CN111824397A - Flight control-undercarriage control-terrain recognition multi-system fusion control system - Google Patents
Flight control-undercarriage control-terrain recognition multi-system fusion control system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention belongs to the field of control systems, and relates to a flight control-undercarriage control-terrain recognition multi-system fusion control system. The system comprises: the system comprises a flight control system, a bionic leg type undercarriage control system, a terrain recognition system, a data transmission system and a ground system. The invention is based on an unmanned vertical take-off and landing aircraft platform, a bionic leg type undercarriage system is installed, a multi-system fusion control system based on sensor feedback information fusion is formed, and the multi-system fusion control system is used for improving the terrain self-adaptive capacity of the unmanned vertical take-off and landing aircraft during landing.
Description
Technical Field
The invention belongs to the field of control systems, and relates to a flight control-undercarriage control-terrain recognition multi-system fusion control system.
Background
The unmanned vertical take-off and landing aircraft has the characteristics of small size, flexibility, no casualties and the like, is paid much attention in the military field, and has the characteristics of vertical take-off and landing, fixed-point hovering in the air, low-speed flight, low-altitude and ultra-low-altitude flight, pivot steering, flying in any direction and the like besides the common advantages of the fixed-wing unmanned aerial vehicle. Therefore, the aircraft is an ideal aircraft and has wide application prospect in the occasions of limited take-off and landing sites, narrow flight space and requirements for executing low-altitude and low-speed tasks. In recent years, due to the fact that modern tasks needing to be executed are more and more complex, the requirement on the intelligent level of the unmanned vertical take-off and landing aircraft is higher and higher, the requirements on the flatness and the slope angle of the ground when the traditional unmanned vertical take-off and landing aircraft takes off and lands are higher, and the unmanned vertical take-off and landing aircraft can face the difficulty that the unmanned vertical take-off and landing aircraft cannot take off and land normally when meeting some special terrains such as a littleneck and a zone with a large slope.
At present, due to the development of computer technology and the requirement of task execution, research units at home and abroad develop autonomous landing technology research of unmanned helicopters and multi-rotor unmanned aerial vehicles one after another. For example, a visual image feature processing algorithm is designed in a national key laboratory for liberating helicopter rotor dynamics of military university and Nanjing aerospace university, so that landing control of an unmanned helicopter is realized, and good effect is achieved; the electronic science and technology university adopts a method of installing two cameras with optical axes arranged in parallel at the bottom of a helicopter for autonomous landing on warships and lands; since the unmanned helicopter with the 'wing of Yuquan' at Zhejiang university realizes the hovering technology for the first time in 2005 in the air robot tournament, the autonomous flight line flight function is realized in succession, and the autonomous landing function based on an airborne sensor is realized in 2010. However, due to the complexity of vision and image processing technologies and the disadvantage that the conventional fixed landing gear only serves as support and passive energy absorption, the real-time property, stability and robustness of the unmanned vertical take-off and landing aircraft in a severe environment are problematic, and even the functional requirements are difficult to realize.
Disclosure of Invention
The purpose of the invention is as follows: because the traditional unmanned vertical take-off and landing aircraft has defects in the aspect of autonomous take-off and landing design, the invention discloses a flight control-undercarriage control-terrain recognition multi-system fusion control system which is used for controlling the unmanned vertical take-off and landing aircraft to realize the autonomous take-off and landing process. The invention is based on an unmanned vertical take-off and landing aircraft platform, a bionic leg type undercarriage system is installed, a multi-system fusion control system based on sensor feedback information fusion is formed, and the multi-system fusion control system is used for improving the terrain self-adaptive capacity of the unmanned vertical take-off and landing aircraft during landing. The system can effectively improve the self-adaptive capacity of the unmanned vertical take-off and landing aircraft during landing and reduce the dependence on the self capacity of the flight control system and the landing environment. The system can realize the adjustment and control of the attitude and the stand of the unmanned vertical take-off and landing aircraft in the landing process, and change the passive control of the landing process into the active control to form an effective fusion control system. The system can realize the autonomous fuselage balance adjusting capability of the unmanned vertical take-off and landing aircraft in the landing process, and can effectively improve the landing safety. The system can effectively improve the landing adaptability of the unmanned vertical take-off and landing aircraft, breaks through various limitations of application environments, and conforms to the development trend of aircraft multi-purpose, intelligentization and complex environment adaptability.
The technical scheme is as follows:
the invention provides a flight control-undercarriage control-terrain recognition multi-system fusion control system, which comprises: the system comprises a flight control system, a bionic leg type undercarriage control system and a terrain identification system;
the flight control system determines the realization of the autonomous flight process and the control performance of the unmanned vertical take-off and landing aircraft; the bionic leg type undercarriage control system is a control system of the bionic leg type undercarriage, determines the posture and the motion process of the undercarriage, and is matched with a flight control system to finish self-adaptive take-off and landing of the unmanned vertical take-off and landing aircraft; the terrain identification system is used for realizing large-range selection of landing terrain, accurately identifying the bottom surface condition, determining the landable range, realizing real-time online tracking of the landing place in the landable range, informing the terrain information to the flight control system and the bionic leg type undercarriage control system and realizing real-time navigation of the flight control system and attitude pre-swing and adjustment of the bionic leg type undercarriage before the unmanned vertical take-off and landing aircraft lands;
the data information of the flight control system, the leg type undercarriage control system and the terrain identification system is communicated with a ground system through a data transmission system, and ground monitoring of data and state information is achieved.
Further, flight control system includes: a flight control computer, a sensor mechanism and an actuating mechanism; the flight control computer is designed for realizing a flight control algorithm of the unmanned vertical take-off and landing aircraft, processes the real-time state information transmitted by the sensor mechanism, and transmits a transmission control command generated by the flight control computer to the execution mechanism; the sensor mechanism collects flight data such as height information, attitude information, acceleration information and the like of the unmanned vertical take-off and landing aircraft and transmits the flight data to the flight control computer for resolving; the executing mechanism has the function of realizing the instruction execution of the flight control computer and finishing the autonomous flight of the unmanned vertical take-off and landing aircraft.
Furthermore, the flight control system needs an onboard power supply to supply power for the flight control-undercarriage control-terrain identification multi-system fusion control system.
Further, the bionic leg landing gear control system comprises: the system comprises a controller, a motor driver, a modular joint unit and a load sensor;
the controller realizes the control algorithm design of the bionic leg landing gear, completes pose resolving and attitude control, and processes state information fed back by the motor driver and the load sensor; the motor driver receives the signal of the controller and completes the resolving of the motor control signal, and the closed-loop control modular joint unit completes the action of the bionic leg; the modularized joint unit is used as a driving joint of the bionic leg; the load sensor is a sensor arranged at the foot end and used for measuring the feedback of a force signal after the bionic leg type undercarriage touches the ground and transmitting the feedback to the controller so as to finish the self-adaptive control after landing.
Further, the terrain recognition system includes: the system comprises a laser radar, a vision camera, an Inertial Measurement Unit (IMU) inertial navigation and a high-performance board-mounted processor;
a high performance on-board processor for: the method comprises the steps of carrying out combined space-time calibration on a laser radar and a vision camera, realizing the fusion of laser point cloud and image pixel information, carrying out real-time online low-altitude terrain modeling on the unmanned aerial vehicle based on the fused information and IMU inertial navigation information, accurately identifying terrain information according to the modeled three-dimensional terrain data, automatically identifying a to-be-landed point according to the terrain information, realizing real-time online tracking of the landed point, and calculating the posture of the unmanned aerial vehicle relative to the landed point in real time and feeding back the posture to a flight control system.
Furthermore, the flight control system and the bionic leg type undercarriage control system are communicated and exchange data, the terrain recognition system and the bionic leg type undercarriage control system are communicated and exchange data, and the flight control system and the terrain recognition system are not directly communicated.
Further, the flight control computer comprises a DSP and a programmable gate array FPGA; the sensor mechanism comprises another inertial measurement unit IMU, a GPS navigation system, a compass and an altimeter; the actuating mechanism comprises an engine and a steering engine.
Further, the modular joint unit includes a brake, a servo motor, and an encoder.
The invention has the advantages that:
the flight control-undercarriage control-terrain recognition multi-system fusion control system is provided, and the bionic leg type undercarriage system is combined to realize the real autonomous landing of the unmanned vertical take-off and landing aircraft. In the military and civil field, the intelligent level of the unmanned vertical take-off and landing aircraft can be improved to a great extent, the recovery rate and the utilization rate of the unmanned vertical take-off and landing aircraft are improved, the landing scene limit and the endurance limit of the unmanned vertical take-off and landing aircraft are broken, and the improvement of the safety of the aircraft and the landing is facilitated. Except for a small unmanned vertical take-off and landing aircraft, the technology is applied to a large aircraft, and can realize the autonomy and intellectualization in the aspects of material transportation, disaster rescue and industrial production.
Drawings
The connection relationship will be described by taking an example in which the mechanical leg mechanism has 4 degrees of freedom and is in an extended state.
FIG. 1 is a schematic diagram of the relationship of the components of the present invention;
FIG. 2 is a schematic view of a flight control system;
FIG. 3 is a schematic illustration of the landing gear control system components;
FIG. 4 is a schematic diagram of a terrain identification system;
fig. 5 is a schematic diagram of communication and work cooperation.
In the figure: 1-a flight control system, 2-a bionic leg undercarriage control system, 3-a terrain recognition system, 4-a data transmission system and 5-a ground system; 11-flight control computer, 111-DSP, 112-programmable gate array FPGA, 12-sensor mechanism, 121-inertial measurement unit IMU, 122-navigation system, 123-compass, 124-altimeter, 13-actuator, 131-engine, 132-steering engine, 14-airborne power supply; 21-controller, 22-motor driver, 23-modular joint unit, 231-brake, 232-servo motor, 233-encoder, 24-load sensor; 31-laser radar, 32-vision camera, 33-Inertial Measurement Unit (IMU) Inertial navigation, 34-high performance on-board processor.
Detailed Description
The invention provides a flight control-undercarriage control-terrain recognition multi-system fusion control system, as shown in figure 1, comprising: the system comprises a flight control system 1, a bionic leg type undercarriage control system 2, a terrain recognition system 3, a data transmission system 4 and a ground system 5.
As shown in fig. 2, the flight control system 1 determines the implementation and control performance of the autonomous flight process of the unmanned vertical take-off and landing aircraft. The flight control system 1 mainly comprises a flight control computer 11, a sensor mechanism 12, an execution mechanism 13 and the like. The flight control computer 11 comprises a DSP111 and a programmable gate array FPGA112, and has the main functions of realizing the design of a flight control algorithm of the unmanned vertical take-off and landing aircraft, processing the real-time state information transmitted by the sensor mechanism 12 and transmitting a control command to the execution mechanism 13. The sensor mechanism 12 includes an inertial measurement unit IMU121 (including a 3D gyroscope and a 3D accelerometer), a GPS navigation system 122, a compass 123, and an altimeter 124, and has a main function of collecting flight data such as altitude information, attitude information, acceleration information, and the like of the unmanned vertical take-off and landing aircraft, and transmitting the flight data to the flight control computer 11 for resolving. The executing mechanism 13 comprises an engine 131 and a steering engine 132, and has the main function of executing the instruction of the flight control computer 11 to complete the autonomous flight of the unmanned vertical take-off and landing aircraft. The flight control system 1 needs an onboard power supply 14 to supply power to the flight control computer 11, the sensor mechanism 12 and the like.
As shown in fig. 3, the bionic leg landing gear control system 2 is a control system of the bionic leg landing gear, determines the attitude and the motion process of the landing gear, and is matched with the flight control system 1 to complete the self-adaptive take-off and landing of the unmanned vertical take-off and landing aircraft. The bionic leg landing gear control system 2 mainly comprises a controller 21, a motor driver 22, a modular joint unit 23 and a load sensor 24. The controller 21 is a single-board industrial personal computer, and has the main functions of realizing the control algorithm design of the bionic leg type undercarriage, completing pose resolving and attitude control, and processing the state information fed back by the motor driver 22 and the load sensor 24. The motor driver 22 has the functions of receiving the signal of the controller 21, resolving the motor control signal, and performing closed-loop control on the modular joint unit 23 to complete the motion of the bionic leg. The modular joint unit 23 is used as a driving joint of the bionic leg and is composed of a brake 231, a servo motor 232 and an encoder 233. The load sensor 24 is a sensor installed at the foot end and is used for measuring the force signal feedback of the bionic leg type undercarriage after being touched with the ground and transmitting the force signal feedback to the controller 21 so as to finish the self-adaptive control after being touched.
As shown in fig. 4, the terrain recognition system 3 is used for realizing large-scale selection of landing terrain, accurately recognizing jungle, road, river, building, flat ground and the like, determining the landing range, realizing real-time online tracking of the landing place in the landing range, informing the terrain information to the flight control system 1 and the bionic leg type undercarriage control system 2, realizing real-time navigation of the flight control system 1 and posture pre-swing and adjustment of the bionic leg type undercarriage, and further providing a foundation for realizing autonomous landing of the unmanned vertical take-off and landing aircraft. The terrain recognition system 3 comprises a laser radar 31, a vision camera 32, an IMU inertial navigation 33 and a high performance on-board processor 34. The working process is as follows: performing joint space-time calibration on the laser radar 31 and the vision camera 32 to realize the fusion of laser point cloud and image pixel information; then, on the basis of image frame information and point cloud information, a large-scale three-dimensional scene real-time reconstruction technology which simultaneously utilizes geometric features and textural features is researched, and real-time online low-altitude terrain modeling of the unmanned aerial vehicle is achieved; secondly, according to the established real-time three-dimensional terrain data, researching how to utilize a deep learning method to combine the image characteristics and the geometric characteristics of the object to realize robust semantic segmentation, so that terrain information can be accurately identified; and finally, automatically identifying the point to be landed based on a machine learning method, realizing real-time online tracking of the landing point, calculating the attitude of the unmanned aerial vehicle relative to the landing point in real time, and feeding the attitude back to the flight control system 1.
As shown in fig. 5, in the working process, the flight control system 1 and the bionic leg type undercarriage control system 2 perform communication and data exchange, the terrain recognition system 3 also performs communication and data exchange with the bionic leg type undercarriage control system 2, and the flight control system 1 and the terrain recognition system 3 do not directly communicate. And finally, the data information of the flight control system 1, the leg type undercarriage control system 2 and the terrain identification system 3 is communicated with a ground system through a data transmission system 4, so that ground monitoring of data and state information is realized. In the debugging stage, the data of the flight control computer 11 of the flight control system 1, the controller 21 of the bionic leg type undercarriage control system 2 and the high-performance onboard processor 34 of the terrain identification system 3 are shared through EtherCAT, and after the debugging is completed, all data calculation and control functions are realized through one high-performance onboard computer so that the system has higher integration level.
There are mainly 2 modes of the embodiment of the present invention.
Specific example 1: autonomous landing of complex ground
The unmanned vertical take-off and landing aircraft flies under the action of the flight control system 1, reaches a certain height range (such as 50-100 m height) when coming to land, and when reaching the height range, the flight control system 1 gives an instruction to the bionic leg undercarriage control system 2 to enter a standby state, and further gives an instruction to the terrain identification system 3 to start the operation. The laser radar 31 and the vision camera 32 of the terrain identification system 3 are started to scan terrain information, the condition of a landing range is obtained through the high-performance onboard processor 34, a signal of whether the unmanned aerial vehicle can land is given, the signal and coordinate information of the landing range are transmitted to the flight control system 1 through the bionic leg undercarriage control system 2, if the unmanned aerial vehicle can land, the flight control system 1 controls the unmanned aerial vehicle to slowly fly in the X direction and the Y direction (such as coordinates in the figure 1), a judged proper landing area is found, if the unmanned aerial vehicle cannot land, the flight control system 1 controls the unmanned aerial vehicle to fly in the X direction or the Y direction, a landing point is found again, and the process is repeated.
Under the condition that can land, flight control system 1 monitors the flying height in real time at unmanned VTOL aircraft landing process, when reaching 10m height, flight control system 1 control unmanned VTOL aircraft hover, bionical leg formula undercarriage is opened to the right angle state, the sole is at the coplanar, make topography identification system 3's laser radar 31, vision camera 32 start again this moment, accurate scanning under and around 3m within range topography and geological information, ensure in the landing scope, unmanned VTOL aircraft continues slowly to descend, guarantee as far as possible to have no displacement in X direction or Y direction.
In the slow descending process, the terrain recognition system 3 scans and monitors terrain information right below the unmanned vertical take-off and landing aircraft in real time, transmits terrain coordinate information to the bionic leg type undercarriage control system 2 in real time, the bionic leg type undercarriage control system 2 finishes pre-swinging of the bionic leg type undercarriage according to the coordinate information obtained through resolving, and adjusts pre-swinging postures in real time according to terrain conditions. And after landing, namely the load sensor 24 at one foot end has force signal feedback, the terrain recognition system 3 stops working, and the feedback force control stage is started.
After landing, the attitude of the bionic leg type undercarriage is adjusted in a force control mode, at this stage, the flight control system 1 ensures that the body of the unmanned vertical take-off and landing aircraft is horizontal, the leg type undercarriage adapts to the ground until force signals of the load sensors 24 at the foot ends of a plurality of legs are consistent, and leg attitude adjustment and landing are completed. And after the system is stopped stably, the system is shut down.
Specific example 2: autonomous take-off
The unmanned vertical take-off and landing aircraft is parked on a complex ground, and the system is started to prepare for take-off. When the leg landing gear is lifted off the ground, namely when the force measured by all the foot end load sensors 24 is detected to be 0, the leg attitude is adjusted by the leg landing gear control system 2 to be in a right-angle state so that all the foot ends are in the same horizontal state, and the landing is prevented from being accidentally required.
The flight control system 1 is used for controlling the aircraft to gradually rise and monitoring height information in real time, when the aircraft reaches the height of 10m, the flight control system 1 transmits a signal to the bionic leg type undercarriage control system 2 to control the bionic leg type undercarriage to retract, the retracted bionic leg type undercarriage control system 2 feeds back a retraction completion signal to the flight control system 1, and the unmanned vertical take-off and landing aircraft flies to execute a task under the control of the flight control system 1.
The invention has the following advantages:
(1) the invention is based on the development of a flight control system, a bionic leg type undercarriage control system and a terrain recognition system, realizes the integrated design and data sharing of three parts, has higher reliability because the system is in an integral working mode, and can shorten the data transmission time and reduce the error probability in the working logic design process compared with a mode of distributing operation of each system;
(2) the novel flight control system different from the original flight control system is formed, the collaborative work and fusion design of multiple systems can be adapted, the function of the flight control system is more complete, the bionic leg type landing gear can be matched for work, and the intelligent level is further improved;
(3) the invention can improve the intelligent level and the operation capacity of the unmanned vertical take-off and landing aircraft, improve the reliability and the safety of autonomous take-off and landing, improve the intelligent technical level of the aircraft, and break the limitation of application scenes, so that the autonomous take-off and landing of complex terrains such as slopes, step grounds and the like become possible.
(4) The invention can be applied to vertical take-off and landing aircrafts, can also be applied to a plurality of fields such as intelligent unmanned vehicles, planet detection landers and the like, provides a better control system and has the advantage of expandable application.
The flight control-undercarriage control-terrain recognition system multi-system fusion control system effectively completes the fusion design of multiple systems based on the flows of data sharing, signal transmission and cooperative operation of the flight control system, the leg undercarriage control system and the terrain recognition system, reduces the defects of insufficient data sharing, high system failure rate and large design occupied space in the original multi-system serial operation process, forms a special multifunctional flight control system which can be applied to unmanned vertical take-off and landing aircrafts for mounting leg undercarriages, and has high practical value.
Claims (8)
1. A flight control-undercarriage control-terrain recognition multi-system fusion control system is characterized by comprising: the system comprises a flight control system, a bionic leg type undercarriage control system, a terrain recognition system, a data transmission system and a ground system;
the flight control system determines the realization of the autonomous flight process and the control performance of the unmanned vertical take-off and landing aircraft; the bionic leg type undercarriage control system is a control system of the bionic leg type undercarriage, determines the posture and the motion process of the undercarriage, and is matched with a flight control system to finish self-adaptive take-off and landing of the unmanned vertical take-off and landing aircraft; the terrain identification system is used for realizing large-range selection of landing terrain, accurately identifying the bottom surface condition, determining the landable range, realizing real-time online tracking of the landing place in the landable range, informing the terrain information to the flight control system and the bionic leg type undercarriage control system and realizing real-time navigation of the flight control system and attitude pre-swing and adjustment of the bionic leg type undercarriage before the unmanned vertical take-off and landing aircraft lands;
the data information of the flight control system, the leg type undercarriage control system and the terrain identification system is communicated with a ground system through a data transmission system, and ground monitoring of data and state information is achieved.
2. The system of claim 1, wherein the flight control system comprises: a flight control computer, a sensor mechanism and an actuating mechanism; the flight control computer is designed for realizing a flight control algorithm of the unmanned vertical take-off and landing aircraft, processes the real-time state information transmitted by the sensor mechanism, and transmits a transmission control command generated by the flight control computer to the execution mechanism; the sensor mechanism collects flight data such as height information, attitude information, acceleration information and the like of the unmanned vertical take-off and landing aircraft and transmits the flight data to the flight control computer for resolving; the executing mechanism has the function of realizing the instruction execution of the flight control computer and finishing the autonomous flight of the unmanned vertical take-off and landing aircraft.
3. The system of claim 2, wherein the flight control system requires an onboard power supply to power the flight control-landing gear control-terrain recognition multi-system fusion control system.
4. The system of claim 2, wherein the biomimetic legged landing gear control system comprises: the system comprises a controller, a motor driver, a modular joint unit and a load sensor;
the controller realizes the control algorithm design of the bionic leg landing gear, completes pose resolving and attitude control, and processes state information fed back by the motor driver and the load sensor; the motor driver receives the signal of the controller and completes the resolving of the motor control signal, and the closed-loop control modular joint unit completes the action of the bionic leg; the modularized joint unit is used as a driving joint of the bionic leg; the load sensor is a sensor arranged at the foot end and used for measuring the feedback of a force signal after the bionic leg type undercarriage touches the ground and transmitting the feedback to the controller so as to finish the self-adaptive control after landing.
5. The system of claim 4, wherein the terrain recognition system comprises: the system comprises a laser radar, a vision camera, an Inertial Measurement Unit (IMU) inertial navigation and a high-performance board-mounted processor;
a high performance on-board processor for: the method comprises the steps of carrying out combined space-time calibration on a laser radar and a vision camera, realizing the fusion of laser point cloud and image pixel information, carrying out real-time online low-altitude terrain modeling on the unmanned aerial vehicle based on the fused information and IMU inertial navigation information, accurately identifying terrain information according to the modeled three-dimensional terrain data, automatically identifying a to-be-landed point according to the terrain information, realizing real-time online tracking of the landed point, and calculating the posture of the unmanned aerial vehicle relative to the landed point in real time and feeding back the posture to a flight control system.
6. The system of claim 1, wherein the flight control system is in communication and data exchange with the simulated legged landing gear control system, the terrain recognition system is in communication and data exchange with the simulated legged landing gear control system, and the flight control system and the terrain recognition system are not in direct communication.
7. The system of claim 6, wherein the flight control computer comprises a DSP and a programmable gate array FPGA; the sensor mechanism comprises another inertial measurement unit IMU, a GPS navigation system, a compass and an altimeter; the actuating mechanism comprises an engine and a steering engine.
8. The system of claim 5, wherein the modular joint unit comprises a brake, a servo motor, and an encoder.
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| CN112478158A (en) * | 2020-11-12 | 2021-03-12 | 南通大学 | Automatic soil sampling unmanned aerial vehicle and control method thereof |
| CN112550680A (en) * | 2020-12-14 | 2021-03-26 | 之江实验室 | Collapsible self-adaptation undercarriage of many rotor unmanned aerial vehicle |
| CN112607006A (en) * | 2020-12-30 | 2021-04-06 | 中国人民解放军总参谋部第六十研究所 | Touchdown feedback type undercarriage system of unmanned helicopter |
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