonic sensor, detection range are 20 centimetres to 765 centimetres, and blind area is 20 centimetres, and resolution ratio is 1 centimetre, total using I2C
Line and flight controller are established and communicates, and exported with low in energy consumption, higher acoustical power, can real-time automatic calibrating and easy to use
The characteristics of.For the real-time flying height of the rotor wing unmanned aerial vehicle of acquisition to be exported to flight controller.
The camera module that the embodiment of the present invention uses is a USB camera, and its maximum pixel is 210W, lens focus
For 3.6 millimeters, it is contemplated that the demand of frame per second, be 30W by its resolution setting, the angle of visual field is about 100 degree, frame per second 100fgs/
640*480, and frame per second does not change with the change of light, and its picture output format given tacit consent to is MJPEG, and what dynamic was caught regards
The storage format of frequency is AVI.The camera that the present embodiment uses sets while has taken into account image definition demand and image procossing
Rate request, it is connected by USB interface with image processor.For shooting the image below rotor wing unmanned aerial vehicle, and by image
Export to image processor.
The image processor that the embodiment of the present invention uses is the industrial control board that model is N29_2L J1900, integrates Intel
The core processors of J1900 tetra-, 8G running memory and 32G solid state hard disc simultaneously provide 4 USB interfaces, be functionally similar to one it is micro-
Type computer, Windows7 systems and Opencv function libraries are pre-installed, stable optical can be carried out to mobile target using VS2010 exploitations
The software platform of tracking.The image captured by camera module is analyzed and processed in real time to obtain object particle information,
Turn TTL modules by USB with the UART interface of flight controller to be connected, object particle information exported to flight controller,
The treated image with object information is exported to airborne figure again simultaneously and passes sending module.
The flight controller that the embodiment of the present invention uses optimizes on the basis of being the Pixhawk of 3DR companies of U.S. production
Pixraptor flight controllers.Using master/association's bi-processor architecture, the built-in axle gyros of InvenSense MPU6000 six accelerate
Spend meter, ST Micro L3GD20H gyroscopes, ST Micro LSM303D magnetometers and MEAS MS5611 barometers.It is carried
Abundant Peripheral Interface is supplied, including 5 tunnel UART interfaces, 1 tunnel I2C interface, 1 road SPI interface and PPM pulse-position modulation signals are defeated
The interface such as enter.Its control to rotor wing unmanned aerial vehicle is divided into two control loops of inside/outside, and inner looping is referred to as stance loop, realization pair
The accurate control of rotor wing unmanned aerial vehicle posture；External loop is referred to as position loop, realizes the accurate control to rotor wing unmanned aerial vehicle position.Fly
Line control unit receives the vision guided navigation signal (i.e. practical relative error distance) of image processor transmission, effect by UART interface
In position loop, using PID control, tenacious tracking of the rotor wing unmanned aerial vehicle to mobile target is realized.
Described the first wireless communication module and the second wireless communication module is that two kinds of airborne portion and earth station part are only
Vertical communication modes.The first described wireless communication module includes airborne digital transmission module and airborne figure passes sending module；Described
Second wireless communication module includes earth station's digital transmission module and earth station's figure transmitting/receiving module.
The airborne digital transmission module that the embodiment of the present invention uses is connected by UART serial ports with flight controller, for that will fly
The flight parameter for the rotor wing unmanned aerial vehicle that controller sends over is exported to ground test module, ground through earth station's digital transmission module and surveyed
Aerial mission to earth station's digital transmission module, the earth station's digital transmission module that die trial block is used to export rotor wing unmanned aerial vehicle planning passes through USB
Interface is connected with ground test module, for the aerial mission that rotor wing unmanned aerial vehicle is planned to be exported to flight through airborne digital transmission module
Controller, with 433MHz frequency communication, effective propagation path is 500 meters for both.
The airborne figure transmission module that the embodiment of the present invention uses is connected by USB interface with image processor, for by image
The treated image with object information of processor is exported to ground test module, ground through earth station's figure transmitting/receiving module
Figure transmitting/receiving module of standing is connected by USB interface with ground test module, the image letter treated for receiving image processor
Breath, both are communicated with 5.8GHz frequency, and its power is 200Mw, and effective propagation path is 800 meters.
Described ground test module, the image information treated for real-time display image processor, is easy to manipulator
Whole tracking flight course is monitored, fortuitous event can be made a response in advance.
The embodiment of the present invention by taking four rotor wing unmanned aerial vehicles as an example, using 4 bright space X4110-KV580 brushless electric machines, 4 it is carefree
40A electricity adjusts 2 pairs of collocation to leap power unit of the serial 1238 carbon fiber spiral oars of Tarot A as four rotor wing unmanned aerial vehicles.In view of
Above-mentioned type selecting, four rotor wing unmanned aerial vehicle offers >=4.0Kg lift can be given.Four rotor wing unmanned aerial vehicles in the present embodiment further provided with
Power module, lithium battery, 24V including one piece of 6000mAh, 25C, 22.2V turn 12V DC Voltage stabilizing module and a UBEC
Voltage reduction module.On the one hand lithium battery is powered directly to the power unit of rotor wing unmanned aerial vehicle, then export 5V by UBEC voltage reduction modules
Voltage is powered to flight controller；On the other hand 12V Voltage stabilizing modules are coordinated to image processor and the brushless head power supply of two axles.Remove
Outside this, airborne portion further provided with a 2.4GHz world fly remote-control receiver, for receive the matched world fly it is distant
The control signal of device is controlled, manipulator can realize the control to rotor wing unmanned aerial vehicle by stirring the rocking bar on remote control, access
Remote control is in the case where the appearance of rotor wing unmanned aerial vehicle autonomous flight is out of control, switchback can manually control, be avoided not immediately
Necessary danger.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein (including skill
Art term and scientific terminology) with the general understanding identical meaning with the those of ordinary skill in art of the present invention.Also
It should be understood that those terms defined in such as general dictionary should be understood that with the context of prior art
The consistent meaning of meaning, and unless defined as here, will not be explained with the implication of idealization or overly formal.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not limited to this hair
It is bright, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., it should be included in the present invention
Protection domain within.
Claims (3)
1. a kind of rotor wing unmanned aerial vehicle of view-based access control model autonomous the control method of drop, rotation of the view-based access control model in mobile target
Wing unmanned plane includes flight controller, ultrasonic distance measuring module and vision guided navigation module, and the vision guided navigation module includes image
Processor, camera module and the brushless head of two axles being fixed on immediately below rotor wing unmanned aerial vehicle, the camera module and ultrasound
Ripple range finder module is both secured on the brushless head of two axles, and keep camera module camera lens and ultrasonic distance measuring module and water
Plane is parallel；Wherein, the brushless head of two axles is used for the camera lens and ultrasonic ranging mould that camera module is kept after upper electricity
Block is all the time vertically downward；The ultrasonic distance measuring module is used to export the real-time flying height of the rotor wing unmanned aerial vehicle of acquisition to winged
Line control unit；The camera module is used to shoot the image below rotor wing unmanned aerial vehicle, and image is exported to image processor；
Believe the position that described image processor is used to be analyzed and processed to obtain to the image captured by camera module object particle
Breath, and the positional information of object particle is exported to flight controller；The flight controller is used for according to the mesh received
The positional information of material point and real-time flying height are marked, is calculated actual relative between rotor wing unmanned aerial vehicle and object particle
Error distance, and according to obtained practical relative error distance controlling rotor wing unmanned aerial vehicle tracking flight and on object
Drop；
Characterized in that, rotor wing unmanned aerial vehicle control method of autonomous drop in mobile target comprises the following steps：
Step 1), control rotor wing unmanned aerial vehicle are maintained at preset height before drop is started and the vision of mobile target are tracked；
Whether step 2), flight controller judge the image space of continuous 20 frame movement target all at the center of imaging plane, such as
The image space of the continuous 20 frame movement target of fruit performs step 3) at the center of imaging plane；Otherwise step 1) is jumped to；
Step 3), enter drop pattern, rotor wing unmanned aerial vehicle keeps default first distance threshold of preset height flight forward, described
Default first distance threshold is less than or equal to h tan50 °, and wherein h is the real-time flying height of rotor wing unmanned aerial vehicle, and 50 ° are rotor
Fly the half of the camera module angle of visual field on direction before unmanned plane, the distance ensure that target signature mark is still located at imaging head mould
Block is within sweep of the eye；
Step 4), keep the position of rotor wing unmanned aerial vehicle and highly constant, rotor wing unmanned aerial vehicle and mobile mesh of the calculating positioned at the position
The actual relative error distance X of target, then in conjunction with flying height h now, according to formulaThe phase is calculated
The tracking angle, θ of prestige0Value；
Step 5), flight controller control rotor wing unmanned aerial vehicle begin to decline height, missed in combination with real-time actual relative position
Gap from flying height, and according to formulaCalculate actual tracking angle, θ；
Step 6), calculate the line between the image space of object particle, imaging plane center and cross imaging plane center and
It is perpendicularly oriented to the angle β of imaging plane lower edge ray；
Step 7), by β and angle threshold β set in advance0It is compared；
Step 7.1), if β is more than β0, the mobile target change direction of motion, flight controller control rotor wing unmanned aerial vehicle is promoted to pre-
If height, redirect and perform step 1)；
Step 7.2), if β is less than or equal to β0, flight controller calculating angular error eθ=θ0After-θ using this angular error as
PID is inputted, the falling head of rotor wing unmanned aerial vehicle is calculated by pid algorithm and controls rotor wing unmanned aerial vehicle to be declined, is real
The tracking angle, θ on border and desired tracking angle, θ0It is identical, until rotor wing unmanned aerial vehicle success is landed in mobile target.
2. the rotor wing unmanned aerial vehicle of view-based access control model according to claim 1 autonomous control method of drop in mobile target,
Characterized in that, described preset height is 2m.
3. the rotor wing unmanned aerial vehicle of view-based access control model according to claim 1 autonomous control method of drop in mobile target,
Characterized in that, the angle threshold β0For 15 °.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN114384932B (en) * | 2021-12-24 | 2023-08-29 | 同济大学 | Unmanned aerial vehicle navigation docking method based on distance measurement |
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