CN113110534A - Unmanned aerial vehicle control and perception system - Google Patents
Unmanned aerial vehicle control and perception system Download PDFInfo
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- CN113110534A CN113110534A CN202110282211.9A CN202110282211A CN113110534A CN 113110534 A CN113110534 A CN 113110534A CN 202110282211 A CN202110282211 A CN 202110282211A CN 113110534 A CN113110534 A CN 113110534A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention relates to the field of control and sensing systems, in particular to a small unmanned aerial vehicle control and sensing system, which comprises an airborne computer, a mobile power supply for supplying power to the airborne computer, a ground station and the following components: the system comprises an image acquisition module, a frequency-image transmission module, an instruction/state wireless serial port transmission module and a laser ranging module, wherein a controller of an edge computing technology is used as a main control device for flight control and sensing, so that the system has strong computing performance and artificial intelligence; the flight path planning is carried out through machine learning, and corresponding treatment measures can be taken through machine vision to deal with emergency situations; the computer program runs under the ROS operating system platform, and has high parallelism, good universality and strong expandability; the communication with a ground control station can be carried out in two modes of a WiFi wireless network and a wireless serial port, so that the fault tolerance is stronger; the airborne robot comprises two positioning devices, namely a GPS and an ultra wide band, and realizes indoor and outdoor navigation positioning.
Description
Technical Field
The invention relates to the field of control and sensing systems, in particular to a control and sensing system of a small unmanned aerial vehicle.
Background
In page 909 to 916 of a conference paper published in the 'fifth high-resolution earth observation academic annual meeting prosecution collection' in 10 months of 2018, a small unmanned aerial vehicle navigation and sensing system based on vision is disclosed, in an unknown environment, image information obtained by a camera at the bottom of an unmanned aerial vehicle is used for establishing a two-dimensional global map, contour and feature extraction of a target object is carried out by using color features in the global map, and finally, the extracted features are detected and identified by using a BP (back propagation) neural network, so that the target is positioned. However, the method is mainly suitable for navigation and perception of a single unmanned aerial vehicle, lacks necessary network equipment, cannot cooperate with other airplanes, cannot control the airplanes through a ground station, cannot complete functions of reporting flight conditions to a control station and the like.
155 pages 161 of "protection and control of electric power system" journal 46 th 15 th published in 8.2018 disclose a smart sensing system of a civil construction site inspection unmanned aerial vehicle, and the system unmanned aerial vehicle consists of an unmanned aerial vehicle body, a power system, an undercarriage, a flight control system, a positioning system, a power module, an image transmitting device and a data transmitting and receiving device. The control and sensing part comprises a flight control module for controlling the front and back, left and right, lifting and rotating actions of the unmanned aerial vehicle; the positioning module can position the current position of the unmanned aerial vehicle; the temperature and humidity sensor can accurately measure the temperature and humidity of the current environment of the unmanned aerial vehicle; the data transmission transmitting device is used for transmitting the position information, the temperature information, the humidity information and the flight data information of the unmanned aerial vehicle to the ground station; and the video shot by the image acquisition device in the holder is sent to the ground station through the image transmitting device of the aircraft. The main defects include that flight control is flight path planning, and an automatic emergency response scheme is insufficient when obstacles and other conditions are met in the flight process; the image acquisition device only monitors the infrastructure site and does not serve as a reference for flight control.
For example, an intelligent multi-rotor unmanned aerial vehicle based on an onboard computer and an implementation method thereof, as disclosed in chinese patent application No. 201711309254.1, disclose a rack, a motor group, a propeller, a battery pack, a flight control panel, an onboard computer, and a communication module; the airborne computer collects visual signals in real time, processes the signals, receives real-time flight state parameter information sent by the flight control panel, then generates decision and intelligent navigation, and sends control instructions to the flight control panel, and the airborne computer further communicates with the outside through the communication module; the flight control panel receives the control instruction, controls the motor group in a closed-loop mode, adjusts the flight attitude in real time, collects the real-time flight state parameter information of the unmanned aerial vehicle and sends the information to the airborne computer. The invention is based on autonomy, separates the brain and the cerebellum, takes computer vision as an external main perception tool, and gets rid of the serious dependence on traditional various unmanned aerial vehicle sensors, remote control means and data remote transmission receipt, thereby having real independent intelligent characteristic and autonomously working in the environment with serious interference, but the used various computers have too complex volume, weight, power consumption and power supply, and are difficult to develop and expand without the addition of an operating system, and the application scope is small.
Disclosure of Invention
In order to solve the problems, the invention provides a control and sensing system of a small unmanned aerial vehicle.
The utility model provides a small unmanned aerial vehicle control and perception system, is including being used for accomplishing flight control, path planning, image processing, data processing class work on-board computer, for portable power source and the ground station of on-board computer power supply, still includes:
the image acquisition module is used for acquiring images in the flight process of the unmanned aerial vehicle and acquiring image information through shooting;
the video image transmission module is used for transmitting the image information acquired by the image acquisition module out of the ground station through WiFi and transmitting the image information to the airborne computer through Ethernet;
the command/state wireless serial port transmission module is in wireless communication with the ground station and is used for transmitting flight state parameters of the unmanned aerial vehicle and commands of the ground control station;
the laser ranging module is used for accurately measuring the relative height of the unmanned aerial vehicle from the ground at a lower height and transmitting the relative height to the onboard computer through a UART (universal asynchronous receiver/transmitter);
the airborne computer selects a raspberry pie as the airborne computer, a Ubuntu system is installed, and an ROS robot operability system is operated.
The image acquisition module adopts a Robotic C525 camera, carries out image data transmission in MJPEG format through USB, and is free of driving and installation.
The video image transmission module adopts a wireless image transmission module XRbot-Link5, the module is connected with a drive-free USB camera, the shot content is automatically sent out through a network in an MJPEG-STREAM format, and other equipment can receive the transmitted image data as long as the IP address and the corresponding port of the XRbot-Link5 module are opened.
The wireless serial port module is a blazed electronic wireless serial port module AS69-T20, the working frequency range of the module is 2.4-2.525GHz, the power supply voltage is 5V, and the power consumption is 100 mW.
The laser ranging module adopts an ATK-VL53L1X laser ranging module, and integrates 940 nanometer VCSEL light source, SPAD photon detector and a ranging intelligent sensor of a microcontroller for managing the whole ranging function.
The airborne computer is internally provided with a flight control node which obtains a flight control signal of the unmanned aerial vehicle through calculation and releases the flight control signal in a message form to control the flight attitude, the linear velocity and the angular velocity of each direction of the unmanned aerial vehicle, a flight control node which is used for releasing the flight control signal and converting the flight control signal into a signal of a driving motor, a motor driving node which executes the rotating speed of each motor of the unmanned aerial vehicle, a video stream information which is used for receiving a wireless image transmission module, a video receiving node which is used for converting the video stream information into a video message in an ROS system and releasing, subscribing the video message released by the video receiving node, executing an image recognition function, releasing the recognized result to the image recognition node of the flight control node, receiving the flight parameters detected by each sensor, processing data, and releasing the flight parameters in a message form to a parameter acquisition node and, according to a specified communication protocol, the flight parameters are sent to a parameter sending node of the ground control station through the wireless serial port module, the parameter sending node is used for receiving a ground control station control instruction sent by the wireless serial port module, data analysis is carried out, and the obtained flight control instruction is issued to an instruction receiving node of the flight control node in a message mode.
The invention has the beneficial effects that: the controller of the edge computing technology is used as a main control device for flight control and sensing, and the intelligent aircraft has strong computing performance and artificial intelligence; the flight path planning is carried out through machine learning, and corresponding treatment measures can be taken through machine vision to deal with emergency situations; the computer program runs under the ROS operating system platform, and has high parallelism, good universality and strong expandability; the communication with a ground control station can be carried out in two modes of a WiFi wireless network and a wireless serial port, so that the fault tolerance is stronger; the airborne robot comprises two positioning devices, namely a GPS and an ultra wide band, and realizes indoor and outdoor navigation positioning.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a diagram of a unmanned aerial vehicle control and sensing system architecture of the present invention;
FIG. 2 is a graph of a node distribution according to the present invention;
FIG. 3 is a schematic view of the flow structure of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1 to 3, a small unmanned aerial vehicle control and sensing system includes an onboard computer for performing operations such as flight control, path planning, image processing, and data processing, a mobile power supply for supplying power to the onboard computer, and a ground station, and further includes:
the image acquisition module is used for acquiring images in the flight process of the unmanned aerial vehicle and acquiring image information through shooting;
the video image transmission module is used for transmitting the image information acquired by the image acquisition module out of the ground station through WiFi and transmitting the image information to the airborne computer through Ethernet;
the command/state wireless serial port transmission module is in wireless communication with the ground station and is used for transmitting flight state parameters of the unmanned aerial vehicle and commands of the ground control station;
the laser ranging module is used for accurately measuring the relative height of the unmanned aerial vehicle from the ground at a lower height and transmitting the relative height to the onboard computer through a UART (universal asynchronous receiver/transmitter);
the airborne computer selects a raspberry pie as the airborne computer, a Ubuntu system is installed, and an ROS robot operability system is operated.
The controller of the edge computing technology is used as a main control device for flight control and sensing, and the intelligent aircraft has strong computing performance and artificial intelligence; the flight path planning is carried out through machine learning, and corresponding treatment measures can be taken through machine vision to deal with emergency situations; the computer program runs under the ROS operating system platform, and has high parallelism, good universality and strong expandability; the communication with a ground control station can be carried out in two modes of a WiFi wireless network and a wireless serial port, so that the fault tolerance is stronger; the airborne robot comprises two positioning devices, namely a GPS and an ultra wide band, and realizes indoor and outdoor navigation positioning.
The airborne computer as the main control device of unmanned aerial vehicle control and perception system mainly accomplishes flight control, path planning, image processing, data processing class work, possesses marginal calculation function, can carry out deep learning, chooses raspberry group for use as the airborne computer, installs the Ubuntu system to operation ROS robot operating system.
The image acquisition module adopts a Rogow C525 camera, the resolution ratio of the camera is 1280 × 720, 800 ten thousand pixels, the automatic focusing is realized, the visual field reaches 69 degrees, the image acquisition module is widely applied to the fields of human image acquisition and video calls, the image data transmission in the MJPEG format is carried out through a USB, and the driving-free installation is realized.
The video image transmission module adopts a wireless image transmission module XRbot-Link5, the module is connected with a drive-free USB camera, the shot content is automatically sent out through a network in an MJPEG-STREAM format, and other equipment can receive the transmitted image data as long as the IP address and the corresponding port of the XRbot-Link5 module are opened.
The XRbot-Link5 module can be used as an AP mode or a Client mode, and when the XRbot-Link5 module is used as the AP mode, the XRbot-Link module can be used as a gateway, and all devices in the system are connected to the node; when the XRbot-Link5 module is used as a Client mode, the XRbot-Link5 module is connected to other gateways as a terminal, because the Client mode can facilitate a plurality of terminals to be connected into the system and provide a foundation for a possibly occurred multi-moving-body system.
The wireless serial port module is an industrial grade wireless data transmission module with high stability, the maximum communication speed is 115200bps, the wireless serial port module is designed and developed by adopting a radio frequency chip 24L01, and the wireless serial port module has a full duplex function.
The laser ranging module selects an ATK-VL53L1X laser ranging module, integrates 940-nanometer VCSEL light source, SPAD photon detector and a ranging intelligent sensor of a microcontroller for managing the whole ranging function, has the best environment light anti-interference performance in the industry, reduces the influence of environment light to the minimum, and can reduce the processing load of a host and the power consumption of a system to the maximum extent by an embedded microcontroller and a digital algorithm in the application of terminal products.
The distance measurement length of the laser distance measurement module is 4 meters, and the accuracy is within a range of +/-3%; the measurement speed is high and is finished within 30 ms; the IIC bus is used for completing communication with the microcontroller, and convenience and rapidness are achieved; the energy efficiency is higher, and the power consumption is only 20mW in a normal working mode; the size is very little, is only 10.5mm 13.3mm, is applicable to very much that unmanned aerial vehicle hangs down the sky and surveys the height, and the non-visible light of 940nm wavelength that inside laser instrument sent in addition does not harm eyes, and the security is high.
The portable power source be used for the power supply of unmanned aerial vehicle airborne computer, wireless picture transmission module, select SY W56 portable power source of SkaldYLang company for use, this power size is 90mm 60mm 13mm, weight is only 150g, and the capacity is 10000mAH, is applicable to the unmanned aerial vehicle service environment very much.
The airborne computer is internally provided with a flight control node which obtains a flight control signal of the unmanned aerial vehicle through calculation and releases the flight control signal in a message form to control the flight attitude, the linear velocity and the angular velocity of each direction of the unmanned aerial vehicle, a flight control node which is used for releasing the flight control signal and converting the flight control signal into a signal of a driving motor, a motor driving node which executes the rotating speed of each motor of the unmanned aerial vehicle, a video stream information which is used for receiving a wireless image transmission module, a video receiving node which is used for converting the video stream information into a video message in an ROS system and releasing, subscribing the video message released by the video receiving node, executing an image recognition function, releasing the recognized result to the image recognition node of the flight control node, receiving the flight parameters detected by each sensor, processing data, and releasing the flight parameters in a message form to a parameter acquisition node and, according to a specified communication protocol, the flight parameters are sent to a parameter sending node of the ground control station through the wireless serial port module, the parameter sending node is used for receiving a ground control station control instruction sent by the wireless serial port module, data analysis is carried out, and the obtained flight control instruction is issued to an instruction receiving node of the flight control node in a message mode.
The system using method comprises the following steps:
s1, installing an unmanned aerial vehicle;
s2, starting a power supply:
(1) starting an M100 unmanned aerial vehicle flight platform;
(2) starting M100 unmanned aerial vehicle airborne equipment;
(3) starting a remote controller to adjust to automatic flight;
s3, starting a ground control station;
s4, starting application software:
(1) checking a ground control station network connection;
(2) starting an ROS node of the onboard computer;
(3) starting video display and storage software;
(4) and starting ground flight control and parameter acquisition software.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a small unmanned aerial vehicle control and perception system, is including being used for accomplishing flight control, path planning, image processing, the airborne computer of data processing class work, portable power source and the ground satellite station for airborne computer power supply, its characterized in that: further comprising:
the image acquisition module is used for acquiring images in the flight process of the unmanned aerial vehicle and acquiring image information through shooting;
the video image transmission module is used for transmitting the image information acquired by the image acquisition module out of the ground station through WiFi and transmitting the image information to the airborne computer through Ethernet;
the command/state wireless serial port transmission module is in wireless communication with the ground station and is used for transmitting flight state parameters of the unmanned aerial vehicle and commands of the ground control station;
and the laser ranging module is used for accurately measuring the relative height of the unmanned aerial vehicle from the ground when the height is lower, and transmitting the relative height to the onboard computer through the UART.
2. A drone controlling and sensing system according to claim 1, characterised in that: the airborne computer selects a raspberry pie as the airborne computer, a Ubuntu system is installed, and an ROS robot operability system is operated.
3. A drone controlling and sensing system according to claim 1, characterised in that: the image acquisition module adopts a Robotic C525 camera, carries out image data transmission in MJPEG format through USB, and is free of driving and installation.
4. A drone controlling and sensing system according to claim 1, characterised in that: the video image transmission module adopts a wireless image transmission module XRbot-Link5, the module is connected with a drive-free USB camera, the shot content is automatically sent out through a network in an MJPEG-STREAM format, and other equipment can receive the transmitted image data as long as the IP address and the corresponding port of the XRbot-Link5 module are opened.
5. A drone controlling and sensing system according to claim 1, characterised in that: the laser ranging module adopts an ATK-VL53L1X laser ranging module, and integrates 940 nanometer VCSEL light source, SPAD photon detector and a ranging intelligent sensor of a microcontroller for managing the whole ranging function.
6. A drone controlling and sensing system according to claim 1, characterised in that: the airborne computer is internally provided with a flight control node which obtains a flight control signal of the unmanned aerial vehicle through calculation and releases the flight control signal in a message form to control the flight attitude, the linear velocity and the angular velocity of each direction of the unmanned aerial vehicle, a flight control node which is used for releasing the flight control signal and converting the flight control signal into a signal of a driving motor, a motor driving node which executes the rotating speed of each motor of the unmanned aerial vehicle, a video stream information which is used for receiving a wireless image transmission module, a video receiving node which is used for converting the video stream information into a video message in an ROS system and releasing, subscribing the video message released by the video receiving node, executing an image recognition function, releasing the recognized result to the image recognition node of the flight control node, receiving the flight parameters detected by each sensor, processing data, and releasing the flight parameters in a message form to a parameter acquisition node and, according to a specified communication protocol, the flight parameters are sent to a parameter sending node of the ground control station through the wireless serial port module, the parameter sending node is used for receiving a ground control station control instruction sent by the wireless serial port module, data analysis is carried out, and the obtained flight control instruction is issued to an instruction receiving node of the flight control node in a message mode.
7. A drone controlling and perceiving system according to claim 6, wherein: the wireless serial port module is a blazed electronic wireless serial port module AS69-T20, the working frequency range of the module is 2.4-2.525GHz, the power supply voltage is 5V, and the power consumption is 100 mW.
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Application publication date: 20210713 |