WO2019193642A1 - 無人航空機用の自己位置推定装置及び自己位置推定方法 - Google Patents

無人航空機用の自己位置推定装置及び自己位置推定方法 Download PDF

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Publication number
WO2019193642A1
WO2019193642A1 PCT/JP2018/014207 JP2018014207W WO2019193642A1 WO 2019193642 A1 WO2019193642 A1 WO 2019193642A1 JP 2018014207 W JP2018014207 W JP 2018014207W WO 2019193642 A1 WO2019193642 A1 WO 2019193642A1
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WO
WIPO (PCT)
Prior art keywords
light
light source
image data
self
position estimation
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Ceased
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PCT/JP2018/014207
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English (en)
French (fr)
Japanese (ja)
Inventor
ラービ・クリストファー・トーマス
翔介 井上
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ACSL Ltd
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Autonomous Control Systems Laboratory Ltd
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Priority to PCT/JP2018/014207 priority Critical patent/WO2019193642A1/ja
Priority to JP2020512128A priority patent/JPWO2019193642A1/ja
Priority to SG11202009731TA priority patent/SG11202009731TA/en
Priority to US17/045,037 priority patent/US20210147077A1/en
Publication of WO2019193642A1 publication Critical patent/WO2019193642A1/ja
Anticipated expiration legal-status Critical
Priority to JP2023090690A priority patent/JP2023115027A/ja
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B64D47/04—Arrangements or adaptations of signal or lighting devices the lighting devices being primarily intended to illuminate the way ahead
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • 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
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/141—Control of illumination
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/143—Sensing or illuminating at different wavelengths
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/13—Satellite images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/17—Terrestrial scenes taken from planes or by drones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/21—Arrangements for acquiring, generating, sharing or displaying traffic information located onboard the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/53—Navigation or guidance aids for cruising
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/72—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic
    • G08G5/723—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic from the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/74—Arrangements for monitoring traffic-related situations or conditions for monitoring terrain
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

Definitions

  • the present invention relates to an unmanned aerial vehicle, and more particularly to a self-position estimation apparatus and a self-position estimation method for an unmanned aerial vehicle.
  • unmanned aerial vehicles fly by maneuvering by sending control signals from a maneuvering transmitter on the ground to an unmanned aerial vehicle in the sky, or autonomously flying according to a flight plan by installing an autonomous controller. It was.
  • a sensor that detects the position, posture, altitude, and direction of a small unmanned helicopter, a main calculation unit that calculates the control command value for the servo motor that moves the rudder of the small unmanned helicopter, and data collection from the sensor
  • An autonomous control device has been proposed in which a sub-operation unit that converts a calculation result of the unit into a pulse signal to a servo motor is assembled in one small frame box.
  • the position (altitude) of the unmanned aerial vehicle can be estimated based on three-dimensional map data generated using Visual SLAM (Simultaneous Localization And Mapping) or the like.
  • SLAM Simultaneous Localization And Mapping
  • VSLAM Visual SLAM
  • feature points are tracked based on a moving image from a camera, the position of an unmanned aerial vehicle (drone) is estimated, and environmental map data is created.
  • the regions having the same characteristics are estimated on the assumption that the objects are the same.
  • the illumination is not sufficiently emitted, the exposure amount is insufficient and the contrast is reduced.
  • a scene to be photographed may include a shadow.
  • the shadow area has an insufficient exposure amount and the contrast is lowered.
  • a region that is not a shadow reaches the saturation exposure amount, and the contrast may be lowered.
  • the drone's shadow moves with the drone, it will move the feature points, which is detrimental to location estimation algorithms such as VSLAM.
  • VSLAM location estimation algorithms
  • FIG. 7 when a shadow (shaded area in the figure) is formed on the object, the shadow area is recognized as an area having another feature, and the feature points of the object are accurately detected. There may be a situation where it is impossible to recognize.
  • the situation in which shadows are formed on the object in this way is when there is a large step in the object, in an environment with multiple light sources, or when there is another object between sunlight and the object outdoors. This is also likely to occur.
  • a light source for irradiating an object around an unmanned aerial vehicle, a condensing sensor for acquiring reflected light from the object as image data, and the condensing sensor A self-position estimation device for an unmanned airplane comprising a position estimation unit for estimating a relative position of the unmanned airplane with respect to the object using the image data acquired by the method, wherein the light source is distinguishable from ambient light A light emitting laser; and a diffuser for diffusing the light from the laser; and the condensing sensor is a light that can be distinguished from the ambient light with respect to the reflected light from the object.
  • a self-localization device for an unmanned aerial vehicle configured to sense is provided.
  • the present invention may further include a light source controller that adjusts at least one of the emission intensity, position, and direction of the laser.
  • the light distinguishable from the ambient light is light of a predetermined band
  • the light collecting sensor can be configured to sense the light of the predetermined band.
  • the predetermined band may include a plurality of bands
  • the condensing sensor may be configured to detect each of the signals of the plurality of bands.
  • the light source is configured so that each of the plurality of bands can irradiate light of different intensity, and the light collection sensor detects which band of light according to the distance to the object. It is also possible to configure so that can be selected.
  • the condensing sensor may be configured to select which band of light is to be detected for each pixel or for each predetermined region in the image.
  • the diffuser may include a wide-angle lens.
  • the diffuser may be configured to shape light emitted so that light projected from the periphery of the wide-angle lens is brighter than light projected from the center.
  • the present invention may further include a phosphor reflector that converts a coherent laser into an incoherent spectrum in front of the diffuser.
  • the present invention can also control the flight of the unmanned aircraft using the relative position of the unmanned aircraft with respect to the object estimated by the self-position estimation device and the speed of the unmanned aircraft.
  • the method of acquiring the image data the method of acquiring the image data by sensing light that is distinguishable from the ambient light with respect to the reflected light from the object.
  • the present invention further includes the step of setting at least one of the light emission intensity, the position and the direction of the light source, and using the set light source, the step of emitting, the step of irradiating the object, and the image
  • the step of acquiring data and the step of estimating can also be performed.
  • the light distinguishable from the ambient light is light of a predetermined band
  • the step of acquiring the image data acquires the image data by sensing the light of the predetermined band. You can also.
  • the predetermined band has a plurality of bands
  • the step of acquiring the image data can sense each of the signals of the plurality of bands.
  • the irradiating step irradiates each of the plurality of bands with light of different intensity, and the step of acquiring the image data determines which band of light is detected according to the distance to the object.
  • a step of selecting may be further included.
  • the step of acquiring the image data may further include a step of selecting which band of light is to be sensed for each pixel or for each predetermined region in the image.
  • the present invention it is possible to estimate the position of an unmanned aerial vehicle that is not affected by an external light source.
  • an autonomous unmanned airplane that does not have a GPS function, it is possible to estimate the position of the autonomous unmanned airplane efficiently and accurately.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the block diagram which shows one Example of a structure of the unmanned aircraft of FIG.
  • the flowchart which shows one Example of the position estimation process of an unmanned aerial vehicle.
  • FIG. 1 is an external view of an unmanned aerial vehicle (multicopter) 1 according to an embodiment of the present invention.
  • FIG. 2 is a bottom view of the unmanned aerial vehicle (multicopter) 1 shown in FIG.
  • the unmanned aerial vehicle 1 includes a main body 2, six motors 3, six rotors (rotary blades) 4, six arms 5 connecting the main body 2 and each motor 3, landing legs 6, and local sensors. 7.
  • the six rotors 4 are rotated by driving each motor 3 to generate lift.
  • the main body 2 controls the driving of the six motors 3 and controls the number of rotations and the direction of rotation of the six rotors 4, the unmanned aircraft 1 can fly such as ascending, descending, flying back and forth, and turning. Be controlled.
  • the landing legs 6 contribute to preventing the unmanned aircraft 1 from falling over during takeoff and landing, and protect the main body 2 motor 3 and the rotor 4 of the unmanned aircraft 1.
  • the local sensor 7 measures the situation around the unmanned aircraft 1 using the laser light source 8.
  • the local sensor 7 irradiates a laser beam downward mainly from the light source 8 and measures the distance from an object around the unmanned aircraft 1 using information obtained by reflection. It is possible to create a shape of an object.
  • the direction of laser irradiation is an example, but preferably includes at least the lower part.
  • the local sensor 7 is a sensor used to measure the relative position of the unmanned aircraft 1 with respect to an object around the unmanned aircraft 1, and the positions of the unmanned aircraft 1 and the surrounding objects. Any device that can measure the relationship is acceptable. Therefore, for example, one laser or a plurality of lasers may be used. Further, the local sensor 7 may be an image sensor, for example.
  • the local sensor 7 is preferably used when using the SLAM technology.
  • the unmanned aerial vehicle 1 when the local sensor 7 is an image sensor, the unmanned aerial vehicle 1 includes an imaging device.
  • the imaging device includes a monocular camera or a stereo camera configured by an image sensor or the like, and acquires images and images around the unmanned aircraft 1 by imaging the surroundings of the unmanned aircraft 1.
  • the unmanned aerial vehicle 1 includes a motor capable of changing the orientation of the camera, and the flight control device 11 controls the operation of the camera and the motor.
  • the unmanned aerial vehicle 1 continuously acquires images using a monocular camera or acquires images using a stereo camera, and analyzes the acquired images to detect the distance from the surrounding object and the Get information about the shape of the object.
  • the imaging device may be an infrared depth sensor that can acquire shape data by infrared projection.
  • the local sensor 7 is described as being attached to the outside of the main body 2, but may be attached to the inside of the main body 2 as long as the positional relationship between the unmanned aircraft 1 and the surrounding environment can be measured.
  • FIG. 3 is a hardware configuration diagram of the unmanned aerial vehicle 1 of FIGS. 1 and 2.
  • the main body 2 of the unmanned aerial vehicle 1 includes a flight control device (flight controller) 11, a transceiver 12, a sensor 13, a speed controller (ESC: Electric Speed Controller) 14, and a battery power source (not shown).
  • flight control device flight controller
  • transceiver 12 a transceiver
  • sensor 13 a speed controller
  • ESC Electric Speed Controller
  • the transceiver 12 performs transmission / reception of various data signals with the outside, and includes an antenna.
  • the transmitter / receiver 12 will be described as one device, but the transmitter and the receiver may be installed separately.
  • the flight control apparatus 11 performs arithmetic processing based on various information and controls the unmanned aircraft 1.
  • the flight control device 11 includes a processor 21, a storage device 22, a communication IF 23, a sensor IF 24, and a signal conversion circuit 25. These are connected via a bus 26.
  • the processor 21 controls the operation of the entire flight control apparatus 11, and is, for example, a CPU. Note that an electronic circuit such as an MPU may be used as the processor.
  • the processor 21 executes various processes by reading and executing programs and data stored in the storage device 22.
  • the storage device 22 includes a main storage device and an auxiliary storage device.
  • the main storage device is a semiconductor memory such as a RAM.
  • the RAM is a volatile storage medium capable of reading and writing information at high speed, and is used as a storage area and a work area when the processor processes information.
  • the main storage device may include a ROM that is a read-only nonvolatile storage medium. In this case, the ROM stores a program such as firmware.
  • the auxiliary storage device stores various programs and data used by the processor 21 when executing each program.
  • the auxiliary storage device is, for example, a hard disk device, but may be any non-volatile storage or non-volatile memory as long as it can store information, and may be removable.
  • the auxiliary storage device stores, for example, an operating system (OS), middleware, application programs, various data that can be referred to when these programs are executed.
  • OS operating system
  • middleware middleware
  • application programs various data that can be referred to when these programs are executed.
  • the communication IF 23 is an interface for connecting to the transceiver 12.
  • the sensor IF 24 is an interface for inputting data acquired by the local sensor 7.
  • each IF is described as one, but it is understood that a different IF can be provided for each device or sensor.
  • the signal conversion circuit 25 generates a pulse signal such as a PWM signal and sends it to the ESC 14.
  • the ESC 14 converts the pulse signal generated by the signal conversion circuit 25 into a drive current to the motor 3 and supplies the current to the motor 3.
  • Battery power is a battery device such as a lithium polymer battery or a lithium ion battery, and supplies power to each component. Since a large power source is required to operate the motor 3, the ESC 14 is preferably connected directly to the battery power source, and adjusts the voltage and current of the battery power source to supply the drive current to the motor 3.
  • the storage device 22 stores a flight control program in which a flight control algorithm for controlling the attitude and basic flight operation during the flight of the unmanned aircraft 1 is implemented.
  • the flight control device 11 executes the flight control program, the flight control device 11 performs arithmetic processing so that the set target altitude and target speed are obtained, calculates the rotation speed and rotation speed of each motor 3, and performs control commands. Calculate the value data.
  • the flight control device 11 acquires various information such as the attitude of the unmanned aircraft 1 in flight from various sensors, and performs arithmetic processing based on the acquired data and the set target altitude and target speed.
  • the signal conversion circuit 25 of the flight control device 11 converts the control command value data calculated as described above into a PWM signal and sends it to the ESC 14.
  • the ESC 14 rotates the motor 3 by converting the signal received from the signal conversion circuit 25 into a drive current to the motor 3 and supplying it to the motor 3.
  • the main body 2 including the flight control device 11 controls the rotation speed of the rotor 4 and controls the flight of the unmanned aircraft 1.
  • the flight control program includes parameters such as a flight route and a flight speed including latitude and longitude and altitude, and the flight control device 11 sequentially determines a target altitude and a target speed and performs the above calculation process.
  • the unmanned aircraft 1 is allowed to fly autonomously.
  • the flight control device 11 receives a command such as ascending / descending / forward / backward from an external transmitter via the transmitter / receiver 12 to determine a target altitude and a target speed and perform the above calculation process.
  • a command such as ascending / descending / forward / backward from an external transmitter via the transmitter / receiver 12 to determine a target altitude and a target speed and perform the above calculation process.
  • the flight of the unmanned aircraft 1 is controlled.
  • the self-position estimating unit 32 estimates the self-position of the unmanned aerial vehicle 1 based on the point cloud data of the image data of the object around the unmanned aerial vehicle 1 acquired using the local sensor 7 as a collection sensor.
  • the self-position estimated by the self-position estimation unit 32 is a relative position of the unmanned aircraft 1 with respect to objects around the unmanned aircraft 1.
  • the self-position estimation unit 32 estimates the self-position of the unmanned aerial vehicle 1 using SLAM technology. Since the SLAM technique is a known technique, a description thereof will be omitted.
  • the local sensor 7 is used to recognize an object in the vicinity, and self-position estimation and map creation are simultaneously performed based on the object recognition result. .
  • the self-position estimation unit 32 estimates and outputs the relative position (altitude) of the unmanned aircraft 1 using the SLAM technology.
  • the self-position estimating unit 32 acquires point cloud data around the unmanned aerial vehicle 1 using a light source described later.
  • the self-position estimation unit 32 starts calculation of estimation when the distance measurement distance by the laser emitted from the light source is within a predetermined distance range (for example, 0.1 to 20 m), and starts the estimation calculation.
  • the self-position at the timing when data acquisition is started is determined as a reference coordinate.
  • the self-position estimation unit 32 uses the acquired point cloud data to estimate the self-position while creating a map.
  • the self-position estimation unit 32 acquires an image using an imaging device such as a camera, extracts the position of an object in the acquired image or a point on the surface as a feature point, and extracts the extracted pattern and the created map (or Match the pattern of acquired points).
  • the self-position estimation unit 32 performs self-position estimation based on the degree of coincidence between the created map and point cloud data acquired using a laser light source.
  • the self-position estimating unit 32 is configured to estimate and output the relative altitude of the unmanned aircraft 1 when the unmanned aircraft 1 has collected sufficient point cloud data.
  • the light source 8 is preferably attached downward from the bottom side of the unmanned airplane so that the situation near the ground surface can be grasped.
  • the light source only needs to be configured to irradiate near the ground surface, and may be attached to another position of the unmanned aircraft.
  • FIG. 4 shows an embodiment of the optical structure of the light source.
  • the laser light source 40 is, for example, a blue laser having band specificity and a wavelength of 420 nm.
  • the laser light source 40 is converted into incoherent light by the phosphor reflector 41 so as to be safe for human eyes.
  • Light that has passed through the phosphor reflector 41 is diffused as a projection pattern having a predetermined setting in a diffuser 42 including a diffusing lens, and is then irradiated onto an object.
  • the diffusion lens employs a wide-angle lens (for example, 110 degrees), so that a wide area of an object can be imaged at a time when imaging is performed on the camera side, and the amount of information that can be acquired by one imaging Can be increased, which is useful in self-position estimation using SLAM techniques.
  • a wide-angle lens for example, 110 degrees
  • the diffusing lens 42 when a wide-angle lens is used as the diffusing lens, in general, as shown in FIG. 6A, light passing near the center of the lens becomes light that is relatively brighter than light passing outside the lens.
  • the effect of the aperture efficiency characteristic is increased. That is, assuming that the projection pattern of the light passing through the diffusing lens is not uniform and that the distance from the light source and the collection sensor (camera) to the object is sufficient, The outside of the image is acquired as a dark image, and the inside of the image is acquired as a bright image. Therefore, in one embodiment according to the present invention, as shown in FIG. 6B, the diffuser (diffuse lens) 42 is centered on the light projected from the periphery of the lens as the projection pattern having the predetermined setting.
  • the light source 8 can be controlled in its position and irradiation direction by the light source control unit 9.
  • the position and irradiation direction of the light source are controlled so that the shadow of the unmanned aircraft itself is not visually recognized by the machine vision system.
  • the light source is configured to be irradiated with a variable intensity by adjusting the current so that a series of images can be acquired while changing the intensity of the light source for Visual SLAM processing. Good.
  • the acquired image tends to be dark, so that it can be configured to irradiate with high intensity in that direction.
  • the light source may be a specific light that can be distinguished from other light sources (environmental light) such as sunlight. As described later, for example, any light source capable of eliminating the shadow of the environmental light may be used. However, the light source may be other predetermined narrow-band light sources. Furthermore, the light source may be a light source configured such that the spectral distribution, the light intensity, the light of the blinking pattern, and the like other than the band are different from the ambient light. As an example of the case where the light source blinks in a predetermined pattern, blinking at a constant cycle can be considered.
  • the light source can be a light source capable of irradiating a plurality of bands (for example, a multispectrum including R, G, B, etc.).
  • a multispectral light source may be configured to separate light using a dichroic mirror or the like and switch each band in terms of time. You may comprise so that the irradiation direction to an object can be adjusted individually spatially.
  • the condensing sensor is configured to have a filter that can individually collect the plurality of bands.
  • Machine vision algorithms such as SLAM are preferably processed on the assumption that most of the features visible by the camera are fixed and do not move. If the light source is behind the camera relative to the object, the shadow of the unmanned aircraft itself can be viewed by the machine vision system. This shadow is often the primary source of feature points, but the shadow will move with the unmanned airplane, and the shadow features will not be fixed. This reduces machine vision performance.
  • the light source can be fixed to the unmanned aerial vehicle in the vicinity of the camera, the shadow from the light source can be minimized or masked.
  • the shadow effects of the unmanned aerial itself from other light sources that are not fixed to the unmanned aerial vehicle can move irregularly with the movement of the unmanned aerial vehicle.
  • the accuracy of the shadow area recognition based on the image picked up by the camera is reduced, which leads to a decrease in the accuracy of the position estimation of the unmanned aircraft by the VSLAM.
  • the configuration of the light source and the camera (filter) according to the present invention it is possible to reduce the influence of shadows. That is, for example, as described above, a case where the light source is a blue laser is considered. In this case, the light source passes through the phosphor reflector and the diffuser to convert the blue laser light into wide spectrum light, and most of this light is reflected by the object at the same 420 nm as the laser. On the imaging side of the machine vision system, a predetermined notch filter (blue 420 nm) is attached to the lens of the camera, so that most of the light reflected from the object passes through the blue notch filter and is imaged by the condensing sensor. Get as.
  • the condensing sensor indicates that the light source flashes in a predetermined pattern.
  • the condensing sensor is configured to detect a place where the intensity of light (for example, a gray scale value in the image) increases or decreases in a series of moving images.
  • the position of an unmanned aircraft can be estimated by VSLAM by reducing the influence of light emitted from ambient light and then reflected from an object.
  • Laser light sources in a specific band such as a blue laser light source can be irradiated with variable illumination intensity by adjusting the current as described above, and a series of images can be acquired with various light source intensities. It is useful to do. That is, with such a configuration, feature points can be extracted with a very wide range of brightness. This is useful when illuminating a surface far from the camera requires a higher light output than a near surface from the camera when there are steps on the object and there are surfaces at various distances from the camera. is there. For example, image data of a short-distance region is obtained by making the light source relatively weak in the first imaging for an object having a step, and the light source is relatively set in the second imaging.
  • the light source and the collection sensor can be configured to acquire image data of a long-distance region.
  • features from each surface can be extracted by taking the collection sensor with a high dynamic range and a variable dynamic range and acquiring a series of images at various illumination levels.
  • the light source can be a light source (multispectrum) that can illuminate multiple bands.
  • the camera condensing sensor / filter
  • the camera can detect each of the corresponding bands, thereby acquiring a plurality of independent image information for the object.
  • the condensing sensor may be set so as to be able to detect each of the corresponding bands and further irradiate light having a different intensity for each corresponding band. This makes it possible to adapt the required intensity of irradiation light according to the distance between the camera / light source and the object.
  • a band to be detected for each pixel may be selected.
  • the light source and the condensing sensor are configured to irradiate the pixel in the region below the step with strong light and detect only the band corresponding to the band of the irradiated light, Further, by irradiating the pixels in the region above the step with light having relatively low intensity and detecting only the band corresponding to the band of the irradiated light, for example, one image It is possible to perform processing adapted to each adjacent pixel in the image, and a variable dynamic range can be realized for each region or for each pixel in the image.
  • the surrounding scene may change suddenly as the drone moves, and the realization of such a variable dynamic range in the camera eliminates the delay of the position estimation process due to the imaging of the object using VSLAM. Useful for.
  • the light source and collection sensor of the unmanned aircraft are set (step 100).
  • the laser of the light source is, for example, a blue laser having a wavelength of 420 nm.
  • the position and the irradiation direction can be adjusted together with the adjustment of the light emission intensity of the irradiation light of the light source as required by the control unit.
  • the light intensity of the light source is strong when the distance to the object is relatively far, and when the distance to the object is relatively close, The strength can be set weak.
  • the light source when the light source is attached to the lower surface of the main body so that the ground can be irradiated from the main body in order to grasp the state of the ground, the light source can be adjusted in three-dimensional positions, although the direction can be adjusted based on the direction, the direction of gravity can be set in the initial stage.
  • the light source may be adjusted to a position closer to the object than the camera so that the shadow of the unmanned aircraft itself is not visually recognized by the machine vision system, and the irradiation direction may be adjusted.
  • the reflected wave of the light irradiated from the light source to the object is acquired as image data of the object in the collection sensor (step 200).
  • blue laser light is used as the light source, and the filter of the camera passes only this blue laser light. Therefore, the light source from the outside such as sunlight is irradiating the object.
  • the feature points of the object are extracted and tracked using, for example, VSLAM processing, and an environment map is created.
  • the position is estimated (S300).
  • the moving object is detected, it is removed using the difference data of the images acquired in time series.
  • the estimation of the relative position in S300 as described above, in addition to using the image data of the object that collects the reflected waves of light in a specific band such as blue laser light, the reflection of ambient light such as sunlight is reflected. You may comprise so that the image data of the target object which collected the wave separately may be used further.
  • position estimation processing such as VSLAM using image data acquired using light of a specific band as a light source, and position estimation processing such as VSLAM using another image data acquired using ambient light or the like.
  • Each may be performed independently, and the position may be finally estimated by weighting each reliability.
  • the unmanned aircraft flight is controlled using the relative position of the unmanned aircraft with respect to the target of the unmanned aircraft estimated in the position estimation step S300 and the speed of the unmanned aircraft. be able to.
  • the position estimation process for the target object be configured so as to be able to determine whether the exposure amount of light reflected from the target object is excessive or insufficient. For example, if there is an excess or deficiency in the amount of exposure of light reflected from the object, the time required for processing increases if there are many unstable feature points including low-contrast feature points in the captured image. In addition, since the map construction is adversely affected and there is a possibility that the estimation by the VSLAM process is inaccurate by comparing the created environmental map with the captured image, the process returns to S100 and the light emission intensity of the light source is adjusted. In this case, the imaging area may be shifted by controlling the direction of the light source so as to search and highlight feature points important for environment recognition using VSLAM. For example, when the important feature point of the object is far, the acquired image tends to be dark, so the light source is reset so as to irradiate with high intensity in that direction.
  • the ability to reset the light source in this way contributes to efficiently comparing the generated environmental map with the captured image, and in particular, there is a large step shape or the like on the object. This is effective in reducing errors in VSLAM processing.
  • a red laser and a blue laser are used as two light sources to estimate the relative position of the unmanned airplane with respect to an object having a step, but it has three or more bands. It is good also as a condensing sensor filter which can detect each of a light source and those zone
  • the intensity, position and direction of the red laser and blue laser are set (S100). In this case, it can be set so that light of different intensities can be emitted.
  • both the red laser and the blue laser are set to the same intensity, and the irradiation directions are set to be different. May be.
  • the light sources of the red laser and the blue laser may be configured to switch each band in terms of time, or may be configured to irradiate a plurality of bands at the same time and switch each band in image space. You may comprise.
  • the collection sensor acquires the reflected wave of the light emitted from the light source to the target, and acquires the image of the target (step 200). ).
  • the position of the unmanned airplane is estimated by, for example, extracting and tracking the feature point of the object and creating an environment map using SLAM processing or the like. (S300).
  • the moving object is detected, it is removed using the difference data of the images acquired in time series.
  • the process returns to S100 in order to efficiently estimate the position of the unmanned airplane.
  • the red laser is reset to a relatively strong intensity
  • the blue laser Is reset to a relatively weak intensity.
  • the intensity setting of the laser intensity may be reversed between red and blue, as long as a different intensity is set for each band.
  • the region below the step in the object is irradiated with a strong red laser light, and the region above the step (region relatively close to the light source) ), The position and direction of the light source are reset so that a relatively weak blue laser is emitted.
  • the irradiation of the red laser and the blue laser may be performed simultaneously or sequentially in time series depending on the configuration of the laser light source, and the pixel region including the upper side and the lower side of the step of the target object. What is necessary is just to acquire as one image so that the exposure amount to a sensor may become fixed.
  • the condensing sensor / filter for the pixels in the region below the step in the object, only the red laser of the irradiated light with high intensity is detected, and the region above the step For this pixel, a captured image is acquired by detecting only the blue laser with relatively low intensity (S200).
  • S200 blue laser with relatively low intensity
  • the feature point of the object is extracted and tracked and the environment map is created by using SLAM processing or the like, thereby estimating the position of the unmanned airplane.
  • Perform (S300) may be configured to return to S100 again in order to efficiently estimate the position of the unmanned airplane according to changes in the surrounding environment (object) or the like accompanying the movement of the unmanned airplane.
  • the unmanned aircraft flight is controlled using the relative position of the unmanned aircraft with respect to the target of the unmanned aircraft estimated in the position estimation step S300 and the speed of the unmanned aircraft. be able to.
  • the configuration in which the light source and the light collection sensor are reset while generating the environment map in the SLAM processing can efficiently cope with such a situation.
  • by adopting a configuration capable of detecting only the blue laser and the red laser and their bands it is possible to reduce the influence of shadows caused by external light such as sunlight when the object has a large level difference. It becomes possible.
  • switching of a light source may be performed for every pixel and for every image.
  • the point cloud data in the VSLAM process may be erroneously acquired due to the presence of shadows due to the influence of other light sources or sunlight.
  • the light source and the condensing sensor / filter according to the present invention are useful in that such other light sources and sunlight can be minimized. That is, for example, there may be a shadow of another object due to sunlight in the area of the object to be photographed, but the image data acquired using the light source and collection sensor according to the present invention is Therefore, it is possible to accurately extract feature points in VSALM. From this point of view, when the light source is attached to the main body, it is desirable to dispose the light source as close to the camera as possible so as to avoid the shadow produced by the light source being visually recognized.
  • an autonomous unmanned aerial vehicle that does not have a GPS function can accurately estimate its own position while reducing processing time. This is not intended to exclude that the autonomous unmanned aerial vehicle is equipped with a GPS function. If the autonomous unmanned aerial vehicle is equipped with a GPS function, it is possible to collect information on the surrounding environment with high accuracy, and further, the unmanned aerial vehicle can be used in combination with the light source and camera (collection sensor) according to the present invention. It is possible to perform the position estimation in a more efficient and accurate manner than in the past.
  • the present invention is not limited to the above-described examples, and various modifications can be made thereto. It can be easily understood that can be added. In addition, as long as they are within the scope of matters described in the respective claims and equivalent matters, they are naturally included in the technical scope of the present invention.
  • the above embodiment is for the case where the shadow on the object and the object have a step, but this is only an example, and the present invention is not limited to this specific example. .
  • the present invention can be used for position estimation and control of unmanned aerial vehicles used for various purposes.

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SG11202009731TA SG11202009731TA (en) 2018-04-03 2018-04-03 Localization device and localization method for unmanned aerial vehicle
US17/045,037 US20210147077A1 (en) 2018-04-03 2018-04-03 Localization Device and Localization Method for Unmanned Aerial Vehicle
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