CN210083560U - Unmanned aerial vehicle independently snatchs controlling means - Google Patents
Unmanned aerial vehicle independently snatchs controlling means Download PDFInfo
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- CN210083560U CN210083560U CN201920165324.9U CN201920165324U CN210083560U CN 210083560 U CN210083560 U CN 210083560U CN 201920165324 U CN201920165324 U CN 201920165324U CN 210083560 U CN210083560 U CN 210083560U
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Abstract
The utility model provides an unmanned aerial vehicle independently snatchs controlling means, relates to an unmanned aerial vehicle device, the utility model discloses the device includes ground monitoring device, aircraft controlling means and independently grabbing device. The ground monitoring device comprises a computer mobile phone, a wireless communication unit and a data transmission unit, and is used for transmitting data information and monitoring the running state of the unmanned aerial vehicle; the flight control device comprises an unmanned aerial vehicle flight control unit, an unmanned aerial vehicle flight power unit and an unmanned aerial vehicle hovering fixed height unit, and is used for providing driving force for the unmanned aerial vehicle and controlling the flight state of the unmanned aerial vehicle; the autonomous grabbing device comprises a binocular vision unit, an image processing unit, an autonomous grabbing control unit and a grabbing action unit, and mainly aims to acquire object information to achieve autonomous grabbing. The target is actively searched through the unmanned aerial vehicle, the characteristics of binocular vision are utilized, the flying device and the grabbing device are integrated, and the good effects of stable flying and autonomous and accurate grabbing of the unmanned aerial vehicle are achieved.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle controlling means especially relates to an unmanned aerial vehicle independently snatchs controlling means.
Background
Along with the maturity of unmanned aerial vehicle technique, unmanned aerial vehicle relies on its motion flexibility and reliable and stable characteristic to develop hands in a lot of fields greatly, but, unmanned aerial vehicle can not carry out effectual interdynamic with external environment at present for unmanned aerial vehicle's application receives very big restriction.
If the unmanned aerial vehicle can realize autonomous recognition and grab the target object, the unmanned aerial vehicle can be applied to the fields of logistics transportation, disaster rescue and the like, and the application of the unmanned aerial vehicle is greatly expanded. At present, the grabbing research of the unmanned aerial vehicle is just started, and many researchers acquire the position and posture information of the unmanned aerial vehicle and a target by means of external equipment such as a motion capture device, but the motion capture device is extremely expensive and can only be applied indoors; at present many modes of grabbing unmanned aerial vehicle adopt that unmanned aerial vehicle hovers the flexible mode of grabbing the target of arm, and this method is simple, but the unmanned aerial vehicle after grabbing the object appears the unbalanced problem of focus easily, and the loading capacity is limited, if can will snatch the object and put in unmanned aerial vehicle focus below, design one set of unmanned aerial vehicle initiative adjustment self position and look for the autonomic grabbing controlling means who snatchs the target, can develop wider unmanned aerial vehicle application market.
Disclosure of Invention
An object of the utility model is to provide an unmanned aerial vehicle independently snatchs controlling means, the utility model discloses an unmanned aerial vehicle initiative adjustment self position utilizes the characteristics of two mesh vision, makes flight device and grabbing device integration, has gained the good effect that unmanned aerial vehicle stabilized flight and independently accurately snatched, has extended unmanned aerial vehicle's interactive capacity greatly.
The utility model aims at realizing through the following technical scheme:
an unmanned aerial vehicle independently snatchs controlling means, includes ground monitoring device, aircraft controlling means and independently grabbing device. In order to obtain the transmission of data information and monitor the running state of the unmanned aerial vehicle, the ground monitoring device comprises a data transmission unit, a wireless communication unit and a computer or mobile phone client; in order to provide driving force for the unmanned aerial vehicle and control the flight state of the unmanned aerial vehicle, the flight control device comprises an unmanned aerial vehicle hovering height-fixing unit, an unmanned aerial vehicle flight control unit and an unmanned aerial vehicle flight power unit; in order to acquire object information and realize autonomous grabbing, the autonomous grabbing device comprises a binocular vision unit, an image processing unit, an autonomous grabbing control unit and a grabbing action unit. The data transmission unit is a camera module, is connected with the wireless communication unit through an RTCP (real-time transport control protocol) flat cable, transmits the acquired video information to the wireless communication unit in a data stream mode, and forwards the received data to a computer or a mobile phone client through a wireless network link for monitoring the whole flight path and environment of the unmanned aerial vehicle; the wireless communication unit is connected with the unmanned aerial vehicle flight control unit through an SBUS protocol flat cable and is used for sending flight control commands to the unmanned aerial vehicle device and receiving state data information sent back by the unmanned aerial vehicle device; the unmanned aerial vehicle hovering height fixing unit is connected with the unmanned aerial vehicle flight control unit through an IIC (inter-integrated Circuit) protocol flat cable and used for reading and issuing a control command of the flight height of the unmanned aerial vehicle; the flight power unit is connected with the unmanned aerial vehicle flight control unit through an electronic governor ESC and is used for controlling the rotating speeds of four rotors of the unmanned aerial vehicle; the binocular vision unit is a binocular camera, is connected with the image processing unit through a USB interface, and transmits the acquired two object plane image information to the image processing unit for processing; the image processing unit is connected with the unmanned aerial vehicle flight control unit through a USART flat cable, the image processing unit processes images and sends corresponding airplane self-adjustment information, and the unmanned aerial vehicle flight control unit is responsible for receiving the data; the autonomous grabbing control unit is connected with the unmanned aerial vehicle flight control unit through an IO port and used for controlling grabbing actions.
The unmanned aerial vehicle independently snatchs controlling means, ground monitored control system carries on cell-phone or computer customer end. The ground monitoring system carries a mobile phone or a computer client, and mainly receives and displays video data information sent by the wireless communication unit, so that the flight condition of the unmanned aerial vehicle at the far end and the completion degree of a grabbing task are observed.
The unmanned aerial vehicle of a kind of unmanned aerial vehicle independently picks controlling means, the unmanned aerial vehicle of controlling the flight altitude of the unmanned aerial vehicle hovers and fixes the height the unit to include ultrasonic module and light stream module. A decide high unit for controlling unmanned aerial vehicle flying height includes ultrasonic module and light stream module, sends the altitude data of surveying to unmanned aerial vehicle flight control unit through the IIC bus, realizes unmanned aerial vehicle to the accurate control of height.
The unmanned aerial vehicle independently snatchs controlling means, the image processing unit is image processing module. The image processing unit is an image processing module and sends video information acquired by the binocular vision unit to the image processing unit in real time, the image processing unit carries out complex image processing and sends processed data to the flight control unit, and the flight control unit adjusts the flight attitude of the unmanned aerial vehicle according to the data information.
The unmanned aerial vehicle independently snatchs controlling means, unmanned aerial vehicle flight control unit is embedded framework. The unmanned aerial vehicle flight control unit is an embedded architecture, receives data of all units, performs fusion processing, and simultaneously issues control commands for the flight power unit and the grabbing action unit, so that control over the flight state of the unmanned aerial vehicle and autonomous grabbing tasks are realized.
The utility model has the advantages and effects that:
1. the utility model discloses an unmanned aerial vehicle independently snatchs controlling means hovers with traditional unmanned aerial vehicle, and the arm snatchs the target difference, the utility model discloses a device is through unmanned aerial vehicle initiative seek target and realize snatching, and make full use of unmanned aerial vehicle self nimble characteristics realize independently accurately snatching, have extended unmanned aerial vehicle's function greatly.
2. The utility model discloses a device utilizes two mesh visual technique to have the characteristics of degree of depth information, and real environment's information of real time transmission to unmanned aerial vehicle controlling means realizes that unmanned aerial vehicle flight attitude adjustment, initiative target tracking, the high calculation of hovering for unmanned aerial vehicle snatchs the success rate higher.
Drawings
FIG. 1 is a connection diagram of the functions of the device of the present invention;
FIG. 2 is a schematic diagram of the control method of the present invention;
fig. 3 is a diagram of an application example of the present invention.
Reference numerals: 1. the system comprises a ground monitoring device, 11 a data transmission unit, 12 a wireless communication unit, 13 a computer mobile phone, 2 a flight control device, an unmanned aerial vehicle hovering height fixing unit, 22 an unmanned aerial vehicle flight control unit, 23 a flight power unit, 3 an autonomous grabbing device, 31 a binocular vision unit, 32 an image processing unit and 33 an autonomous grabbing control unit.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown, the apparatus comprises a ground monitoring apparatus 1, an aircraft control apparatus 2 and an autonomous gripping apparatus 3. In order to obtain the transmission of data information and monitor the running state of the unmanned aerial vehicle, the ground monitoring device 1 comprises a data transmission unit 11, a wireless communication unit 12 and a computer or mobile phone client 13; in order to provide driving force for the unmanned aerial vehicle and control the flight state of the unmanned aerial vehicle, the flight control device 2 comprises an unmanned aerial vehicle hovering height fixing unit 21, an unmanned aerial vehicle flight control unit 22 and an unmanned aerial vehicle flight power unit 23; in order to acquire object information to realize autonomous grasping, the autonomous grasping apparatus 3 includes a binocular vision unit 31, an image processing unit 32, an autonomous grasping control unit 33, and a grasping action unit 34. The data transmission unit 11 is a camera module, is connected with the wireless communication unit 12 through an RTCP (real-time transport control protocol) cable, transmits the acquired video information to the wireless communication unit 12 in a data stream form, and the wireless communication unit 12 forwards the received data to a computer or a mobile phone client 13 through a wireless network link for monitoring the whole flight path and environment of the unmanned aerial vehicle; the wireless communication unit 12 is connected with the unmanned aerial vehicle flight control unit 22 through an SBUS protocol flat cable, and is used for sending flight control commands to the unmanned aerial vehicle device and receiving status data information sent back by the unmanned aerial vehicle device; the unmanned aerial vehicle hovering height setting unit 21 is connected with the unmanned aerial vehicle flight control unit 22 through an IIC (inter-integrated circuit) protocol flat cable and used for reading and issuing an unmanned aerial vehicle flight height control command; the flight power unit 23 is connected with the unmanned aerial vehicle flight control unit 22 through an electronic speed regulator ESC and is used for controlling the rotating speeds of four rotor wings of the unmanned aerial vehicle; the binocular vision unit 31 is a binocular camera, is connected with the image processing unit 32 through a USB interface, and transmits the acquired two-object plane image information to the image processing unit 32 for processing; the image processing unit 32 is connected with the unmanned aerial vehicle flight control unit 22 through a USART flat cable, the image processing unit 32 performs image processing and transmission of corresponding self-adjustment information of the aircraft, and the unmanned aerial vehicle flight control unit 22 is responsible for receiving the data; the autonomous grabbing control unit 33 is connected with the unmanned aerial vehicle flight control unit 22 through an IO port and used for controlling grabbing actions.
The ground monitoring device 1 carries a mobile phone or a computer client 13, mainly receives and displays video data information sent by the wireless communication unit 12, and further observes the flight condition of the unmanned aerial vehicle at a far end and the completion degree of a grabbing task.
A unmanned aerial vehicle hovers and decides high unit 21 for controlling unmanned aerial vehicle flying height includes ultrasonic module and light stream module, and the ultrasonic module is HC-SR04, and the light stream module is PIX, and the light stream treater is STM32F407 model, sends the height data of surveying to unmanned aerial vehicle flight control unit 22 through the IIC bus, realizes that unmanned aerial vehicle is to the accurate control of height.
Unmanned aerial vehicle flight control unit 22 is Pixhack V3, and the treater model is STM32F427, and the flight power pack is disk brushless motor Q6L, and unmanned aerial vehicle flight control unit 22 receives the data of each unit and fuses the processing, issues the control command to flight power pack 23 and snatch action unit 34 simultaneously, realizes the control to unmanned aerial vehicle flight state and independently snatchs the task.
The image processing unit 32 is a DJI Manifold, and sends video information acquired by the binocular vision unit 31 to the image processing unit 12 in real time, the image processing unit 12 performs complex image processing in real time and sends processed data to the flight control unit 22, and the flight control unit 22 adjusts the flight attitude of the unmanned aerial vehicle according to the data information.
The grabbing action unit 23 is controlled by a direct current motor, specifically, a direct current push rod motor controls the grabbing hand to open and close.
In this embodiment, the method for implementing the autonomous grabbing device for the unmanned aerial vehicle is as follows:
the operator is through controlling remote control end, and unmanned aerial vehicle is to the target object in-process of flying, and the camera can catch unmanned aerial vehicle's flight position information to convey computer cell-phone 13 through data transmission unit 11, the operator trails unmanned aerial vehicle's flight condition in real time, accomplishes unmanned aerial vehicle and takes off, air flight, be close the target object, hover the task above the target object, later issue in computer cell-phone 13 and snatch the task instruction.
After the unmanned aerial vehicle hovers above the target object, the following steps are carried out:
s1, the unmanned aerial vehicle takes off, returns the image through two-axis pan-tilt camera, if the target to be grabbed is seen manually in the returned image, then the autonomous grabbing device 3 can be started, and the unmanned aerial vehicle starts autonomous flight.
S2, the left camera of the binocular vision unit 31 in the autonomous grasping device 3 is used for acquiring video information of a target to be grasped, the image processing unit 32 receives the video information, converts the video information into a frame picture and performs SURF feature matching with the picture to be matched stored in the frame picture, detects whether the frame picture is the target to be grasped, and if the frame picture is not the target to be grasped, automatically closes the autonomous grasping device 3 and switches to manual operation; and if the matching is successful, performing a grabbing task.
S3, if the image processing unit 32 successfully matches and identifies, Canny algorithm contour detection is carried out on the target to be captured, as shown in figure 2 in the attached drawing, the baseline distance
Is the distance between the centers of the two camera lenses; the focal length of the camera is f, the number of pixel points is n, and the image processing unit 32 solves the edge contour pixel coordinate of the target object
Solving the coordinates of the geometric center point of the object
Coordinates of pixel points of whole image
In
Maximum value, memoryCalculating the offset
The offset is mainly used for adjusting the flight position of the unmanned aerial vehicle, so that the unmanned aerial vehicle can hover right above a grabbed object, and the small-range target position searching is realized.
S4, using binocular vision to obtain object depth information for visual depth detection, image processing unit 32 solving object point space
Coordinates are as follows:
S5, calculating S1 and S2
And
sending to the drone flight control unit 22, the drone performs the following process, where a and b are the fine tuning coefficients
Will be provided with
And
vectoring to
And the unmanned aerial vehicle can move at any angle in the same plane, and the unmanned aerial vehicle can meet the requirements
When it is time, no adjustment is performed.
Unmanned aerial vehicle relies on
And (3) carrying out attitude fine adjustment at any angle, detecting the sending values of the ultrasonic waves and the unmanned aerial vehicle hovering height-fixing unit 21 by the flight control unit 22, comparing the sending values with a target depth value, sending a comparison result to the flight control unit 22, and forming closed-loop control, so that the unmanned aerial vehicle can hover accurately in space.
S6, the unmanned aerial vehicle finishes the grabbing task, the autonomous grabbing device 3 is stopped, the unmanned aerial vehicle ascends to a safe distance, the unmanned aerial vehicle is switched to a manual operation control mode, and the autonomous grabbing task is finished.
Claims (5)
1. An unmanned aerial vehicle autonomous grabbing control device is characterized by comprising a ground monitoring system (1), a flight control system (2) and an autonomous grabbing system (3); the ground monitoring system (1) comprises a data transmission unit (11), a wireless communication unit (12) and a computer or mobile phone client (13); the flight control system (2) comprises an unmanned aerial vehicle hovering height fixing unit (21), an unmanned aerial vehicle flight control unit (22) and an unmanned aerial vehicle flight power unit (23); the autonomous grabbing system (3) comprises a binocular vision unit (31), an image processing unit (32), an autonomous grabbing control unit (33) and a grabbing action unit (34); the data transmission unit (11) is a camera module and is connected with the wireless communication unit (12) through an RTCP (real-time transport control protocol) flat cable; the wireless communication unit (12) is connected with the unmanned aerial vehicle flight control unit (22) through an SBUS protocol flat cable; the unmanned aerial vehicle hovering height setting unit (21) is connected with an unmanned aerial vehicle flight control unit (22) through an IIC (inter integrated circuit) protocol flat cable, and the flight power unit (23) is connected with the unmanned aerial vehicle flight control unit (22) through an electronic speed regulator ESC (electronic control system); the binocular vision unit (31) is a binocular camera and is connected with the image processing unit (32) through a USB interface, and the image processing unit (32) is connected with the unmanned aerial vehicle flight control unit (22) through a USART flat cable; and the autonomous grabbing control unit (33) is connected with the unmanned aerial vehicle flight control unit (22) through an IO port.
2. The unmanned aerial vehicle autonomous grabbing control device of claim 1, wherein said ground monitoring system (1) is equipped with a mobile phone or a computer client (13).
3. The unmanned aerial vehicle autonomous grabbing control device of claim 1, wherein said unmanned aerial vehicle hovering elevation unit (21) comprises an ultrasonic module and an optical flow module.
4. The unmanned aerial vehicle autonomous grabbing control device of claim 1, wherein said image processing unit (32) is an image processing module.
5. The autonomous grabbing control device for unmanned aerial vehicle of claim 1, wherein said unmanned aerial vehicle flight control unit (22) is an embedded architecture.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109760840A (en) * | 2019-01-30 | 2019-05-17 | 沈阳大学 | A kind of unmanned plane independently grabs control system and its control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109760840A (en) * | 2019-01-30 | 2019-05-17 | 沈阳大学 | A kind of unmanned plane independently grabs control system and its control method |
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