CN117746715A - Simulation control system of programmable unmanned aerial vehicle - Google Patents
Simulation control system of programmable unmanned aerial vehicle Download PDFInfo
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- CN117746715A CN117746715A CN202311564219.XA CN202311564219A CN117746715A CN 117746715 A CN117746715 A CN 117746715A CN 202311564219 A CN202311564219 A CN 202311564219A CN 117746715 A CN117746715 A CN 117746715A
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, in particular to a programmable unmanned aerial vehicle simulation control system which comprises a simulation unit, a flight control unit, a guiding control unit, a gesture recognition unit, a machine learning unit and a control terminal simulator. According to the invention, the control terminal simulator receives the image data of the simulation unit and acquires the flight simulation operation parameters of the guiding control unit, a dynamic three-dimensional model of the unmanned aerial vehicle flight state is calculated and generated, the dynamic three-dimensional model is overlapped and synthesized with the flight background virtual video calculated and generated by the control terminal simulator, and the flight background virtual video is output to a display screen through the display unit to be dynamically displayed, so that an operator knows real-time information of an unmanned aerial vehicle reconnaissance place in real time, and meanwhile, the virtual unmanned aerial vehicle is controlled by utilizing a VR technology, so that the problem of shortage of unmanned aerial vehicle equipment in practical teaching can be effectively solved, and teaching accidents caused by inexperienced control of an entity unmanned aerial vehicle by the operator are avoided.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a programmable unmanned aerial vehicle simulation control system.
Background
Along with development of scientific technology, mechanical, automatic and informationized-based agricultural mechanical equipment brings new opportunities for liberating agricultural production, agricultural informationized is a technological embodiment and development foundation stone for agricultural sustainable development, and is limited by teaching equipment, at present, most universities do not offer relevant courses of unmanned aerial vehicles yet, unmanned aerial vehicles and unmanned aerial vehicle data processing in the agricultural field are still in a development stage, unmanned aerial vehicle equipment still has more problems in the agricultural application field, and along with popularization of unmanned aerial vehicles in agricultural production, unmanned aerial vehicle agricultural application type talent gaps are also increasingly larger.
In the prior art, most courses related to unmanned aerial vehicle equipment are mainly based on theoretical teaching, students lack opportunities of manual operation in the learning process, the current application of unmanned aerial vehicles in agriculture is still an emerging field, the unmanned aerial vehicles are not mature, and the following problems mainly exist at present: the unmanned aerial vehicle is complex in operation, operators are required to master basic operation skills, and normal operation and control of students on the unmanned aerial vehicle are difficult to realize by single theoretical teaching; the flight planning needs to consider factors such as topography, barriers, operation areas, and the like, and general unmanned aerial vehicle does not have an automatic obstacle avoidance function, and is easy to cause flight accidents, and students are required to carry out route planning.
In view of this, the application proposes an analog control system of a programmable unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide an analog control system of a programmable unmanned aerial vehicle so as to solve the problems.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the simulation control system of the programmable unmanned aerial vehicle comprises a simulation unit, a flight control unit, a guiding control unit, a gesture recognition unit, a machine learning unit and a control terminal simulator, wherein the control terminal simulator is in signal connection with the simulation unit, and the control terminal simulator is in signal connection with the gesture recognition unit;
the simulation unit is used for creating a three-dimensional model of the virtual unmanned aerial vehicle and the position of the virtual unmanned aerial vehicle on the simulation map;
the flight control unit is used for performing flight control on the virtual unmanned aerial vehicle;
the guiding and controlling unit is used for setting flight conditions and flight environment operation parameters of the virtual unmanned aerial vehicle;
the gesture recognition unit is used for acquiring gesture information of an operator and recognizing the gesture;
the machine learning unit is used for training gestures so as to obtain an identification model with higher identification accuracy;
the control terminal simulator is used for receiving the image data of the simulation unit and acquiring flight simulation operation parameters of the guiding and controlling unit to perform flight environment simulation control and virtual unmanned aerial vehicle simulation motion control.
Further, the flight conditions include the flight altitude, the carried mission load model, the flight weather and the flight weather of the virtual unmanned aerial vehicle, and the aircraft environment is the virtual unmanned aerial vehicle flight background environment.
Further, the control terminal simulator is in signal connection with the flight control unit, the control terminal simulator is electrically connected with the guide control unit, the control terminal simulator is in signal connection with the machine learning unit, the simulation unit is in signal connection with the flight control unit, and the gesture recognition unit is in signal connection with the machine learning unit.
Further, the portable electronic device also comprises a display unit, a power supply unit, an audio unit and a database unit;
the display unit is used for displaying a virtual scene of the flight state of the unmanned aerial vehicle observed from the angle of view of the manipulator, and comprises a simulated flight environment of the virtual unmanned aerial vehicle and the virtual unmanned aerial vehicle in the simulated flight environment;
the power supply unit is used for providing a working power supply for the control terminal simulator;
the sound unit is used for simulating and generating sound effects generated by the virtual unmanned aerial vehicle in the processes of taking off, hovering and landing;
the database unit is used for storing all information related to unmanned aerial vehicle teaching in the control terminal simulator.
Further, the control terminal simulator is electrically connected with the display unit, the control terminal simulator is electrically connected with the power supply unit, and the control terminal simulator is electrically connected with the sound unit.
Further, the simulation unit comprises a positioning mapping module and an unmanned aerial vehicle module;
the positioning map building module is used for building a virtual three-dimensional space according to the operation parameters set by the guide control unit so as to provide different virtual teaching scenes;
the unmanned aerial vehicle module is used for building simulated unmanned aerial vehicle body motion, and the unmanned aerial vehicle motion is operated in the experience of having an operator personally on the scene, reaches the effect of simulating the real unmanned aerial vehicle training of controlling.
Further, the positioning and mapping module comprises an information acquisition module, a visual mileage module, an optimization module, a loop detection module and a mapping module;
the information acquisition module is used for providing image information acquisition, camera calibration and image correction functions;
the visual mileage module is used for estimating camera motion and a local map;
the optimizing module is used for optimizing the information and calculating the track of the camera;
the loop detection module is used for detecting whether the camera reaches a position which is reached before the camera reaches the position;
and the map building module is used for building a three-dimensional point cloud map in real time according to map information obtained after system calculation.
Further, the information acquisition module is in signal connection with the visual mileage module, and the visual mileage module is in signal connection with the optimization module.
The invention has the beneficial effects that:
1. according to the invention, the flight condition and the flight environment operation parameters of the virtual unmanned aerial vehicle are set through the guide control unit, the positioning map building module builds a three-dimensional point cloud map in real time according to the operation parameters set by the guide control unit, a virtual three-dimensional space is built to provide different virtual teaching scenes, meanwhile, the unmanned aerial vehicle module builds the motion of a simulation unmanned aerial vehicle body, the control terminal simulator receives the image data of the simulation unit and acquires the flight simulation operation parameters of the guide control unit, a dynamic three-dimensional model of the unmanned aerial vehicle flight state is calculated and generated, the dynamic three-dimensional model is overlapped and synthesized with the flight background virtual video calculated and generated by the control terminal simulator, the dynamic three-dimensional model is output to a display screen through the display unit for dynamic display, and meanwhile, the audio calculated and generated by the control terminal simulator is output to the sound unit for synchronous playing, so that an operator can know real-time information of a detection place of the unmanned aerial vehicle in real time, and the integration sense and the hand and innovation capability of students in practical teaching are improved, and important significance is provided for culturing talents of unmanned aerial vehicle technology and agricultural informatization talents and meeting the requirements of agricultural sustainable development.
2. According to the invention, the gesture recognition unit acquires the hand action information of the operator by means of the somatosensory controller, can acquire the gesture information of the operator and recognize the gesture, and the machine learning unit trains the gesture to further acquire the recognition model with higher recognition accuracy, so that the unmanned aerial vehicle is subjected to flight control based on VR gesture recognition, the virtual unmanned aerial vehicle is controlled by utilizing the VR technology, the problem of shortage of unmanned aerial vehicle equipment in practical teaching can be effectively solved, meanwhile, teaching accidents caused by unskilled control of the entity unmanned aerial vehicle are avoided, the unmanned aerial vehicle flight state is controlled by utilizing the gesture, fusion of the operator and the unmanned aerial vehicle flight state can be realized, and immersive and interactive operation experience is brought to students.
Drawings
FIG. 1 is a system flow diagram of a programmable unmanned aerial vehicle simulation control system of the present invention;
fig. 2 is a system schematic diagram of a positioning and mapping module of a programmable unmanned aerial vehicle simulation control system according to the present invention.
In the figure: 1. a simulation unit; 2. a flight control unit; 3. a guide control unit; 4. a gesture recognition unit; 5. a machine learning unit; 6. a display unit; 7. a control terminal simulator; 8. a power supply unit; 9. an acoustic unit; 10. a database unit; 11. positioning and drawing building modules; 12. an unmanned aerial vehicle module; 13. an information acquisition module; 14. a visual mileage module; 15. an optimization module; 16. a loop detection module; 17. and (5) a drawing building module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 and 2, an embodiment of a programmable unmanned aerial vehicle simulation control system is provided, which includes a simulation unit 1, a flight control unit 2, a pilot control unit 3, a gesture recognition unit 4, a machine learning unit 5, a control terminal simulator 7, a display unit 6, a power supply unit 8, an audio unit 9 and a database unit 10, wherein the control terminal simulator 7 is in signal connection with the simulation unit 1, the control terminal simulator 7 is in signal connection with the gesture recognition unit 4, the control terminal simulator 7 is in signal connection with the flight control unit 2, the control terminal simulator 7 is in signal connection with the pilot control unit 3, the control terminal simulator 7 is in signal connection with the machine learning unit 5, the simulation unit 1 is in signal connection with the flight control unit 2, the gesture recognition unit 4 is in signal connection with the machine learning unit 5, the control terminal simulator 7 is in signal connection with the display unit 6, the control terminal simulator 7 is in signal connection with the power supply unit 8, and the control terminal simulator 7 is in signal connection with the audio unit 9;
the simulation unit 1 is used for creating a three-dimensional model of the virtual unmanned aerial vehicle and the position of the virtual unmanned aerial vehicle on a simulation map; the simulation unit 1 comprises a positioning mapping module 11 and an unmanned aerial vehicle module 12;
the positioning map building module 11 is used for building a virtual three-dimensional space according to the operation parameters set by the guiding control unit 3 so as to provide different virtual teaching scenes; the positioning and mapping module 11 comprises an information acquisition module 13, a visual mileage module 14, an optimization module 15, a loop detection module 16 and a mapping module 17, wherein the information acquisition module 13 is in signal connection with the visual mileage module 14, and the visual mileage module 14 is in signal connection with the optimization module 15;
the information acquisition module 13 is used for providing image information acquisition, camera calibration and image correction functions;
the visual mileage module 14 is used to estimate camera motion and a local map;
the optimizing module 15 is used for optimizing the information and calculating a camera track;
the loop detection module 16 is used for detecting whether the camera reaches a position which is reached before;
the map building module 17 is used for building a three-dimensional point cloud map in real time according to map information obtained after system calculation;
the unmanned aerial vehicle module 12 is used for building the body motion of the simulation unmanned aerial vehicle, so that an operator can experience the motion of the operation unmanned aerial vehicle in the scene, and the effect of simulating the training of the real operation unmanned aerial vehicle is achieved;
the flight control unit 2 is used for performing flight control on the virtual unmanned aerial vehicle;
the guiding and controlling unit 3 is used for setting flight conditions and flight environment operation parameters of the virtual unmanned aerial vehicle; the flight conditions comprise the flight altitude, the carried mission load model, the flight weather and the flight weather of the virtual unmanned aerial vehicle, and the aircraft environment is the virtual unmanned aerial vehicle flight background environment;
the gesture recognition unit 4 is used for acquiring gesture information of an operator and recognizing the gesture;
the machine learning unit 5 is used for training gestures so as to obtain an identification model with higher identification accuracy;
the control terminal simulator 7 is used for receiving the image data of the simulation unit 1, acquiring flight simulation operation parameters of the guide control unit 3, and performing flight environment simulation control and virtual unmanned aerial vehicle simulation motion control;
the display unit 6 is used for displaying a virtual scene of the flight state of the unmanned aerial vehicle observed from the view angle of the manipulator, and comprises a simulated flight environment of the virtual unmanned aerial vehicle and the virtual unmanned aerial vehicle in the simulated flight environment;
the power supply unit 8 is used for providing a working power supply for the control terminal simulator 7;
the sound unit 9 is used for simulating and generating sound effects generated by the virtual unmanned aerial vehicle in the processes of taking off, hovering and landing;
the database unit 10 is used for storing all information related to unmanned aerial vehicle teaching in the control terminal simulator 7.
The invention relates to a programmable unmanned aerial vehicle simulation control system which comprises a simulation unit 1, a flight control unit 2, a guide control unit 3, a gesture recognition unit 4, a machine learning unit 5, a control terminal simulator 7, a display unit 6, a power supply unit 8, an audio unit 9 and a database unit 10;
setting flight conditions and flight environment operation parameters of the virtual unmanned aerial vehicle through the guiding and controlling unit 3; the positioning map building module 11 builds a three-dimensional point cloud map in real time according to the operation parameters set by the guide control unit 3, and builds a virtual three-dimensional space so as to provide different virtual teaching scenes; meanwhile, the unmanned aerial vehicle module 12 builds the body motion of the simulation unmanned aerial vehicle, so that an operator can experience the motion of the operation unmanned aerial vehicle on the spot, and the effect of simulating the training of the real operation unmanned aerial vehicle is achieved; the control terminal simulator 7 receives the image data of the simulation unit 1 and acquires the flight simulation operation parameters of the guide control unit 3 to perform flight environment simulation control and virtual unmanned aerial vehicle simulation motion control (the control terminal simulator 7 calculates parameters such as heading, attitude, altitude, speed, acceleration and the like of the unmanned aerial vehicle according to the virtual unmanned aerial vehicle motion model and the virtual flight control three-dimensional model according to the data information of the guide control unit 3 and the simulation unit 1, calculates and generates a dynamic three-dimensional model of the unmanned aerial vehicle flight state, and the dynamic three-dimensional model is overlapped and synthesized with the flight background virtual video calculated and generated by the control terminal simulator 7, and is output to a display screen for dynamic display through the display unit 6, and simultaneously, the audio calculated and generated by the control terminal simulator 7 is output to the sound unit 9 for synchronous playing); the real-time information of the unmanned aerial vehicle reconnaissance site can be known in real time by an operator through the positioning and mapping module 11, and the unmanned aerial vehicle technology is applied to agricultural teaching, so that the sense of integration and the capability of operation and innovation of students in practical teaching are improved, and the unmanned aerial vehicle technology talents and agricultural informationized talents are cultured and the demand of agricultural sustainable development is met;
in the process of controlling the virtual unmanned aerial vehicle, the gesture recognition unit 4 acquires hand action information of the manipulator by means of the somatosensory controller, can acquire gesture information of the manipulator and recognize the gesture, and the machine learning unit 5 trains the gesture to further acquire a recognition model with high recognition accuracy, so that flight control is performed on the unmanned aerial vehicle based on VR gesture recognition; the virtual unmanned aerial vehicle is controlled by utilizing the VR technology, the problem of unmanned aerial vehicle equipment shortage in practice teaching can be effectively solved, meanwhile, teaching accidents caused by inexperienced control of an entity unmanned aerial vehicle by an operator are avoided, the traditional radio remote controller is replaced by gesture control to carry out flight control on the unmanned aerial vehicle, the unmanned aerial vehicle flight state is controlled by the gesture, fusion of the operator and the unmanned aerial vehicle flight state can be realized, and immersive and interactive operation experience is brought to students.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The simulation control system of the programmable unmanned aerial vehicle is characterized by comprising a simulation unit (1), a flight control unit (2), a guiding and controlling unit (3), a gesture recognition unit (4), a machine learning unit (5) and a control terminal simulator (7), wherein the control terminal simulator (7) is in signal connection with the simulation unit (1), and the control terminal simulator (7) is in signal connection with the gesture recognition unit (4);
the simulation unit (1) is used for creating a three-dimensional model of the virtual unmanned aerial vehicle and the position of the virtual unmanned aerial vehicle on a simulation map;
the flight control unit (2) is used for performing flight control on the virtual unmanned aerial vehicle;
the guiding and controlling unit (3) is used for setting flight conditions and flight environment operation parameters of the virtual unmanned aerial vehicle;
the gesture recognition unit (4) is used for acquiring gesture information of an operator and recognizing the gesture;
the machine learning unit (5) is used for training gestures so as to obtain an identification model with higher identification accuracy;
the control terminal simulator (7) is used for receiving the image data of the simulation unit (1) and acquiring flight simulation operation parameters of the guide control unit (3) to perform flight environment simulation control and virtual unmanned aerial vehicle simulation motion control.
2. The simulated control system of a programmable unmanned aerial vehicle of claim 1, wherein the flight conditions comprise a flight altitude, a mission load model carried by the virtual unmanned aerial vehicle, a flight weather and a flight weather, and the aircraft environment is a virtual unmanned aerial vehicle flight background environment.
3. The simulation control system of the programmable unmanned aerial vehicle according to claim 1, wherein the control terminal simulator (7) is in signal connection with the flight control unit (2), the control terminal simulator (7) is electrically connected with the guide control unit (3), the control terminal simulator (7) is in signal connection with the machine learning unit (5), the simulation unit (1) is in signal connection with the flight control unit (2), and the gesture recognition unit (4) is in signal connection with the machine learning unit (5).
4. The simulation control system of the programmable unmanned aerial vehicle according to claim 1, further comprising a display unit (6), a power supply unit (8), an audio unit (9) and a database unit (10);
the display unit (6) is used for displaying a virtual scene of the flight state of the unmanned aerial vehicle observed from the angle of view of the operator, and comprises a simulated flight environment of the virtual unmanned aerial vehicle and the virtual unmanned aerial vehicle in the simulated flight environment;
the power supply unit (8) is used for providing a working power supply for the control terminal simulator (7);
the sound unit (9) is used for simulating and generating sound effects generated by the virtual unmanned aerial vehicle in the processes of taking off, hovering and landing;
the database unit (10) is used for storing all information related to unmanned aerial vehicle teaching in the control terminal simulator (7).
5. The simulation control system of the programmable unmanned aerial vehicle according to claim 4, wherein the control terminal simulator (7) is electrically connected with the display unit (6), the control terminal simulator (7) is electrically connected with the power supply unit (8), and the control terminal simulator (7) is electrically connected with the sound unit (9).
6. The simulation control system of a programmable unmanned aerial vehicle according to claim 1, wherein the simulation unit (1) comprises a localization mapping module (11) and an unmanned aerial vehicle module (12);
the positioning and mapping module (11) is used for constructing a virtual three-dimensional space according to the operation parameters set by the guide control unit (3) so as to provide different virtual teaching scenes;
the unmanned aerial vehicle module (12) is used for building the motion of a simulation unmanned aerial vehicle body, enables an operator to experience the motion of the operation unmanned aerial vehicle in the scene, and achieves the effect of simulating the training of the real operation unmanned aerial vehicle.
7. The simulation control system of the programmable unmanned aerial vehicle according to claim 6, wherein the positioning and mapping module (11) comprises an information acquisition module (13), a visual mileage module (14), an optimization module (15), a loop detection module (16) and a mapping module (17);
the information acquisition module (13) is used for providing image information acquisition, camera calibration and image correction functions;
the visual mileage module (14) is used for estimating camera motion and a local map;
the optimizing module (15) is used for optimizing the information and calculating a camera track;
the loop detection module (16) is used for detecting whether the camera reaches a position which is reached before the camera reaches the position;
the mapping module (17) is used for creating a three-dimensional point cloud map in real time according to map information obtained after system calculation.
8. The programmable unmanned aerial vehicle simulation control system according to claim 7, wherein the information acquisition module (13) is in signal connection with the visual mileage module (14), and the visual mileage module (14) is in signal connection with the optimization module (15).
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| CN202311564219.XA CN117746715A (en) | 2023-11-21 | 2023-11-21 | Simulation control system of programmable unmanned aerial vehicle |
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