WO2019174166A1 - 一种基于投影手机的无人机飞行控制系统 - Google Patents

一种基于投影手机的无人机飞行控制系统 Download PDF

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Publication number
WO2019174166A1
WO2019174166A1 PCT/CN2018/095801 CN2018095801W WO2019174166A1 WO 2019174166 A1 WO2019174166 A1 WO 2019174166A1 CN 2018095801 W CN2018095801 W CN 2018095801W WO 2019174166 A1 WO2019174166 A1 WO 2019174166A1
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Prior art keywords
mobile phone
projection mobile
sensor
flight control
projection
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PCT/CN2018/095801
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English (en)
French (fr)
Inventor
汪玉龙
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深圳市乐升科技有限公司
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Publication of WO2019174166A1 publication Critical patent/WO2019174166A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours

Definitions

  • the invention relates to the technical field of drones, in particular to a drone flight control system based on a projection mobile phone.
  • UAVs are widely used in aerial photography, military, agriculture and other fields, and are now gradually expanding into personal consumption.
  • the Spark drone a leader of drones, was launched in June 2017. Its small size and light weight mainly meet the self-time needs of ordinary people.
  • its control modes mainly include remote control and mobile APP control.
  • Dajiang Innovation's Spark UAV supports remote control and mobile APP control, which can meet the needs of close-range self-timer and mid-range aerial photography.
  • the zero-intelligence DOBBY pocket drone only supports mobile APP control, including somatosensory control, virtual joystick control, and voice control.
  • Mobile APP control utilizes the WIFI connection between the projection mobile phone and the drone to realize the control of the drone, but the mobile APP control needs to utilize the low-cost micro-electromechanical sensor in the projection mobile phone, and the measurement error is large, which will cause a large attitude estimation error. The instability of the drone flight during the somatosensory control is increased.
  • the UAV flight control system needs to be equipped with a variety of sensors such as accelerometers, gyroscopes, barometers, GPS, magnetometers, etc., to sense the motion state of the aircraft and achieve stable control of the aircraft.
  • sensors such as accelerometers, gyroscopes, barometers, GPS, magnetometers, etc.
  • the navigation and control functions of the unmanned aerial vehicle are realized by using the sensor and the arithmetic unit mounted on the mobile phone.
  • the sensor mounted on the projection mobile phone is limited by cost, use, etc., and often lacks one or more sensors required by the UAV flight control system; even if a certain sensor is mounted, the sensing accuracy or sampling frequency is often low. Therefore, the control effect of the flight control system based entirely on the projection phone's own sensor is poor.
  • the object of the present invention is to overcome the above deficiencies of the prior art, and provide a drone flight control system based on a projection mobile phone, which realizes functions of saving system resources, improving stability, and being easy to control.
  • the invention is realized by the following, a UAV flight control system based on a projection mobile phone, comprising a UAV body, a projection mobile phone respectively fixed on the UAV body and connected to each other, a sensing servo controller and Flight actuator
  • a flight control program is arranged in the projection mobile phone
  • the projection mobile phone is provided with a gyroscope, an accelerometer, a GPS and a magnetic field sensor;
  • the sensing servo controller is provided with a microcontroller, an intelligent identification module, a GPS, a timer, an AD sampler, and an external auxiliary sensor including an infrared sensor, a pressure sensor, an ultrasonic sensor, an optical flow sensor, a magnetic field sensor, and a gyroscope. ;
  • a PWM generation timer connected to the flight actuator is disposed in the sensing servo controller.
  • the projection mobile phone is provided with a front and rear camera that can be called, and the photo or video is remotely transmitted in real time through the 4G/5G network.
  • the data connection manner between the projection mobile phone and the sensing servo controller is SPI, I/O or I2C bus connection.
  • the projection mobile phone is a projection mobile phone with a display screen or a projection mobile phone or a holographic mobile phone without a display screen.
  • the smart identification module includes a gesture recognition unit, a face recognition unit, a visual recognition unit, an image recognition unit, and a bone recognition unit.
  • a damping device is disposed between the projection mobile phone and the main body of the drone.
  • the PWM generation timer includes a PWM capture timer and a PWM generation timer.
  • the power supply unit for separately supplying power to the sensing servo controller and the projection mobile phone is respectively disposed in the body of the drone.
  • the flight control program operates at a frequency of 90 Hz to 520Hz.
  • the present invention includes a UAV body, a projection mobile phone, a sensing servo controller, and a flight executing mechanism respectively fixed on the UAV body and connected to each other; a flight control program is provided; the projection mobile phone is provided with a gyroscope, an accelerometer, a GPS and a magnetic field sensor; the sensor servo controller is provided with a microcontroller, an intelligent identification module, a GPS, a timer, and an AD sampler.
  • an external auxiliary sensor including a GPS sensor, an infrared sensor, a barometric pressure sensor, an ultrasonic sensor, an optical flow sensor, a magnetic field sensor, a gyroscope, and an acceleration; wherein the sensing servo controller is provided with a PWM generation connected to the flight actuator
  • the timer in this way, obtains the attitude and flight data of the drone in real time through the gyroscope, accelerometer, GPS and magnetic field sensor in the projection mobile phone, and through the flight program of the drone, the internal sensor and the sensing servo of the projection mobile phone
  • the external auxiliary sensor provided by the controller is combined to calculate the accurate attitude and position of the aircraft.
  • the information is calculated by the flight control program inside the projection mobile phone to obtain a preliminary control command, which is sent to the sensing servo controller for further processing, thereby driving the actuator of the aircraft to achieve stable control of the aircraft.
  • the system is simple in operation and good in stability, and is suitable for large-area promotion and use.
  • the data connection between the projection mobile phone and the sensing servo controller is USB connection or Bluetooth connection, the stability and accuracy of data transmission are ensured.
  • the operating system's projection phone is equipped with a front and rear camera that can be called and transmitted in real time through the 4G/5G network, the real-time image is not limited to the operator himself.
  • the flight control program operates at a frequency of 90 Hz to 520 Hz, the control effect is better and more stable.
  • FIG. 1 is a schematic structural diagram of a UAV flight control system based on a projection mobile phone according to an embodiment of the present invention.
  • the present invention provides a UAV flight control system based on a projection mobile phone, comprising a UAV body, a projection mobile phone respectively fixed on the UAV body and connected to each other, and a sensing servo. Controller and flight actuator;
  • a flight control program is arranged in the projection mobile phone
  • the projection mobile phone is provided with a gyroscope, an accelerometer, a GPS and a magnetic field sensor;
  • the sensing servo controller is provided with a microcontroller, an intelligent identification module, a GPS, a timer, an AD sampler, and an external auxiliary sensor including an infrared sensor, a pressure sensor, an ultrasonic sensor, an optical flow sensor, a magnetic field sensor, and a gyroscope. ;
  • a PWM generation timer connected to the flight actuator is disposed in the sensing servo controller.
  • an external sensor is used to supplement and optimize the sensor inside the projection mobile phone, thereby obtaining better sensing information, so that the flight control system based on the projection mobile phone has better control effect.
  • the effective task scheduling mechanism is adopted to enable the aircraft to maintain stable flight when taking photos and videos.
  • the flight control system combines the internal sensor of the mobile phone with the external auxiliary sensor provided by the sensor servo controller to calculate the accurate attitude and position information of the aircraft.
  • the flight control program inside the projection mobile phone performs calculation to obtain the preliminary control command, via usb.
  • the port or Bluetooth interface is sent to the sensing servo controller, which in turn drives the aircraft's actuator for further processing to achieve stable control of the aircraft.
  • experimentally determined when the control program runs at a frequency of 90 Hz When it is between 520Hz, it has the best control effect.
  • the projection mobile phone is equipped with some sensors necessary for flight control of an unmanned aerial vehicle such as an accelerometer and a gyroscope, and is equipped with a touch screen as one of the interfaces for the flight control system to interact with the user.
  • the projection mobile phone plays a major role in sensing, calculation, human-computer interaction and the like in the flight control system of the present invention.
  • the sensor servo controller is equipped with a sensor required for a part of the UAV flight control system, as a supplement to an unequipped sensor on the projection mobile phone, or provides a higher precision for a sensor mounted on the projection mobile phone but having insufficient accuracy. optimization.
  • the sensor servo controller realizes the data connection with the projection mobile phone via USB or Bluetooth, and transmits the real-time data of the sensor carried on the projector to the projection mobile phone for calculation of flight control commands; on the other hand, the receiving projection mobile phone transmits The resulting flight control calculation results, after further processing, generate a final control command that is sent to the aircraft's actuator.
  • the projection mobile phone has some sensors (such as gyroscopes, accelerometers, etc.) required for flight control.
  • the sensor data is combined and integrated through the motion state estimation program of the mobile phone. After that, after filtering, differentiation, integration, etc., the estimated value of the motion state of the aircraft is finally obtained.
  • a PID or other control algorithm is used to obtain a preliminary control command.
  • the desired state of motion is the command state of the operator received by the aircraft, or the target state calculated by the program to satisfy the task requirement when the aircraft automatically performs the task. The deviation between the two is obtained by subtracting the motion state vector from the expected motion state vector.
  • the three are combined linearly or nonlinearly to generate a preliminary control command.
  • the initial control commands are sent to the sensing servo controller by the SPI, I/O or I2C interface.
  • the sensing servo controller further processes the preliminary control command received from the projection mobile phone, and then generates a control signal identifiable by the aircraft actuator through the PWM generation timer, thereby issuing a control command.
  • the flight actuator deflects the rudder surface or changes the propeller speed or changes the pitch, thereby changing the motion state of the aircraft to achieve the desired flight state.
  • the projection mobile phone is provided with a front and rear camera that can be called, and the photo or video is remotely transmitted in real time through the 4G/5G network.
  • the data connection manner between the projection mobile phone and the sensing servo controller is SPI, I/O or I2C bus connection.
  • the projection mobile phone is a projection mobile phone with a display screen or a projection mobile phone or a holographic mobile phone without a display screen;
  • the projection mobile phone refers to a mobile phone integrated with a projection function, and the projection mobile phone is applied to the micro projection and integrated in the LCOS or DLP technology.
  • the mobile phone display screen can be used to display the picture, video or file on the mobile phone, or directly read the picture, video or file on the mobile phone, and then Projection;
  • the projection mobile phone when the projection mobile phone is a projection mobile phone without a display screen, it can directly read the picture, video or file on the mobile phone, and then project the projection, which can save power and reduce the weight;
  • the projection mobile phone when the projection mobile phone is a holographic mobile phone, Tracking the position of the human eye, and then calculating the actual holographic image based on the holographic image data model according to the position of the human eye, and then accurately projecting the stereoscopic images of the left and right eyes into the retina of the human eye through a special directional display screen.
  • the human eye produces the same visual effect as the actual environment.
  • the smart recognition module includes a gesture recognition unit, a face recognition unit, a visual recognition unit, an image recognition unit, and a bone recognition unit, wherein the gesture recognition unit is composed of a gesture control workstation, a controlled drone, and an image acquisition camera.
  • the composition combines the visual intelligent recognition technology with the UAV flight platform, so that the UAV can complete different missions according to the intention of the person, and realize the man-machine collaborative operation function on the flight platform;
  • the recognition unit adopts multiple comparison face detection method to detect high-speed and accurate angles other than the front of the face.
  • the system records various prediction angles in advance to avoid face recognition.
  • the recognition system When the face recognition drone is working, the recognition system will compare the face shot by the aerial camera with the database, and identify the person who matches the database, and then prompts; the visual recognition unit
  • the target image is obtained by the visual sensor, and the digital image processing and feature point extraction are obtained. Target image coordinates, calculation parameters and then quickly the object geometry and the spatial position and orientation by a computer and the like.
  • the image recognition unit obtains an image frame by acquiring an environment image and processing the environment image, and processing the collected environment image, and then performing image recognition processing on the image frame, generating an instruction according to the recognition processing result, and transmitting the instruction to the unmanned person.
  • a damping device is disposed between the projection mobile phone and the main body of the drone.
  • the generation timer includes a PWM capture timer and a PWM generation timer.
  • the power supply unit for separately supplying power to the sensing servo controller and the projection mobile phone is respectively disposed in the body of the drone.
  • the flight control program operates at a frequency of 90 Hz to 520Hz.
  • the flight actuator is powered by the power source
  • the sensor servo controller is powered by the mobile phone battery.
  • the flight control system can be connected to a wireless remote control device.
  • the sensor is connected to the receiver of the remote control device by the sensor servo controller, and the operator controls the drone with the remote transmitter.
  • control flow of the flight control program built in the projection mobile phone is as follows:
  • the system is on the projection mobile phone and is started by the user. After the user starts the flight control program on the projection mobile phone, the user waits for the user to issue a take-off command.
  • This takeoff command is operated by the user or by the remote control. After receiving the takeoff command, it is judged that the aircraft adopts the autonomous flight mode or the remote flight mode, and the judgment is based on the user's setting or an instruction issued in real time. In the autonomous flight mode, the user's remote control signal is not required, otherwise the user's remote control command needs to be read from the sensor servo controller. Thereafter, the sensor information carried by the mobile phone is acquired, and then the external sensor information is acquired from the sensor servo controller, and the two are combined to complete the attitude calculation of the current aircraft.
  • the guidance solution is calculated, specifically to solve the target attitude angle required by the aircraft to complete the mission.
  • the control solution is performed, specifically, using a deviation of the current attitude angle from the target attitude angle, and performing a series of linear or nonlinear operations such as proportional, integral, differential, and limiting, and generating a preliminary control instruction.
  • the preliminary control command is sent to the sensing servo controller, the status information displayed on the screen of the projection mobile phone is updated in real time, and then the user's termination flight instruction is detected. If the flight is not terminated, the loop calculation is continued, otherwise the flight is terminated.
  • the flight control frequency that is, the operating frequency of the cycle, is experimentally determined to have an optimum control effect when it is 90 to 520 Hz.
  • sensing servo flow of the sensing servo controller is as follows:
  • the sensing servo controller When the sensing servo controller receives the start command of the projection mobile phone, the sensing servo process is started. First, the operator's remote control signal is captured, and the Pwm capture controller or serial port of the sensor servo controller is used. The remote command information is then sent via USB or Bluetooth to the flight control program on the phone. Then, the sensor information carried on the sensor servo controller is acquired, including a GPS sensor, an infrared sensor, a barometric pressure sensor, an ultrasonic sensor, an optical flow sensor, an accelerometer, a gyroscope, a magnetic sensor, a barometer, a GPS, an AD converter, and the like. Kind or more. Then, it waits to receive the preliminary control signal sent by the projection mobile phone, and processes it, and sends the actuator to drive the aircraft to change the motion state, and finally realizes the stable control of the aircraft.
  • the projection camera camera process starts automatically after the system is started, independent of the flight control process.
  • the photo camera plug-in is activated.
  • the camera plug-in is another application that is independent of the flight control program.
  • the prerequisite for face recognition is to capture an image with sufficient resolution, but the shooting height of the drone is much higher than the setting height of the general monitoring lens, and it is not easy to take a clear face image.
  • the multiple-comparison face detection method can detect high-speed and accurate angles other than the front of the face; at the same time, using the perturbation space method, in order to cope with environmental changes, the system records various prediction angles in advance to avoid people. Face recognition is affected by changes in ambient light.
  • the face intelligent recognition module works, the identification system compares the face shot by the projection mobile phone or the drone camera with the database, and recognizes the person who is consistent with the database, and then prompts.
  • the unmanned aerial vehicle realizes autonomous navigation and collision detection by using various sensing technologies, and more and more GPS sensors, infrared sensors, air pressure sensors, and ultrasonic sensors are used on the drone, among many sensors. Ultrasonic sensing is especially helpful for drone landing, hovering, and ground tracking.
  • ultrasonic waves can pass through various media (gas, liquid, solid) to detect objects with acoustic impedance mismatch.
  • the speed of sound is the distance per unit time when sound waves travel in an elastic medium. For example, in dry air at 20 ° C (68 ° F), the speed of sound is 343 meters per second (1,125 feet per second).
  • Ultrasonic attenuation in air increases with increasing frequency and humidity. Therefore, air-coupled ultrasonic waves are typically limited to frequencies below 500 kHz due to excessive path loss/absorption.
  • Ultrasonic sensing can detect surfaces that are difficult to solve with other technologies. For example, drones often encounter glazing and other glass surfaces on buildings. Light sensing technology sometimes passes through glass and other transparent materials, which makes it difficult for drones to hover over glass buildings. Ultrasonic waves reliably reflect the glass surface. Although many sensing technologies can detect the proximity of an object, ultrasonic sensing can detect the distance when the drone is landing. However, when the drone is lowered, the real-time distance from the ground must be considered.
  • the UAV collects information about the surrounding environment through its sensors during the flight process, and measures the distance to make corresponding action instructions, thereby achieving the role of “obstacle avoidance”
  • the most immediate benefit is that
  • the impact caused by some people's negligence can now be avoided through the obstacle avoidance function, which not only ensures the safety of the drone, but also avoids the damage to the surrounding personnel's property, and further reduces the threshold of the flying drone.
  • the most common obstacle avoidance technology for UAVs is ultrasonic sensors, infrared sensors, laser sensors, and vision sensors.
  • the ultrasonic wave is actually a kind of sound wave, because the frequency is higher than 20 kHz, so the human ear can not hear, and the directivity is stronger.
  • the principle of ultrasonic ranging is simpler than infrared, because sound waves are reflected by obstacles, and the speed of sound waves is known, so it is only necessary to know the time difference between transmission and reception, and the measurement distance can be easily calculated, combined with transmitter and receiver.
  • the distance of the device can calculate the actual distance of the obstacle.
  • the ultrasonic distance measurement is cheaper than the infrared distance measurement, and the corresponding induction speed and precision are also inferior.
  • the accuracy is also lowered with the attenuation of the sound waves for obstacles that are too far away, and the ultrasonic waves will not work for an object such as a sponge that absorbs sound waves or in the case of strong wind disturbance.
  • the infrared sensor includes an infrared emitter and a CCD detector.
  • the infrared emitter emits infrared rays, and the infrared rays will reflect on the object, and the reflected light is received by the CCD detector. Since the distance D of the object is different, the angle of reflection will be different. Different angles of reflection will produce different offset values L. Knowing that these data are calculated, the distance of the object can be obtained.
  • laser obstacle avoidance is similar to infrared light, and it is also emitted by laser and then received.
  • laser sensors are measured in many ways, with triangulation similar to infrared, and time difference + speed similar to ultrasonic.
  • the laser beam is extremely narrow, multiple lasers can be used simultaneously to form an array radar.
  • this technology has matured and is mostly used in self-driving vehicles. However, due to its large size and high price, it is not suitable for drones.
  • the visual obstacle avoidance technology which solves the problem of how the robot "sees” the visual obstacle avoidance technology
  • the visual recognition system can generally include one or two cameras.
  • a single photo only has two-dimensional information, just like a 2D movie. There is no direct sense of space. It is only by our that we rely on the life experience of "object blocking, near big and small”. Therefore, the information obtained by a single camera and its limited, can not directly get the effect we want, of course, analogous to machine vision, the picture information of a single camera can not get the distance relationship between each object and the lens in the scene, that is, the lack of the first Three dimensions.
  • the invention uses an external sensor to supplement and optimize the sensor inside the projection mobile phone, thereby obtaining better sensing information, so that the flight control system based on the projection mobile phone has better control effect.
  • the effective task scheduling mechanism is adopted to enable the aircraft to maintain stable flight when taking photos and videos.
  • the flight control system combines the internal sensor of the mobile phone with the external auxiliary sensor provided by the sensor servo controller to calculate the accurate attitude and position information of the aircraft.
  • the flight control program inside the projection mobile phone performs calculation to obtain the preliminary control command, via SPI.
  • the I/O or I2C interface is sent to the sensing servo controller, which in turn drives the aircraft's actuator for further processing to achieve stable control of the aircraft.
  • experimentally determined when the control program runs at a frequency of 90 Hz When it is between 520Hz, it has the best control effect.
  • the projection mobile phone is equipped with some sensors necessary for flight control of an unmanned aerial vehicle such as an accelerometer and a gyroscope, and is equipped with a touch screen as one of the interfaces for the flight control system to interact with the user.
  • the projection mobile phone plays a major role in sensing, calculation, human-computer interaction and the like in the flight control system of the present invention.
  • the sensor servo controller is equipped with a sensor required for a part of the UAV flight control system, as a supplement to an unequipped sensor on the projection mobile phone, or provides a higher precision for a sensor mounted on the projection mobile phone but having insufficient accuracy. optimization.
  • the sensor servo controller realizes data connection with the projection mobile phone through SPI, I/O or I2C bus mode, and transmits real-time data of the sensor carried thereon to the projection mobile phone for calculation of flight control commands; Receiving the flight control calculation result sent by the projection mobile phone, and after further processing, generating a final control command and transmitting it to the executing mechanism of the aircraft.
  • the projection mobile phone has some sensors (such as gyroscopes, accelerometers, etc.) required for flight control.
  • the sensor data is combined and integrated through the motion state estimation program of the mobile phone. After that, after filtering, differentiation, integration, etc., the estimated value of the motion state of the aircraft is finally obtained.
  • a PID or other control algorithm is used to obtain a preliminary control command.
  • the desired state of motion is the command state of the operator received by the aircraft, or the target state calculated by the program to satisfy the task requirement when the aircraft automatically performs the task. The deviation between the two is obtained by subtracting the motion state vector from the expected motion state vector.
  • the three are combined linearly or nonlinearly to generate a preliminary control command.
  • the initial control commands are sent to the sensing servo controller by the SPI, I/O or I2C interface.
  • the sensing servo controller further processes the preliminary control command received from the projection mobile phone, and then generates a control signal identifiable by the aircraft actuator through the PWM generation timer, thereby issuing a control command.
  • the flight actuator deflects the steering surface or changes the propeller speed or changes the pitch, thereby changing the motion state of the aircraft to achieve the desired flight state.
  • the invention comprises a UAV body, a projection mobile phone, a sensing servo controller and a flight executing mechanism respectively fixed on the UAV body and connected to each other; a flight control program is arranged in the projection mobile phone;
  • the mobile phone is provided with a gyroscope, an accelerometer, a GPS and a magnetic field sensor;
  • the sensor servo controller is provided with a microcontroller, an intelligent identification module, a GPS, a timer, an AD sampler, and an infrared sensor, a pressure sensor, and an ultrasonic wave.
  • the sensing servo controller is provided with a PWM generating timer connected to the flight executing mechanism, so that the gyroscope and the acceleration in the projection mobile phone are
  • the GPS, magnetic field sensor and the magnetic field sensor obtain the attitude and flight data of the drone in real time, and because of the flight procedure of the drone, the aircraft is accurately calculated by combining the internal sensor of the projection mobile phone with the external auxiliary sensor provided by the sensor servo controller.
  • the attitude and position information are calculated by the flight control program inside the projection mobile phone.
  • Control command is transmitted to the sensing servo controller for further processing, which in turn drives the actuator of the aircraft, a stable control of the aircraft.
  • the system is simple in operation and good in stability, and is suitable for large-area promotion and use.

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Abstract

一种基于投影手机的无人机飞行控制系统，包括无人机本体、分别固设在所述无人机本体上且相互连接的投影手机、传感伺服控制器和飞行执行机构；投影手机内设有飞行控制程序；投影手机内设有陀螺仪、加速度计、GPS和磁场传感器；传感伺服控制器内设有微控制器、智能识别模块、GPS、定时器、AD采样器及包含红外传感器、气压传感器、超声波传感器、光流传感器、磁场传感器、陀螺仪外部辅助传感器；传感伺服控制器中设置有连接至所述飞行执行机构的PWM生成定时器。该系统实现了节约系统资源，提高稳定性，易于控制的功能。

Description

一种基于投影手机的无人机飞行控制系统 技术领域
本发明涉及无人机技术领域，尤其涉及一种基于投影手机的无人机飞行控制系统。
 背景技术
无人机广泛应用于航拍、军事、农业等领域，现在逐渐向个人消费领域扩展。例如无人机领军企业大疆创新于2017年6月发布的Spark无人机，其体积小、重量轻，主要满足普通群众的自拍需求。面对个人消费领域的小型无人机，其控制模式主要包括遥控器控制以及手机APP控制。大疆创新公司的Spark无人机支持遥控器控制及手机APP控制两种方式，既能满足近距离自拍需求，也能实现中距离航拍的需要。零度智控的DOBBY口袋无人机则只支持手机APP控制，包括体感控制、虚拟摇杆控制、语音控制等方式。手机APP控制利用投影手机与无人机的WIFI连接实现无人机的操控，但手机APP控制需要利用投影手机中的低成本的微机电传感器，测量误差较大，会造成较大的姿态估计误差，导致体感控制时无人机飞行的不稳定性增加。
另外，无人机飞行控制系统需搭载加速度计、陀螺仪、气压计、GPS、磁力计等多种传感器，从而感知飞行器的运动状态，实现飞行器的稳定控制。目前基于投影手机的飞行控制系统方案，利用手机搭载的传感器和运算单元，实现无人飞行器的导航、控制功能。然而，投影手机搭载的传感器受成本、用途等限制，常常缺少无人机飞行控制系统所需的某一种或多种传感器 ；即便搭载了某种传感器，其传感精度或采样频率往往较低，因此完全基于投影手机自身传感器的飞行控制系统的控制效果较差。
 技术问题
本发明的目的在于克服上述现有技术的不足，提供一种基于投影手机的无人机飞行控制系统，实现节约系统资源，提高稳定性，易于控制的功能。
 技术解决方案
本发明是这样实现的，一种基于投影手机的无人机飞行控制系统，包括无人机本体、分别固设在所述无人机本体上且相互连接的投影手机、传感伺服控制器和飞行执行机构 ；
所述投影手机内设有飞行控制程序；
所述投影手机内设有陀螺仪、加速度计、GPS和磁场传感器；
所述传感伺服控制器内设有微控制器、智能识别模块、GPS、定时器、AD采样器及包含红外传感器、气压传感器、超声波传感器、光流传感器、磁场传感器、陀螺仪的外部辅助传感器；
所述传感伺服控制器中设置有连接至所述飞行执行机构的 PWM 生成定时器。
其中，所述投影手机中设置有能够调用的前后摄像头，并通过4G/5G 网络实时远程传输照片或视频。
其中，所述投影手机与所述传感伺服控制器之间的数据连接方式为 SPI、I/O或者 I2C总线连接。
其中，所述投影手机为带显示屏的投影手机或者不带显示屏的投影手机或者全息手机。
其中，所述智能识别模块包括手势识别单元、人脸识别单元、视觉识别单元、图像识别单元及骨骼识别单元。
其中，所述投影手机与所述无人机本体之间设有减震装置。
其中，所述PWM 生成定时器包括PWM 捕获定时器和 PWM 生成定时器。
其中，所述无人机本体内分别设有单独为所述传感伺服控制器和所述投影手机供电的供电单元。
其中，所述飞行控制程序的运行频率为 90Hz 至 520Hz。
 有益效果
本发明具有以下有益的技术效果 ：本发明包括无人机本体、分别固设在所述无人机本体上且相互连接的投影手机、传感伺服控制器和飞行执行机构 ；所述投影手机内设有飞行控制程序；所述投影手机内设有陀螺仪、加速度计、GPS和磁场传感器；所述传感伺服控制器内设有微控制器、智能识别模块、GPS、定时器、AD采样器及包含GPS传感器、红外传感器、气压传感器、超声波传感器、光流传感器、磁场传感器、陀螺仪、加速度的外部辅助传感器；所述传感伺服控制器中设置有连接至所述飞行执行机构的 PWM 生成定时器，这样，通过投影手机中的陀螺仪、加速度计、GPS 和磁场传感器实时获得无人机的姿态及飞行数据，且由于无人机的飞行程序，通过将投影手机内部传感器与传感伺服控制器提供的外部辅助传感器相结合，计算获得飞行器准确的姿态、位置信息，由投影手机内部的飞行控制程序进行运算获取初步控制指令，发送到传感伺服控制器进一步处理，进而驱动飞行器的执行机构，实现飞行器的稳定控制。本系统操作简单，稳定性好，适用于大面积推广和使用。
另外，由于投影手机与传感伺服控制器之间的数据连接方式为 USB 连接或蓝牙连接，从而保证了数据传输的稳定性和精确性。
另外，由于操作系统的投影手机中设置有能够调用的前后摄像头，并通过 4G/5G 网络实时传输，使实时图像不只局限于操纵者本人观看。
另外，由于飞行控制程序的运行频率为 90Hz 至520Hz，从而能够使得控制效果更好，更加稳定。
 附图说明
图1是本发明一实施例提供的基于投影手机的无人机飞行控制系统的结构示意图。
 本发明的实施方式
为了使本发明所解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
如图1所示，本发明提供了一种基于投影手机的无人机飞行控制系统，包括无人机本体、分别固设在所述无人机本体上且相互连接的投影手机、传感伺服控制器和飞行执行机构；
所述投影手机内设有飞行控制程序；
所述投影手机内设有陀螺仪、加速度计、GPS和磁场传感器；
所述传感伺服控制器内设有微控制器、智能识别模块、GPS、定时器、AD采样器及包含红外传感器、气压传感器、超声波传感器、光流传感器、磁场传感器、陀螺仪的外部辅助传感器；
所述传感伺服控制器中设置有连接至所述飞行执行机构的 PWM 生成定时器。
本实施例中采用外部传感器对投影手机内部的传感器进行补充和优化，从而获取更好的传感信息，使得基于投影手机的飞行控制系统具备更好的控制效果。同时，采用有效的任务调度机制，使飞行器拍摄照片、视频时仍然保持稳定的飞行。
飞行控制系统，通过将手机内部传感器与传感伺服控制器提供的外部辅助传感器相结合，计算获得飞行器准确的姿态、位置信息，由投影手机内部的飞行控制程序进行运算获取初步控制指令，经由 usb 口或蓝牙接口发送到传感伺服控制器，进而驱动飞行器的执行机构进一步处理后，实现飞行器的稳定控制。本发明中，经实验测定，当控制程序运行频率在 90Hz 至 520Hz 之间时，有最好的控制效果。
所述投影手机，搭载加速度计、陀螺仪等无人机飞行控制所必须的部分传感器，配备触摸屏幕作为飞行控制系统与用户交互的界面之一。投影手机在本发明的飞行控制系统中起主要的传感、计算、人机交互等作用。
所述传感伺服控制器，搭载部分无人机飞行控制系统所需的传感器，作为对投影手机上未装备的传感器的补充，或对投影手机上搭载了但精度不足的传感器提供更高精度的优化。此外，传感伺服控制器通过 USB 或蓝牙方式与投影手机实现数据连接，一方面将其搭载的传感器的实时数据发送给投影手机，用于飞行控制指令的计算 ；另一方面，接收投影手机发送来的飞行控制计算结果，经进一步处理后，生成最终控制指令，发送给飞行器的执行机构。
投影手机内有飞行控制所需的部分传感器 ( 例如陀螺仪、加速度计等 )，通过获取传感伺服控制器发送来的补充传感器数据，经过与手机的运动状态估计程序，将传感器数据组合、融合后，经过滤波、微分、积分等运算处理，最终获得飞行器的运动状态的估计值。通过将解算得到的运动状态与期望运动状态对比，采用 PID 或其他控制算法，获取初步的控制指令。这里，期望运动状态为飞行器接收到的操纵者的指令状态，或飞行器在自动执行任务时为满足任务需求而由程序计算得出的目标状态。通过获取运动状态向量与期望运动状态向量相减获取两者的偏差，对此偏差进行微分、积分和增益运算后，将此三者经线性或非线性组合，生成初步的控制指令。初步控制指令由SPI、I/O或者 I2C接口发送给传感伺服控制器。传感伺服控制器对从投影手机接收到的初步控制指令进行进一步处理，然后将处理结果通过 PWM 生成定时器生成飞行器执行机构可辨识的控制信号，进而发出控制指令。飞行执行机构在接收到控制指令后，偏转舵面或改变螺旋桨转速或改变桨距，从而改变飞行器的运动状态，达到期望的飞行状态
其中，所述投影手机中设置有能够调用的前后摄像头，并通过4G/5G 网络实时远程传输照片或视频。
其中，所述投影手机与所述传感伺服控制器之间的数据连接方式为 SPI、I/O或者 I2C总线连接。
其中，所述投影手机为带显示屏的投影手机或者不带显示屏的投影手机或者全息手机，投影手机是指集成了投影功能的手机，投影手机基于LCOS或DLP技术运用于微型投影并集成于手机中，这样，当投影手机为带显示屏的投影手机时，可以通过手机显示屏来显示读取手机上的图片、视频或者文件，也可以直接读取手机上的图片、视频或者文件，然后进行投影；当投影手机为不带显示屏的投影手机时，可以直接读取手机上的图片、视频或者文件，然后进行投影，可节省电源，减轻了重量；当投影手机为全息手机时，通过追踪人眼的视角位置，然后基于全息图像数据模型，根据人眼的视角位置，计算出实际的全息图像，再通过特殊的指向性显示屏幕将左右眼的立体图像精准投射到人眼视网膜中，从而使人眼产生和实际环境完全感觉一样的视觉效果。
其中，所述智能识别模块包括手势识别单元、人脸识别单元、视觉识别单元、图像识别单元及骨骼识别单元，其中，手势识别单元由手势控制工作站、被控无人机和图像采集相机三部分构成，它将基于视觉的智能手势识别技术同无人机飞行平台相结合，使无人机可以根据人的意图来完成不同的飞行任务，实现了飞行平台上的人机协同作业功能；人脸识别单元采用多重比对脸部检测法，可对脸部正面以外的角度进行高速而精准的检测；同时使用摄动空间法，为应付环境变化，系统事先记录各种预测角度，以免人脸辨识时受到环境光线明暗变化的影响，人脸识别无人机工作时，辨识系统会把空拍机拍摄的人脸与数据库作比对，辨识出与数据库吻合者，便会作出提示；视觉识别单元是通过视觉传感器获取目标图像，经过数字图像处理及特征点提取，得到目标的图像坐标，再由计算机实现被测物体空间几何参数和位置姿态等参数的快速计算。图像识别单元通过采集环境图像并将环境图像，并对采集到的环境图像进行处理获得图像帧，再对所述图像帧进行图像识别处理，根据识别处理结果生成指令，并将指令发送至无人机，以供无人机根据指令执行自主飞行任务。
其中，所述投影手机与所述无人机本体之间设有减震装置。
其中，所述PWM
生成定时器包括PWM 捕获定时器和 PWM 生成定时器。
其中，所述无人机本体内分别设有单独为所述传感伺服控制器和所述投影手机供电的供电单元。
其中，所述飞行控制程序的运行频率为 90Hz 至 520Hz。
其中，飞行执行机构由动力电源供电，传感伺服控制器由手机电池供电。
优选地，飞行控制系统可连接无线遥控设备。连接时，由传感伺服控制器连接遥控设备的接收机，由操纵者持遥控发射机遥控无人机。
需要说明的是，投影手机内设的飞行控制程序发控制流程如下：
系统在投影手机端，由用户启动。用户在投影手机端启动飞行控制程序后，等待用户发出起飞指令。此起飞指令由用户操作屏幕或由遥控器发出。待接收到起飞指令后，判断飞行器采用自主飞行模式或遥控飞行模式，判断依据为用户的设置或实时发出的指令。自主飞行模式下，无需用户的遥控信号，否则需从传感伺服控制器读取用户的遥控指令。此后，获取手机搭载的传感器信息，然后从传感伺服控制器获取外部的传感器信息，将此两者融合后，完成当前飞行器的姿态解算。接下来进行制导解算，具体为解算飞行器为完成飞行任务所需的目标姿态角。然后进行控制解算，具体为利用当前姿态角与目标姿态角的偏差，进行一系列的比例、积分、微分、限幅等线性或非线性运算后，生成初步控制指令。将此初步控制指令发送传感伺服控制器后，实时更新投影手机屏幕显示的状态信息，随后检测用户的终止飞行指令，若不终止飞行，继续循环计算，否则终止飞行。本发明中，飞行控制频率即此循环的运行频率，经实验测定当其为 90 至 520Hz 时，有最佳的控制效果。
需要说明的是，传感伺服控制器的传感伺服流程如下：
当传感伺服控制器接收到投影手机的启动指令后，启动传感伺服流程。首先捕获操纵者的遥控信号，采用传感伺服控制器搭载的 Pwm 捕获控制器或串行端口等其他端口。然后将遥控指令信息经由 USB 或蓝牙发送给手机上的飞行控制程序。然后获取传感伺服控制器上所搭载的传感器信息，包括GPS传感器、红外传感器、气压传感器、超声波传感器、光流传感器、加速度计、陀螺仪、磁传感器、气压计、GPS、AD 转换器等一种或多种。然后等待接收由投影手机发送的初步控制信号，并对其进行处理，发送执行机构驱动飞行器改变运动状态，最终实现飞行器的稳定控制。
需要说明的是，投影手机拍照摄像流程如下：
投影手机拍照摄像流程在系统启动后自动启动，与飞行控制流程相独立。当用户发出拍照摄像指令后，启动拍照摄像插件。拍照摄像插件是独立于飞行控制程序的另一个应用程序。执行拍照或摄像后，若需要实时传输，通过4G/5G 网络将获得的多帧图像传输出去，以此往复循环，待收到停止拍照摄像指令后停止。
本实施例中，人脸辨识的先决条件是要拍到解晰度足够的影像，可是无人机的拍摄高度却远高于一般监控镜头的设置高度，要拍摄清晰的人脸影像殊不容易。针对上述问题，采用多重比对脸部检测法，可对脸部正面以外的角度进行高速而精准的检测；同时使用摄动空间法，为应付环境变化，系统事先记录各种预测角度，以免人脸辨识时受到环境光线明暗变化的影响。人脸智能识别模块工作时，辨识系统会把投影手机或者无人机摄像头拍摄的人脸与数据库作比对，辨识出与数据库吻合者，便会作出提示。
本实施例中，无人机通过使用各种传感技术实现自主导航、碰撞检测，随着 GPS传感器、红外传感器、气压传感器、超声波传感器越来越多地被用到无人机上，众多传感器中超声波传感尤其有助于无人机着陆、悬停、地面跟踪。
举例说明，超声波可以穿过各种介质（气体、液体、固体）来检测声阻抗不匹配的物体。声速是声波在弹性介质中传播时每单位时间的距离。例如，在20°C (68°F)的干燥空气中，声速为343米每秒（1,125英尺每秒）。空气中的超声波衰减随着频率和湿度的增加而增加。因此，由于过度的路径损耗/吸收，空气耦合超声波通常被限制在500kHz以下的频率。
超声波传感可以检测其他技术难以解决的的表面。例如，无人机经常会遇到建筑物上的玻璃窗和其他玻璃表面。光传感技术有时会穿过玻璃和其他透明材料，这对无人机悬停在玻璃建筑物上造成困难。超声波则能够可靠地反射出玻璃表面。虽然众多的传感技术可以检测物体的接近程度，但是超声波传感可在无人机着陆时的探测距离，然而无人机下降的时候必须考虑与地面的实时距离。
举例说明，作为无人机在飞行过程中，通过其传感器收集周边环境的信息，测量距离从而做出相对应的动作指令，从而达到「避障」的作用，带来的最直接的好处就是，以往一些人为疏忽造成的撞击，现在都能经由避障功能去避免，既保障了无人机飞行安全的同时，也避免了对周围人员财产的损害，让飞无人机的门槛进一步得到了降低。目前，无人机的避障技术中最为常见的是超声波传感器、红外线传感器、激光传感器以及视觉传感器。
其中，超声波其实就是声波的一种，因为频率高于20kHz，所以人耳听不见，并且指向性更强。超声波测距的原理比红外线更加简单，因为声波遇到障碍物会反射，而声波的速度已知，所以只需要知道发射到接收的时间差，就能轻松计算出测量距离，再结合发射器和接收器的距离，就能算出障碍物的实际距离，超声波测距相比红外测距，价格更加便宜，相应的感应速度和精度也逊色一些。同样，由于需要主动发射声波，所以对于太远的障碍物，精度也会随着声波的衰减而降低，此外，对于海绵等吸收声波的物体或者在大风干扰的情况下，超声波将无法工作。
其中，红外线避障的常见实现方式就是三角测量原理，红外感应器包含红外发射器与CCD检测器，红外线发射器会发射红外线，红外线在物体上会发生反射，反射的光线被CCD检测器接收之后，由于物体的距离D不同，反射角度也会不同，不同的反射角度会产生不同的偏移值L，知道了这些数据再经过计算，就能得出物体的距离了。
其中，激光避障与红外线类似，也是发射激光然后接收。不过激光传感器的测量方式很多样，有类似红外的三角测量，也有类似于超声波的时间差+速度。但是由于激光的波束极窄，可以同时使用多束激光组成阵列雷达，近年来此技术逐渐成熟，多用于自动驾驶车辆上，但由于其体积庞大，价格昂贵，故不太适用于无人机。
其中，视觉避障技术，解决机器人如何“看”的问题视觉避障技术，视觉识别系统通常来说可以包括一个或两个摄像头。单一的照片只具有二维信息，犹如2D电影，并无直接的空间感，只有靠我们自己依靠“物体遮挡、近大远小”等生活经验脑补。故单一的摄像头获取到的信息及其有限，并不能直接得到我们想要的效果当然类比到机器视觉中，单个摄像头的图片信息无法获取到场景中每个物体与镜头的距离关系，即缺少第三个维度。
本发明采用外部传感器对投影手机内部的传感器进行补充和优化，从而获取更好的传感信息，使得基于投影手机的飞行控制系统具备更好的控制效果。同时，采用有效的任务调度机制，使飞行器拍摄照片、视频时仍然保持稳定的飞行。
飞行控制系统，通过将手机内部传感器与传感伺服控制器提供的外部辅助传感器相结合，计算获得飞行器准确的姿态、位置信息，由投影手机内部的飞行控制程序进行运算获取初步控制指令，经由 SPI、I/O或者 I2C接口发送到传感伺服控制器，进而驱动飞行器的执行机构进一步处理后，实现飞行器的稳定控制。本发明中，经实验测定，当控制程序运行频率在 90Hz 至 520Hz 之间时，有最好的控制效果。
所述投影手机，搭载加速度计、陀螺仪等无人机飞行控制所必须的部分传感器，配备触摸屏幕作为飞行控制系统与用户交互的界面之一。投影手机在本发明的飞行控制系统中起主要的传感、计算、人机交互等作用。
所述传感伺服控制器，搭载部分无人机飞行控制系统所需的传感器，作为对投影手机上未装备的传感器的补充，或对投影手机上搭载了但精度不足的传感器提供更高精度的优化。此外，传感伺服控制器通过SPI、I/O或者 I2C总线方式与投影手机实现数据连接，一方面将其搭载的传感器的实时数据发送给投影手机，用于飞行控制指令的计算 ；另一方面，接收投影手机发送来的飞行控制计算结果，经进一步处理后，生成最终控制指令，发送给飞行器的执行机构。
投影手机内有飞行控制所需的部分传感器 ( 例如陀螺仪、加速度计等 )，通过获取传感伺服控制器发送来的补充传感器数据，经过与手机的运动状态估计程序，将传感器数据组合、融合后，经过滤波、微分、积分等运算处理，最终获得飞行器的运动状态的估计值。通过将解算得到的运动状态与期望运动状态对比，采用 PID 或其他控制算法，获取初步的控制指令。这里，期望运动状态为飞行器接收到的操纵者的指令状态，或飞行器在自动执行任务时为满足任务需求而由程序计算得出的目标状态。通过获取运动状态向量与期望运动状态向量相减获取两者的偏差，对此偏差进行微分、积分和增益运算后，将此三者经线性或非线性组合，生成初步的控制指令。初步控制指令由SPI、I/O或者 I2C接口发送给传感伺服控制器。传感伺服控制器对从投影手机接收到的初步控制指令进行进一步处理，然后将处理结果通过 PWM 生成定时器生成飞行器执行机构可辨识的控制信号，进而发出控制指令。飞行执行机构在接收到控制指令后，偏转舵面或改变螺旋桨转速或改变桨距，从而改变飞行器的运动状态，达到期望的飞行状态。
本发明包括无人机本体、分别固设在所述无人机本体上且相互连接的投影手机、传感伺服控制器和飞行执行机构 ；所述投影手机内设有飞行控制程序；所述投影手机内设有陀螺仪、加速度计、GPS和磁场传感器；所述传感伺服控制器内设有微控制器、智能识别模块、GPS、定时器、AD采样器及包含红外传感器、气压传感器、超声波传感器、光流传感器、磁场传感器、陀螺仪的外部辅助传感器；所述传感伺服控制器中设置有连接至所述飞行执行机构的 PWM 生成定时器，这样，通过投影手机中的陀螺仪、加速度计、GPS 和磁场传感器实时获得无人机的姿态及飞行数据，且由于无人机的飞行程序，通过将投影手机内部传感器与传感伺服控制器提供的外部辅助传感器相结合，计算获得飞行器准确的姿态、位置信息，由投影手机内部的飞行控制程序进行运算获取初步控制指令，发送到传感伺服控制器进一步处理，进而驱动飞行器的执行机构，实现飞行器的稳定控制。本系统操作简单，稳定性好，适用于大面积推广和使用。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (9)

  1. 一种基于投影手机的无人机飞行控制系统，其特征在于，包括无人机本体、分别固设在所述无人机本体上且相互连接的投影手机、传感伺服控制器和飞行执行机构；
    所述投影手机内设有飞行控制程序；
    所述投影手机内设有陀螺仪、加速度计、GPS和磁场传感器；
    所述传感伺服控制器内设有微控制器、智能识别模块、GPS、定时器、AD采样器及包含红外传感器、气压传感器、超声波传感器、光流传感器、磁场传感器、陀螺仪的外部辅助传感器；
    所述传感伺服控制器中设置有连接至所述飞行执行机构的 PWM 生成定时器。
  2. 根据权利要求 1 所述的一种基于投影手机的无人机飞行控制系统，其特征在于，所述投影手机中设置有能够调用的前后摄像头，并通过4G/5G 网络实时远程传输照片或视频。
  3. 根据权利要求 1 所述的一种基于投影手机的无人机飞行控制系统，其特征在于，所述投影手机与所述传感伺服控制器之间的数据连接方式为SPI、I/O或者 I2C总线连接。
  4. 根据权利要求 1 所述的一种基于投影手机的无人机飞行控制系统，其特征在于，所述投影手机为带显示屏的投影手机或者不带显示屏的投影手机或者全息手机。
  5. 根据权利要求 1 所述的一种基于投影手机的无人机飞行控制系统，其特征在于，所述智能识别模块包括手势识别单元、人脸识别单元、视觉识别单元、图像识别单元及骨骼识别单元。
  6. 根据权利要求1所述的一种基于投影手机的无人机飞行控制系统，其特征在于，所述投影手机与所述无人机本体之间设有减震装置。
  7. 根据权利要求 1 所述的一种基于投影手机的无人机飞行控制系统，其特征在于，所述PWM 生成定时器包括PWM 捕获定时器和 PWM 生成定时器。
  8. 根据权利要求 1 所述的一种基于投影手机的无人机飞行控制系统，其特征在于，所述无人机本体内设有分别独立为所述传感伺服控制器和所述投影手机供电的供电单元。
  9. 根据权利要求 1 所述的一种基于投影手机的无人机飞行控制系统，其特征在于，所述飞行控制程序的运行频率为 90Hz 至 520Hz。
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