CN109901627A - A kind of landing pose method of adjustment, system and the associated component of unmanned plane - Google Patents
A kind of landing pose method of adjustment, system and the associated component of unmanned plane Download PDFInfo
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Abstract
This application discloses a kind of landing pose method of adjustment of unmanned plane, the landing pose method of adjustment includes obtaining the depth image of ground region and carrying out a cloud synthesis to depth image to handle to obtain the space three-dimensional data of ground region；Determine pedipulator in the elevation information of the upright projection point of ground region according to space three-dimensional data；Datum mark is determined from all upright projection points according to elevation information, and sets benchmark pedipulator for the corresponding pedipulator of datum mark；The location information and elevation information of the landing point of non-referenced pedipulator are determined based on static stability criterion；According to the landing pose of location information and elevation information adjustment unmanned plane, so as to be in steady state when UAV Landing.The application can control unmanned plane and adjust landing pose according to landing state of ground, realize the grease it in of unmanned plane.Disclosed herein as well is a kind of landing location regulating system of unmanned plane, a kind of computer readable storage medium and a kind of unmanned planes, have the above beneficial effect.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical field, in particular to the landing pose method of adjustment of a kind of unmanned plane is
System, a kind of computer readable storage medium and a kind of unmanned plane.
Background technique
The technology of unmanned plane was increasingly mature in recent years, scout, take photo by plane, agricultural, express transportation, disaster relief,
The multiple fields such as electric inspection process, movies-making are widely applied.As gradually decreasing for its cost is constantly expanded with application field, nothing
It is man-machine also to start to undertake the tasks and missions to become increasingly complex, required when many unmanned plane can with work progress with
When land and take off.But it is steady that UAV Landing and while taking off, require fuselage, especially the air-flow environment rather harsh the case where
Under jiggly landing and taking off easily cause fuselage to topple to generate destructive injury to unmanned plane, and complicated building ring
Border can not but fully meet landing sometimes and require, therefore the landing problems of unmanned plane seem outstanding day by day, in many application fields
On limit the development of unmanned plane.
Therefore, how to control unmanned plane and landing pose is adjusted according to landing state of ground, realize the grease it in of unmanned plane
It is a technical problem that technical personnel in the field need to solve at present.
Summary of the invention
The purpose of the application is to provide the landing pose method of adjustment of unmanned plane a kind of, system, a kind of computer-readable deposits
Storage media and a kind of unmanned plane can control unmanned plane according to landing state of ground and adjust landing pose, realize the flat of unmanned plane
It is steady to land.
In order to solve the above technical problems, the application provides a kind of landing pose method of adjustment of unmanned plane, the landing pose
Method of adjustment includes:
It obtains the depth image of ground region and a cloud synthesis is carried out to the depth image and handle to obtain the ground area
The space three-dimensional data in domain；
Upright projection point of each pedipulator in the ground region of unmanned plane is determined according to the space three-dimensional data
Elevation information；
Datum mark is determined from all upright projection points according to the elevation information, and the datum mark is corresponding
Pedipulator is set as benchmark pedipulator；
The location information and the non-referenced machinery of the landing point of non-referenced pedipulator are determined based on static stability criterion
The elevation information of leg；
The landing pose for adjusting the unmanned plane with the elevation information according to the positional information, so that the unmanned plane
Steady state is in when landing；Wherein, the landing point of the benchmark pedipulator is the datum mark when UAV Landing.
Optionally, determine that datum mark includes: from all upright projection points according to the elevation information
It sorts from high to low according to the spatial position of the upright projection point and obtains ranking results；
The datum mark is set by the upright projection point of N in ranking results.
Optionally, in the location information that determines the landing point of non-referenced pedipulator based on static stability criterion and described non-
Before the elevation information of benchmark pedipulator, further includes:
It is maximum adjustable extent by the height adjustment of the benchmark pedipulator
Optionally, when the quantity of the benchmark pedipulator is 1 and the quantity of the non-referenced pedipulator is 3, based on quiet
State stability criteria determines the location information of the landing point of non-referenced pedipulator and the elevation information packet of the non-referenced pedipulator
It includes:
The described first non-base will be set as with the landing point of the non-referenced pedipulator of the benchmark pedipulator non-conterminous first
Quasi- pedipulator the ground region the first upright projection point, and according to the first upright projection point and the datum mark
Difference in height adjusts the height of the described first non-referenced pedipulator, so that the described first non-referenced pedipulator and unmanned plane after landing
The height of first tie point of fuselage is equal to the height of base company's contact of the benchmark pedipulator and the unmanned aerial vehicle body；
Based on the static stability criterion determine the second non-referenced pedipulator adjacent with the benchmark pedipulator
Land point and the height for adjusting the described second non-referenced pedipulator, so that the described second non-referenced pedipulator and the nothing after landing
The angle of plane and horizontal plane that second tie point of man-machine fuselage, first tie point and base company's contact are constituted is small
In the first predetermined angle；
Based on the static stability criterion determine the third non-referenced pedipulator adjacent with the benchmark pedipulator
Land point and the height for adjusting the non-referenced pedipulator of the third, so that the non-referenced pedipulator of the third and the nothing after landing
The angle of plane and horizontal plane that the third tie point of man-machine fuselage, first tie point and base company's contact are constituted is small
In the second predetermined angle；
The described first non-referenced pedipulator, the second non-referenced pedipulator and the non-referenced machinery of the third are recorded respectively
The location information and elevation information of the landing point of leg.
Optionally, the steady state is specially that unmanned aerial vehicle body is in horizontal attitude and any two pedipulators
Stress difference is less than the state of preset difference value.
Optionally, the landing pose for adjusting the unmanned plane with the elevation information according to the positional information includes:
Calculate the target position information of all pedipulators with the elevation information according to the positional information, and according to
The target position information is that each pedipulator generates motion planning data；
Each pedipulator is controlled according to the motion planning data motion, to adjust the landing position of the unmanned plane
Appearance.
Optionally, further includes:
Whether the current pose for judging the unmanned plane is the landing pose；
It is each described so as to the unmanned plane if so, the motion state of the unmanned plane is adjusted to landing state
Pedipulator drops to corresponding landing point.
Present invention also provides a kind of landing location regulating system of unmanned plane, which includes:
Point cloud synthesis module, for obtaining the depth image of ground region and being carried out at a cloud synthesis to the depth image
Reason obtains the space three-dimensional data of the ground region；
Elevation information obtains module, for being determined each pedipulator of unmanned plane described according to the space three-dimensional data
The elevation information of the upright projection point of ground region；
Benchmark determining module, for determining datum mark from all upright projection points according to the elevation information, and
Benchmark pedipulator is set by the corresponding pedipulator of the datum mark；
Landing point determining module, the position letter of the landing point for determining non-referenced pedipulator based on static stability criterion
The elevation information of breath and the non-referenced pedipulator；
Pose adjusts module, for adjusting the landing position of the unmanned plane with the elevation information according to the positional information
Appearance, so as to be in steady state when the UAV Landing；Wherein, when the UAV Landing benchmark pedipulator landing
Point is the datum mark.
Present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, the computer
Program realizes the step of landing pose method of adjustment of above-mentioned unmanned plane executes when executing.
Present invention also provides a kind of unmanned plane, including memory and processor, computer is stored in the memory
Program, the processor realize the landing pose method of adjustment of above-mentioned unmanned plane when calling the computer program in the memory
The step of execution.
This application provides a kind of landing pose methods of adjustment of unmanned plane, including obtaining the depth image of ground region simultaneously
A cloud synthesis is carried out to the depth image to handle to obtain the space three-dimensional data of the ground region；According to the space three-dimensional
Data determine each pedipulator of unmanned plane in the elevation information of the upright projection point of the ground region；Believed according to the height
Breath determines datum mark from all upright projection points, and sets benchmark machinery for the corresponding pedipulator of the datum mark
Leg；The location information of the landing point of non-referenced pedipulator and the height of the non-referenced pedipulator are determined based on static stability criterion
Spend information；The landing pose for adjusting the unmanned plane with the elevation information according to the positional information, so that the unmanned plane
Steady state is in when landing；Wherein, the landing point of the benchmark pedipulator is the datum mark when UAV Landing.
The application obtains the depth image of ground region first and then determines that the terrestrial space that unmanned plane needs to land is three-dimensional
The height situation of each position of data, i.e. ground.Pass through selection datum mark and benchmark pedipulator and is based on static stability criterion
It determines the landing point and elevation information of other non-referenced pedipulators, the determination of UAV Landing pose is realized, due to unmanned plane
The landing point and height of each pedipulator are determined according to space three-dimensional data, therefore the application can control unmanned plane according to landing
State of ground adjusts landing pose, realizes the grease it in of unmanned plane.The application additionally provides a kind of landing of unmanned plane simultaneously
Location regulating system, a kind of computer readable storage medium and a kind of unmanned plane have above-mentioned beneficial effect, no longer superfluous herein
It states.
Detailed description of the invention
In ord to more clearly illustrate embodiments of the present application, attached drawing needed in the embodiment will be done simply below
It introduces, it should be apparent that, the drawings in the following description are only some examples of the present application, for ordinary skill people
For member, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of the landing pose method of adjustment of unmanned plane provided by the embodiment of the present application；
Fig. 2 is the flow chart of the landing pose method of adjustment of another kind unmanned plane provided by the embodiment of the present application；
Fig. 3 is unmanned aerial vehicle body structural schematic diagram；
Fig. 4 is a kind of 3D effect schematic diagram of the full landform vision positioning landing system of unmanned plane based on ROS system；
Fig. 5 is a kind of overall workflow figure of the full landform vision positioning landing system of unmanned plane based on ROS system:
Fig. 6 is the work flow diagram of UAV Landing point Algorithms of Selecting proposed by the present invention；
Fig. 7 is the work flow diagram that host proposed by the present invention carries out mechanical leg motion planning under ROS system；
Fig. 8 is the work flow diagram that host proposed by the present invention is communicated with slave and slave with actuator；
Fig. 9 is a kind of structural schematic diagram of the landing location regulating system of unmanned plane provided by the embodiment of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Below referring to Figure 1, Fig. 1 is a kind of landing pose method of adjustment of unmanned plane provided by the embodiment of the present application
Flow chart.
Specific steps may include:
S101: it obtains the depth image of ground region and a cloud synthesis is carried out to the depth image and handle to obtain describedly
The space three-dimensional data in face region；
Wherein, the purpose of the present embodiment is that the landing pose of unmanned plane is adjusted, so that unmanned plane grease it in.Steady
The angle of fuselage plane and horizontal plane is less than default angle, while each pedipulator stress of unmanned plane when land refers to UAV Landing
More uniformly, the stress difference of any two pedipulators is less than preset pressure, that is to say, that judges whether grease it in is unmanned plane
The result of both fuselage planar horizontal degree and pedipulator uniform force degree comprehensive consideration.
It is understood that being received before this step there may be the operation that unmanned plane receives instruction of landing
Instruction of landing executes the relevant operation of S101 to S105 mentioned by the present embodiment later.In the implementation procedure of this step nobody
Machine is in state of flight always, obtains the depth image of ground region first, referring herein to ground region be relative to nobody
What the spatial position of machine was selected, ground region can be one piece of region of size default immediately below unmanned plane, and the present embodiment is not right
The shapes and sizes of ground region are defined, as long as guaranteeing that the upright projection of unmanned plane is fallen in ground region.This reality
The acquisition of depth image, such as active depth camera KINECT, Intel can be completed using a variety of depth cameras by applying example
RealSense, Enshape, Ensenso, Xtion Pro, Prime Sense, PMD and figure ripple, then for example passive depth phase
Machine, binocular vision (Stereo) such as Leap Motion, ZED, big boundary etc..But synthetic point cloud and location algorithm can be relative complex,
Using KINECT one kind voluntary camera can directly synthetic point cloud and ranging, opposite process flow is more relatively easy.
After obtaining depth image, this step synthesizes processing operation by point cloud and turns the 2-D data on depth image
Three-dimensional data is turned to get the space three-dimensional data of each position of ground region are arrived.It can be definitely according to three-dimensional space data
The elevation information of each point in face region.Since unmanned plane is in the technological difficulties that complicated ground lands: complicated ground is each
The height difference of a position leads to that the angle of UAV Landing rear body plane and horizontal plane is excessive, each pedipulator unbalance stress
It is even.Therefore the present embodiment shoots the depth image of ground region first and then obtains the space three-dimensional data of ground region, so as to
According to the pose of each pedipulator of space three-dimensional data point reuse in subsequent operation, it is finally reached the purpose of grease it in.
S102: vertical throwing of each pedipulator in the ground region of unmanned plane is determined according to the space three-dimensional data
The elevation information of shadow point；
Wherein, this step is established on the basis of having obtained the space three-dimensional data of each position of ground region, first
Determine each pedipulator in the elevation information of the upright projection point of the ground region.The present embodiment does not limit the machinery of unmanned plane
The quantity of leg can be closed according to the conversion of the current location information combination depth camera coordinate system and unmanned plane coordinate system of pedipulator
It is the space three-dimensional data for determining pedipulator.Determining elevation information is space bit locating for current time pedipulator in this step
It sets and carries out the height of the corresponding point of upright projection in ground region.It is understood that unmanned plane pedipulator be with shape and
The entity structure of certain space is occupied in three-dimensional space, the upright projection for the pedipulator that the present embodiment is previously mentioned is UAV Landing
When pedipulator and ground face contact position projection, the corresponding region of the projection may include multiple subpoints, can choose machine
The average height of view field's all the points at the position of tool leg and ground face contact is as each pedipulator in the ground region
The elevation information of upright projection point.The upright projection point being previously mentioned in the present embodiment obtains for the projection perpendicular to horizontal plane direction
Point.
S103: datum mark is determined from all upright projection points according to the elevation information, and by the datum mark
Corresponding pedipulator is set as benchmark pedipulator；
Wherein, it in order to realize efficient, the quick landing of unmanned plane, therefore needs to reduce to the greatest extent during UAV Landing
The movement of unmanned plane, the present embodiment selects datum mark from all upright projection points, so that the datum mark after UAV Landing
Corresponding pedipulator is just on datum mark.
The number of the present embodiment not limit datum mark, i.e., do not limit the number of norm force machine tool leg, and default is by the machine of unmanned plane
Tool leg is divided into two classes, and one kind is benchmark pedipulator, and another kind of is non-benchmark pedipulator.For benchmark pedipulator, work as nothing
Benchmark pedipulator is fallen on corresponding datum mark when man-machine landing.The present embodiment can further pass through the relevant operation of S104
The pose for adjusting non-referenced pedipulator realizes grease it in.
S104: the location information of the landing point of non-referenced pedipulator and described non-referenced is determined based on static stability criterion
The elevation information of pedipulator；
Wherein, static stability criterion be judge when unmanned plane remains static whether stable foundation.It is understood that
, the angle of plane and horizontal plane where the steady state that unmanned plane required for the present embodiment is in refers to unmanned aerial vehicle body is less than
Default angle, therefore static stability criterion is specially the angle of plane and horizontal plane where unmanned aerial vehicle body in the present embodiment
Less than default angle.Further, the corner dimension of plane where unmanned aerial vehicle body and horizontal plane depend on each pedipulator with
The height of unmanned aerial vehicle body tie point, when each pedipulator connect with unmanned aerial vehicle body point height difference it is smaller when unmanned aerial vehicle body institute
The demand of steady state can just be met in the angle of plane and horizontal plane.
It, can be by adjusting the landing of non-referenced pedipulator since the height of each position of ground region is not quite similar
The height of position and non-referenced pedipulator makes the unmanned plane held stationary state after landing.It should be noted that ground region
The height of each position has a certain difference, rather than benchmark pedipulator can only realize height adjustment in a certain range, therefore
The height of ground region and the maximum of non-referenced pedipulator or minimum constructive height adjustable range can be comprehensively considered in this step
Realize the determination of landing point position.Specifically, this step is it is confirmed that the position of the landing point of the non-referenced pedipulator of each is believed
The elevation information that breath and each non-referenced pedipulator need to keep when landing.
S105: the landing pose of the unmanned plane is adjusted with the elevation information according to the positional information, so that described
Steady state is in when UAV Landing；
This step is established in the landing point and elevation information for having determined each benchmark pedipulator and non-referenced pedipulator
On the basis of realize, the movement for controlling each pedipulator movement can be generated according to determining landing point position and elevation information
Planning instruction, so that unmanned plane is adjusted according to motion planning instruction to landing pose.It is understood that working as UAV Landing
The landing point of Shi Suoshu benchmark pedipulator is the datum mark.
The present embodiment obtains the depth image of ground region first and then determines the terrestrial space three that unmanned plane needs to land
The height situation of each position of dimension data, i.e. ground.Sentenced by selection datum mark and benchmark pedipulator and based on static stability
According to the landing point and elevation information for determining other non-referenced pedipulators, the determination of UAV Landing pose is realized, due to unmanned plane
Each pedipulator landing point and height according to space three-dimensional data determine, therefore the present embodiment can control unmanned plane according to
Landing state of ground adjusts landing pose, realizes the grease it in of unmanned plane.
Fig. 2 is referred to below, and Fig. 2 is the landing pose method of adjustment of another kind unmanned plane provided by the embodiment of the present application
Flow chart, the unmanned plane in the present embodiment is the unmanned plane for including four pedipulators, and specific landing pose method of adjustment can
With the following steps are included:
S201: it obtains the depth image of ground region and a cloud synthesis is carried out to the depth image and handle to obtain describedly
The space three-dimensional data in face region；
S202: vertical throwing of each pedipulator in the ground region of unmanned plane is determined according to the space three-dimensional data
The elevation information of shadow point；
S203: it sorts from high to low according to the spatial position of the upright projection point and obtains ranking results；
S204: setting the datum mark for the upright projection point of N in ranking results, and the datum mark is corresponding
Pedipulator be set as benchmark pedipulator；
Wherein, S203 and S204 is according to the purpose that sequence from high to low is ranked up upright projection point, chooses
It is a little used as datum mark near height median, so that other pedipulators carry out height adjustment.For example, the present embodiment is mentioned
Unmanned plane be include 4 pedipulators unmanned plane can choose height sequence third pedipulator upright projection point as base
On schedule, the data volume of height adjustment is reduced during based on the adjustment of static stability criterion so as to other pedipulators.When nobody
When machine includes four pedipulators, quantity on schedule can be 1.
S205: being maximum adjustable extent by the height adjustment of the benchmark pedipulator
Wherein, this step is established on the basis of having determined benchmark pedipulator, first by the height tune of benchmark pedipulator
Section is maximum adjustable extent(such as M can be with value for 2), so that other pedipulators carry out the up and down adjustment in height.
S206: the first non-referenced machine will be set as with the landing point of the non-referenced pedipulator of benchmark pedipulator non-conterminous first
Tool leg ground region the first upright projection point, and it is first non-according to the adjustment of the difference in height of the first upright projection point and datum mark
The height of benchmark pedipulator, so that the height etc. of the first tie point of the first non-referenced pedipulator and unmanned aerial vehicle body after landing
In the height of benchmark pedipulator and base company's contact of unmanned aerial vehicle body；
This step is actually to be equivalent to for the height of the non-referenced pedipulator diagonal with benchmark pedipulator to be adjusted.It is logical
It crosses and the height for adjusting the first non-referenced pedipulator is enabled to the of the first non-referenced pedipulator and unmanned aerial vehicle body after landing
The line of one tie point and benchmark pedipulator and base company's contact of unmanned aerial vehicle body is parallel to the horizontal plane.That is, this step
Suddenly the height first by adjusting the first tie point, it is determined that one is parallel to a line of horizontal plane on unmanned aerial vehicle body.
S207: the landing point of the second non-referenced pedipulator adjacent with benchmark pedipulator is determined based on static stability criterion
And the height of the second non-referenced pedipulator is adjusted, so that second of the second non-referenced pedipulator and unmanned aerial vehicle body after landing connects
The angle of plane and horizontal plane that contact, the first tie point and base company's contact are constituted is less than the first predetermined angle；
S208: the landing point of the third non-referenced pedipulator adjacent with benchmark pedipulator is determined based on static stability criterion
And the height of the non-referenced pedipulator of third is adjusted, so that the third of the non-referenced pedipulator of third and unmanned aerial vehicle body after landing connects
The angle of plane and horizontal plane that contact, the first tie point and base company's contact are constituted is less than the second predetermined angle；
Wherein, S207 and S208 is established on the basis of determining the height of the first non-referenced pedipulator, by being second
Non-referenced pedipulator and the non-referenced pedipulator of third determine that suitable landing point and height protect the unmanned aerial vehicle body after landing
Water holding level state.Fig. 3 is referred to, Fig. 3 is unmanned aerial vehicle body structural schematic diagram, illustrates the above process, is having determined one
After the line segment AB that item is parallel to the horizontal plane, need that third tie point C and the 4th tie point D is selected to make plane ABC and horizontal plane
Angle, that is, α2Less than the first predetermined angle, and make the angle of plane ABD and horizontal plane i.e. α1Less than the second predetermined angle；It is flat
The angle of face ABC and plane ABD and horizontal plane is 0.It should be noted that above-mentioned " so that second after landing is non-
Benchmark pedipulator ", " so as to land after the non-referenced pedipulator of third " and similar description each mean hypothesis unmanned plane
Land makes the state of unmanned aerial vehicle body and pedipulator.
S209: record respectively the first non-referenced pedipulator, the second non-referenced pedipulator and the non-referenced pedipulator of third
The location information and elevation information of land point.
S210: according to the landing pose of location information and elevation information adjustment unmanned plane, so as to be in when UAV Landing
Steady state；
Wherein, point on the basis of the landing point of benchmark pedipulator when UAV Landing.The steady shape being previously mentioned in the present embodiment
State is specially that unmanned aerial vehicle body is in the stress difference of horizontal attitude and any two pedipulators and is less than the state of preset difference value.
Horizontal attitude refers to that unmanned aerial vehicle body plane is parallel to the pose of horizontal plane.
As a kind of feasible embodiment, the concrete operations that UAV Attitude is adjusted in S210 may include following step
It is rapid:
Step 1: the target position information of all pedipulators is calculated with the elevation information according to the positional information,
And motion planning data are generated for each pedipulator according to the target position information；
Step 2: each pedipulator of control is according to the motion planning data motion, to adjust the unmanned plane
Landing pose.
Step 3: whether the current pose for judging the unmanned plane is the landing pose；If so, by the unmanned plane
Motion state be adjusted to landing state, so that each pedipulator of the unmanned plane drops to corresponding landing point.
Aforesaid operations can control unmanned plane and enter landing state after unmanned plane adjusts landing pose, realize steady
Landing.
Illustrate above-described embodiment being applied to the unmanned plane based on ROS system below by embodiment in practical applications
The detailed process of full landform vision positioning landing system.As shown in figure 4, Fig. 4 is a kind of full landform of unmanned plane based on ROS system
The 3D effect schematic diagram of vision positioning landing system.
The system that unmanned plane uses in the present embodiment can be ROS robot operating system, and ROS robot operating system is
The robot research and development platform of current mainstream.ROS system supports a variety of programming languages such as C++, Python, while providing it
The interface of his programming language, different language convenient to use are developed.It makes different appoint using the design concept of node type
Business node can be distributed in multiple identical or different hosts, on the one hand reduced and handled meter brought by different task process
Pressure is calculated, the coupling of entire work system is on the other hand reduced.In addition a large amount of software package of the ROS system integration, can be with
Fast implement the functions such as the planning of mechanical arm posture, Mobile Robotics Navigation, robot SLAM.And it is integrated under ROS system
Many current stages more mature advanced algorithms, facilitate the robot developing platform of researcher's fast construction oneself.
MoveIt is that the control mainly for mechanical arm that ROS is provided plans developed function packet with posture.MoveIt
A wieldy integrated development platform is provided for developer, is made of a series of function packet of moving operations.It
All modules are all the realizations around motion planning and design, and are integrated with the advanced algorithm of current mainstream.It mainly has
With lower module: 1) motion planning (Motion Planning) module: Yao Shixian motion planning is abstracted into firstly the need of by robot
Configuration space (C-Space), this part of MoveIt has been completed, it is only necessary to provide the URDF model of robot, so that it may adjust
With the planning algorithm (such as OMPL, SBPL, CHMOP etc.) in motion planning library, robot motion track is automatically generated.2) it operates
(Manipulation) module: generating a series of actions according to the object of identification and grab (pick-and-place), but is not related to anti-
The operational issues such as feedback, dynamics, re-grasp.3) 3D perceives (Perception) module: can use the letter of sensor acquisition
Breath (point cloud or depth image) generates the OctoMap for being used for collision detection.OctoMap is that some clouds are indicated in the form of Octree, can
To substantially reduce memory space, meanwhile, 3D OctoMap can also be according to the continuous real-time update of bayesian criterion.In this way, machine
People can avoid the barrier of real world.4) kinematics (Kinematics) module: kinematics robot working space
With the mapping relations of configuration space (C-Space).It can support multi-motion solver at present, such as OpenRave
Ikfast (closing solution), KDL (numerical solution), Trac_ik (numerical solution for considering the joint limit), the solver based on service.
5) trajectory interpolation (Trajectory Processing) module: most of planners can only return to a series of path points, MoveIt
Band having time stamp, position can be generated according to the control parameter of robot (speed, acceleration limitation etc.) again processing path
It sets, the complete trajectory of speed, acceleration information.Using many characteristics of MoveIt module, reduce the realization of leg posture planning
Difficulty, reduce mechanical arm applies threshold.Computer vision belongs to a branch of artificial intelligence.It is deep in conjunction with PCL Technology application
It spends camera and extracts massive point synthesis three-dimensional point cloud information in target surface.The point cloud obtained according to photogrammetry principles, including three
Tie up coordinate (XYZ) and colouring information (RGB).The spatial information of target point is extracted by certain algorithm.The present embodiment is main
Using PCL technology and algorithm, the landing point on ground is screened in a certain range, optimal can make unmanned plane to select
The most stable of landing point of itself posture is landed.
The unmanned plane includes: pedipulator 1, support frame 2, slave 3 (Raspberry Pi), RGBD camera and KINECT camera
4, execute controller (such as ARDUINO) 5 and other be not drawn into electronic device, including steering engine control panel (PCA9685), power supply and
Power module.Wherein, mounting platform of the support frame as equipment such as pedipulator, KINECT, slaves.Pedipulator is holding for this system
Row part, having more than two freedom degrees the present invention claims every pedipulator, (the present embodiment example uses four-degree-of-freedom
Pedipulator), the stiffness and strength of pedipulator will meet the landing requirement of unmanned plane.In addition to this, the fixation position of pedipulator
Coordinate must be identical as the coordinate set in host.KINECT camera is mounted and fixed below support frame at center, with
Guarantee that shooting visual angle is clearly unobstructed, and guarantees that camera coordinate system relative position is correct.Host is equipped with ROS operating system
(being based on Linux), it is the control axis of whole system, its main function has: receiving the RGB image and depth that slave is sent
Image searches for landing point, pedipulator motion planning and the transmission of motion information queue with synthetic point cloud.Slave is equipped with ROS
Operating system plays the role of forming a connecting link, from both can transmitting the collected RGB image of KINECT and depth map for host
Picture, slave can also receive the movement message queue of host transmission and carry out data encapsulation, then is sent to by serial ports and executes control
Device processed.It executes controller to be used to receive the encapsulation of data of slave transmission and parse data, control pedipulator is executed by planning path
And each leg real-time pose is back to host, carry out feedback regulation.Information communication is same for being connected to host and slave
Under wireless network, slave realizes communication in identical domain section.
As shown in figure 5, Fig. 5 is a kind of whole work of the full landform vision positioning landing system of unmanned plane based on ROS system
Make flow chart；Whole system is formed by five layers, respectively visual sensing layer, transmission control layer, decision rule layer, feedback execution level
With power supply accommodating layer.
Visual sensing layer is responsible for acquiring image, acquires the depth image and colour on ground simultaneously using depth camera KINECT
Image.Transmission control layer is the slave of embedded ROS system, be responsible for driving KINECT and load camera calibration parameter and by/
Camera/depth_registered/points topic is by image transmitting to ROS host.Decision rule layer is responsible for processing synthesis
Point cloud after calibration first looks for best landing point according to static stability criterion, calculates it in the relative position in space, then
It is converted into quaternary number format, is sent to MoveIt, carries out motion planning.Feedback execution level is responsible for receiving movement message queue and be solved
Data are analysed, control pedipulator is executed by planning path, and each leg real-time pose is back to host, carries out feedback regulation.Electricity
Source accommodating layer is responsible for KINECT, slave and steering engine and is powered, and the output of different voltages is mainly realized by power module.
As shown in fig. 6, Fig. 6 is the work flow diagram of UAV Landing point Algorithms of Selecting proposed by the present invention；
It is further described below:
Removal marginal point first is filtered to the point cloud after synthesis correction, then carries out the search of landing point.
Ground region can be divided into four quadrants, the corresponding machine of each quadrant according to the four of unmanned plane pedipulators
Tool leg, detailed process is as follows for search:
First quartile, on the basis of the leg height, enabling its height is the half of adjustable range, is convenient for other legs in this way
The coordination up and down of height；
Third quadrant determines the diagonal landing point of benchmark landing point along local z-axis angle detecting difference in height；
Second quadrant, using its Z axis ground corresponding points as the center of circle, searching within the scope of minor radius makes one, two, three quadrant, and three
Landing point constitutes the smallest point of plane angle with horizontal plane α 1, as the second quadrant landing point；
Fourth quadrant, equally using its Z axis ground corresponding points as the center of circle, search makes one, three, four-quadrant within the scope of minor radius,
Three landing points constitute the smallest point of plane angle with horizontal plane α 2, as fourth quadrant landing point.
After search, on the basis of the height of first quartile, relative height differential and the space for calculating each landing point are opposite
Position, and it is converted into quaternary number, it is sent to MoveIt.
Minimum angle not only ensure that the steady of fuselage also allows each leg posture similar with smaller part path search, to guarantee each
Leg uniform force.
As shown in fig. 7, Fig. 7 is the work that host proposed by the present invention carries out mechanical leg motion planning under ROS system
Flow chart:
It is further described below:
1) by SolidWorks set up mechanism 3D model, the model file of urdf format is led into sw2urdf plug-in unit.
2) institute is called with MoveIt initialization kit (MoveIt Setup Assistant Tool) under ROS system
The mechanism descriptive model of creation.Foundation step is successively are as follows: collision detection setting, empty joint setting, planning joint group setting, (its
Kinematics solution device is KDL Kinematics Plugin), initial position setting, end effector setting ultimately produces
MoveIt initialization program module (default motions algorithmic rule library is OMPL).
3) MoveIt termination is opened ROS multithreading by target point quaternary number, by KDL algorithm to four rule of pedipulator
It draws group while carrying out planning and being released the motion information queue come is cooked up.
4) end ActionServer is subscribed to simultaneously encapsulation of data and is issued again, for the subscription of initialization of (a) serial ports program.
As shown in figure 8, Fig. 8 is the workflow that host proposed by the present invention is communicated with slave and slave with actuator
Figure；
It is further described below:
Be ROS intersystem communications between slave, respectively two computer systems /etc/hosts file in be added
After ping is logical, ROS_MASTER_URI is arranged in the IP address of other side and corresponding computer name, can be realized and leads between ROS system
Letter.Slave transmits image information to host, and host transmits control information to slave.
Slave as middle layer also with execution level communicate through a serial port, process is as follows: first in both ends initialization string
Port communications parameter, then actuator reads movement message queue and carries out data parsing, then is sent to steering engine with IIC communication modes
Driving plate, driving plate drive corresponding steering engine according to queuing message, its location information is fed back to actuator with fixed frequency by steering engine
It is passed to host through slave, carries out feedback regulation.
The present embodiment mainly allows unmanned plane flat in face of carrying out safety when the complex road surfaces such as step, clitter, slope, rubble
Steady landing, the posture that mechanical leg can be actively adjusted according to surface conditions are taken off in order to grease it in and again.This reality
Example is applied according to the characteristic of ROS operating system, the full landform landing system of unmanned plane is developed under the frame of ROS.By using ROS
Under MoveIt Development of Module machinery leg posture planning and control section, use KINECT depth camera combination PCL point cloud
Processing technique develops the visual component of ground state modeling and resolving, and centre uses slave communication system.It, should from the time
System has good real-time；Spatially say, which has good adaptability for complicated surface state, and
Ability with PID closed-loop control.Be equipped with KINECT depth camera additionally, due to the system, and the planning with mechanical arm and
Control ability, therefore in addition to full landform throwing power, the system is in the sky or eminence carries out object clamping, operation etc. all
With stronger extended capability.
In conclusion the present invention using computer vision at this stage, the cutting edge technology of mechanical arm control and planning field at
Fruit constructs the unmanned plane of complete set and full landform landing system and proposes a unmanned plane stability landing point in real time and choose
Mathematical model, filled up the research blank in this field.The system has time upper real-time good, spatially adaptability
By force, many advantages, such as forming feedback closed loop in control.And overall system architecture is clear, well arranged, coupling is low, and being conducive to should
System is developed again and is extended to other function field.For products application angle, the system make unmanned plane with
When can land to complicated work road surface, widened the career field of unmanned plane significantly, reduced the amphibious work of unmanned plane
The technical threshold of work.Above embodiment is not limitation of the present invention, and the present invention is also not limited to the example above, this skill
The variations, modifications, additions or substitutions that the technical staff in art field is made within the scope of technical solution of the present invention, also belong to
Protection scope of the present invention.
Fig. 9 is referred to, Fig. 9 is a kind of structure of the landing location regulating system of unmanned plane provided by the embodiment of the present application
Schematic diagram；
The system may include:
Point cloud synthesis module 100 is closed for obtaining the depth image of ground region and carrying out a cloud to the depth image
The space three-dimensional data of the ground region are obtained at processing；
Elevation information obtains module 200, for determining that each pedipulator of unmanned plane exists according to the space three-dimensional data
The elevation information of the upright projection point of the ground region；
Benchmark determining module 300, for determining datum mark from all upright projection points according to the elevation information,
And benchmark pedipulator is set by the corresponding pedipulator of the datum mark；
Landing point determining module 400, the position of the landing point for determining non-referenced pedipulator based on static stability criterion
The elevation information of confidence breath and the non-referenced pedipulator；
Pose adjust module 500, for adjusted according to the positional information with the elevation information unmanned plane
Lu Weizi, so as to be in steady state when the UAV Landing；Wherein, the benchmark pedipulator when UAV Landing
Landing point is the datum mark.
The present embodiment obtains the depth image of ground region first and then determines the terrestrial space three that unmanned plane needs to land
The height situation of each position of dimension data, i.e. ground.Sentenced by selection datum mark and benchmark pedipulator and based on static stability
According to the landing point and elevation information for determining other non-referenced pedipulators, the determination of UAV Landing pose is realized, due to unmanned plane
Each pedipulator landing point and height according to space three-dimensional data determine, therefore the present embodiment can control unmanned plane according to
Landing state of ground adjusts landing pose, realizes the grease it in of unmanned plane.
Since the embodiment of components of system as directed is corresponded to each other with the embodiment of method part, the embodiment of components of system as directed is asked
Referring to the description of the embodiment of method part, wouldn't repeat here.
Present invention also provides a kind of computer readable storage mediums, have computer program thereon, the computer program
It is performed and step provided by above-described embodiment may be implemented.The storage medium may include: USB flash disk, mobile hard disk, read-only deposit
Reservoir (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or
The various media that can store program code such as CD.
Present invention also provides a kind of unmanned planes, may include memory and processor, have calculating in the memory
When the processor calls the computer program in the memory, step provided by above-described embodiment is may be implemented in machine program
Suddenly.Certain unmanned plane can also include various network interfaces, the components such as power supply.
Realize that the process of grease it in may comprise steps of using above-mentioned unmanned plane:
Step 1: mounting and positioning KINECT, while depth camera is connected to slave.
Step 2: configuring use environment of the above-mentioned camera under ROS system and load camera calibration parameter.
Step 3: the RGB image of acquisition and depth image are reached in the ROS system of host, and carry out a cloud at.
Step 4: being based on PCL technology and static stability criterion, search for and calculate each landing point relative space position.
Step 5: each point target position being passed into MoveIt module and carries out motion planning.
Step 6: motion information queue obtained by planning being packaged in slave, and execution control is issued to by serial ports
Device.
Step 7: executing controller and connect motion information queue and parse, planning path is pressed in control actuator driving plate driving leg
It executes, and each leg real-time pose is back to host, carry out feedback regulation.
Step 8: after attitude regulation, unmanned plane switchs to landing state by floating state, lands.
Further, the fixed and positioned requirement of KINECT is as follows in the step 1:
It must assure that the normal direction and support vertical of KINECT depth camera, and be located at below bracket at center,
It is set in coordinate system and host to guarantee camera consistent.
Further, the calibration process and use environment configuration process of camera are as follows in the step 2:
Make 8x6 by oneself first, side length is the gridiron pattern scaling board of 0.024m, uses camera_ under ROS system
Calibration function packet demarcates camera, and the parameter of calibration is saved in the ROS system of slave.Then in slave
It is middle to load calibrating parameters simultaneously using Freenec_camera function Packet driven KINECT.
Further, the image transmitting in step 3 can be talked about by camera/depth_regist-ered/points
Topic releases the image that camera acquires.
Further, the search of landing point position and calculating process are as follows in the step 4:
First quartile, on the basis of the leg height, enabling its height is the half of adjustable range, is convenient for other legs in this way
The coordination up and down of height；
Third quadrant determines the diagonal landing point of benchmark landing point along local z-axis angle detecting difference in height；
Second quadrant, using its Z axis ground corresponding points as the center of circle, searching within the scope of minor radius makes one, two, three quadrant, and three
Landing point constitutes the smallest point of plane angle with horizontal plane α 1, as the second quadrant landing point；
Fourth quadrant, equally using its Z axis ground corresponding points as the center of circle, search makes one, three, four-quadrant within the scope of minor radius,
Three landing points constitute the smallest point of plane angle with horizontal plane α 2, as fourth quadrant landing point.
After search, on the basis of the height of first quartile, relative height differential and the space for calculating each landing point are opposite
Position, and it is converted into quaternary number, it is sent to MoveIt.
Minimum angle not only ensure that the steady of fuselage also allows each leg posture similar with smaller part path search, to guarantee each
Leg uniform force.
Further, the process for carrying out pedipulator motion planning in the step 5 under ROS system is as follows:
1) by SolidWorks set up mechanism 3D model, the model file of urdf format is led into sw2urdf plug-in unit.
2) institute is called with MoveIt initialization kit (MoveIt Setup Assistant Tool) under ROS system
The mechanism descriptive model of creation.Foundation step is successively are as follows: collision detection setting, empty joint setting, planning joint group setting, (its
Kinematics solution device is KDL Kinematics Plugin), initial position setting, end effector setting ultimately produces
MoveIt initialization program module (default motions algorithmic rule library is OMPL).
3) MoveIt termination is opened ROS multithreading by target point quaternary number, by KDL algorithm to four rule of pedipulator
It draws group while carrying out planning and being released the motion information queue come is cooked up.
4) end ActionServer is subscribed to simultaneously encapsulation of data and is issued again, for the subscription of initialization of (a) serial ports program.
The communication of further above system is divided into two parts, including between slave ROS intersystem communications and slave
With the serial communication between execution controller.
Further, the communication process between slave is as follows:
Respectively two computer systems /etc/hosts file in be added other side IP address and corresponding computer
Name after ping is logical, is arranged ROS_MASTER_URI, ROS intersystem communications can be realized.
Further, communication process is as follows between slave and execution controller:
First in both ends Initialize serial communication parameter, then actuator reads movement message queue and carries out data solution
Analysis, then it is sent to actuator driving plate with IIC communication modes, driving plate drives corresponding steering engine according to queuing message, and steering engine is with fixation
Its location information is fed back to actuator and is passed to host through slave by frequency, carries out feedback regulation.
The present invention is constructed using computer vision at this stage, the cutting edge technology achievement of mechanical arm control and planning field
The unmanned plane of complete set in real time full landform landing system and propose a unmanned plane stability landing point selection mathematical modulo
Type has filled up the research blank in this field.The system has time upper real-time good, spatially adaptable, in control
Many advantages, such as forming feedback closed loop.And overall system architecture is clear, well arranged, coupling is low, is conducive to the system and carries out
It develops and is extended to other function field again.For products application angle, which makes unmanned plane at any time can be to
Complicated work road surface is landed, and has been widened the career field of unmanned plane significantly, has been reduced the technology of the amphibious work of unmanned plane
Threshold.
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part illustration
?.It should be pointed out that for those skilled in the art, under the premise of not departing from the application principle, also
Can to the application, some improvement and modification can also be carried out, these improvement and modification also fall into the protection scope of the claim of this application
It is interior.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.Under the situation not limited more, the element limited by sentence "including a ..." is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Claims (10)
1. a kind of landing pose method of adjustment of unmanned plane characterized by comprising
It obtains the depth image of ground region and a cloud synthesis is carried out to the depth image and handle to obtain the ground region
Space three-dimensional data；
Determine each pedipulator of unmanned plane in the height of the upright projection point of the ground region according to the space three-dimensional data
Spend information；
Datum mark is determined from all upright projection points according to the elevation information, and by the corresponding machinery of the datum mark
Leg is set as benchmark pedipulator；
The location information and the non-referenced pedipulator of the landing point of non-referenced pedipulator are determined based on static stability criterion
Elevation information；
The landing pose for adjusting the unmanned plane with the elevation information according to the positional information, so that the UAV Landing
When be in steady state；Wherein, the landing point of the benchmark pedipulator is the datum mark when UAV Landing.
2. landing pose method of adjustment according to claim 1, which is characterized in that according to the elevation information from all described
Determine that datum mark includes: in upright projection point
It sorts from high to low according to the spatial position of the upright projection point and obtains ranking results；
The datum mark is set by the upright projection point of N in the ranking results.
3. landing pose method of adjustment according to claim 1, which is characterized in that non-being determined based on static stability criterion
Before the elevation information of the location information of the landing point of benchmark pedipulator and the non-referenced pedipulator, further includes:
It is maximum adjustable extent by the height adjustment of the benchmark pedipulator
4. landing pose method of adjustment according to claim 1, which is characterized in that when the quantity of the benchmark pedipulator is 1
And the quantity of the non-referenced pedipulator be 3 when, the position of the landing point of non-referenced pedipulator is determined based on static stability criterion
Confidence breath and the elevation information of the non-referenced pedipulator include:
The described first non-referenced machine will be set as with the landing point of the non-referenced pedipulator of the benchmark pedipulator non-conterminous first
Tool leg the ground region the first upright projection point, and according to the height of the first upright projection point and the datum mark
Difference adjusts the height of the first non-referenced pedipulator, so that the described first non-referenced pedipulator and unmanned aerial vehicle body after landing
The first tie point height be equal to the benchmark pedipulator and the unmanned aerial vehicle body base company's contact height；
The landing point of the second non-referenced pedipulator adjacent with the benchmark pedipulator is determined based on the static stability criterion
And the height of the described second non-referenced pedipulator is adjusted, so that the described second non-referenced pedipulator and the unmanned plane after landing
The angle of second tie point of fuselage, the plane that first tie point and base company's contact are constituted and horizontal plane is less than the
One predetermined angle；
The landing point of the third non-referenced pedipulator adjacent with the benchmark pedipulator is determined based on the static stability criterion
And the height of the non-referenced pedipulator of the third is adjusted, so that the non-referenced pedipulator of the third and the unmanned plane after landing
The angle of the third tie point of fuselage, the plane that first tie point and base company's contact are constituted and horizontal plane is less than the
Two predetermined angles；
The described first non-referenced pedipulator, the second non-referenced pedipulator and the non-referenced pedipulator of the third are recorded respectively
The location information and elevation information of landing point.
5. landing pose method of adjustment according to claim 1, which is characterized in that the steady state is specially unmanned plane machine
It is in and is less than the state of preset difference value in the stress difference of horizontal attitude and any two pedipulators.
6. landing pose method of adjustment according to claim 1, which is characterized in that according to the positional information with the height
The landing pose that information adjusts the unmanned plane includes:
The target position information of all pedipulators is calculated with the elevation information according to the positional information, and according to described
Target position information is that each pedipulator generates motion planning data；
Each pedipulator is controlled according to the motion planning data motion, to adjust the landing pose of the unmanned plane.
7. according to claim 1 to any one of 6 landing pose methods of adjustment, which is characterized in that further include:
Whether the current pose for judging the unmanned plane is the landing pose；
If so, the motion state of the unmanned plane is adjusted to landing state, so as to each machinery of the unmanned plane
Leg drops to corresponding landing point.
8. a kind of landing location regulating system of unmanned plane characterized by comprising
Point cloud synthesis module, is handled for obtaining the depth image of ground region and carrying out a cloud synthesis to the depth image
To the space three-dimensional data of the ground region；
Elevation information obtains module, for being determined each pedipulator of unmanned plane on the ground according to the space three-dimensional data
The elevation information of the upright projection point in region；
Benchmark determining module, for determining datum mark from all upright projection points according to the elevation information, and by institute
It states the corresponding pedipulator of datum mark and is set as benchmark pedipulator；
Landing point determining module, for determined based on static stability criterion non-referenced pedipulator landing point location information and
The elevation information of the non-referenced pedipulator；
Pose adjusts module, for the landing pose of the unmanned plane to be adjusted with the elevation information according to the positional information,
So as to be in steady state when the UAV Landing；Wherein, when the UAV Landing benchmark pedipulator landing point
For the datum mark.
9. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes the landing pose of the unmanned plane as described in any one of claim 1 to 7 when the computer program is executed by processor
The step of method of adjustment.
10. a kind of unmanned plane characterized by comprising
Memory, for storing computer program；
Processor realizes the landing position of the unmanned plane as described in any one of claim 1 to 7 when for executing the computer program
The step of appearance method of adjustment.
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