CN113268075A - Unmanned aerial vehicle control method and system - Google Patents
Unmanned aerial vehicle control method and system Download PDFInfo
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Abstract
The invention relates to a method and a system for controlling an unmanned aerial vehicle, which comprise an airborne computer, a sensor and a ground station, wherein the airborne computer executes three-thread tasks comprising a main thread, a ground station communication thread and a safe flight thread; the ground station is in communication connection with the airborne computer and is used for issuing a task instruction, receiving information data and video stream information of the unmanned aerial vehicle in real time and displaying the information data and the video stream information on a screen in real time; the sensor is used for detecting and avoiding obstacles. The invention gets rid of the requirement that the flying hand of the unmanned aerial vehicle needs to track and observe the unmanned aerial vehicle in real time in the flying process, so that an operator can operate the unmanned aerial vehicle in real time through a computer in any place with a network and observe the video pictures returned by the unmanned aerial vehicle, and the safety performance of the unmanned aerial vehicle is improved by the matched safety strategy.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method and system.
Background
Traditional unmanned aerial vehicle need fly handheld remote controller and control in real time, run into under the bad good condition of tall and big barrier separation or ground traffic conditions, fly the hand just to be difficult to control unmanned aerial vehicle and carry out the task operation to the operational mode of traditional remote control has restricted operating personnel and unmanned aerial vehicle's distance.
The unmanned aerial vehicle technology is a mechanical electronic device which is started to move in the air by a power system of the unmanned aerial vehicle, appears and develops in the 40 th of the 20 th century, and the unmanned aerial vehicle can carry various devices through a holder or other mechanical structures to execute multiple tasks at the present stage.
The existing unmanned aerial vehicle products are mostly general products, are mainly focused on outdoor aerial photography, depend on the operation of flying hands, and have insufficient mission functions.
Therefore, a technical scheme which does not depend on the operation of the flying hand and can carry out real-time information returning and unmanned aerial vehicle real-time operation is urgently needed in the field.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle control method and system, which solve the problem of operation control depending on a flight hand at present by utilizing real-time data transmission of a computer and a ground station.
In order to achieve the purpose, the invention provides the following scheme:
an unmanned aerial vehicle control method, the method is carried out three-thread task by an onboard computer arranged on an unmanned aerial vehicle, the three threads comprise a main thread, a ground station communication thread and a safe flight thread;
the ground station communication thread comprises: the unmanned aerial vehicle information data are transmitted back in real time and task instructions are obtained in real time; the unmanned aerial vehicle information data comprises attitude information, position information and state information of the unmanned aerial vehicle;
the main thread comprises: acquiring video stream information in real time and controlling the flight of the unmanned aerial vehicle according to the task instruction;
the safe flight thread comprises: and receiving the signal of the obstacle avoidance sensor in real time, and executing an obstacle avoidance program when the obstacle avoidance sensor is too close to the obstacle.
Optionally, the method further includes:
and storing the video stream information and the unmanned aerial vehicle information data to obtain a flight log.
Optionally, controlling the flight of the unmanned aerial vehicle according to the task instruction specifically includes:
analyzing the task instruction, and controlling the flight action according to the analysis result; the task instruction comprises one or more of an airline task sign, a longitude and latitude coordinate list of an airline task point, an airline task action, a real-time operation instruction and a one-key special operation instruction.
Optionally, the airline task sign includes whether to perform an airline task;
the air route task action comprises unmanned aerial vehicle attitude adjustment and angle adjustment of a camera on the unmanned aerial vehicle; the unmanned aerial vehicle attitude adjustment comprises one of hovering, photographing, video recording and hovering;
the one-key special operation instruction comprises whether special operation is executed or not; the special operations include: an operation set in advance.
Optionally, the receiving a signal of an obstacle avoidance sensor in real time, and executing an obstacle avoidance procedure when the obstacle avoidance sensor is too close to the obstacle, specifically includes:
receiving obstacle avoidance sensor signals in real time; the obstacle avoidance sensor signals comprise obstacle information in front of the unmanned aerial vehicle, on the left and on the right;
when the obstacle avoidance sensor detects an obstacle, determining the magnitude and direction of a repulsive force of an obstacle avoidance algorithm according to the position of the obstacle relative to the unmanned aerial vehicle and a repulsive force field function;
calculating the size and the direction of the gravity according to the current position of the unmanned aerial vehicle and the position of the air route;
calculating the magnitude and direction of resultant force according to the magnitude and direction of the repulsive force and the magnitude and direction of the attractive force;
and controlling the unmanned aerial vehicle to avoid the obstacle according to the magnitude and the direction of the resultant force.
A drone control method, the method performed by a ground station, the method comprising:
the unmanned aerial vehicle information data and the video stream information are received in real time; the unmanned aerial vehicle information data comprises attitude information, position information and state information of the unmanned aerial vehicle;
displaying the unmanned aerial vehicle information data and the video stream information on a screen in real time;
generating a task instruction; the task instructions include: one or more of latitude and longitude and motion attributes of the waypoint of the airline;
and transmitting the task instruction to an unmanned aerial vehicle, and controlling the unmanned aerial vehicle to execute the task instruction.
An unmanned aerial vehicle control system, the system comprising:
an on-board computer for performing a three-thread task; the three threads comprise a main thread, a ground station communication thread and a safe flight thread; the ground station communication thread comprises: the unmanned aerial vehicle information data are transmitted back in real time and task instructions are obtained in real time; the main thread comprises: acquiring video stream information in real time and controlling the flight of the unmanned aerial vehicle according to the task instruction; the safe flight thread comprises: receiving a signal of an obstacle avoidance sensor in real time, and executing an obstacle avoidance program when the obstacle avoidance sensor is too close to an obstacle;
the sensor is connected with the airborne computer and used for acquiring barrier information in real time;
a ground station in communication connection with the onboard computer for:
the unmanned aerial vehicle information data and the video stream information are received in real time; the unmanned aerial vehicle information data comprises attitude information, position information and state information of the unmanned aerial vehicle;
displaying the unmanned aerial vehicle information data and the video stream information on a screen in real time;
generating a task instruction; the task instructions include: one or more of latitude and longitude and motion attributes of the waypoint of the airline;
and transmitting the task instruction to an unmanned aerial vehicle, and controlling the unmanned aerial vehicle to execute the task instruction.
Optionally, a GPIO pin of the onboard computer is connected to a three-color LED indicator; the three colors are red, blue and green;
when the green light is normally on, the unmanned aerial vehicle and the onboard computer are normal;
when the green light flickers, the onboard computer has no network communication connection;
when the red light flickers, the flight control connection between the onboard computer and the unmanned aerial vehicle fails or the onboard computer cannot acquire unmanned aerial vehicle information data.
When the red light is normally on, the electric quantity of the lithium battery of the unmanned aerial vehicle is insufficient;
when the blue lamp is normally on, the video information is normally transmitted, and the onboard computer can receive the video stream information from the onboard camera;
when the blue light flickers, the video information is abnormally transmitted, and the onboard computer cannot receive the video stream information from the onboard camera.
Optionally, the sensor includes:
the optical flow sensor is positioned below the unmanned aerial vehicle and used for acquiring the bottom height information of the unmanned aerial vehicle in real time;
ultrasonic ranging sensor is located the unmanned aerial vehicle lateral part for acquire unmanned aerial vehicle lateral part barrier information.
Optionally, the ground station is further configured to:
debugging unmanned aerial vehicle parameters;
reading a flight log, flight route information and task instruction information of the unmanned aerial vehicle;
planning a flight route, and setting automatic takeoff and landing parameters;
checking errors of the unmanned aerial vehicle and the airborne computer, and alarming; the alert includes an alert of loss of communication with the on-board computer.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the unmanned aerial vehicle control method and the unmanned aerial vehicle control system provided by the embodiment of the invention get rid of the requirement that the flying hand of the unmanned aerial vehicle needs to track and observe the unmanned aerial vehicle in real time in the flying process, so that an operator can operate the unmanned aerial vehicle indoors or in any places with networks in real time through a computer, a course task is issued to the unmanned aerial vehicle, a video picture returned by the unmanned aerial vehicle is observed, and the safety performance of the unmanned aerial vehicle is improved by the matched safety strategy.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart of an unmanned aerial vehicle control method according to an embodiment of the present invention.
Fig. 2 is a flowchart of an unmanned aerial vehicle control method according to a second embodiment of the present invention.
Fig. 3 is a block diagram of an unmanned aerial vehicle control system according to a third embodiment of the present invention.
Fig. 4 is a schematic diagram of an onboard computer integration of the unmanned aerial vehicle control system according to a third embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an unmanned aerial vehicle control method and system, which solve the problem of operation control depending on a flight hand at present by utilizing real-time data transmission of a computer and a ground station.
The invention can be applied to urban traffic operation, for example, in the current development of some cities, due to the complex traffic conditions, cameras in some areas are not completely covered, enough field evidence is not provided when an accident occurs, and managers can not necessarily arrive in time when events such as dense personnel, congestion, fighting and the like can occur in some areas. Utilize unmanned aerial vehicle fast under this kind of condition, the patrol scope is wide, can shoot and carry on the functional characteristic of other equipment, and in the very first time of occurence of failure, by near unmanned aerial vehicle of patrolling arrive to carry out accident handling, or directly send out unmanned aerial vehicle, alright accelerate the accident time of collecting evidence, improve the treatment effeciency greatly, in the face of emergency, can directly utilize unmanned aerial vehicle to handle. The invention focuses on controlling the operation of the unmanned aerial vehicle through the ground station, and the functions of the invention are mainly focused on real-time information feedback and real-time unmanned aerial vehicle control.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The first embodiment is as follows:
as shown in fig. 1, an embodiment of the present invention provides an unmanned aerial vehicle control method, where an onboard computer disposed on an unmanned aerial vehicle executes a three-thread task, where the three threads include a main thread, a ground station communication thread, and a safe flight thread;
the ground station communication thread comprises: the unmanned aerial vehicle information data are transmitted back in real time and task instructions are obtained in real time; when an air route task instruction and a real-time control instruction arrive, informing a main thread to enter a corresponding processing program; the unmanned aerial vehicle information data comprises attitude information, position information and state information of the unmanned aerial vehicle.
The main thread comprises: acquiring video stream information in real time and controlling the flight of the unmanned aerial vehicle according to the task instruction;
specifically, the specific steps of controlling the flight of the unmanned aerial vehicle according to the task instruction comprise:
analyzing the task instruction, and controlling the flight action according to the analysis result; the task instruction comprises one or more of an airline task sign, a longitude and latitude coordinate list of an airline task point, an airline task action, a real-time operation instruction and a one-key special operation instruction.
The on-board computer obtains a thread for starting and receiving a task instruction of the ground station, and receives the task instruction sent by the ground station in real time, wherein the task instruction comprises a route instruction, a return instruction, a hovering and landing instruction and the like. Firstly, analyzing a real-time task instruction of a ground station: receiving a json object of the ground station by the airborne computer, wherein the json object comprises: whether to carry out airline task marking, a longitude and latitude coordinate list of airline task points, actions of airline task points, real-time operation instructions and one-key special operation instructions.
And the air route task mark indicates whether the air route task is carried out, if so, the value is true, the unmanned aerial vehicle is controlled to carry out air route flight, and if the value is false, the air route task control is not carried out on the unmanned aerial vehicle.
Latitude and longitude coordinate list of the airline task point: the object data comprises longitude and latitude coordinate values of the flight path task point, and 50 groups of longitude and latitude values can be sent at most.
And (3) navigation point task action: each group of waypoint task actions corresponds to waypoints with the same sequence number, and the waypoint actions comprise angle adjustment of a holder camera, attitude adjustment of an unmanned aerial vehicle, hovering, photographing, video recording and hovering.
Real-time operation instruction: this instruction is used for controlling unmanned aerial vehicle in real time, and its operating command and remote controller instruction are similar, defaults to be the american national model, nevertheless because this operating information need pass through the network, just can reach unmanned aerial vehicle after the on-board computer internal analysis, so its time delay exceeds 200ms at least, so this instruction is only applicable to the spacious area that the flight condition is good under the normal condition.
One-key special operation instruction: the command comprises the operation preset in advance, and mainly comprises the following three conditions that the unmanned aerial vehicle automatically returns, the returning speed and the returning height of the unmanned aerial vehicle are preset in the program, the returning line flies linearly, and the unmanned aerial vehicle directly lands under the condition of detecting the surrounding safety. And secondly, the unmanned aerial vehicle is hovered in an emergency, and the unmanned aerial vehicle sends a control command to brake the motor of the unmanned aerial vehicle in an emergency. And thirdly, adjusting the angle of the holder, namely controlling the angle deflection of the holder by an onboard computer.
The airborne computer carries on ultrasonic ranging sensor, and unmanned aerial vehicle passes through the distance of ultrasonic sensor control self barrier, guarantees the safe distance of unmanned aerial vehicle and city building, guarantees unmanned aerial vehicle and promptly keeps away the barrier when meeting with the place ahead barrier. The method comprises the steps that an airborne computer is subjected to obstacle crossing operation, the operation is set as common setting of the unmanned aerial vehicle, when the unmanned aerial vehicle executes a flight path task, the unmanned aerial vehicle immediately decelerates to a hovering state to climb to a sufficient height when encountering an obstacle 10m in front, and descends to the flight path height from the current height after determining that the obstacle has been crossed through data returned by a front ultrasonic sensor and a lower sight distance sensor. The airborne computer meets the obstacle and moves around the operation, when unmanned aerial vehicle carries out the airline task, when meetting the place ahead barrier, judge which direction is comparatively spacious about according to the information of left and right sides ultrasonic ranging appearance transmission, and confirm that fly left or fly right, later do the driftage through the adjustment and fly, do not turn to, disappear until the place ahead barrier, whether detect far-reaching line position has the barrier behind the predetermined distance that advances, if no barrier, carry out the driftage motion again and return the airline.
Specifically, receiving a signal of an obstacle avoidance sensor in real time; the obstacle avoidance sensor signals comprise obstacle information in front of the unmanned aerial vehicle, on the left and on the right;
when the obstacle avoidance sensor detects an obstacle, determining the magnitude and direction of a repulsive force of an obstacle avoidance algorithm according to the position of the obstacle relative to the unmanned aerial vehicle and a repulsive force field function;
calculating the size and the direction of the gravity according to the current position of the unmanned aerial vehicle and the position of the air route;
calculating the magnitude and direction of resultant force according to the magnitude and direction of the repulsive force and the magnitude and direction of the attractive force;
and controlling the unmanned aerial vehicle to avoid the obstacle according to the magnitude and the direction of the resultant force.
Specifically, the method comprises the following steps: and guiding the unmanned aerial vehicle to avoid the obstacle by adopting an artificial potential field method, wherein the strategy is that the unmanned aerial vehicle detours upwards or detours leftwards and rightwards when meeting the obstacle. Establishing an artificial potential field function according to the position information of the air route and the position information of the obstacle:
gravitational field function:
repulsive force field function:
wherein,
the vector value that the unmanned aerial vehicle is influenced by a target point and attracted is designated, epsilon refers to a gravitational field proportionality coefficient, pcurve(g) Presetting a course distance for the distance between the unmanned aerial vehicle and theta, wherein theta is a speed difference coefficient and delta VYDifference of Y-direction velocity v between preset track and actual trackxIs the speed of the unmanned plane along the X-axis direction, delta T is a control period,
is a unit vector, the direction points to the unmanned aerial vehicle from the coordinate position of the next waypoint, g refers to the unmanned aerial vehicle preset unmanned aerial vehicle course position variable,
also unit vector, the direction is that the detected obstacle points to the unmanned plane,
the unmanned plane is influenced by an obstacle or a no-fly zone and is subjected to repulsive vector value, eta refers to a repulsive force field proportionality coefficient, and p0Refers to the influence radius of the obstacle, q refers to the actual track position variable of the unmanned aerial vehicle, p (q) refers to the linear distance between the unmanned aerial vehicle and the obstacle, and p2(q) is the square of p (q),
is a unit vector, and the direction is the direction of the detected obstacle pointing to the unmanned aerial vehicle.
During practical application, when the ultrasonic sensor does not detect the obstacle, the unmanned aerial vehicle flies along the air route. When the ultrasonic sensor detects an obstacle, the ultrasonic sensor is used for sending data to draw obstacle information of the unmanned aerial vehicle in the left, front and right directions according to an obstacle avoidance algorithm built in the airborne computer, the size and direction of a repulsive force of the obstacle avoidance algorithm are determined according to the position of the existing obstacle relative to the unmanned aerial vehicle and a repulsive force field function, meanwhile, the size and direction of a gravitational force are calculated according to the current position of the unmanned aerial vehicle and a route position, the direction and the size of a resultant force are calculated, the direction of acceleration of the unmanned aerial vehicle is adjusted to be the direction of the resultant force, and the size of the acceleration is determined according to the size.
As an optional implementation manner, the drone onboard computer may further store the video stream information and the drone information data to obtain a flight log.
When the position information of the unmanned aerial vehicle is acquired, the GPS navigation system has the advantages of high precision, low error, no accumulated error, wide coverage range and the like, but is easily limited by the number of regional satellites and is easily interfered by electromagnetic signals; the network signal wireless positioning fails when the network signal wireless positioning is too high, and the navigation precision of the method is low and limited by the number of local 4G base stations, so that GPS navigation data and network position data need to be fused and returned to the ground station as final position information of the unmanned aerial vehicle.
And (3) fusing and processing data of the two sensors by adopting a Kalman filtering mode, and establishing a Kalman filtering equation:
the prediction equation:
updating an equation: kk＝(Pk-HT)/(HPk-HT+R)
Wherein,
representing the estimate of the posterior state at time k-1,
representing the estimate of the a posteriori state at time k,
the estimated value of the prior state representing the k time is the intermediate calculation result of the filtering, pk-1Representing the posteriori estimated covariance, p, at time k-1kRepresenting the a posteriori estimated covariance at time k,
covariance representing the prior estimated covariance at time k, H represents the state variable to measure (observation) transition matrix, ZkRepresenting the system input value, KkRepresenting a filter gain matrix, a representing a state transition matrix, Q representing a process excitation noise covariance (covariance of the system process), R representing a measurement noise covariance, B representing a matrix converting the input to a state,
residual error, u, representing actual and predicted observationsk-1And (3) the network signal geographic position data at the k-1 moment is shown, and I represents a second-order identity matrix.
In the specific fusion process, the sampling period is set as 200ms, ZkThe system input value uses the GPS value, pkA posteriori estimated covariance and
the prior estimate covariance takes the value 0, xkThe prior state estimation value is replaced by the geographic coordinate returned by the 4G network.
The unmanned aerial vehicle control method provided by the embodiment of the invention gets rid of the requirement that the flying hand of the unmanned aerial vehicle needs to track and observe the unmanned aerial vehicle in real time in the flying process, so that an operator can operate the unmanned aerial vehicle in real time indoors or in any places with networks through a computer, a course task is issued to the unmanned aerial vehicle, and the safety performance of the unmanned aerial vehicle is improved by the matched safety strategy.
Example two:
as shown in fig. 2, an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle, where the method is performed by a ground station, and the method includes:
the unmanned aerial vehicle information data and the video stream information are received in real time; the unmanned aerial vehicle information data comprises attitude information, position information and state information of the unmanned aerial vehicle;
displaying the unmanned aerial vehicle information data and the video stream information on a screen in real time; the ground station is internally provided with a video analysis module which analyzes and displays the video signal in the H.264 format sent by the airborne computer on an interface window;
generating a task instruction; the task instructions include: one or more of latitude and longitude and motion attributes of the waypoint of the airline;
and transmitting the task instruction to an unmanned aerial vehicle, and controlling the unmanned aerial vehicle to execute the task instruction.
As an optional implementation manner, in this embodiment, a flight route may be planned according to the setting of the user, and the automatic takeoff and landing parameters are set, which includes the specific steps of:
the user sets the longitude and latitude value of the route waypoint by clicking the ground station map, or directly inputs the longitude and latitude value of the route, and edits and adds the action attribute of the waypoint, the action attribute of the waypoint does not exceed 5 at most, and the waypoint action is executed according to the front and back sequence of the input attribute, and the method comprises the following steps:
adjusting the angle of a pan-tilt camera, inputting a three-axis deflection angle of a pan-tilt by a user, and inputting execution action time;
adjusting the attitude of the unmanned aerial vehicle, inputting an unmanned aerial vehicle attitude angle set value by a user, and inputting action execution time;
hovering the unmanned aerial vehicle, inputting an unmanned aerial vehicle gesture hovering instruction by a user, and inputting hovering time;
taking a picture by the camera, inputting a shooting instruction of the unmanned aerial vehicle by a user, and inputting the number of the shot pictures, wherein the default shooting time interval is 3 s;
a camera video recording action, wherein a user inputs an unmanned aerial vehicle video recording instruction and inputs video recording duration;
and (3) the unmanned aerial vehicle performs hovering action, inputting a hovering action instruction of the unmanned aerial vehicle by a user, and inputting hovering time, wherein the default hovering radius is 5 m.
When a user creates a flight path, the user needs to input flight path attributes, takeoff height, home point coordinates, flight speed and flight ending action.
If the unmanned aerial vehicle is in flight, the ground station sends a new air route and commands the new air route to be executed, the unmanned aerial vehicle gives up the current task, directly flies to the first air route point of the air route in a straight line according to the height of the air route, and starts to execute the new air route task.
The unmanned aerial vehicle control method provided by the embodiment of the invention can ensure that the unmanned aerial vehicle can be communicated with an onboard computer under any application scene with good network signals or 4G stations, obtain a real-time video picture of a pan-tilt camera, transmit a real-time video and real-time information of the unmanned aerial vehicle back to a ground station, provide real-time video display of the onboard camera, provide a interfacing human-computer interaction interface, check position information of the unmanned aerial vehicle through imported map display, edit course and waypoint tasks, display state information of the unmanned aerial vehicle, a GPS, an attitude angle, a speed, an acceleration, a height, task execution information, load information and electric quantity, transmit tasks or other commands to the onboard computer through 4G network signals, and display alarm information after the tasks or other commands are disconnected with the onboard computer.
Example three:
as shown in fig. 3, an embodiment of the present invention provides an unmanned aerial vehicle control system to which the unmanned aerial vehicle control method in the first embodiment and the second embodiment is applied, where the system includes: an onboard computer, sensors and a ground station.
The system is based on raspberry group hardware, the airborne computer interacts with a ground station through a 4G network communication module on the airborne computer, control instructions are processed and then transmitted to the flight control of the unmanned aerial vehicle, the default flight control is pixhawk4, and the airborne computer controls the flight control to perform task actions. The airborne computer can perform information interaction with a ground station through a communication interface, returns the attitude, the position, the GPS, the state and the video information of the unmanned aerial vehicle to the ground station, receives the control instruction and the route information transmitted by the ground station, and controls the unmanned aerial vehicle to perform route task or action instruction in real time. Meanwhile, the airborne computer acquires data of the optical flow sensor and the ultrasonic ranging sensor in real time and makes a safe flight decision according to the data of the sensors.
The on-board computer is a hardware module integrated system, and the modules on the system are shown in FIG. 4. The airborne computer is a multitask parallel operating system, and adopts multithreading to process data and execute tasks.
Specifically, the onboard computer is used to perform a three-thread task; the three threads comprise a main thread, a ground station communication thread and a safe flight thread; the ground station communication thread comprises: the unmanned aerial vehicle information data are transmitted back in real time and task instructions are obtained in real time; the main thread comprises: acquiring video stream information in real time and controlling the flight of the unmanned aerial vehicle according to the task instruction; the safe flight thread comprises: receiving a signal of an obstacle avoidance sensor in real time, and executing an obstacle avoidance program when the obstacle avoidance sensor is too close to an obstacle;
the internet module of the airborne computer is connected with the 4G module through a usb data line by using a raspberry pi, and the 4G internet module is an internet hardware integrated circuit for providing an SIM card. The internet module is used for communication between the onboard computer and the ground station, the communication is socket communication, the onboard computer sends a request signal containing information of the unmanned aerial vehicle in real time, and the ground station replies a message of 'receiving'. The airborne computer accesses a ground station server by using a socket communication principle and taking 200ms as a period, packs and sends the attitude, the position, the GPS, the state and the video information of the unmanned aerial vehicle to the ground station.
The burning and modification of the program of the airborne computer are connected with the program burning software through the USB, and the modified program can be burnt into the ROM of the airborne computer at any time
A GPIO pin of the airborne computer is connected with a three-color LED indicator lamp; the three colors are red, blue and green;
when the green light is normally on, the unmanned aerial vehicle and the onboard computer are normal;
when the green light flickers, the onboard computer has no network communication connection; the 4G signal is lost or the 4G module is damaged/disconnected under the condition that the airborne computer does not have network communication;
when the red light flickers, the flight control connection between the onboard computer and the unmanned aerial vehicle fails or the onboard computer cannot acquire real-time information data of the unmanned aerial vehicle;
when the red light is normally on, the electric quantity of the lithium battery of the unmanned aerial vehicle is insufficient, and a buzzer of the onboard computer is turned on at the moment;
when the blue lamp is normally on, the video information is normally transmitted, and the onboard computer can receive the video stream information from the onboard camera;
when the blue light flickers, the video information is abnormally transmitted, and the onboard computer cannot receive the video stream information from the onboard camera.
The sensor is connected with the airborne computer and used for acquiring barrier information in real time; the sensor in this embodiment is an obstacle avoidance sensor, and includes an optical flow sensor and three ultrasonic ranging sensors. And the optical flow sensor and the three ultrasonic ranging sensors are connected to GPIO pins of the onboard computer.
The optical flow sensor is positioned below the unmanned aerial vehicle and used for acquiring the bottom height information of the unmanned aerial vehicle in real time; the ultrasonic ranging sensor is positioned on the side part of the unmanned aerial vehicle and used for acquiring the obstacle information on the side part of the unmanned aerial vehicle; three ultrasonic ranging sensors are respectively arranged on the left, right and front sides of the airborne computer and used for acquiring the information of obstacles on the front, left and right sides of the unmanned aerial vehicle in real time.
The airborne computer carries out safe flight strategy through the data that acquire light stream sensor and ultrasonic sensor, and the detour strategy when meeting the barrier when airborne computer carries out the airline flight promptly, under this strategy, unmanned aerial vehicle passes through the distance of ultrasonic sensor control self barrier, guarantees the safe distance of unmanned aerial vehicle and city building, guarantees unmanned aerial vehicle and carries out promptly when meeting the place ahead barrier and keep away the barrier.
As an optional implementation, the onboard computer communicates with the flight control of the unmanned aerial vehicle through a USB3.0 interface, and obtains the attitude angle, GPS information, and heading angle of the unmanned aerial vehicle by reading real-time data transmitted by the flight control. And the real-time information (such as flight path and shot photos) in the flight is sorted and stored in the expansion SD card, and a flight log is stored.
In addition, the airborne computer generates a corresponding control instruction according to the instruction sent by the ground station and sends the control instruction to the unmanned aerial vehicle flight control, and the airborne computer is connected with a high-definition camera on the unmanned aerial vehicle through hardware and sends the video stream to the ground station in an H.264 format.
The ground station is in communication connection with the airborne computer and is used for:
the unmanned aerial vehicle information data and the video stream information are received in real time; the unmanned aerial vehicle information data comprises attitude information, position information and state information of the unmanned aerial vehicle;
displaying the unmanned aerial vehicle information data and the video stream information on a screen in real time;
generating a task instruction; the task instructions include: one or more of latitude and longitude and motion attributes of the waypoint of the airline;
and transmitting the task instruction to an unmanned aerial vehicle, and controlling the unmanned aerial vehicle to execute the task instruction.
The software of the ground station is software which runs under a Windows system and is used for interaction between an operator and the unmanned aerial vehicle.
The ground station in the embodiment of the invention comprises a screen, can view the position information of the unmanned aerial vehicle through the imported map display, edit the air route and the waypoint task, and display the state information of the unmanned aerial vehicle, the GPS, the attitude angle, the speed, the acceleration, the height, the task execution information, the load information, the electric quantity information and the like.
The ground station transmits task instructions or other commands to the onboard computer through 4G network signals, and alarm information can be displayed on a screen after the ground station is disconnected with the onboard computer
The functions of the ground station in this embodiment include planning a flight path, starting a flight control system, uploading the flight path to the flight control system, and then setting automatic takeoff and landing parameters, such as takeoff speed, takeoff attack angle, climb height, terminal height, circular radius or diameter. And errors in the airborne computer and the flight control system of the unmanned aerial vehicle are checked, and an alarm is given in time.
The ground station also comprises a local database, so that the return information of the unmanned aerial vehicle can be saved in the database, and the unmanned aerial vehicle can be conveniently checked by an operator.
Besides, the ground station in this embodiment also provides an unmanned aerial vehicle debugging function, and the on-board computer can be connected through the USB data line to debug unmanned aerial vehicle parameters, and read unmanned aerial vehicle flight logs, flight route information, task instruction information, and other contents in the SD card.
The unmanned aerial vehicle control system provided by the embodiment of the invention gets rid of the requirement that the flying hand needs to track and observe the unmanned aerial vehicle in real time in the flying process of the unmanned aerial vehicle, so that an operator can operate the unmanned aerial vehicle indoors or in any places with networks in real time through a computer, a course task is issued to the unmanned aerial vehicle, and a video picture returned by the unmanned aerial vehicle is observed.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. An unmanned aerial vehicle control method is characterized in that an onboard computer arranged on an unmanned aerial vehicle executes three-thread tasks, wherein the three threads comprise a main thread, a ground station communication thread and a safe flight thread;
the ground station communication thread comprises: the unmanned aerial vehicle information data are transmitted back in real time and task instructions are obtained in real time; the unmanned aerial vehicle information data comprises attitude information, position information and state information of the unmanned aerial vehicle;
the main thread comprises: acquiring video stream information in real time and controlling the flight of the unmanned aerial vehicle according to the task instruction;
the safe flight thread comprises: and receiving the signal of the obstacle avoidance sensor in real time, and executing an obstacle avoidance program when the obstacle avoidance sensor is too close to the obstacle.
2. The drone controlling method of claim 1, further comprising:
and storing the video stream information and the unmanned aerial vehicle information data to obtain a flight log.
3. The drone control method according to claim 1, wherein controlling the flight of the drone according to the mission command specifically includes:
analyzing the task instruction, and controlling the flight action according to the analysis result; the task instruction comprises one or more of an airline task sign, a longitude and latitude coordinate list of an airline task point, an airline task action, a real-time operation instruction and a one-key special operation instruction.
4. The drone controlling method of claim 3,
the airline task sign comprises whether an airline task is performed or not;
the air route task action comprises unmanned aerial vehicle attitude adjustment and angle adjustment of a camera on the unmanned aerial vehicle; the unmanned aerial vehicle attitude adjustment comprises one of hovering, photographing, video recording and hovering;
the one-key special operation instruction comprises whether special operation is executed or not; the special operations include: an operation set in advance.
5. The unmanned aerial vehicle control method according to claim 1, wherein the receiving of the obstacle avoidance sensor signal in real time, and the executing of the obstacle avoidance procedure when the obstacle is too close to the obstacle, specifically include:
receiving obstacle avoidance sensor signals in real time; the obstacle avoidance sensor signals comprise obstacle information in front of the unmanned aerial vehicle, on the left and on the right;
when the obstacle avoidance sensor detects an obstacle, determining the magnitude and direction of a repulsive force of an obstacle avoidance algorithm according to the position of the obstacle relative to the unmanned aerial vehicle and a repulsive force field function;
calculating the size and the direction of the gravity according to the current position of the unmanned aerial vehicle and the position of the air route;
calculating the magnitude and direction of resultant force according to the magnitude and direction of the repulsive force and the magnitude and direction of the attractive force;
and controlling the unmanned aerial vehicle to avoid the obstacle according to the magnitude and the direction of the resultant force.
6. A method of drone control, the method being performed by a ground station, the method comprising:
the unmanned aerial vehicle information data and the video stream information are received in real time; the unmanned aerial vehicle information data comprises attitude information, position information and state information of the unmanned aerial vehicle;
displaying the unmanned aerial vehicle information data and the video stream information on a screen in real time;
generating a task instruction; the task instructions include: one or more of latitude and longitude and motion attributes of the waypoint of the airline;
and transmitting the task instruction to an unmanned aerial vehicle, and controlling the unmanned aerial vehicle to execute the task instruction.
7. An unmanned aerial vehicle control system, the system comprising:
an on-board computer for performing a three-thread task; the three threads comprise a main thread, a ground station communication thread and a safe flight thread; the ground station communication thread comprises: the unmanned aerial vehicle information data are transmitted back in real time and task instructions are obtained in real time; the main thread comprises: acquiring video stream information in real time and controlling the flight of the unmanned aerial vehicle according to the task instruction; the safe flight thread comprises: receiving a signal of an obstacle avoidance sensor in real time, and executing an obstacle avoidance program when the obstacle avoidance sensor is too close to an obstacle;
the sensor is connected with the airborne computer and used for acquiring barrier information in real time;
a ground station in communication connection with the onboard computer for:
the unmanned aerial vehicle information data and the video stream information are received in real time; the unmanned aerial vehicle information data comprises attitude information, position information and state information of the unmanned aerial vehicle;
displaying the unmanned aerial vehicle information data and the video stream information on a screen in real time;
generating a task instruction; the task instructions include: one or more of latitude and longitude and motion attributes of the waypoint of the airline;
and transmitting the task instruction to an unmanned aerial vehicle, and controlling the unmanned aerial vehicle to execute the task instruction.
8. An unmanned aerial vehicle control system as claimed in claim 7, wherein the GPIO pin of the onboard computer is connected with a three-color LED indicator light; the three colors are red, blue and green;
when the green light is normally on, the unmanned aerial vehicle and the onboard computer are normal;
when the green light flickers, the onboard computer has no network communication connection;
when the red light flickers, the flight control connection between the onboard computer and the unmanned aerial vehicle fails or the onboard computer cannot acquire unmanned aerial vehicle information data.
When the red light is normally on, the electric quantity of the lithium battery of the unmanned aerial vehicle is insufficient;
when the blue lamp is normally on, the video information is normally transmitted, and the onboard computer can receive the video stream information from the onboard camera;
when the blue light flickers, the video information is abnormally transmitted, and the onboard computer cannot receive the video stream information from the onboard camera.
9. The drone control system of claim 7, wherein the sensor comprises:
the optical flow sensor is positioned below the unmanned aerial vehicle and used for acquiring the bottom height information of the unmanned aerial vehicle in real time;
ultrasonic ranging sensor is located the unmanned aerial vehicle lateral part for acquire unmanned aerial vehicle lateral part barrier information.
10. The drone controlling system of claim 7, wherein the ground station is further configured to:
debugging unmanned aerial vehicle parameters;
reading a flight log, flight route information and task instruction information of the unmanned aerial vehicle;
planning a flight route, and setting automatic takeoff and landing parameters;
checking errors of the unmanned aerial vehicle and the airborne computer, and alarming; the alert includes an alert of loss of communication with the on-board computer.
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Inventor after: Zhang Jian Inventor after: Wu Dong Inventor after: Zu Lei Inventor after: Zhang Guiming Inventor after: Wang Huabi Inventor after: Li Debao Inventor after: Wu Qiaoguo Inventor before: Zu Lei Inventor before: Wu Dong Inventor before: Zhang Jian Inventor before: Zhang Guiming Inventor before: Wang Huabi Inventor before: Li Debao Inventor before: Wu Qiaoguo |