CN109521785A - It is a kind of to clap Smart Rotor aerocraft system with oneself - Google Patents
It is a kind of to clap Smart Rotor aerocraft system with oneself Download PDFInfo
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Abstract
Smart Rotor aerocraft system is clapped with oneself the present invention relates to a kind of, design is improved based on quadrotor structure, using simultaneously reasonable distribution main control module double-core, introduce motion-control module PL, and image recognition technology, using the Face detection information in image recognition as foundation, motion-control module PL is transferred to obtain corresponding tracing control instruction, main control module demodulation is transferred to obtain PPM control signal again, most the PWM generator of four rotor motors is controlled respectively through motion-control module PL afterwards, corresponding rotor motor is directed to PWM waveform control instruction to be controlled, realize flight control, whole process can not only realize stable flight, and it is based on image recognition result, the flare maneuver of aircraft can be accurately controlled, precisely realize track up.
Description
Technical field
Smart Rotor aerocraft system is clapped with oneself the present invention relates to a kind of, is belonged to unmanned plane during flying and is taken photo by plane technical field.
Background technique
Quadrotor is the multi-rotor aerocraft driven by the quadruple screw propeller in criss-cross construction.Quadrotor flight
Device uses electronic flight control system, the machine driving and control unit of conventional aircraft complexity has been casted off once and for all, in suitable journey
Flight Vehicle Structure and weight are simplified on degree, also greatly reduce manufacturing cost and assembly difficulty, it is in addition to this, unique
Aerodynamic principle be also allowed to have VTOL ability, and can complete for other aircraft it is extremely difficult even
Impossible mission.Quadrotor body volume, cost, concealment, VTOL, spot hover and
Low-speed operations etc. reflected not disputable advantage, in military field, (military surveillance, answers first aid at border patrol
Help) and civil field (anti-danger the disaster relief, geographical mapping, pipeline inspection, movies-making, resource exploration) all show it is high
Research and application value.
The basic control principle of rotor craft is the inertia measurement by being made of three-axis gyroscope, acceleration transducer
Unit is calculated under the control of embedded controller using inertial guidance theory based on embedded real-time operating system
The flight attitude of aircraft and according to the revolving speed of each rotor of aircraft manufacturing technology, is finally completed the flight control of rotor craft
System.The emergence and development of embedded technology mitigate the difficulty of manual control rotor craft significantly, and power output realizes oneself of aircraft
The other kinds applications such as main flight are laid a good foundation.
In recent years, with the fast development of microelectron-mechanical and embedded system, rotor craft is gradually to micromation, intelligence
Energyization, informationization, visualization direction are developed.For example, since vision system has, precision is high, and low in cost, acquisition information is rich
The advantages that rich, and Airborne camera has good anti-interference ability, rotor craft carries vision system and is based on view to realize
Attitude estimation, independent navigation and the target following technology of feel pass through image procossing real-time perception environmental information, estimation flight
Relative pose under state, the data such as angular speed, and then required flight parameter is provided to vehicle flight control system, it realizes
Avoidance maneuvering flight, independent navigation, Ground Target Tracking, while being made after position and attitude transducer failure can also be made up
At micro air vehicle it is unbalance or can not flight the defects of.The research and application of vision pose estimation are still in starting and beforehand research rank
Section, has wide research and development space, is the important research direction of the following Smart Rotor aircraft.
2010, French Parrot company promoted first in International CES and can have been controlled by mobile terminal
Quadrotor AR.Drone.The flight control system of the aircraft uses 3-axis acceleration sensor, three axis accelerometer
Instrument, three axis magnetoresistive sensors and baroceptor etc., are controlled by built-in Linux operating system, can be included by group iPhone,
The smart machine of the operation iOS operating system such as iPad, iPod, iTouch and the intelligence of other operation Android operation systems are set
Standby control, supports a variety of connection types such as bluetooth and Wi-Fi.AR.Drone is built-in respectively in front of fuselage and below fuselage
Two pieces of cameras, highest can record the up to video of 480P, and video pictures are understood in synchronous driving to mobile phone or tablet computer.By
It is highly stable in the flight of the use of embedded software/hardware, AR.Drone, it controls flying without excessive manual intervention,
Only need to tilt or touch the smart machines such as mobile phone or tablet computer can be realized control, even if control connection disconnects suddenly, this flies
Row device can also enter automatic state of flight, and discretionary security landing is realized under the premise of guaranteeing flight stability.
In TED speech in 2012, the team of vijay doctor kumar and Ta illustrate them in Pennsylvania to the world
The quadrotor that does of laboratory.Their aircraft realizes multinomial invention: based on the auto-flare system of dimension transformation with
And avoidance flight, it is completed based on the reconstruct of the aircraft three-dimensional environment of optical alignment and computer vision and multi-aircraft cooperation
Aircraft formation, autonomous building build, instrument playing, and technical difficulty is to need to construct using extremely light carbon fibre material
Rack, extremely quick, smoothly basic flight control, accurate 3D positioning, and wireless telecommunications in real time and information sharing,
The utilization of certain more too busy to get away vision technique based on image procossing.
2013, Amazon CEO John Duo Nuohuo described the said firm in CBS TV station " 60 minutes " program
Rotor craft intelligence Courier Service passes through selection " Prime Air " service of delivering goods, Amazon after consumer places an order when online shopping
The Smart Rotor aircraft of logistics center, which voluntarily takes off, is sent to destination for express delivery.8 rotor crafts " eight pawl helicopters " can be taken
It with 5 pounds of package, is positioned by GPS navigation, the region that logistics center has an area of 16 kilometers can be covered, intelligent express delivery will
Lead the new change of express delivery industry.
Summary of the invention
Technical problem to be solved by the invention is to provide one kind to improve design, energy based on existing quadrotor drone
Stabilized flight is enough provided, and can realize the carry-on bat Smart Rotor aircraft system of efficient track up by image recognition
System.
In order to solve the above-mentioned technical problem the present invention uses following technical scheme: the present invention devises a kind of bat intelligence with oneself
Rotor craft system is based on quadrotor, realizes the track up of face, including be set to carry-on movement
Control module PL, main control module, remote control decoding device, inertial navigation sensor, image capture apparatus, wireless routing module,
And correspond respectively to the electricity tune of four rotor motors；
Wherein, main control module is dual core processor, and one of processor in main control module is for loading application
Image procossing control is controlled with wireless data transmission, and the image procossing in the processor, which is controlled, docks image capture through USB interface
Device, real-time image acquisition, and the control of face recognition and tracking is executed to acquired image, obtains face tracking information, Yi Jijing
Default bus sends face tracking information to motion-control module PL；Wireless data transmission control in the processor is based on pre-
If communication pattern docks wireless routing module through network interface card, and by wireless routing module realize in the processor system information with
The communication of external device；
Motion-control module PL is inputted and is connect for loading application tracking directive generation module, PPM signal demodulation module, bus
Mouth and the PWM generator for respectively corresponding four rotor motors；Trace command generation module in motion-control module PL is used
It is instructed in generating tracing control according to face tracking information, and through default another processor of bus into main control module
It is sent；PPM signal demodulation module in motion-control module PL is decoded and is converted through remote control decoding device for receiving
PPM afterwards controls signal, and demodulates to received PPM control signal, and acquisition, which respectively corresponds, presets each flight control channel
PPM control signal, then sent through default another processor of bus into main control module；Motion-control module
Bus input interface in PL is used to receive the detection data of inertial navigation sensor, and through default bus into main control module
Another processor sent；
Another processor in main control module applies flight control system for loading, flight control system according to
Track control instruction respectively corresponds the PPM control signal for presetting each flight control channel and from inertial navigation sensor
Detection data, acquisition respectively corresponds the motor control signal for presetting each flight control channel, and is sent to movement through default bus
In the PWM generator for respectively corresponding four rotor motors in control module PL；Four rotations are respectively corresponded in motion-control module PL
The PWM generator of wing motor, the corresponding PWM wave of motor control signal generation for presetting each flight control channel according to correspondence respectively
Shape control instruction, and the electricity for being respectively sent to respectively correspond four rotor motors is adjusted, and then is adjusted by four electricity respectively according to institute
PWM waveform control instruction is received, is controlled for corresponding rotor motor, realizes flight control.
As a preferred technical solution of the present invention: the flight control system of another processor of main control module
In, according to the model selection of track up, tracing control is instructed and is respectively corresponded the PPM for presetting each flight control channel
Signal is controlled, is sent in the command signal generation module for respectively corresponding each flight control channel control, generation respectively corresponds each
The design of flight control channel control controls signal；
Meanwhile according to the detection data from inertial navigation sensor, aircraft three-dimensional position correction and yaw angle are carried out
It calculates；And attitude of flight vehicle resolving is carried out according to aircraft three-dimensional position correction, and calculate according to yaw angle, it respectively obtains
The state of the corresponding flight control channel of aircraft；
Accordingly being flown according to the design control signal and aircraft that respectively correspond each flight control channel control, it is logical to control
The state in road obtains motor control signal using PID control, and acquisition respectively corresponds the motor control for presetting each flight control channel
Signal processed.
As a preferred technical solution of the present invention: described to carry out attitude of flight vehicle according to aircraft three-dimensional position correction
In resolving, Kalman filtering is carried out first against aircraft three-dimensional position correction data, is then carried out for filter result data
Quaternary number attitude algorithm second order finish block-regulations handled, realize attitude of flight vehicle resolve, obtain aircraft accordingly fly control lead to
The state in road.
As a preferred technical solution of the present invention: it is described preset each flight control channel include Throttle Opening Control channel,
Control of sideward roll channel, pitch control channel, yaw control channel；It is described that aircraft is carried out according to aircraft three-dimensional position correction
Attitude algorithm obtains the state that aircraft corresponds to control of sideward roll channel, pitch control channel, and is calculated according to yaw angle, obtains
The state of yaw control channel is corresponded to aircraft.
As a preferred technical solution of the present invention: the inertial navigation sensor includes inertial navigation sensor and magnetic force
It counts, the bus input interface in the motion-control module PL is two, and each bus input interface is corresponded respectively, connect
The detection data of inertial navigation sensor and magnetometer is received, and another processor through default bus into main control module carries out
It sends, another processor in main control module carries out aircraft three-dimensional position according to the detection data from inertial navigation sensor
Calibration is set, and according to the detection data from magnetometer, carries out yaw angle calculating.
As a preferred technical solution of the present invention: the inertial navigation sensor is MPU6050, and the magnetic force is calculated as
HMC5883L。
As a preferred technical solution of the present invention: the image procossing control in the main control module is for acquired
Image carries out the extraction of face coordinate position using opencv, and using Camshift algorithm by repeatedly average drifting being called to calculate
Method executes the control of face recognition and tracking.
As a preferred technical solution of the present invention: communicating institute between the main control module and motion-control module PL
The bus of process is AXI bus.
As a preferred technical solution of the present invention: the wireless data in the one of processor of main control module
Transmission control docks wireless routing module based on Socket communication pattern, through network interface card.
As a preferred technical solution of the present invention: the remote control decoding device, respectively corresponds inertial navigation sensor
It adjusts in the electricity of four rotor motors, is communicated respectively through PMOD interface and the motion-control module PL.
One kind of the present invention claps Smart Rotor aerocraft system compared with the prior art by using the above technical solution with oneself,
It has following technical effect that
One kind designed by the present invention claps with oneself Smart Rotor aerocraft system, is improved based on quadrotor structure
Design introduces motion-control module PL and image recognition technology, using simultaneously reasonable distribution main control module double-core with image
Face detection information in identification is foundation, transfers to motion-control module PL to obtain corresponding tracing control instruction, then transfer to lead
Control module demodulation obtains PPM and controls signal, and most the PWM of four rotor motors occurs respectively through motion-control module PL afterwards
Device is controlled, and is directed to corresponding rotor motor with PWM waveform control instruction and is controlled, realizes flight control, whole process is not
It only can be realized stable flight, and be based on image recognition result, the flare maneuver of aircraft can be accurately controlled, precisely
Realize track up.
Detailed description of the invention
Fig. 1 is that one kind designed by the present invention claps with oneself aircraft section signal processing stream in Smart Rotor aerocraft system
Journey；
Fig. 2 is that one kind designed by the present invention claps with oneself winged control program main-process stream in Smart Rotor aerocraft system.
Specific embodiment
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawings of the specification.
The present invention devises a kind of bat Smart Rotor aerocraft system with oneself, is based on quadrotor, realizes face
Track up, including it is set to carry-on motion-control module PL, main control module, remote control decoding device, inertial navigation
Sensor, image capture apparatus, wireless routing module and the electricity tune for corresponding respectively to four rotor motors.
Wherein, as shown in Figure 1, main control module is dual core processor, in specific practical application, Cortex- can be applied
A9 double-core arm processor, one of processor in main control module is for loading application image processing control and no line number
It being controlled according to transmission, the image procossing control in the processor docks image capture apparatus, real-time image acquisition through USB interface, and
The control of face recognition and tracking is executed to acquired image, obtains face tracking information, and is preset bus to motion control mould
Block PL sends face tracking information；In practical application, the image procossing control in main control module is directed to acquired image, answers
Face coordinate position extraction is carried out with opencv, and is executed using Camshift algorithm by repeatedly calling mean shift algorithm
Recognition of face tracing control；And the wireless data transmission control in the processor docks nothing based on default communication pattern, through network interface card
Line routing module, and realize by wireless routing module the communication of system information and external device in the processor.
Motion-control module PL is inputted and is connect for loading application tracking directive generation module, PPM signal demodulation module, bus
Mouth and the PWM generator for respectively corresponding four rotor motors；Trace command generation module in motion-control module PL is used
It is instructed in generating tracing control according to face tracking information, and through default another processor of bus into main control module
It is sent；PPM signal demodulation module in motion-control module PL is decoded and is converted through remote control decoding device for receiving
PPM afterwards controls signal, and demodulates to received PPM control signal, and acquisition, which respectively corresponds, presets each flight control channel
PPM control signal, then sent through default another processor of bus into main control module；Motion-control module
Bus input interface in PL is used to receive the detection data of inertial navigation sensor, and through default bus into main control module
Another processor sent；In practical application, presetting each flight control channel includes Throttle Opening Control channel, roll control
Channel processed, pitch control channel, yaw control channel；Inertial navigation sensor includes inertial navigation sensor and magnetometer, is specifically used to
Derivative sensor is MPU6050, and the magnetic force is calculated as HMC5883L, and the bus input interface in motion-control module PL is two,
Each bus input interface corresponds respectively, receives the detection data of inertial navigation sensor and magnetometer, and through default bus to
Another processor in main control module is sent.
Another processor in main control module applies flight control system for loading, flight control system according to
Track control instruction respectively corresponds the PPM control signal for presetting each flight control channel and from inertial navigation sensor
Detection data, acquisition respectively corresponds the motor control signal for presetting each flight control channel, and is sent to movement through default bus
In the PWM generator for respectively corresponding four rotor motors in control module PL.
Wherein, specifically, in the flight control system of another processor of main control module, according to the mould of track up
Tracing control is instructed and is respectively corresponded the PPM control signal for presetting each flight control channel, is sent to difference by formula selection
In the command signal generation module of corresponding each flight control channel control, generates and respectively correspond setting for each flight control channel control
Meter control signal；Meanwhile according to the detection data from inertial navigation sensor, aircraft three-dimensional position correction and partially is carried out
Boat angle calculates, wherein another processor in main control module carries out winged according to the detection data from inertial navigation sensor
The calibration of row device three-dimensional position, and according to the detection data from magnetometer, carry out yaw angle calculating；And according to aircraft three
It ties up position correction and carries out attitude of flight vehicle resolving, and calculated according to yaw angle, respectively obtain aircraft and accordingly fly to control and lead to
The state in road, wherein carried out in attitude of flight vehicle resolving according to aircraft three-dimensional position correction, first against aircraft three-dimensional
Position correction data carry out Kalman filtering, then for filter result data carry out quaternary number attitude algorithm second order finish block-regulations into
Row processing realizes that attitude of flight vehicle resolves, and the state for obtaining the corresponding flight control channel of aircraft obtains that is, in practical application
Aircraft corresponds to the state in control of sideward roll channel, pitch control channel, and is calculated according to yaw angle, and it is corresponding to obtain aircraft
The state of yaw control channel；It is last that signal, and flight are controlled according to the design for respectively corresponding each flight control channel control
The state of the corresponding flight control channel of device obtains motor control signal using PID control, and acquisition, which respectively corresponds, presets each flight
The motor control signal of control channel.
Quaternary number is the number for four members being made of 1 real number unit and 3 imaginary unit i, j, k, can both regard the four-dimension as
The vector in space, and supercomplex, mathematic(al) representation can be regarded as are as follows:
Q=(q0,q1,q2,q3)=q0+q1i+q2j+q3K=[q0q1q2q3]T
The multiplication rule of quaternary number is that same units vector makees quaternary number multiplication Shi Chengxu unit character, different to make four
First number multiplication is in unit vector multiplication cross characteristic, specific as follows:
Assuming that
Then have
After understanding the relevant rudimentary knowledge of quaternary number, need to complete the analysis of quaternary number attitude algorithm algorithm by modeling.
If carrier coordinate system is b, navigational coordinate system n, rbIt is the vector under carrier coordinate system b, rnIt is rbAt navigational coordinate system n
Vector representation form, yaw angle, pitch angle, roll angle are respectively ψ, θ, γ, are defined by b system to the coordinate conversion matrix of n system
Cb nFor the attitude matrix of carrier, therefore the transformation relation between Two coordinate system are as follows:
Coordinate of the aircraft under carrier coordinate system is [xn yn zn], the coordinate under navigational coordinate system is [xb yb
zb], 3 n dimensional vector ns in navigational coordinate system n and carrier coordinate system b are extended to 4 n dimensional vector ns respectively, may be expressed as:
It can prove that there are quaternary number Q=[q0q1q2q3]T, and standardization meets q0 2+q1 2+q2 2+q3 2=1, there is following formula
Son is set up:
Formula (2.2) is the quaternary number expression-form of vector coordinate transform, the coordinate indicated with direction cosine matrix
Transformation has following corresponding relationship:
The relationship of quaternary number and attitude matrix can be obtained by formula (2.3):
It can be obtained according to the rotational order of coordinate system:
Then from navigational coordinate system n to the relationship of the Quaternion Transformation of carrier coordinate system b and attitude angle are as follows:
It can be in the hope of attitude angle by above formula
The complete card solving method of quaternion differential equation, according to quaternary number property, rotating quaternary number triangle representation is
The derivation of above formula both sides
Solution can obtain formula (2.9), whereinFor the vector of quaternary number form formula, indicate that carrier is rotated relative to navigation coordinate
Projection of the angular speed in carrier coordinate system
Quaternion differential equation is
The solution of quaternion differential equation is similar to the direction cosine matrix differential equation, it is possible to use finishes card approximatioss and solves.
Quaternary number posture can work entirely, unrestricted；The differential equation only has the four-dimension simultaneously, small compared to direction cosines calculation amount；And four
The performance of first number method is better than cosine matrix method.Therefore Quaternion Method is the main method of current attitude algorithm.But with direction more than
String method is the same, and quaternary number can equally generate noncommutativity error during angular velocity takes integral.Therefore as what is the need
Rotation noncommutativity error in division operation, is the critical issue of attitude algorithm.
Since the output of gyroscope is the angle increment in the sampling interval under normal circumstances, to avoid the differential of noise from amplifying,
Quaternary number need to be determined by angle increment, without angle increment should be converted into angular speed, Bi Kafa is to calculate four by angle increment
The algorithms most in use of first number.Assuming that the corresponding sampling time interval of angle increment be it is identical, formula (2.10) is the homogeneous line about Q
Property equation solves as formula (2.11), wherein
Taylor series expansion is made to above formula
In practical settlement process, need to consider to calculate according to the finite term of series expansion, therefore quaternion differential equation
It is as follows that each rank finishes card approximate algorithm.
Single order finishes card algorithm:
Second order finishes card algorithm:
Three ranks finish card algorithm:
……
Due to using state equation, the system for carrying out Kalman filtering must be linear；With Kalman filtering come
Estimate the state of nonlinear system, it is necessary to linearize to system.Kalman filtering uses estimation identical with Wiener filtering
Criterion, the basic principle of the two is identical, but Kalman filtering is a kind of time-domain filtering algorithm.Kalman filtering does not require
Retain used observation data, when measuring new use data, new estimator can be calculated according to recurrence formula, it is not necessary to weight
It is new to calculate, it in addition, the algorithm also breaks the limitation of stationary process, can be used for the filtering to time-varying random signal, assisted minimizing
It is also showed in terms of variance evaluation error outstanding.
Kalman filtering is introduced into the concept of state space in random estimation theory, and signal process is considered as white noise and is made
The output of linear system under describes this input and output relation with state equation, utilizes state side in estimation procedure
The statistical property of journey, observational equation and white noise (system noise and observation noise), according to the state of measured value reconfiguration system to
Amount, with the sequence recursion of " prediction-actual measurement-amendment ", to eliminate random disturbances, the state of playback system, or according to system
The true colours of measured value recovery system from contaminated system.Due to its simple, optimal, traceability and robustness etc.
Advantage, Kalman filter are one of most popular methods of target following and estimation field.
Determined in appearance algorithm based on Kalman filtering, state equation:
The quaternion differential equation of quaternary number changing rule as known to formula (2.10), whereinIt is solid
It is associated in the angular velocity component of the gyroscope measurement on carrier, formula (2.10) are used as state equation, and take Q=[q0q1q2q3]TFor
State vector finishes card approximatioss by second order and carries out discretization to state equation, obtains:
Wherein:
Δθ2=Δ θx 2+Δθy 2+Δθz 2
Observational equation
Assuming that magnetometer is connected on carrier, component of the ground magnetic vector under geographic coordinate system is hn=[hnx hny hnz]T,
Output h under carrier coordinate systemb=[hbx hby hbz]T, it is known that the relationship of two components isDue to state vector
It is Qk, need byTransformation are as follows:
Zk=hb=HkQk(formula 2.17)
Above formula is observational equation, and equation feature is in H (k) matrix comprising state variable Q (k), in which:
Attitude algorithm algorithm based on discrete Extended Kalman filter
Attitude algorithm algorithm principle block diagram based on discrete Extended Kalman filter as shown, the figure illustrates system from
The attitude algorithm overall process that signal acquisition is exported to posture, working centre are Extended Kalman filter, and algorithm is only by two kinds
On the spot information source calculates the optimal estimation of quaternary number, and is modified to quaternary number, finally calculates attitude angle by quaternary number.
Known discrete control process system is the linear random differential equation, since actual scene is all noise-containing, then discrete control
The state equation and observational equation of procedures system are described as follows:
In formula, QkIt is the system mode at k moment, UkIt is the control amount at k moment,And BkIt is sytem matrix, ZkIt is the k moment
Observation, HkIt is observation system matrix, w and v respectively indicate process and observation noise, and variance respectively corresponds δ and R.
State equation and observational equation are discrete equation, right using discrete expanded Kalman filtration algorithm fundamental formular
Time and observation information are updated, and algorithm steps are as follows:
Step 1 initializes state vector and variance, given initial value
Step 2 calculates a step state variable estimate
Step 3 calculates a step Qk|k-1Error covariance Pk|k-1
Step 4 calculates kalman gain
Step 5 updates estimated value by observational variable
The normalization of step 6 quaternary number
Step 7 updates error covariance
Step 8 enables k=k+1, repeats the above steps.
By above step, the discrete complete pair state Q of expanded Kalman filtration algorithmkPrediction.The algorithm makes full use of
The angle rate signal of gyro output and the Geomagnetism Information of magnetometer output, the information suitably having it both ways are obtained to state Qk
Optimal estimation, and more new estimation is calculated by preceding primary estimation and new input data to state each time, therefore only
Last estimation need to be stored, real-time processing can be realized.
The PWM generator of four rotor motors is respectively corresponded in motion-control module PL, according to corresponding presets each fly respectively
The motor control signal of row control channel generates corresponding PWM waveform control instruction, and is respectively sent to respectively correspond four rotors
The electricity of motor is adjusted, and then is adjusted respectively by four electricity according to received PWM waveform control instruction, for corresponding rotor motor into
Flight control is realized in row control.
Will it is above-mentioned it is designed clap Smart Rotor aerocraft system with oneself, in terms of the specific application communication on, master control molding
It is AXI bus that passed through bus is communicated between block and motion-control module PL, and in the one of processor of main control module
Wireless data transmission control based on Socket communication pattern, through network interface card dock wireless routing module；Moreover, it also designs
Remote control decoding device, inertial navigation sensor, the electricity tune for corresponding respectively to four rotor motors, pass through respectively in technical solution
PMOD interface is communicated with the motion-control module PL.When whole system practical application, clapped by realizing to track as shown in Figure 2
It takes the photograph.
Smart Rotor aerocraft system is clapped designed by above-mentioned technical proposal with oneself, is changed based on quadrotor structure
Motion-control module PL and image recognition technology are introduced, to scheme using simultaneously reasonable distribution main control module double-core into design
Face detection information in picture identification is foundation, transfers to motion-control module PL to obtain corresponding tracing control instruction, then transfer to
Main control module demodulation obtains PPM and controls signal, most sends out respectively the PWM of four rotor motors through motion-control module PL afterwards
Raw device is controlled, and is directed to corresponding rotor motor with PWM waveform control instruction and is controlled, realizes flight control, whole process
It can not only realize stable flight, and be based on image recognition result, the flare maneuver of aircraft can be accurately controlled, essence
Standard realizes track up.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode within the knowledge of a person skilled in the art can also be without departing from the purpose of the present invention
It makes a variety of changes.
Claims (10)
1. a kind of clap with oneself Smart Rotor aerocraft system, it is based on quadrotor, realizes the track up of face, feature
It is: including being set to carry-on motion-control module PL, main control module, remote control decoding device, inertial navigation sensing
Device, image capture apparatus, wireless routing module and the electricity tune for corresponding respectively to four rotor motors；
Wherein, main control module is dual core processor, and one of processor in main control module is for loading application image
Processing control is controlled with wireless data transmission, the image procossing control in the processor through USB interface docking image capture apparatus,
Real-time image acquisition, and the control of face recognition and tracking is executed to acquired image, obtains face tracking information, and through default total
Line sends face tracking information to motion-control module PL；Wireless data transmission control in the processor is based on default communication mould
Formula docks wireless routing module through network interface card, and realizes system information and external device in the processor by wireless routing module
Communication；
Motion-control module PL for load application tracking directive generation module, PPM signal demodulation module, bus input interface,
And respectively correspond the PWM generator of four rotor motors；Trace command generation module in motion-control module PL is used for root
Tracing control instruction is generated according to face tracking information, and is sent out through default another processor of bus into main control module
It send；PPM signal demodulation module in motion-control module PL is for receiving the PPM after remote control decoding device is decoded and converted
Signal is controlled, and received PPM control signal is demodulated, obtains and respectively corresponds the PPM for presetting each flight control channel control
Signal processed, then sent through default another processor of bus into main control module；It is total in motion-control module PL
Line input interface is used to receive the detection data of inertial navigation sensor, and through another into main control module of default bus
Processor is sent；
Another processor in main control module applies flight control system for loading, and flight control system is controlled according to tracking
System instruction respectively corresponds the PPM control signal for presetting each flight control channel and the testing number from inertial navigation sensor
According to acquisition respectively corresponds the motor control signal for presetting each flight control channel, and is sent to motion control mould through default bus
In the PWM generator for respectively corresponding four rotor motors in block PL；Four rotor motors are respectively corresponded in motion-control module PL
PWM generator, corresponding PWM waveform control generated according to the corresponding motor control signal for presetting each flight control channel respectively refer to
It enables, and the electricity for being respectively sent to respectively correspond four rotor motors is adjusted, and then is adjusted by four electricity respectively according to received PWM wave
Shape control instruction is controlled for corresponding rotor motor, realizes flight control.
2. a kind of according to claim 1 clap with oneself Smart Rotor aerocraft system, it is characterised in that: the main control module
In the flight control system of another processor, according to the model selection of track up, by tracing control instruction and right respectively
The PPM control signal that each flight control channel should be preset, is sent to the command signal for respectively corresponding each flight control channel control
In generation module, the design control signal for respectively corresponding each flight control channel control is generated；
Meanwhile according to the detection data from inertial navigation sensor, carries out aircraft three-dimensional position correction and yaw angle calculates；
And attitude of flight vehicle resolving is carried out according to aircraft three-dimensional position correction, and calculate according to yaw angle, respectively obtain aircraft
The state of corresponding flight control channel；
According to the design control signal and the corresponding flight control channel of aircraft for respectively corresponding each flight control channel control
State obtains motor control signal using PID control, obtains and respectively corresponds the motor control for presetting each flight control channel letter
Number.
3. a kind of according to claim 2 clap with oneself Smart Rotor aerocraft system, it is characterised in that: described according to aircraft
Three-dimensional position calibration carries out in attitude of flight vehicle resolving, carries out Kalman's filter first against aircraft three-dimensional position correction data
Then wave carries out the complete block-regulations of quaternary number attitude algorithm second order for filter result data and is handled, realizes attitude of flight vehicle solution
It calculates, obtains the state of the corresponding flight control channel of aircraft.
4. a kind of according to claim 2 clap with oneself Smart Rotor aerocraft system, it is characterised in that: described to preset each flight
Control channel includes Throttle Opening Control channel, control of sideward roll channel, pitch control channel, yaw control channel；It is described according to flight
The calibration of device three-dimensional position carries out attitude of flight vehicle resolving, obtains the shape that aircraft corresponds to control of sideward roll channel, pitch control channel
State, and calculated according to yaw angle, obtain the state that aircraft corresponds to yaw control channel.
5. a kind of according to claim 2 clap with oneself Smart Rotor aerocraft system, it is characterised in that: the inertial navigation passes
Sensor includes inertial navigation sensor and magnetometer, and the bus input interface in the motion-control module PL is two, each bus
Input interface corresponds respectively, receives the detection data of inertial navigation sensor and magnetometer, and is preset bus to master control molding
Another processor in block is sent, another processor in main control module is according to the detection from inertial navigation sensor
Data carry out aircraft three-dimensional position correction, and according to the detection data from magnetometer, carry out yaw angle calculating.
6. a kind of according to claim 5 clap with oneself Smart Rotor aerocraft system, it is characterised in that: the inertial navigation sensor
For MPU6050, the magnetic force is calculated as HMC5883L.
7. a kind of according to claim 1 clap with oneself Smart Rotor aerocraft system, it is characterised in that: the main control module
In image procossing control be directed to acquired image, using opencv carry out the extraction of face coordinate position, and use Camshift
Algorithm executes the control of face recognition and tracking by repeatedly calling mean shift algorithm.
8. a kind of according to claim 1 clap with oneself Smart Rotor aerocraft system, it is characterised in that: the main control module
It is AXI bus that passed through bus is communicated between motion-control module PL.
9. a kind of according to claim 1 clap with oneself Smart Rotor aerocraft system, it is characterised in that: the main control module
Wireless data transmission control in one of processor docks wireless routing module based on Socket communication pattern, through network interface card.
10. a kind of according to claim 1 clap with oneself Smart Rotor aerocraft system, it is characterised in that: the remote controler solution
Code device, inertial navigation sensor, the electricity tune for corresponding respectively to four rotor motors, are controlled through PMOD interface and the movement respectively
Molding block PL is communicated.
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