CN115407799A - Flight control system for vertical take-off and landing aircraft - Google Patents
Flight control system for vertical take-off and landing aircraft Download PDFInfo
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Abstract
The invention relates to the field of flight control, and particularly discloses a flight control system for a vertical take-off and landing aircraft, which comprises: the system comprises a data acquisition module, an obstacle detection module, an obstacle rechecking module, an obstacle identification module, a distance measuring and calculating module and an aircraft control module. The invention obtains the obstacle in the advancing direction and obtains the maximum size of the obstacle by obtaining the image in the advancing direction, thereby automatically controlling the aircraft to complete the avoidance of the obstacle.
Description
Technical Field
The invention relates to the field of flight control, in particular to a flight control system for a vertical take-off and landing aircraft.
Background
The vertical take-off and landing aircraft is an aircraft which can take off and land in situ without running, greatly saves the use of take-off and landing space when taking off and landing, and has the characteristics of flexible flight and the like. Based on the characteristics, the vertical take-off and landing aircraft is widely applied at present.
At present, the VTOL aircraft is when carrying out work, because there can not be the problem in the race place, can take off and land in arbitrary place, and when taking off and landing, in order to guarantee taking off and landing smoothly of aircraft, the operator can carry out certain understanding after to the space that the aircraft will take off and land, obtain the size of the barrier in the space and the position of barrier, operate the aircraft, make the aircraft can not take place to collide with the barrier in the space when taking off and landing, thereby make the safety of guaranteeing the flight.
In order to solve the problems, at present, cameras are arranged at the bottom and the top of the aircraft, and pictures shot by the cameras are displayed to an operator, so that the operation of the operator is facilitated, and the take-off and landing control work of the aircraft is completed by the operator.
However, since the situation in the space is various, manual operation has certain limitations, and an operator can only identify an obstacle according to the content shot by the video and cannot obtain the maximum size of the obstacle, so that the aircraft can only be taken off and landed according to own estimation and past experience during operation, and particularly for an obstacle suddenly rushing into the aircraft, the operator is likely to be unable to avoid the obstacle due to too late recognition, so that the aircraft collides with the obstacle.
Disclosure of Invention
The present invention is directed to overcome the above problems in the prior art, and provides a flight control system for a vertical takeoff and landing aircraft, which automatically controls the aircraft to avoid an obstacle by acquiring an image in a traveling direction, acquiring an obstacle in a forward direction, and acquiring a maximum size of the obstacle.
To this end, the invention provides a flight control system for a VTOL aerial vehicle, comprising:
the data acquisition module is used for calling a first front image shot by a camera in a corresponding direction in real time according to the traveling direction of the aircraft;
the obstacle detection module is used for extracting a first obstacle image in the first front image, positioning the position and the maximum size of the first obstacle image in the first front image, and recording the current focal length of the camera as a first focal length;
the obstacle rechecking module is used for controlling the aircraft to keep the current position when the obstacle detecting module detects an obstacle, converting the focal length of the camera into a second focal length, shooting to obtain a second front image, extracting a second obstacle image in the second front image, and positioning the position and the maximum size of the second obstacle image in the second front image;
the obstacle identification module is used for identifying the name of an obstacle in the first front image through an article identification technology and obtaining the general size of the obstacle according to the name of the obstacle;
the distance measuring and calculating module is used for calculating the distance between the aircraft and the obstacle according to the general size of the obstacle, the first focal length, the second focal length, the maximum size of the first obstacle image and the maximum size of the second obstacle image;
and the aircraft control module is used for obtaining the position of the obstacle according to the position in the first obstacle image in the first front image and the wide-angle parameter of the camera, and controlling the aircraft to avoid the obstacle according to the distance and the position between the aircraft and the obstacle.
Further, in the distance measuring and calculating module, the general size c of the obstacle and the first focal length f 1 The second focal length f 2 A maximum size c of the first obstacle image 1 And a maximum size c of the second obstacle image 2 By passing
And calculating the distance s between the aircraft and the obstacle, wherein the distance s is a coefficient rho, and the rho is a constant.
Further, when calculating the distance s, the method includes the steps of:
respectively acquiring N groups of the first focal lengths f 1n A second focal length f 2n Maximum size c of image of first obstacle 1n And the maximum size c of the image of the second obstacle 2n Wherein N belongs to N, and N and N are positive integers;
respectively calculating the distance s of each group n Is composed of
According to the distance s of the whole group n Calculating the distance s as
And outputting the distance s as the distance between the aircraft and the obstacle.
Further, the obstacle detection module, when positioning the position and the maximum size of the first obstacle image in the first front image, includes the steps of:
performing pixelization processing on the first front image, and sequentially arranging the color value of each pixel according to the position of the pixel to obtain a pixel array W;
representing the pixel array W as
Wherein, w mn The color value of the pixel of the mth row and the nth column is m and n are positive integers;
sequentially acquiring pixel arrays W of T time nodes before the current time t Wherein T belongs to T, and both T and T are positive integers;
counting each pixel array W t The number x of pixels having a color value of a middle pixel in a set range t When x is t-k -x t >When alpha, the color value is considered to beSetting pixels in a set range as background pixels, wherein k and alpha are positive integers;
setting the color value of a background pixel in the first front image so that the color value of the background pixel is in a multiple relation of more than 2 with the color values of other pixels, and updating the first front image;
and obtaining the position and the maximum size of the first obstacle image according to the position coordinates of the pixels with color values in the updated first front image.
Furthermore, when the obstacle detection module locates the position of the first obstacle image in the first front image, the center coordinates of the pixel points where the first obstacle image is located are extracted, and the center coordinates are output as the position of the first obstacle image in the first front image.
Further, when the aircraft control module obtains the orientation of the obstacle according to the position in the first obstacle image in the first front image and the wide-angle parameter of the camera, the method comprises the following steps:
the center coordinate is symmetrical into the array W ', wherein W' is expressed as
Calculating a transverse component angle beta and a longitudinal component angle gamma from the central position (x, y), having
Wherein sigma is a constant of wide-angle parameter;
outputting the orientation (β, γ).
Further, when the maximum size of the first obstacle image in the first front image is located, the obstacle detection module calculates distances between edge pixel points of every two first obstacle images, and outputs the maximum distance as the maximum size.
Further, when the traveling direction of the aircraft is descending, the height of the aircraft is obtained according to the duty ratio of the target point in the first front image, a peripheral video is obtained by rotating the camera for one circle at the set height, the target point is predicted according to the peripheral video, and the aircraft is adjusted and controlled according to the predicted result.
Furthermore, when the target point is predicted according to the surrounding videos, the landing time is estimated according to the traveling speed of the aircraft, an image of the landing time is obtained, and the aircraft is adjusted and controlled according to the image of the landing time.
Further, the first front image and the second front image are respectively cut to a set size.
The invention provides a flight control system for a vertical take-off and landing aircraft, which has the following beneficial effects:
the invention obtains the image in the advancing direction, obtains the barrier in the advancing direction and obtains the maximum size of the barrier, thereby automatically controlling the aircraft to complete the avoidance of the barrier;
when landing, the landing degree is judged by judging the duty ratio of a video picture, when the aircraft is about to reach the ground, surrounding video data are obtained by swinging the camera for one circle, an obstacle at the position where the aircraft is about to land is predicted according to the obtained video data, and the aircraft is adjusted according to the predicted condition;
the invention adjusts the size of the shot video frame, thereby avoiding the misjudgment of data caused by the size or the shaking of the camera when each video frame is processed.
Drawings
FIG. 1 is a schematic block diagram of the system connections of the present invention;
FIG. 2 is a block diagram illustrating a flowchart of a method for calculating a distance between an aircraft and an obstacle according to the present invention;
FIG. 3 is a block schematic flow diagram of a method of the present invention for locating the position and maximum size of a first obstacle image in a first front image;
FIG. 4 is a block diagram illustrating the flow of a method of the present invention for an aircraft control module in obtaining the orientation of the obstacle.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.
In the present application, the type and structure of components that are not specified are all the prior art known to those skilled in the art, and those skilled in the art can set the components according to the needs of the actual situation, and the embodiments of the present application are not specifically limited.
Specifically, as shown in fig. 1 to 4, an embodiment of the present invention provides a flight control system for a vertical take-off and landing aircraft, including: the system comprises a data acquisition module, an obstacle detection module, an obstacle rechecking module, an obstacle identification module, a distance measuring and calculating module and an aircraft control module. The following is a detailed description of the various functional modules.
The data acquisition module is used for acquiring a first front image shot by a camera in a corresponding direction in real time according to the traveling direction of the aircraft; the module is used for taking an image shot by a camera in a corresponding direction as a first front image according to the advancing direction of the aircraft, the first front image and a second front image are used for being comprehensively processed and analyzed together to obtain the distance of an obstacle and avoid the obstacle, and the first front image and the second front image are images of positions to which the aircraft arrives if the aircraft flies.
The obstacle detection module is used for extracting a first obstacle image in the first front image, positioning the position and the maximum size of the first obstacle image in the first front image, and recording the current focal length of the camera as a first focal length; the module processes a first front image, extracts a first obstacle image of an obstacle in the first front image, and extracts the position and the maximum size of the first obstacle image in the first front image, so that the obstacle has preliminary knowledge, and meanwhile, the focal length in the camera is recorded and recorded as the first focal length for subsequent use.
The obstacle rechecking module is used for controlling the aircraft to keep the current position when the obstacle detection module detects an obstacle, converting the focal length of the camera into a second focal length, shooting to obtain a second front image, extracting a second obstacle image in the second front image, and positioning the position and the maximum size of the second obstacle image in the second front image; when the module shoots, the aircraft is controlled to pause at the current position, at the moment, the focal length of the camera is adjusted to the second focal length, so that a second front image can be obtained, a second obstacle image in the second front image is extracted, and the position and the maximum size of the second obstacle image in the second front image are obtained simultaneously for subsequent use.
The obstacle identification module is used for identifying the name of an obstacle in the first front image through an article identification technology and obtaining the general size of the obstacle according to the name of the obstacle; the module identifies the obstacles to obtain the corresponding names of the obstacles, so that the general size can be obtained according to the names of the obstacles, the general size and the name are provided through a database, and the database is determined by research personnel according to the experience in actual production life.
The distance measuring and calculating module is used for calculating the distance between the aircraft and the obstacle through the general size of the obstacle, the first focal length, the second focal length, the maximum size of the first obstacle image and the maximum size of the second obstacle image; the module is used for obtaining the distance between the aircraft and the obstacle through calculation according to the data, so that the relative position between the aircraft and the obstacle is pre-judged, and the control of the aircraft is preliminarily known.
And the aircraft control module is used for obtaining the position of the obstacle according to the position in the first obstacle image in the first front image and the wide-angle parameter of the camera, and controlling the aircraft to avoid the obstacle according to the distance and the position between the aircraft and the obstacle. The module obtains the position of the obstacle, and simultaneously makes a control instruction for the aircraft by combining the distance of the obstacle, so that the aircraft can avoid the obstacle in flight.
In the technical scheme, the obstacle avoidance mode is obtained in a video processing mode by detecting the image video in the flight direction of the aircraft. According to the method and the device, when the obstacle is detected, the distance between the aircraft and the obstacle is calculated according to the relation between the size in the image and the actual size by changing the focal length of the camera, the angle between the obstacle and the aircraft is obtained by combining the two images, the relative position relation between the aircraft and the obstacle is judged, the flight path of the aircraft is adjusted, and the aircraft automatically crosses the obstacle when flying.
Therefore, the invention obtains the image in the advancing direction, obtains the barrier in the advancing direction and obtains the maximum size of the barrier, thereby automatically controlling the aircraft to complete the avoidance of the barrier.
In addition, in the distance measuring and calculating module, the general size c of the obstacle and the first focal length f are further optimized 1 The second focal length f 2 The firstMaximum size c of the image of the obstacle 1 And a maximum dimension c of the second obstacle image 2 By passing
And calculating the distance s between the aircraft and the obstacle, wherein the distance s is a coefficient rho, and the rho is a constant.
In the invention, the coefficient rho is set according to an actual scene, during calculation, the coefficient rho is obtained in a database mode, each parameter of the scene and the corresponding coefficient rho are arranged in the database, and the corresponding coefficient rho is matched in the database through the actual parameter detected by the aircraft in actual flight.
In the invention, the image characteristics of imaging after the focal length are skillfully applied, the corresponding relation between the focal length and the size in the image is carried out in proportion, and meanwhile, the distance between the aircraft and the obstacle can be calculated according to the general length of the object by combining the constant coefficient rho.
Preferably, in order to make the calculated distance between the aircraft and the obstacle more accurate and exclude the interference data, the method includes the following steps when calculating the distance s:
respectively acquiring N groups of the first focal lengths f 1n A second focal length f 2n Maximum size c of image of first obstacle 1n And the maximum size c of the image of the second obstacle 2n Wherein N belongs to N, and N and N are positive integers;
respectively calculating the distance s of each group n Is composed of
According to the distance s of the whole group n Calculating the distance s as
And outputting the distance s as the distance between the aircraft and the obstacle.
According to the technical scheme, multiple groups of first front images and second front images are obtained and the distance s is obtained according to each time n When the average value is calculated after the summation in sequence, the influence of single abnormal data on the overall result is prevented. In practice, this would be achieved after processing 3-5 sets of data, after removing the data for the apparent anomaly.
Meanwhile, when the image is processed to obtain the required data, namely when the obstacle detection module is used for positioning the position and the maximum size of the first obstacle image in the first front image, the method comprises the following steps:
performing pixelization processing on the first front image, and sequentially arranging the color value of each pixel according to the position of the pixel to obtain a pixel array W;
(II) representing the pixel array W as
Wherein w mn The color value of the pixel of the mth row and the nth column is m and n are positive integers;
(III) sequentially acquiring the pixel arrays W of T time nodes before the current time t Wherein T belongs to T, and both T and T are positive integers;
(IV) counting each pixel array W t The number x of pixels having a color value within a set range t When x is t-k -x t >When alpha is obtained, the pixel of which the color value is in the set range is considered as a background pixel, wherein k and alpha are both positive integers;
(V) setting the color value of the background pixel in the first front image so that the color value of the background pixel is in a multiple relation of more than 2 with the color value of other pixels, and updating the first front image;
and (VI) obtaining the position and the maximum size of the first obstacle image according to the position coordinates of the pixels with the color values in the updated first front image.
In the technical scheme, the obstacles in the front image are extracted, and the images except the obstacles are regarded as background images, so that the images can be directly obtained through the positions of the pixels when the size is obtained. In the process of obtaining, through the mode of pixel array W of colour value, when obtaining background pixel, obtain the colour value of background through obtaining the dynamic image in the past, be when the colour value changes little promptly, think this pixel is the colour value of background pixel, because when aircraft straight line flight, along with aircraft's march, the colour value of background pixel is unchangeable, but the scope that its coverage has certain change, consequently, judge x t-k -x t >And obtaining the color value of the actual background pixel as a result of alpha, processing the front image according to the background color value, extracting the obstacle image, and then calculating by a conventional means, namely by the coordinates of the pixel points to obtain the position and the maximum size of the obstacle image.
In the invention, in order to save the program, the processing of the second front image is the same as the processing of the first front image, so as to obtain the data required by the subsequent calculation.
Meanwhile, the position of the obstacle image is judged in a coordinate mode, the obstacle detection module extracts the center coordinate of the pixel point where the first obstacle image is located when the position of the first obstacle image in the first front image is located, and the center coordinate is output as the position of the first obstacle image in the first front image.
When obtaining the accurate orientation, the aircraft control module in the invention, when obtaining the orientation of the obstacle according to the position in the first obstacle image in the first front image and the wide-angle parameter of the camera, comprises the following steps:
symmetry of the center coordinate into the array W ', wherein W' is represented as
Calculating a transverse component angle beta and a longitudinal component angle gamma from the central position (x, y) having
Wherein sigma is a constant of wide-angle parameter;
outputting the orientation (β, γ).
The three-dimensional azimuth of the obstacle is represented in a two-dimensional azimuth mode, so that the three-dimensional spatial position can be determined in the transverse direction and the longitudinal direction, the position angle relation between the obstacle and the aircraft is obtained, and meanwhile, the relative position between the obstacle and the aircraft can be obtained through modeling or other modes by combining the distance between the obstacle and the aircraft.
Preferably, when the size of the obstacle is obtained, that is, when the obstacle detection module positions the maximum size of the first obstacle image in the first front image, the distance between edge pixel points of every two first obstacle images is calculated respectively, and the maximum distance is output as the maximum size. For general distances in the database, the maximum size in the image corresponding to the name is also obtained, so that the calculated distance can be more accurate.
In the embodiment of the invention, when the traveling direction of the aircraft is descending, the height of the aircraft is obtained according to the duty ratio of the target point in the first front image, a peripheral video is obtained by rotating the camera for one circle at the set height, the target point is predicted according to the peripheral video, and the aircraft is adjusted and controlled according to the predicted result.
When the aircraft lands, the landing degree of the aircraft is judged by judging the duty ratio of the video pictures, when the aircraft is about to reach the ground, the surrounding video data are obtained by swinging the camera for one circle, the obstacle at the position where the aircraft is about to land is predicted according to the obtained video data, and the aircraft is adjusted according to the predicted condition, so that when the aircraft lands, a moving object on the ground is prevented from suddenly appearing below the aircraft, and the interference is caused when the aircraft lands.
Therefore, as a preferable aspect of the above technical solution of the present invention, when the target point is predicted according to the surrounding video, the landing time is estimated according to the traveling speed of the aircraft, an image of the landing time is obtained, and the aircraft is controlled according to the image adjustment of the landing time. The aircraft can be landed only when the safety is ensured on the ground, so that the condition of rollover of the aircraft caused by the unevenness of the ground is avoided.
In an embodiment of the present invention, the first front image and the second front image are respectively cropped to a set size. The size of the shot video frame is adjusted, so that when each video frame is processed, data misjudgment caused by the size or camera shake is avoided.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any modifications that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (10)
1. A flight control system for a VTOL aerial vehicle, comprising:
the data acquisition module is used for calling a first front image shot by a camera in a corresponding direction in real time according to the traveling direction of the aircraft;
the obstacle detection module is used for extracting a first obstacle image in the first front image, positioning the position and the maximum size of the first obstacle image in the first front image, and recording the current focal length of the camera as a first focal length;
the obstacle rechecking module is used for controlling the aircraft to keep the current position when the obstacle detecting module detects an obstacle, converting the focal length of the camera into a second focal length, shooting to obtain a second front image, extracting a second obstacle image in the second front image, and positioning the position and the maximum size of the second obstacle image in the second front image;
the obstacle identification module is used for identifying the name of an obstacle in the first front image through an article identification technology and obtaining the general size of the obstacle according to the name of the obstacle;
the distance measuring and calculating module is used for calculating the distance between the aircraft and the obstacle through the general size of the obstacle, the first focal length, the second focal length, the maximum size of the first obstacle image and the maximum size of the second obstacle image;
the aircraft control module obtains the position of the obstacle according to the position in the first obstacle image in the first front image and the wide-angle parameter of the camera, and controls the aircraft to avoid the obstacle according to the distance and the position between the aircraft and the obstacle.
2. The flight control system for VTOL aerial vehicles of claim 1, wherein the distance estimation module is configured to estimate the general dimension c of the obstacle and the first focal length f 1 The second focal length f 2 A maximum size c of the first obstacle image 1 And a maximum scale of the second obstacle imageCun c 2 By passing
And calculating the distance s between the aircraft and the obstacle, wherein the coefficient is rho, and rho is a constant.
3. A flight control system for a vtol aerial vehicle as claimed in claim 2, wherein when calculating the distance s, the method comprises the steps of:
respectively acquiring N groups of the first focal lengths f 1n A second focal length f 2n Maximum size c of image of first obstacle 1n And the maximum dimension c of the second obstacle image 2n Wherein N belongs to N, and N and N are positive integers;
respectively calculating the distance s of each group n Is composed of
According to the distance s of the whole group n Calculating said distance s as
And outputting the distance s as the distance between the aircraft and the obstacle.
4. A flight control system for a vtol aerial vehicle as claimed in claim 1, wherein the obstacle detection module, when locating the position and maximum size of the first obstacle image in the first forward image, comprises the steps of:
performing pixelization processing on the first front image, and sequentially arranging the color value of each pixel according to the position of the pixel to obtain a pixel array W;
representing the pixel array W as
Wherein w mn The color value of the pixel of the mth row and the nth column is m and n are positive integers;
sequentially acquiring pixel arrays W of T time nodes before the current time t Wherein T belongs to T, and both T and T are positive integers;
counting each pixel array W t The number x of pixels having a color value of a middle pixel in a set range t When x is t-k -x t >When alpha is obtained, the pixel of which the color value is in the set range is considered as a background pixel, wherein k and alpha are both positive integers;
setting the color value of a background pixel in the first front image so that the color value of the background pixel is in a multiple relation of more than 2 with the color values of other pixels, and updating the first front image;
and obtaining the position and the maximum size of the first obstacle image according to the position coordinates of the pixels with color values in the updated first front image.
5. The flight control system of claim 4, wherein the obstacle detection module outputs the position of the first obstacle image in the first forward image by extracting center coordinates of a pixel where the first obstacle image is located when locating the position of the first obstacle image in the first forward image.
6. The flight control system for a VTOL aerial vehicle of claim 5, wherein the aerial vehicle control module, when deriving the orientation of the obstacle from the position in the first obstacle image in the first forward image and the wide angle parameter of the camera, comprises:
the center coordinate is symmetrical into the array W ', wherein W' is expressed as
Calculating a transverse component angle beta and a longitudinal component angle gamma from the central position (x, y) having
Wherein, sigma is a constant of the wide-angle parameter;
outputting the orientation (β, γ).
7. The flight control system for VTOL aerial vehicles of claim 4, wherein the obstacle detection module calculates the distance between edge pixels of every two first obstacle images respectively and outputs the maximum distance as the maximum size when positioning the maximum size of the first obstacle image in the first front image.
8. The flight control system for the VTOL aerial vehicle of claim 1, wherein when the traveling direction of the aerial vehicle is descending, the altitude of the target point in the first forward image is obtained according to its duty ratio, and a surrounding video is obtained by rotating the camera for one circle at a set altitude, and the target point is predicted according to the surrounding video, and the aerial vehicle is adjusted and controlled according to the predicted result.
9. The flight control system according to claim 8, wherein when the target point is predicted according to the surrounding video, the landing time is estimated according to the traveling speed of the aircraft, an image of the landing time is obtained, and the aircraft is controlled according to the image adjustment of the landing time.
10. A flight control system for a vtol aerial vehicle as claimed in claim 1, wherein the first forward image and the second forward image are respectively cropped to a set size.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749866A (en) * | 2023-08-22 | 2023-09-15 | 常州星宇车灯股份有限公司 | Vertical take-off and landing lighting auxiliary system of aerocar and aerocar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116749866A (en) * | 2023-08-22 | 2023-09-15 | 常州星宇车灯股份有限公司 | Vertical take-off and landing lighting auxiliary system of aerocar and aerocar |
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