CN114063656A - Self-following method and automatic following device - Google Patents
Self-following method and automatic following device Download PDFInfo
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Abstract
The invention discloses a self-following method and an automatic following device, wherein the automatic following method comprises the following steps: s1, establishing connection between a signal receiving base station on the automatic following device and a signal sending module to be followed; s2, acquiring a signal strength value sent by the received signal sending module in real time through the signal receiving base station; s3, controlling the automatic following device to drive the signal receiving base station to move along a circular track in the horizontal direction, acquiring all signal intensity values under the circular track, finding out the maximum value of the signal intensity values, and the position of the signal receiving base station on the circular track when the maximum value is reached, and taking the position of the position as the following direction of the automatic following device; and S4, repeating the step S3, and controlling the automatic following device to follow the signal sending module. The automatic following method and the unmanned aerial vehicle can meet the requirement of low-speed following, and have the advantages of low implementation cost, good environmental adaptability and the like.
Description
Technical Field
The invention relates to the technical field of automatic following, in particular to a self-following method and an automatic following device.
Background
In recent years, with the development of computer technology and wireless communication technology, the appearance of intelligent equipment in people's life is more and more frequent, especially unmanned aerial vehicle has all obtained extensive application in military and civilian fields, wherein the automatic following technique has obtained the extensive research of academic and industrial circles as one of unmanned aerial vehicle's core technology, and the realization of automatic following technique mainly has two kinds of technical scheme: (1) based on the automatic following of GPS positioning, the technical scheme needs to install GPS modules in an unmanned aerial vehicle and mobile equipment (such as a remote controller) respectively, the relative positions of the unmanned aerial vehicle and a photographed person are determined through the accurate positioning of the GPS, a flight control system controls the unmanned aerial vehicle to realize the automatic following function according to the relative positions of the unmanned aerial vehicle and the photographed person, the scheme must ensure the accuracy of GPS signals and cannot be used in mountainous areas or rooms with weak signals; (2) based on visual following, the technology requires that the following target has high identification degree relative to the surrounding environment, and meanwhile, the following target needs to be kept within the capture range of the camera all the time, and the 'target object cannot be found' can cause the visual following to be forced to stop temporarily.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide one kind can be applicable to the low-speed demand of following, and the realization cost is lower, to better automatic following method of environmental suitability and unmanned aerial vehicle.
In order to solve the technical problems, the invention adopts the following technical scheme:
a self-following method, comprising the steps of:
s1, establishing connection between a signal receiving base station on the automatic following device and a signal sending module to be followed;
s2, acquiring a signal strength value sent by the received signal sending module in real time through the signal receiving base station;
s3, controlling the automatic following device to drive the signal receiving base station to move along a circular track in the horizontal direction, acquiring all signal intensity values under the circular track, finding out the maximum value of the signal intensity values, and the position of the signal receiving base station on the circular track when the maximum value is reached, and taking the position of the position as the following direction of the automatic following device;
and S4, repeating the step S3, and controlling the automatic following device to follow the signal sending module.
As optimization, the method also comprises the following steps:
s5, in the following process, once the connection between the signal receiving base station and the signal sending module is disconnected, the last connection position before disconnection is taken as a target position, the automatic following device is controlled to move towards the target position, and the signal sending module is searched; until reconnected, step S3 is repeated.
As another optimization, the method further comprises the following steps:
s5, in the following process, once the connection between the signal receiving base station and the signal sending module is disconnected, the last connection position before disconnection is taken as the circle center, the distance between the current position and the circle center position is taken as the radius, the automatic following device is controlled to move in a circular track around the circle center in the horizontal direction, and the signal sending module is searched; until reconnected, step S3 is repeated.
Further, in step S3, the center of the circular track is located in the following direction determined last time.
Further, the signal receiving base station is a bluetooth base station or a UWB base station, and the signal sending module is a corresponding bluetooth module or a corresponding UWB module.
An automatic following device, comprising a signal receiving base station for connecting a signal transmitting module, and capable of performing automatic following according to the self-following method as described above.
In conclusion, the automatic following method and the unmanned aerial vehicle disclosed by the invention can meet the low-speed following requirement, and have the advantages of low implementation cost, good environmental adaptability and the like.
Drawings
Fig. 1 is a flow chart of dynamic positioning of a self-following drone based on a single signal receiving base station.
Fig. 2 is a schematic diagram of dynamic positioning based on single signal receiving base station.
Detailed Description
For better understanding of the solution of the present invention, the present invention will be described in further detail below in conjunction with an unmanned aerial vehicle (i.e., an automatic following device) using the method of the present invention.
An unmanned aerial vehicle, including bluetooth basic station, barometer and the accelerometer that is used for connecting removal bluetooth module. During the concrete implementation, remove bluetooth module can be integrated bluetooth module's unmanned aerial vehicle remote controller, also can be smart machine such as bluetooth headset, bluetooth bracelet, the cell-phone that has bluetooth module. Because bluetooth headset, cell-phone, bluetooth bracelet are masses' popularization commodity, and the per capita rate is higher, consequently, in this embodiment, adopt the bluetooth basic station as the automatic signal reception basic station of following the configuration on the device, adopt bluetooth module as signalling module. In specific implementation, a UWB base station with higher precision and a corresponding UWB module may also be used.
As shown in fig. 1, the unmanned aerial vehicle of this embodiment can realize automatic following in the following manner:
s1, establishing Bluetooth connection between the Bluetooth base station of the unmanned aerial vehicle and the mobile Bluetooth module to be followed;
s2, acquiring a received Bluetooth signal strength value sent by the mobile Bluetooth module in real time through the Bluetooth base station;
s3, controlling the unmanned aerial vehicle to fly at a constant speed in the horizontal direction, enabling the motion track of the Bluetooth base station in the horizontal direction to be circular, obtaining all Bluetooth signal intensity values under the circular track, finding out the maximum value of the Bluetooth signal intensity values and the position of the Bluetooth base station on the circular track at the maximum value, and taking the position of the position as the following direction of the unmanned aerial vehicle;
s4, repeating the step S3, and controlling the unmanned aerial vehicle to automatically follow the mobile Bluetooth module.
S5, in the following process, once the connection between the Bluetooth base station and the mobile Bluetooth module is disconnected, controlling the unmanned aerial vehicle to fly towards the target position by taking the last connection position before disconnection as the target position, and searching the mobile Bluetooth module; after the reconnection, step S3 is repeated.
In this embodiment, in step S2 or S3, the distance from the mobile bluetooth module to the bluetooth base station is further calculated according to the logarithmic signal strength and distance attenuation model, and the position coordinates of the mobile bluetooth module in the body coordinate system of the drone are calculated according to the determined following direction and distance.
For a better understanding, the implementation of the present invention is further illustrated below:
when the unmanned aerial vehicle is set to the self-following mode, the self-following system starts to work. The Bluetooth base station acquires a received Bluetooth signal strength value (RSSI value) sent by a Bluetooth beacon (mobile Bluetooth module), and calculates the distance from the Bluetooth beacon to the Bluetooth base station by using a logarithmic signal strength-distance attenuation model which is constructed in advance. Put the function of controlling unmanned aerial vehicle around the rotatory round of barycenter in the timed interruption service function of controller, unmanned aerial vehicle will be regularly around the rotatory round of barycenter this moment, at the in-process of rotatory round, bluetooth signal strength value is gathered and Kalman filtering is carried out according to fixed sampling frequency to the bluetooth basic station, after obtaining the signal strength array of round, find the position of the maximum value in the array, because unmanned aerial vehicle is at the uniform velocity rotatory, so can confirm the beacon for unmanned aerial vehicle's direction according to the position of signal strength maximum value in the round signal strength value array, through this direction and distance value, alright calculate the position coordinate of beacon for unmanned aerial vehicle in order, thereby control unmanned aerial vehicle realizes the following to the beacon, just accomplish the range finding side direction operation of the rotatory round of unmanned aerial vehicle of one time every fixed time.
When the Bluetooth base station on the unmanned aerial vehicle and the Bluetooth beacon are disconnected due to interference or too far distance, the position coordinate of the Bluetooth beacon located at the last time before disconnection is used as a target point, and the unmanned aerial vehicle is controlled to fly towards the direction of the target point to search the beacon Bluetooth signal. Once the bluetooth signal reconnects successfully, the drone continues to operate in a general self-following mode.
Certainly, during the specific implementation, once the connection between the bluetooth base station and the mobile bluetooth module is disconnected, the last connection position before disconnection can be used as the circle center, the distance between the current position and the circle center position is used as the radius, the unmanned aerial vehicle is controlled to fly in a circular track in the horizontal direction around the circle center, and the mobile bluetooth module is searched. Or, the unmanned aerial vehicle is controlled to drive the Bluetooth base station to move in a circular track in the horizontal direction around the circle center, and the mobile Bluetooth module is searched.
For example, in this embodiment, because bluetooth basic station installs on one of them flight arm, unmanned aerial vehicle can drive bluetooth basic station through the rotation and move along circular orbit, also can revolve round a fixed centre of a circle and carry out according to certain radius, increase bluetooth basic station and move the radius of orbit, improve and detect the precision.
RSSI ranging of Bluetooth signals: the Bluetooth base station constructs a logarithmic signal intensity-distance attenuation model by using the distance between the receiving end and the transmitting end according to the received Bluetooth signal intensity value (RSSI value) sent by the Bluetooth beacon or the smart phone, and converts the signal intensity data measured by the Bluetooth base station into the relative distance between the Bluetooth base station and the Bluetooth beacon.
The signal strength relationship of the Bluetooth signal at the transmitting end and the receiving end is as follows:
Lp(dB)＝L0(dB)+10αlgd+v(dB)
wherein L is0Is the signal energy loss at a distance of 1 meter; l ispIs the signal energy loss at distance d; α is the path loss exponent; v is the error, usually seen as zero mean gaussian noise, whose variance is dependent on the environment.
Rotating and laterally: writing a function for controlling the unmanned aerial vehicle to rotate around the center of mass for one circle, configuring a timer interrupt service, and putting the function into the timer interrupt service function for execution, so that the direction finding is executed once at fixed time intervals, and the specific flow of the direction finding is as follows: control unmanned aerial vehicle is at the uniform velocity flight on the horizontal direction, makes the motion trail of bluetooth basic station on the horizontal direction be circular, in this embodiment, installs the bluetooth basic station in as shown in fig. 2 the position, and control unmanned aerial vehicle is rotatory around the barycenter, realizes that the motion trail of bluetooth basic station on the horizontal direction is circular. Sampling a Bluetooth signal intensity value sent by a Bluetooth beacon or a smart phone according to a fixed sampling rate f in the rotation process of the unmanned aerial vehicle, processing the sampling signal in real time by adopting a Kalman filter, storing a circle of intensity value subjected to filtering processing in an array according to time sequence, and searching a cable where the maximum value is located in the arrayThe index (the index of the first element of the array is 0, and 1 is added to each added element index value) is NmaxThe array contains N elements altogether, because unmanned aerial vehicle at the uniform velocity rotatory a week, so unmanned aerial vehicle gets the rotation angle to be at signal strength value maximum value department:
calculating the position of the target point: because unmanned aerial vehicle generally can solve unmanned aerial vehicle's flying height from taking barometer and accelerometer, can set for unmanned aerial vehicle and realize the flight with the height fixed height of Z when following the mode certainly and follow. The distance that obtains through bluetooth RSSI range finding is L, as shown in fig. 2, and the coordinate system is unmanned aerial vehicle organism coordinate system, and the relative distance of unmanned aerial vehicle and beacon is under the two-dimensional plane coordinate system of removing the Z dimension:
e, the rotating angle of the maximum position of the signal intensity value obtained in the process of rotating direction finding is theta, the included angle between the connecting line of the Bluetooth base station and the origin and the y axis of the body coordinate system is delta, the Z axis coordinate is ignored, and the two-dimensional position coordinates (x, y) of the beacon under the body coordinate system are as follows:
x＝d×sin(θ+δ)
y＝d×cos(θ+δ)
after the position coordinates of the beacon are calculated, the flight control system controls the unmanned aerial vehicle to realize the following flight of the beacon.
The above description is only exemplary of the present invention and should not be taken as limiting, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A self-following method, comprising the steps of:
s1, establishing connection between a signal receiving base station on the automatic following device and a signal sending module to be followed;
s2, acquiring a signal strength value sent by the received signal sending module in real time through the signal receiving base station;
s3, controlling the automatic following device to drive the signal receiving base station to move along a circular track in the horizontal direction, acquiring all signal intensity values under the circular track, finding out the maximum value of the signal intensity values, and the position of the signal receiving base station on the circular track when the maximum value is reached, and taking the position of the position as the following direction of the automatic following device;
and S4, repeating the step S3, and controlling the automatic following device to follow the signal sending module.
2. The self-following method of claim 1, further comprising the steps of:
s5, in the following process, once the connection between the signal receiving base station and the signal sending module is disconnected, the last connection position before disconnection is taken as a target position, the automatic following device is controlled to move towards the target position, and the signal sending module is searched; until reconnected, step S3 is repeated.
3. The self-following method of claim 1, further comprising the steps of:
s5, in the following process, once the connection between the signal receiving base station and the signal sending module is disconnected, the last connection position before disconnection is taken as the circle center, the distance between the current position and the circle center position is taken as the radius, the automatic following device is controlled to move in a circular track around the circle center in the horizontal direction, and the signal sending module is searched; until reconnected, step S3 is repeated.
4. The self-following method according to claim 1, wherein in step S3, the center of the circular trajectory is located in the following direction determined last time.
5. The automatic following method according to claim 1, wherein the signal receiving base station is a bluetooth base station or a UWB base station, and the signal transmitting module is a corresponding bluetooth module or a UWB module.
6. An automatic following device, comprising a signal receiving base station for connecting a signal transmitting module, and capable of performing automatic following according to the self-following method as claimed in any one of claims 1 to 4.
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| CN105873142A (en) * | 2016-05-25 | 2016-08-17 | 努比亚技术有限公司 | Base station direction guiding device and method |
| CN109597408A (en) * | 2018-11-22 | 2019-04-09 | 东南大学 | A kind of control method and system of automatic Following Car |
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- 2021-11-17 CN CN202111359610.7A patent/CN114063656A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101795466A (en) * | 2006-11-02 | 2010-08-04 | 西安西谷微功率数据技术有限责任公司 | Wireless micropower network positioning system and positioning method thereof |
| CN103633714A (en) * | 2013-12-26 | 2014-03-12 | Tcl通讯（宁波）有限公司 | Wireless charge reminding method and device of mobile terminal |
| CN104049633A (en) * | 2014-06-13 | 2014-09-17 | 深圳市宇恒互动科技开发有限公司 | Servo control method, servo device and servo system |
| CN105873142A (en) * | 2016-05-25 | 2016-08-17 | 努比亚技术有限公司 | Base station direction guiding device and method |
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