KR101283543B1 - Stabilization method for unmanned aerial vehicle - Google Patents

Stabilization method for unmanned aerial vehicle Download PDF

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Publication number
KR101283543B1
KR101283543B1 KR1020120130838A KR20120130838A KR101283543B1 KR 101283543 B1 KR101283543 B1 KR 101283543B1 KR 1020120130838 A KR1020120130838 A KR 1020120130838A KR 20120130838 A KR20120130838 A KR 20120130838A KR 101283543 B1 KR101283543 B1 KR 101283543B1
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South Korea
Prior art keywords
aerial vehicle
unmanned aerial
electrical signal
unmanned
gimbal
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KR1020120130838A
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Korean (ko)
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이용승
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이용승
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C13/00Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02Initiating means
    • B64C13/16Initiating means actuated automatically, e.g. responsive to gust detectors
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00Automatic controllers
    • G05B11/01Automatic controllers electric
    • G05B11/36Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.

Abstract

The present invention relates to a posture stabilization method of an unmanned aerial vehicle, and more particularly, to a posture stabilization method of an unmanned aerial vehicle capable of correcting irregular disturbances of an unmanned aerial vehicle used for aerial photography to obtain optimal image data. will be.

Description

STABILIZATION METHOD FOR UNMANNED AERIAL VEHICLE}

The present invention relates to a posture stabilization method of an unmanned aerial vehicle, and more particularly, to a posture stabilization method of an unmanned aerial vehicle capable of correcting irregular disturbances of an unmanned aerial vehicle used for aerial photography to obtain optimal image data. will be.

As technology advances, the range of applications of UNMANNED AERIAL VEHICLE is gradually expanding.

In other words, in order to acquire high-resolution image data in a desired area, an example of imaging an area by floating an unmanned aerial vehicle is increasing.

The image data acquisition method using the unmanned aerial vehicle is widely used in military organizations, disaster prevention organizations, disaster relief organizations, reconnaissance service organizations, traffic situation organizations, forest fire monitoring organizations, and special organizations for crime prediction and tracking. One.

On the other hand, when the unmanned aerial vehicle floats on the ground, it may be difficult for the unmanned aerial vehicle to shake properly due to disturbances such as wind or airflow.

For example, the unmanned aerial vehicle may generate kinetic energy due to irregular disturbances such as pitch movement, roll movement, and yaw movement as shown in FIG. 1 due to disturbance such as wind or airflow.

In practice, the pitch movement, the roll movement and the yaw movement are not a big problem when they are regular movements with a certain pattern, but these movements may be intensified or weakened by irregular disturbances such as wind or airflow.

When irregular disturbances are applied to the unmanned aerial vehicle, and pitch motion, roll motion, and yaw motion appear as uneven irregular kinetic energy, it is difficult to obtain the optimal image data that is actually desired. Problem solving is urgent.

Korean Patent Office Application No. 10-2006-0053204 Korean Patent Office Application No. 10-2007-0094229 Korean Patent Office Application No. 10-2007-0132416 Korean Patent Office Application No. 10-2009-0130271

An object of the present invention is to provide a method for stabilizing a posture of an unmanned aerial vehicle capable of correcting irregular disturbances of the unmanned aerial vehicle to obtain optimal image data.

The object is to receive in real time the kinetic energy due to the irregular disturbance of the pitch movement, roll movement and yaw movement of the unmanned aerial vehicle including a quadcopter and a multiloader for obtaining image data Kinetic energy input step; An electrical signal transmission step of converting the input kinetic energy into an electrical signal by a plurality of sensors and transmitting the electrical signal to a microprocessor; An electrical signal amplifying step of amplifying the electrical signal; An unmanned vehicle attitude estimation value calculating step of calculating an unmanned vehicle attitude estimated value according to an angle of the unmanned vehicle through a PID algorithm based on the amplified electrical signal to estimate the attitude of the unmanned vehicle; A signal conversion / generation step of generating the unmanned vehicle attitude estimation value calculated through the PID algorithm into a PWM waveform or an I2C signal; And a gimbal for correcting the attitude of the unmanned aerial vehicle by driving a gimbal mechanism mounted on the unmanned aerial vehicle through the calculated unmanned aerial vehicle attitude estimation value so that the unmanned aerial vehicle becomes a posture capable of obtaining image data. And a PWM drive or the I2C signal is achieved by the attitude stabilization method of the unmanned aerial vehicle, characterized in that for controlling the gimbal mechanism drive unit for driving the gimbal mechanism.


According to the present invention, there is an effect that can obtain the optimal image data by correcting the irregular disturbance of the unmanned aerial vehicle.

Therefore, according to the present invention, there is an effect that can be widely used in military-related situation, disaster prevention situation, disaster rescue situation, reconnaissance work situation, traffic situation, forest fire monitoring situation, crime prediction and tracking situation.

1 is an image showing the motion of the drone.
Figure 2 is a block diagram of a posture stabilization system of the unmanned aerial vehicle according to an embodiment of the present invention.
3 is a flowchart of a method for stabilizing a posture of an unmanned aerial vehicle according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described a preferred embodiment of the present invention.

Figure 2 is a block diagram of a posture stabilization system of the unmanned aerial vehicle according to an embodiment of the present invention.

Referring to this figure, the attitude stabilization system of the unmanned aerial vehicle of the present embodiment is to correct the irregular disturbance of the unmanned aerial vehicle including the quadcopter and the multi-loader to obtain the optimal image data, the kinetic energy input unit 110 , Electrical signal conversion sensor unit 120, signal amplifier 130, unmanned vehicle attitude estimation value calculation unit 140, signal conversion / generation unit 150, gimbal mechanism driver 161, controller 170, and communication module And 180.

In the present invention, the attitude estimation value calculation unit 140 and the signal conversion / generation unit 150 are separately configured, but the controller 170 includes the above-described attitude estimation value calculation unit 140 and the signal conversion / generation unit 150. can do.

However, since the scope of the present invention is not limited thereto, the controller 170 may form a separate block as shown in FIG. 2.

The above-described configuration will be described.

First, the kinetic energy input unit 110 receives kinetic energy in response to irregular disturbances such as pitch motion, roll motion, and yaw motion of an unmanned aerial vehicle for obtaining image data in real time.

The kinetic energy input unit 110 is provided in each part of the unmanned aerial vehicle shown in FIG. 1 to receive the kinetic energy of the aforementioned pitch motion, roll motion, and yaw motion in real time.

The electrical signal conversion sensor unit 120 converts the kinetic energy into an electrical signal so that the input kinetic energy can be transmitted to a microprocessor.

The electrical signal conversion sensor unit 120 may include a gyro sensor, an acceleration sensor, a geomagnetic sensor, and the like.

In the present exemplary embodiment, the kinetic energy input unit 110 and the electrical signal conversion sensor unit 120 are described in detail, but the kinetic energy is input and converted into the electrical signal may be performed together.

The signal amplifier 130 amplifies the electrical signal.

The unmanned vehicle attitude estimation calculator 140 calculates the unmanned vehicle attitude estimation value according to the angle of the unmanned vehicle based on the amplified electric signal to estimate the attitude of the unmanned vehicle.

At this time, the unmanned vehicle attitude estimation value calculating unit 140 calculates the unmanned vehicle attitude estimation value through a PID algorithm.

Of course, since the PID algorithm is not necessarily used, the scope of the present invention is not limited to these matters.

The signal conversion / generation unit 150 converts the unmanned vehicle attitude estimation value calculated through the PID algorithm into a PWM waveform or an I2C signal to generate the signal.

The gimbal mechanism driving unit 161 drives the gimbal mechanism 160 mounted on the unmanned aerial vehicle through the calculated unmanned aerial vehicle attitude estimation value so that the unmanned aerial vehicle becomes a posture capable of obtaining optimal image data. Calibrate

The gimbal mechanism driving unit 161 drives a gimbal mechanism 160 for pitch movement, roll movement and yaw movement of the unmanned aerial vehicle, for example, a pitch motor server motor, a roll motion server motor, a yaw motion server motor, and the like. It may include, and may be a configuration within the gimbal mechanism 160.

As a result, the gimbal mechanism 160 is mounted separately to an unmanned aerial vehicle such as a multi-rotor helicopter or a quad rotor, and serves to detect and correct in real time a posture change caused by the movement of the unmanned aerial vehicle.

The controller 170 controls the gimbal mechanism driving unit 161, for example, the above-described pitch exercise server motor, roll exercise server motor, yaw exercise server motor, and the like based on the PWM waveform or the I2C signal.

The controller 170 performing this role may include a central processing unit 171 (CPU), a memory 172 (MEMORY), and a support circuit 173 (SUPPORT CIRCUIT).

The central processing unit 171 may be one of various computer processors that can be industrially applied to control the gimbal mechanism driver 161 based on the PWM waveform or the I2C signal. It may be the microprocessor described above.

The memory 172 and MEMORY are operatively connected to the central processing unit 171. The memory 172 may be a computer-readable recording medium and may be located locally or remotely and may be any of various types of storage devices, including, for example, random access memory (RAM), ROM, floppy disk, hard disk, At least one or more memories.

The support circuit 173 (SUPPORT CIRCUIT) is operatively coupled with the central processing unit 171 to support typical operation of the processor. Such a support circuit 173 may include a cache, a power supply, a clock circuit, an input / output circuit, a subsystem, and the like.

In the present invention, the controller 170 controls the gimbal mechanism driving unit 161 based on the PWM waveform or the I2C signal. The series of control processes may be stored in the memory 172. Typically, a software routine may be stored in memory 172. The software routines may also be stored or executed by other central processing units (not shown).

Although processes according to the present invention are described as being performed by software routines, it is also possible that at least some of the processes of the present invention may be performed by hardware.

As such, the processes of the present invention may be implemented in software executed on a computer system, or in hardware such as an integrated circuit, or in combination of software and hardware.

Finally, the communication module 180 is connected to the controller 170. The communication module 180 may be connected to an interface device such as a ground control controller or a Bluetooth, wifi module, mobile phone for two-way communication.

3 is a flowchart of a method for stabilizing a posture of an unmanned aerial vehicle according to an embodiment of the present invention. Referring to this figure, the attitude stabilization method of the unmanned aerial vehicle according to the present embodiment will be described.

First, kinetic energy due to irregular disturbances such as pitch motion, roll motion, and yaw motion of an unmanned aerial vehicle is input in real time (S11).

The input kinetic energy is converted into an electrical signal through a plurality of sensors, such as a gyro sensor, an acceleration sensor, and a geomagnetic sensor, and transmitted to the microprocessor (S12).

In this case, each pitch signal, roll signal and yaw signal may transmit raw data to the operation routine in accordance with the control cycle (4m / sec) of the microprocessor.

The transmitted raw data is amplified by the OP-AMP, that is, the signal amplifier 130 (S13).

Next, to estimate the attitude of the unmanned aerial vehicle, an estimated unmanned aerial vehicle attitude estimated value according to the angle of the unmanned aerial vehicle is calculated (S14). The signal extracted through the Kalman filter may be calculated through a PID algorithm for posture correction according to an angle.

The unmanned vehicle attitude estimation value calculated through the PID algorithm is generated by converting the PWM waveform or the I2C signal (S15).

Then, the gimbal mechanism 160 mounted on the unmanned aerial vehicle through the calculated unmanned aerial vehicle attitude estimation value, for example, the servomotor in the gimbal mechanical body 160, may be used so that the unmanned aerial vehicle becomes a posture capable of obtaining optimal image data. Or correct the attitude of the unmanned aerial vehicle by precisely controlling the stepping motor (S16).

By the posture correction of the unmanned aerial vehicle, the user can always obtain the image without shaking from the remote place, and it is designed to cope with disturbances (external environmental factors), so that even if the unmanned aerial vehicle shakes, the image is corrected by itself to obtain the excellent image. Can be.

As described above, according to the present exemplary embodiment, optimum image data can be obtained by correcting irregular disturbance of the unmanned aerial vehicle.

Therefore, according to the present invention, it can be widely used in military-related situations, disaster prevention situation, disaster relief situation, reconnaissance work situation, traffic situation, forest fire monitoring situation, crime prediction and tracking situation.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Therefore, such modifications or variations will have to be belong to the claims of the present invention.

110: kinetic energy input unit
120: electrical signal conversion sensor unit
130: signal amplification unit
140: unmanned vehicle attitude estimation value calculation unit
150: signal conversion / generation unit
160: gimbal fixture
161: gimbal mechanism driving unit
170: controller
180: Communication module

Claims (6)

  1. Kinetic energy input step of receiving kinetic energy in real time due to irregular disturbance of pitch motion, roll motion and yaw motion of unmanned aerial vehicle including quadcopter and multiloader for acquiring image data ;
    An electrical signal transmission step of converting the input kinetic energy into an electrical signal by a plurality of sensors and transmitting the electrical signal to a microprocessor;
    An electrical signal amplifying step of amplifying the electrical signal;
    An unmanned vehicle attitude estimation value calculating step of calculating an unmanned vehicle attitude estimated value according to an angle of the unmanned vehicle through a PID algorithm based on the amplified electrical signal to estimate the attitude of the unmanned vehicle;
    A signal conversion / generation step of generating the unmanned vehicle attitude estimation value calculated through the PID algorithm into a PWM waveform or an I2C signal; And
    Gimbal mechanism for correcting the attitude of the unmanned aerial vehicle by driving a gimbal mechanism mounted on the unmanned aerial vehicle through the calculated unmanned aerial vehicle attitude estimation value so that the unmanned aerial vehicle becomes a posture capable of obtaining image data Including a driving step,
    The PWM waveform or the I2C signal is a posture stabilization method of the unmanned aerial vehicle, characterized in that for controlling the gimbal mechanism driving unit for driving the gimbal mechanism.
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KR1020120130838A 2012-11-19 2012-11-19 Stabilization method for unmanned aerial vehicle KR101283543B1 (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105867400A (en) * 2016-04-20 2016-08-17 北京博瑞爱飞科技发展有限公司 Flying control method and device for unmanned aerial vehicle
CN108181915A (en) * 2017-12-19 2018-06-19 广东省航空航天装备技术研究所 A kind of flight attitude regulation and control method of quadrotor unmanned plane
CN108521801A (en) * 2017-05-23 2018-09-11 深圳市大疆创新科技有限公司 A kind of control method, device, equipment and aircraft
CN108680145A (en) * 2018-05-17 2018-10-19 北京林业大学 A kind of method that avoidance unmanned plane approaches observation stand structure at crown canopy

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0952600A (en) * 1995-08-14 1997-02-25 Mitsubishi Heavy Ind Ltd Pilotless helicopter
EP1901153A1 (en) 2006-09-12 2008-03-19 OFFIS e.V. Control system for unmanned 4-rotor-helicopter
JP2009096369A (en) * 2007-10-17 2009-05-07 Univ Of Tokushima Control support device for unmanned radio-controlled helicopter

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0952600A (en) * 1995-08-14 1997-02-25 Mitsubishi Heavy Ind Ltd Pilotless helicopter
EP1901153A1 (en) 2006-09-12 2008-03-19 OFFIS e.V. Control system for unmanned 4-rotor-helicopter
JP2009096369A (en) * 2007-10-17 2009-05-07 Univ Of Tokushima Control support device for unmanned radio-controlled helicopter

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105867400A (en) * 2016-04-20 2016-08-17 北京博瑞爱飞科技发展有限公司 Flying control method and device for unmanned aerial vehicle
WO2017181513A1 (en) * 2016-04-20 2017-10-26 高鹏 Flight control method and device for unmanned aerial vehicle
CN108521801A (en) * 2017-05-23 2018-09-11 深圳市大疆创新科技有限公司 A kind of control method, device, equipment and aircraft
WO2018214031A1 (en) * 2017-05-23 2018-11-29 深圳市大疆创新科技有限公司 Control method, device and apparatus, and aerial vehicle
CN108181915A (en) * 2017-12-19 2018-06-19 广东省航空航天装备技术研究所 A kind of flight attitude regulation and control method of quadrotor unmanned plane
CN108680145A (en) * 2018-05-17 2018-10-19 北京林业大学 A kind of method that avoidance unmanned plane approaches observation stand structure at crown canopy

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