CN108062103A - A kind of flying robot regards the vision feedback control method of object hovering - Google Patents
A kind of flying robot regards the vision feedback control method of object hovering Download PDFInfo
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- CN108062103A CN108062103A CN201610984539.4A CN201610984539A CN108062103A CN 108062103 A CN108062103 A CN 108062103A CN 201610984539 A CN201610984539 A CN 201610984539A CN 108062103 A CN108062103 A CN 108062103A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000000007 visual effect Effects 0.000 claims abstract description 16
- 238000002474 experimental method Methods 0.000 claims abstract description 4
- 238000011160 research Methods 0.000 claims abstract description 4
- 238000010835 comparative analysis Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 4
- 238000007689 inspection Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses the vision feedback control methods that a kind of flying robot regards object hovering, the described method comprises the following steps：The first step establishes Controlling model for flying robot, and designs self-balancing controller；Second step designs Visual servoing control system for flying robot, which adds on flying robot's Self-balance Control System basis after IBVS controllers by improving, improves what is obtained；3rd step builds flying robot Visual servoing control system, and gathers multiple image using flying robot's Airborne camera in an experiment；Image information handles to obtain aircraft by host computer and reaches speed in subsequent time expectation, analyzes and researches to its numerical value.The flying robot of the present invention regards the vision feedback control method of object hovering, build flying robot's control system, flight control system uses double-loop control structure, can keep the stability of flying robot itself posture, the ability that aircraft is made to have locking observation object spot hover.
Description
Technical field
The present invention relates to the vision feedback control methods that a kind of flying robot regards object hovering, belong to vision robotics
Field.
Background technology
Today's society is more and more stronger for the dependence of supply of electric power；Therefore operation power interrupt will for energy producers,
Sellers and consumer cause huge financial loss, so focus is generally focused on how to reduce electric power in the industry at present
Line fault；It is out of order to detect as early as possible and arranges out effective maintenance project, be that it is necessary to power circuit is determined
The inspection of phase；Traditional manpower walking routine inspection mode and helicopter assist inspection, and all there are shortcomings；Manpower walking inspection, it is necessary to
Staff observes power circuit along the line, but from ground observation, can only see the surface of power line, while Manual Visual Inspection
Method for inspecting means it is single, work efficiency is low and with subjectivity；Therefore it is easy to ignore big failure；Helicopter is assisted
Routine inspection mode is currently used method；Although helicopter assists inspection, the work efficiency compared with artificial walking inspection is high, from
The influence of topography, but helicopter assistance line walking wants the expense of both expensive.Overhead transmission line is carried out using flying robot
Inspection has many advantages, such as that routing inspection efficiency is high, at low cost, high safety；When flying robot carries out inspection to transmission line of electricity, mainly
It is that the operation of circuit is judged by the image capture device i.e. circuit image of video camera shooting being mounted on flying robot
State and fault message, but flying robot high-altitude perform patrol task when, it is often necessary to hovering flight above circuit, with
Ensure that the angle of observation circuit is clear, stable, but in practice, since the influence of the factors such as air-flow, interference signal to fly
Row robot can not steadily hovering.
The content of the invention
To solve the above problems, the present invention proposes the vision feedback control method that a kind of flying robot regards object hovering,
Flying robot's control system is built, flight control system uses double-loop control structure, can keep flying robot from figure
The stability of state, the ability for making aircraft that there is locking observation object spot hover.
The flying robot of the present invention regards the vision feedback control method of object hovering, the described method comprises the following steps：
The first step establishes Controlling model for flying robot, and designs self-balancing controller, which is when winged
When row robotary value changes, robot is helped to reform into equilibrium state；
Second step designs Visual servoing control system for flying robot, which controls in flying robot's self-balancing is
It added on system basis after IBVS controllers by improving, improve and obtain；And in MATLAB environment Imitating flying robots
The process of hovering flight above observation object, and comparative analysis is deposited in an interference situation, the estimation of different characteristic Jacobian matrix
It is worth the influence to system performance；
3rd step builds flying robot Visual servoing control system, and uses the airborne camera shooting of flying robot in an experiment
Machine gathers multiple image, as controller input signal；Image information handles to obtain aircraft in subsequent time by host computer
It is expected to reach speed, analyze and research to its numerical value, the results showed that IBVS control algolithms can tentatively meet control task
It needs, and needs to be further improved vision control system from now on, realize the real-time control to flying robot.
Compared with prior art, flying robot of the invention regards the vision feedback control method of object hovering to the present invention,
Using IBVS visual spatial attention strategies, flying robot's control system is built, flight control system uses double-loop control structure：Outside
Ring is visual spatial attention ring, can extract visual signal, is inputted as visual signal error, exports and it is expected to translate speed for flying robot
Degree；Inner ring is self-balancing control ring, can keep the stability of flying robot itself posture, so makes aircraft that there is locking to see
Survey the ability of object spot hover.
Specific embodiment
The flying robot of the present invention regards the vision feedback control method of object hovering, the described method comprises the following steps：
The first step establishes Controlling model for flying robot, and designs self-balancing controller, which is when winged
When row robotary value changes, robot is helped to reform into equilibrium state；
Second step designs Visual servoing control system for flying robot, which controls in flying robot's self-balancing is
It added on system basis after IBVS controllers by improving, improve and obtain；And in MATLAB environment Imitating flying robots
The process of hovering flight above observation object, and comparative analysis is deposited in an interference situation, the estimation of different characteristic Jacobian matrix
It is worth the influence to system performance；
3rd step builds flying robot Visual servoing control system, and uses the airborne camera shooting of flying robot in an experiment
Machine gathers multiple image, as controller input signal；Image information handles to obtain aircraft in subsequent time by host computer
It is expected to reach speed, analyze and research to its numerical value, the results showed that IBVS control algolithms can tentatively meet control task
It needs, and needs to be further improved vision control system from now on, realize the real-time control to flying robot.
The flying robot of the present invention regards the vision feedback control method of object hovering, using IBVS visual spatial attention strategies, structure
Flying robot's control system is built, flight control system uses double-loop control structure：Outer shroud is visual spatial attention ring, can be extracted
Visual signal is inputted as visual signal error, is exported and it is expected translational velocity for flying robot；Inner ring is self-balancing control ring,
The stability of flying robot itself posture can be kept, the ability for so making aircraft that there is locking observation object spot hover.
Above-described embodiment is only the better embodiment of the present invention, therefore all structures described according to present patent application scope
It makes, the equivalent change or modification that feature and principle are done, is included in the range of present patent application.
Claims (1)
1. a kind of flying robot regards the vision feedback control method of object hovering, which is characterized in that the described method includes following steps
Suddenly：
The first step establishes Controlling model for flying robot, and designs self-balancing controller, which is when winged
When row robotary value changes, robot is helped to reform into equilibrium state；
Second step designs Visual servoing control system for flying robot, which controls in flying robot's self-balancing is
It added on system basis after IBVS controllers by improving, improve and obtain；And in MATLAB environment Imitating flying robots
The process of hovering flight above observation object, and comparative analysis is deposited in an interference situation, the estimation of different characteristic Jacobian matrix
It is worth the influence to system performance；
3rd step builds flying robot Visual servoing control system, and uses the airborne camera shooting of flying robot in an experiment
Machine gathers multiple image, as controller input signal；Image information handles to obtain aircraft in subsequent time by host computer
It is expected to reach speed, analyze and research to its numerical value, the results showed that IBVS control algolithms can tentatively meet control task
It needs, and needs to be further improved vision control system from now on, realize the real-time control to flying robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610984539.4A CN108062103A (en) | 2016-11-09 | 2016-11-09 | A kind of flying robot regards the vision feedback control method of object hovering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610984539.4A CN108062103A (en) | 2016-11-09 | 2016-11-09 | A kind of flying robot regards the vision feedback control method of object hovering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108062103A true CN108062103A (en) | 2018-05-22 |
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| CN201610984539.4A Pending CN108062103A (en) | 2016-11-09 | 2016-11-09 | A kind of flying robot regards the vision feedback control method of object hovering |
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| CN (1) | CN108062103A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113189875A (en) * | 2021-04-29 | 2021-07-30 | 湖南大学 | Unmanned aerial vehicle robust landing method on mobile platform based on circular features |
| CN113467503A (en) * | 2021-07-26 | 2021-10-01 | 广东电网有限责任公司 | Stability augmentation control method and device for power transmission line inspection robot |
| CN113485401A (en) * | 2021-07-26 | 2021-10-08 | 广东电网有限责任公司 | Vision feedback-based hovering control method and device for inspection robot |
-
2016
- 2016-11-09 CN CN201610984539.4A patent/CN108062103A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113189875A (en) * | 2021-04-29 | 2021-07-30 | 湖南大学 | Unmanned aerial vehicle robust landing method on mobile platform based on circular features |
| CN113189875B (en) * | 2021-04-29 | 2022-04-22 | 湖南大学 | Unmanned aerial vehicle robust landing method on mobile platform based on circular features |
| CN113467503A (en) * | 2021-07-26 | 2021-10-01 | 广东电网有限责任公司 | Stability augmentation control method and device for power transmission line inspection robot |
| CN113485401A (en) * | 2021-07-26 | 2021-10-08 | 广东电网有限责任公司 | Vision feedback-based hovering control method and device for inspection robot |
| CN113467503B (en) * | 2021-07-26 | 2024-04-30 | 广东电网有限责任公司 | Stability enhancement control method and device for power transmission line inspection robot |
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Legal Events
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Application publication date: 20180522 |