CN117031924A - Multi-rotor unmanned aerial vehicle PID control parameter gesture adjusting system - Google Patents
Multi-rotor unmanned aerial vehicle PID control parameter gesture adjusting system Download PDFInfo
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Abstract
The invention discloses a multi-rotor unmanned aerial vehicle PID control parameter gesture adjusting system which comprises a glove, 5 acceleration sensors, a main control panel, a data transmission module, a battery and an OLED display screen. The acceleration sensor is arranged on five fingers of the glove, the main control board is arranged at the back of the glove, and the OLED display screen is arranged on the main control board. The main controller collects data of the acceleration sensor, recognizes gesture actions through a gesture recognition algorithm after data processing is performed on the acceleration data, then sends gesture action instructions to the unmanned aerial vehicle flight control computer through the data transmission module, and the flight control computer executes corresponding PID control parameter adjustment tasks according to the gesture instructions after receiving the gesture action instructions. According to the invention, the PID control parameters of the unmanned aerial vehicle are adjusted through the online gestures of wearing the data glove by personnel, so that the PID parameter adjustment steps and processes of the unmanned aerial vehicle are greatly simplified and facilitated, and the parameter adjustment efficiency of the flight experiment is improved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a multi-rotor unmanned aerial vehicle PID control parameter gesture adjusting system.
Background
At present, the unmanned aerial vehicle has wider and wider application scenes, such as urban air traffic, electric power inspection, aerial photography and aerial survey, logistics express, fire rescue and the like. The PID control parameters of the unmanned aerial vehicle are critical to the stable flight of the unmanned aerial vehicle, and therefore, the adjustment of the PID control parameters of the unmanned aerial vehicle is also an important loop for the unmanned aerial vehicle. At present, most unmanned aerial vehicles adopt an off-line mode for parameter adjustment, firstly, the unmanned aerial vehicles start to fly, then, after the unmanned aerial vehicles finish flying, the flying logs are taken out for analysis, after the analysis, parameters in a flight control program are modified, the program is downloaded to a flight control computer, then, trial flight is carried out, and the mode is circularly carried out. The mode is large in workload, complex and tedious, and the flight experiment efficiency is seriously affected. Some unmanned aerial vehicle parameter adjustment adopts computer equipment to carry out online debugging, and this kind of method operation is inflexible, and the debugging is inconvenient, and portable.
Therefore, a new parameter adjusting system is needed to be provided, so that the PID parameter adjustment of the unmanned aerial vehicle is further performed, and the parameter adjusting efficiency of the flight experiment can be improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a PID control parameter gesture adjusting system of a multi-rotor unmanned aerial vehicle.
The aim of the invention is realized by adopting the following technical scheme:
the multi-rotor unmanned aerial vehicle PID control parameter gesture adjusting system comprises a glove, 5 acceleration sensors, a main control panel, a data transmission, a battery and an OLED display screen; the 5 acceleration sensors are respectively arranged on five fingers of the glove; the main control panel is arranged at the back of the glove; the OLED display screen is arranged on the main control board; the data transmission is arranged on the main control board; the battery is arranged on the main control board; the acceleration sensor, the data transmission and the OLED screen are connected with the main control board, and the battery provides energy for the main control board; the main control board collects data of the acceleration sensor, recognizes gesture actions through a gesture recognition algorithm after data processing is carried out on the acceleration data, then sends gesture action instructions to the unmanned aerial vehicle flight control computer through the data transmission module, and the flight control computer executes corresponding PID control parameter adjustment tasks according to the gesture instructions after receiving the gesture action instructions; the main control board receives expected value and estimated value data of the attitude angle and the attitude angular speed sent by the flight control computer, and displays the data on the OLED screen in a graph; the main control board also displays the collected five acceleration sensor data on the OLED display screen.
Specifically, the X axis of the acceleration sensor is parallel to the glove fingers.
Further, the data processing on the acceleration data specifically includes: and removing errors and noise in the original acceleration data by adopting a sliding window filtering method.
Specifically, the gesture actions include thumb bending, index finger bending, middle finger bending, ring finger bending, little finger bending, gesture "0", gesture "1", gesture "2", gesture "3", gesture "4", gesture "5", gesture "6", gesture "7", gesture "8", gesture "9", wherein the thumb bending and gesture "4" are the same gesture actions.
Further, the gesture recognition algorithm recognizes gesture actions, specifically:
(5.1) 5 acceleration sensors are fixed on the glove fingers, and the X axis of each acceleration sensor is parallel to the finger; then, the thumb and the index finger are respectively bent and straightened, the main control board collects the variation values of acceleration data on three axes of each sensor, the collected thumb acceleration data and index finger acceleration data are sent to a computer through a serial port and stored in a document, then, the data are subjected to drawing analysis, and the analysis finds that the difference value between the maximum value and the minimum value of the collected Z-axis data of the acceleration sensor in the thumb bending process is the largest, so that the acceleration data on the thumb takes the Z axis as a reference axis, the difference value between the maximum value and the minimum value of the X-axis data of the collected acceleration sensor in the index finger bending process is the largest, and the index finger acceleration data takes the X axis as a reference axis;
(5.2) the acceleration data threshold is selected using a method of autonomously selecting the threshold; the method comprises the following steps: after the main control panel is electrified, the thumb, the index finger, the middle finger, the ring finger and the little finger respectively perform reciprocating straightening and bending actions for a plurality of times to train the finger, an array is defined in the main controller for each finger, the size is N, in the process of training the finger, collected acceleration data are stored in the array after being filtered by a sliding window, then N data in the array are sequenced to find out the maximum value and the minimum value of the acceleration, and the threshold value of the acceleration is the average value of the found maximum acceleration value and the minimum acceleration value for the thumb, the middle finger, the ring finger and the little finger:
wherein, thread is the selected threshold value, a min To smooth the acceleration minimum value, a, in the filtered set of data max To smooth the maximum acceleration in the filtered set of data, two thresholds, thread1 and thread2, are set for the index finger:
wherein, thread1 is threshold 1, thread2 is threshold 2, a min To smooth the acceleration minimum value, a, in the filtered set of data max Five acceleration thresholds can be obtained through the steps for smoothing the maximum acceleration value in the group of data after filtering;
(5.3) when the gesture is performed, the palm plane is vertical to the horizontal plane, and when the acceleration sensor data is fixed to a certain value, the finger is considered to be in a straightened state if the value is larger than a threshold value, and otherwise, the finger is considered to be in a bent state; if the thumb is in a straightening state, the FLAG bit FLAG1 is set to be 1, and if the thumb is in a bending state, the FLAG bit FLAG1 is set to be 0; similarly, if the thumb is in a straight state, the FLAG bit FLAG1 is made to be 1, and if the thumb is in a curved state, the FLAG bit FLAG1 is made to be 0; if the middle finger is in a straightening state, the FLAG bit FLAG3 is set to be 1, and if the middle finger is in a bending state, the FLAG bit FLAG3 is set to be 0; if the ring finger is in a straightening state, the FLAG bit FLAG4 is set to be 1, and if the ring finger is in a bending state, the FLAG bit FLAG4 is set to be 0; if the little finger is in a straightening state, the FLAG bit FLAG5 is 1, and if the little finger is in a bending state, the FLAG bit FLAG4 is 0; for the index finger, when the data of the acceleration sensor is fixed at a certain value, if the value is greater than a threshold value 1, the index finger is considered to be in a straightened state, and the FLAG bit FLAG2 is set to be 1; if the value is smaller than the threshold value 1 and larger than the threshold value 2, the finger is considered to be in a bending state 1, and the FLAG bit FLAG2 is set to be 0; if the value is smaller than the threshold value 2, the finger is considered to be in a bending state 2, and the FLAG bit FLAG2 is set to be 2;
(5.4) designing a gesture recognition rule base, wherein the specific rules are as follows:
(5.4.1) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, FLAG5 is 1, then the gesture is a thumb bend;
(5.4.2) if FLAG1 is 1, FLAG2 is not 1, FLAG3 is 1, FLAG4 is 1, FLAG5 is 1, the gesture is a bending of the index finger;
(5.4.3) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 0, FLAG4 is 1, FLAG5 is 1, then the gesture is a middle finger bend;
(5.4.4) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 1, FLAG4 is 0, and FLAG5 is 1, then the gesture is ring finger bending;
(5.4.5) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, FLAG5 is 0, the gesture is a small finger bend;
(5.4.6) if FLAG1 is 0, FLAG2 is 2, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 0, then the gesture is gesture "0";
(5.4.7) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 0, then the gesture is gesture "1";
(5.4.8) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 1, FLAG4 is 0, and FLAG5 is 0, then the gesture is gesture "2";
(5.4.9) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, and FLAG5 is 0, then the gesture is gesture "3";
(5.4.10) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, and FLAG5 is 1, then the gesture is gesture "4";
(5.4.11) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, and FLAG5 is 1, then the gesture is gesture "5";
(5.4.12) if FLAG1 is 1, FLAG2 is 2, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 1, then the gesture is gesture "6";
(5.4.13) if FLAG1 is 1, FLAG2 is 0, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 0, then the gesture is gesture "7";
(5.4.14) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 0, then the gesture is gesture "8";
(5.4.15) if FLAG1 is 0, FLAG2 is 0, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 0, then the gesture is gesture "9".
Further, the corresponding PID control parameter adjustment task is executed according to the gesture instruction, specifically:
(6.1) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is thumb bending or gesture 4, increasing the gesture control angle ring course angle control parameter proportional term P by 0.01;
(6.2) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is that the index finger is bent, reducing the gesture control angle ring course angle control parameter proportion item P by 0.01;
(6.3) increasing the attitude control angular velocity ring course angle control parameter proportion term P by 0.01 when the gesture action instruction received by the unmanned aerial vehicle flight control computer is middle finger bending;
(6.4) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is ring finger bending, reducing the gesture control angular velocity ring course angle control parameter proportion item P by 0.01;
(6.5) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is that the little finger bends, increasing the proportional item P of the attitude control angle ring pitch angle and the roll angle control parameter by 0.01;
(6.6) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture 0, reducing the proportional term P of the gesture control angle, pitch angle and roll angle control parameters by 0.01;
(6.7) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture '1', increasing the proportional term P of the gesture control angular speed, annular pitch angle and roll angle control parameters by 0.01;
(6.8) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture '2', reducing the proportional term P of the gesture control angle, pitch angle and roll angle control parameters by 0.01;
(6.9) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture '3', increasing the integral term I of the attitude control angular speed, annular pitch angle and roll angle control parameters by 0.01;
(6.10) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture 4, reducing the integral term I of the attitude control angular speed, annular pitch angle and roll angle control parameters by 0.01;
(6.11) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture '5', not doing any task;
(6.12) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture 6, increasing the differential term D of the attitude control angular speed ring pitch angle and the roll angle control parameter by 0.01;
and (6.13) reducing the differential term D of the attitude control angular speed, the annular pitch angle and the roll angle control parameters by 0.01 when the gesture action instruction received by the unmanned aerial vehicle flight control computer is a gesture '7'.
Specifically, the data are displayed on the OLED screen in a graph mode and are used for an experimenter to adjust PID control parameters of the unmanned aerial vehicle through gesture actions by observing deviation of expected values and estimated values of the state of the unmanned aerial vehicle.
The beneficial effects of the invention are as follows:
according to the unmanned aerial vehicle PID control parameter adjustment method, the personnel wear the data glove to adjust the unmanned aerial vehicle PID control parameter in an online real-time gesture manner, so that the unmanned aerial vehicle PID parameter adjustment steps and processes are greatly simplified and facilitated, the flight experiment parameter adjustment efficiency is improved, and the unmanned aerial vehicle parameter adjustment is more flexible and simpler.
The gesture recognition technology is based on the acceleration sensor, and the acceleration sensor is low in price, small in size and free of limitation of environment and light, so that the gesture recognition application range based on the acceleration sensor is wider.
The gesture recognition system can be applied to one hand and can be expanded into two hands. When the gesture recognition system is applied to both hands, the variety of gesture recognition by the system is increased, so that more parameters of the unmanned aerial vehicle can be controlled.
Drawings
FIG. 1 is a schematic illustration of the apparatus of the present invention;
FIG. 2 is a system block diagram of the present invention;
fig. 3 is a schematic diagram of gesture operation of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and specific examples.
The invention discloses a multi-rotor unmanned aerial vehicle PID control parameter gesture adjusting system, which is shown in an embodiment of fig. 1 and 2 and comprises a glove, 5 acceleration sensors, a main control panel, a data transmission, a battery and an OLED display screen. The acceleration sensors are respectively arranged on five fingers of the glove; the main control panel is arranged at the back of the glove; the OLED display screen is arranged on the main control board; the data transmission is arranged on the main control board; the battery is arranged on the main control board. The acceleration sensor, the data transmission and the OLED screen are connected with the main control board, and the battery provides energy for the main control board. The main control panel collects acceleration sensor data, recognizes gesture actions through a gesture recognition algorithm after data processing is performed on the acceleration data, then sends gesture action instructions to the unmanned aerial vehicle flight control computer through the data transmission module, and the flight control computer executes corresponding PID control parameter adjustment tasks according to the gesture instructions after receiving the gesture action instructions. The main control board receives expected value and estimated value data of the attitude angle and the attitude angular speed sent by the flight control computer, and displays the data on the OLED screen in a graph. The main control board also displays the collected five acceleration sensor data on the OLED display screen.
The X axis of the acceleration sensor is parallel to the glove fingers.
The specific method for processing the acceleration data is to remove errors and noise in the original acceleration data by adopting a sliding window filtering method.
The gesture actions comprise thumb bending, index finger bending, middle finger bending, ring finger bending, little finger bending, gesture '0', gesture '1', gesture '2', gesture '3', gesture '4', gesture '5', gesture '6', gesture '7', gesture '8', gesture '9', wherein the thumb bending and gesture '4' are the same gesture actions.
The specific steps of identifying the gesture action through the gesture identification algorithm are as follows:
(1) The 5 acceleration sensors are fixed on the glove fingers, and the X axis of each acceleration sensor is in the same straight line with the fingers. And then the thumb and the index finger are respectively bent and straightened, the main control board collects the change values of acceleration data on three axes of each sensor, the collected thumb acceleration data and index finger acceleration data are sent to a computer through a serial port and stored in a document, and then the data are subjected to drawing analysis. According to analysis, the Z-axis data of the acceleration sensor has large change amplitude in the thumb bending process, so that the acceleration data on the thumb takes the Z-axis as a reference axis, and in the same way, the index finger, the middle finger, the ring finger and the little finger are bent, the X-axis data has large change amplitude, and the acceleration data of the index finger, the middle finger, the ring finger and the little finger take the X-axis as a reference axis, and the similarity of the space positions of the index finger, the ring finger, the little finger and the index finger also takes the X-axis as a reference axis;
(2) The invention provides a method for autonomously selecting a threshold value, which is used for effectively performing gesture recognition. The method comprises the following steps: after the main control panel is electrified, the thumb, the index finger, the middle finger, the ring finger and the little finger respectively perform repeated straightening and bending actions, which is called training finger herein, an array is defined in the main controller for each finger respectively, the size is N, in the process of training the finger, collected acceleration data are stored in the array after being filtered by a sliding window, then N data in the array are sequenced to find out the maximum value and the minimum value of the acceleration, and for the thumb, the middle finger, the ring finger and the little finger, the acceleration threshold value is the average value of the found maximum acceleration value and the minimum acceleration value:
wherein, thread is the selected threshold value, a min To smooth the acceleration minimum value, a, in the filtered set of data max Is the maximum value of acceleration rate in a set of data after smoothing. For the index finger, two thresholds thread1 and thread2 are set:
wherein, thread1 is threshold 1, thread2 is threshold 2, a min To smooth the acceleration minimum value, a, in the filtered set of data max Is the maximum value of acceleration rate in a set of data after smoothing. Five acceleration thresholds can be obtained through the steps;
(3) When the gesture is performed, the palm plane is vertical to the horizontal plane, and for the thumb, the middle finger, the ring finger and the little finger, when the acceleration sensor data is fixed at a certain value, if the value is larger than a threshold value, the finger is considered to be in a straightened state, otherwise, the finger is considered to be in a bent state. If the thumb is in a straightened state, the FLAG bit FLAG1 is set to 1, and if the thumb is in a bent state, the FLAG bit FLAG1 is set to 0. Similarly, if the thumb is in the straightened state, the FLAG bit FLAG1 is set to 1, and if the thumb is in the curved state, the FLAG bit FLAG1 is set to 0. If the middle finger is in a straight state, the FLAG bit FLAG3 is set to 1, and if the middle finger is in a curved state, the FLAG bit FLAG3 is set to 0. If the ring finger is in a straightened state, the FLAG bit FLAG4 is set to 1, and if the ring finger is in a curved state, the FLAG bit FLAG4 is set to 0. If the little finger is in a straightened state, the FLAG bit FLAG5 is set to 1, and if the little finger is in a bent state, the FLAG bit FLAG4 is set to 0. When the acceleration sensor data is fixed to a certain value, if the value is greater than the threshold value 1, the index finger is considered to be in a straightened state, and the FLAG bit FLAG2 is set to 1. If the value is smaller than the threshold value 1 and larger than the threshold value 2, the finger is considered to be in a bent state 1, and the FLAG bit FLAG2 is set to 0. If the value is smaller than the threshold value 2, the finger is considered to be in a bending state 2, and the FLAG bit FLAG2 is set to be 2;
(4) A gesture recognition rule base is designed, and specific rules are as follows:
(4.1) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, FLAG5 is 1, then the gesture is thumb bending.
(4.2) if FLAG1 is 1, FLAG2 is not 1, FLAG3 is 1, FLAG4 is 1, FLAG5 is 1, the gesture is a bending of the index finger.
(4.3) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 0, FLAG4 is 1, FLAG5 is 1, the gesture is a middle finger bending.
(4.4) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 1, FLAG4 is 0, FLAG5 is 1, the gesture is ring finger bending.
(4.5) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, FLAG5 is 0, the gesture is a small finger bend.
(4.6) if FLAG1 is 0, FLAG2 is 2, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 0, the gesture is "0".
(4.7) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 0, the gesture is gesture "1".
(4.8) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 1, FLAG4 is 0, FLAG5 is 0, the gesture is gesture "2".
(4.9) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, and FLAG5 is 0, then the gesture is gesture "3".
(4.10) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, and FLAG5 is 1, the gesture is gesture "4".
(4.11) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, and FLAG5 is 1, the gesture is gesture "5".
(4.12) if FLAG1 is 1, FLAG2 is 2, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 1, the gesture is gesture "6".
(4.13) if FLAG1 is 1, FLAG2 is 0, FLAG3 is 0, FLAG4 is 0, FLAG5 is 0, the gesture is "7".
(4.14) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 0, the gesture is "8".
(4.15) if FLAG1 is 0, FLAG2 is 0, FLAG3 is 0, FLAG4 is 0, FLAG5 is 0, the gesture is gesture "9".
A gesture recognition rule base schematic table specifically shown in table 1;
TABLE 1
The corresponding PID control parameter adjusting task is executed according to the gesture instruction, and specifically comprises the following steps:
(1) When the gesture action instruction received by the unmanned aerial vehicle flight control computer is thumb bending or gesture '4', the gesture control angle ring course angle control parameter proportion item P is increased by 0.01.
(2) When the gesture action instruction received by the unmanned aerial vehicle flight control computer is that the index finger is bent, the gesture control angle ring course angle control parameter proportion item P is reduced by 0.01.
(3) When the gesture action instruction received by the unmanned aerial vehicle flight control computer is middle finger bending, the gesture control angular speed ring course angle control parameter proportion item P is increased by 0.01.
(4) When the gesture action instruction received by the unmanned aerial vehicle flight control computer is ring finger bending, the gesture control angular velocity ring course angle control parameter proportion item P is reduced by 0.01.
(5) When the gesture action instruction received by the unmanned aerial vehicle flight control computer is that the little finger bends, the proportional term P of the control parameters of the attitude control angle ring pitch angle and the roll angle is increased by 0.01.
(6) When the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture 0, the proportional term P of the control parameters of the attitude control angle, the pitch angle and the roll angle is reduced by 0.01.
(7) When the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture '1', the proportional term P of the gesture control angular speed, annular pitch angle and roll angle control parameters is increased by 0.01.
(8) When the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture '2', the proportional term P of the control parameters of the attitude control angle, the pitch angle and the roll angle is reduced by 0.01.
(9) When the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture '3', the integral term I of the attitude control angular speed, the annular pitch angle and the roll angle control parameters is increased by 0.01.
(10) When the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture 4, the integral term I of the attitude control angular speed, the annular pitch angle and the roll angle control parameters is reduced by 0.01.
(11) When the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture '5', no task is done.
(12) When the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture 6, the differential item D of the gesture control angular speed, annular pitch angle and roll angle control parameters is increased by 0.01.
(13) When the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture 7, the differential term D of the gesture control angular speed, annular pitch angle and roll angle control parameters is reduced by 0.01.
The gesture control instruction design schematic table specifically shown in table 2:
TABLE 2
The data are displayed on the OLED screen in a graph mode, and the aim is to facilitate experimenters to observe deviation of expected values and estimated values of the unmanned aerial vehicle state, so that PID control parameters of the unmanned aerial vehicle can be adjusted more accurately through gesture actions.
According to the unmanned aerial vehicle PID control parameter adjustment method, the personnel wear the data glove to adjust the unmanned aerial vehicle PID control parameter in an online real-time gesture manner, so that the unmanned aerial vehicle PID parameter adjustment steps and processes are greatly simplified and facilitated, the flight experiment parameter adjustment efficiency is improved, and the unmanned aerial vehicle parameter adjustment is more flexible and simpler.
The gesture recognition technology is based on the acceleration sensor, and the acceleration sensor is low in price, small in size and free of limitation of environment and light, so that the gesture recognition application range based on the acceleration sensor is wider. The gesture recognition system of the invention can be applied to not only one hand but also two hands. When the gesture recognition system is applied to both hands, the variety of gesture recognition by the system is increased, so that more parameters of the unmanned aerial vehicle can be controlled.
The foregoing is merely a preferred example of the invention, and is not intended to limit the invention thereto. Modifications may be made to the above-described aspects, or equivalents may be substituted for elements thereof, without departing from the scope of the invention, as will be apparent to those skilled in the art. All modifications, equivalent substitutions and the like which do not depart from the technical content of the invention are included in the protection scope of the invention.
Claims (7)
1. The multi-rotor unmanned aerial vehicle PID control parameter gesture adjusting system is characterized by comprising a glove, 5 acceleration sensors, a main control panel, a data transmission, a battery and an OLED display screen; the 5 acceleration sensors are respectively arranged on five fingers of the glove; the main control panel is arranged at the back of the glove; the OLED display screen is arranged on the main control board; the data transmission is arranged on the main control board; the battery is arranged on the main control board; the acceleration sensor, the data transmission and the OLED screen are connected with the main control board, and the battery provides energy for the main control board; the main control board collects data of the acceleration sensor, recognizes gesture actions through a gesture recognition algorithm after data processing is carried out on the acceleration data, then sends gesture action instructions to the unmanned aerial vehicle flight control computer through the data transmission module, and the flight control computer executes corresponding PID control parameter adjustment tasks according to the gesture instructions after receiving the gesture action instructions; the main control board receives expected value and estimated value data of the attitude angle and the attitude angular speed sent by the flight control computer, and displays the data on the OLED screen in a graph; the main control board also displays the collected five acceleration sensor data on the OLED display screen.
2. The multi-rotor unmanned aerial vehicle PID control parameter gesture adjustment system of claim 1, wherein the X-axis of the acceleration sensor is parallel to the glove fingers.
3. The multi-rotor unmanned aerial vehicle PID control parameter gesture adjustment system according to claim 1, wherein the data processing for the acceleration data specifically comprises: and removing errors and noise in the original acceleration data by adopting a sliding window filtering method.
4. The multi-rotor unmanned aerial vehicle PID control parameter gesture adjustment system of claim 1, wherein the gesture motion comprises a thumb bend, a index finger bend, a middle finger bend, a ring finger bend, a little finger bend, a gesture "0", a gesture "1", a gesture "2", a gesture "3", a gesture "4", a gesture "5", a gesture "6", a gesture "7", a gesture "8", a gesture "9", wherein the thumb bend and the gesture "4" are the same gesture motion.
5. The system for adjusting the PID control parameters of the multi-rotor unmanned aerial vehicle according to claim 1, wherein the specific step of recognizing the gesture by the gesture recognition algorithm is as follows:
(5.1) 5 acceleration sensors are fixed on the glove fingers, and the X axis of each acceleration sensor is parallel to the finger; then, the thumb and the index finger are respectively bent and straightened, the main control board collects the variation values of acceleration data on three axes of each sensor, the collected thumb acceleration data and index finger acceleration data are sent to a computer through a serial port and stored in a document, then, the data are subjected to drawing analysis, and the analysis finds that the difference value between the maximum value and the minimum value of the collected Z-axis data of the acceleration sensor in the thumb bending process is the largest, so that the acceleration data on the thumb takes the Z axis as a reference axis, the difference value between the maximum value and the minimum value of the X-axis data of the collected acceleration sensor in the index finger bending process is the largest, and the index finger acceleration data takes the X axis as a reference axis;
(5.2) the acceleration data threshold is selected using a method of autonomously selecting the threshold; the method comprises the following steps: after the main control panel is electrified, the thumb, the index finger, the middle finger, the ring finger and the little finger respectively perform reciprocating straightening and bending actions for a plurality of times to train the finger, an array is defined in the main controller for each finger, the size is N, in the process of training the finger, collected acceleration data are stored in the array after being filtered by a sliding window, then N data in the array are sequenced to find out the maximum value and the minimum value of the acceleration, and the threshold value of the acceleration is the average value of the found maximum acceleration value and the minimum acceleration value for the thumb, the middle finger, the ring finger and the little finger:
wherein, thread is the selected threshold value, a min To smooth the acceleration minimum value, a, in the filtered set of data max To smooth the maximum acceleration in the filtered set of data, two thresholds, thread1 and thread2, are set for the index finger:
wherein, thread1 is threshold 1, thread2 is threshold 2, a min To smooth the acceleration minimum value, a, in the filtered set of data max Five acceleration thresholds can be obtained through the steps for smoothing the maximum acceleration value in the group of data after filtering;
(5.3) when the gesture is performed, the palm plane is vertical to the horizontal plane, and when the acceleration sensor data is fixed to a certain value, the finger is considered to be in a straightened state if the value is larger than a threshold value, and otherwise, the finger is considered to be in a bent state; if the thumb is in a straightening state, the FLAG bit FLAG1 is set to be 1, and if the thumb is in a bending state, the FLAG bit FLAG1 is set to be 0; similarly, if the thumb is in a straight state, the FLAG bit FLAG1 is made to be 1, and if the thumb is in a curved state, the FLAG bit FLAG1 is made to be 0; if the middle finger is in a straightening state, the FLAG bit FLAG3 is set to be 1, and if the middle finger is in a bending state, the FLAG bit FLAG3 is set to be 0; if the ring finger is in a straightening state, the FLAG bit FLAG4 is set to be 1, and if the ring finger is in a bending state, the FLAG bit FLAG4 is set to be 0; if the little finger is in a straightening state, the FLAG bit FLAG5 is 1, and if the little finger is in a bending state, the FLAG bit FLAG4 is 0; for the index finger, when the data of the acceleration sensor is fixed at a certain value, if the value is greater than a threshold value 1, the index finger is considered to be in a straightened state, and the FLAG bit FLAG2 is set to be 1; if the value is smaller than the threshold value 1 and larger than the threshold value 2, the finger is considered to be in a bending state 1, and the FLAG bit FLAG2 is set to be 0; if the value is smaller than the threshold value 2, the finger is considered to be in a bending state 2, and the FLAG bit FLAG2 is set to be 2;
(5.4) designing a gesture recognition rule base, wherein the specific rules are as follows:
(5.4.1) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, FLAG5 is 1, then the gesture is a thumb bend;
(5.4.2) if FLAG1 is 1, FLAG2 is not 1, FLAG3 is 1, FLAG4 is 1, FLAG5 is 1, the gesture is a bending of the index finger;
(5.4.3) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 0, FLAG4 is 1, FLAG5 is 1, then the gesture is a middle finger bend;
(5.4.4) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 1, FLAG4 is 0, and FLAG5 is 1, then the gesture is ring finger bending;
(5.4.5) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, FLAG5 is 0, the gesture is a small finger bend;
(5.4.6) if FLAG1 is 0, FLAG2 is 2, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 0, then the gesture is gesture "0";
(5.4.7) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 0, then the gesture is gesture "1";
(5.4.8) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 1, FLAG4 is 0, and FLAG5 is 0, then the gesture is gesture "2";
(5.4.9) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, and FLAG5 is 0, then the gesture is gesture "3";
(5.4.10) if FLAG1 is 0, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, and FLAG5 is 1, then the gesture is gesture "4";
(5.4.11) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 1, FLAG4 is 1, and FLAG5 is 1, then the gesture is gesture "5";
(5.4.12) if FLAG1 is 1, FLAG2 is 2, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 1, then the gesture is gesture "6";
(5.4.13) if FLAG1 is 1, FLAG2 is 0, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 0, then the gesture is gesture "7";
(5.4.14) if FLAG1 is 1, FLAG2 is 1, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 0, then the gesture is gesture "8";
(5.4.15) if FLAG1 is 0, FLAG2 is 0, FLAG3 is 0, FLAG4 is 0, and FLAG5 is 0, then the gesture is gesture "9".
6. The multi-rotor unmanned aerial vehicle PID control parameter gesture adjustment system according to claim 1, wherein the corresponding PID control parameter adjustment task is executed according to gesture instructions, specifically:
(6.1) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is thumb bending or gesture 4, increasing the gesture control angle ring course angle control parameter proportional term P by 0.01;
(6.2) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is that the index finger is bent, reducing the gesture control angle ring course angle control parameter proportion item P by 0.01;
(6.3) increasing the attitude control angular velocity ring course angle control parameter proportion term P by 0.01 when the gesture action instruction received by the unmanned aerial vehicle flight control computer is middle finger bending;
(6.4) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is ring finger bending, reducing the gesture control angular velocity ring course angle control parameter proportion item P by 0.01;
(6.5) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is that the little finger bends, increasing the proportional item P of the attitude control angle ring pitch angle and the roll angle control parameter by 0.01;
(6.6) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture 0, reducing the proportional term P of the gesture control angle, pitch angle and roll angle control parameters by 0.01;
(6.7) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture '1', increasing the proportional term P of the gesture control angular speed, annular pitch angle and roll angle control parameters by 0.01;
(6.8) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture '2', reducing the proportional term P of the gesture control angle, pitch angle and roll angle control parameters by 0.01;
(6.9) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture '3', increasing the integral term I of the attitude control angular speed, annular pitch angle and roll angle control parameters by 0.01;
(6.10) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture 4, reducing the integral term I of the attitude control angular speed, annular pitch angle and roll angle control parameters by 0.01;
(6.11) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture '5', not doing any task;
(6.12) when the gesture action instruction received by the unmanned aerial vehicle flight control computer is gesture 6, increasing the differential term D of the attitude control angular speed ring pitch angle and the roll angle control parameter by 0.01;
and (6.13) reducing the differential term D of the attitude control angular speed, the annular pitch angle and the roll angle control parameters by 0.01 when the gesture action instruction received by the unmanned aerial vehicle flight control computer is a gesture '7'.
7. The system for gesture adjustment of PID control parameters of a multi-rotor unmanned aerial vehicle according to claim 1, wherein the data is displayed on the OLED screen in a graph form, and is used for an experimenter to adjust the PID control parameters of the unmanned aerial vehicle by gesture actions by observing deviations between expected values and estimated values of the unmanned aerial vehicle.
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