CN108062104A - A kind of flying robot's Hovering control system setup method - Google Patents
A kind of flying robot's Hovering control system setup method Download PDFInfo
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- CN108062104A CN108062104A CN201610984282.2A CN201610984282A CN108062104A CN 108062104 A CN108062104 A CN 108062104A CN 201610984282 A CN201610984282 A CN 201610984282A CN 108062104 A CN108062104 A CN 108062104A
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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
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Abstract
The invention discloses a kind of flying robot's Hovering control system setup methods, the described method comprises the following steps：The first step, flying robot's model foundation and controller design；Second step, flying robot's Visual servoing control system design；3rd step, flying robot's Visual servoing control system are realized.Flying robot's Hovering control system setup method of the present invention, flying robot's control system based on IBVS visual servo algorithms is devised on the basis of the flying machine human occupant dynamic model of foundation, and the feasibility and validity of the control system are demonstrated by the emulation experiment under the SIMULINK environment of MATLAB；On this emulation experiment basis, finally Visual servoing control system is built for Parrot AR Drone microminiature quadrotors.
Description
Technical field
The present invention relates to a kind of flying robot's Hovering control system setup methods, belong to vision robotics field.
Background technology
Today's society is more and more stronger for the dependence of supply of electric power；Therefore operation power interrupt will for energy producers,
Sellers and consumer cause huge financial loss, so focus is generally focused on how to reduce electric power in the industry at present
Line fault；It is out of order to detect as early as possible and arranges out effective maintenance project, be that it is necessary to power circuit is determined
The inspection of phase；Traditional manpower walking routine inspection mode and helicopter assist inspection, and all there are shortcomings；Manpower walking inspection, it is necessary to
Staff observes power circuit along the line, but from ground observation, can only see the surface of power line, while Manual Visual Inspection
Method for inspecting means it is single, work efficiency is low and with subjectivity；Therefore it is easy to ignore big failure；Helicopter is assisted
Routine inspection mode is currently used method；Although helicopter assists inspection, the work efficiency compared with artificial walking inspection is high, from
The influence of topography, but helicopter assistance line walking wants the expense of both expensive.Visual sensor due to it is at low cost, information is rich
It is rich, algorithm is simple, high reliability and be widely used in robot control system, propose will by many researchers in recent years
Visual sensor is applied to flying robot, relevant navigation control information is provided for its stabilized flight, to improve flying machine
People's autonomous flight ability；The structure of flying robot's control system of view-based access control model and application can not only enhance stablize it is relevant
Navigational control signals, while the hovering performance of flying robot can also be promoted；Therefore, flying robot's visual spatial attention oneself become near
One of computer vision field and the research hotspot in flying vehicles control field over year.Using flying robot to overhead transmission line
Carrying out inspection has many advantages, such as that routing inspection efficiency is high, at low cost, high safety；When flying robot carries out inspection to transmission line of electricity,
Circuit is mainly judged by the image capture device i.e. circuit image of video camera shooting being mounted on flying robot
Operating status and fault message, but flying robot is in high-altitude execution patrol task, it is often necessary to and hovering flight is on circuit
Side, to ensure that the angle of observation circuit is clear, stablize, but in practice, since the influence of the factors such as air-flow, interference signal makes
Obtaining flying robot can not steadily hovering.
The content of the invention
To solve the above problems, the present invention proposes a kind of flying robot's Hovering control system setup method, establishing
Flying machine human occupant dynamic model on the basis of devise flying robot's control system based on IBVS visual servo algorithms,
And the feasibility and validity of the control system are demonstrated by the emulation experiment under the SIMULINK environment of MATLAB；Herein
On emulation experiment basis, finally Visual servoing control system is built for Parrot AR-Drone microminiature quadrotors.
Flying robot's Hovering control system setup method of the present invention, the described method comprises the following steps：
The first step, flying robot's model foundation and controller design,
A. the derivation of the structure for analyzing quadrotor and the Newton-Euller method for representing vehicle dynamics model
Journey；
B. dummy vehicle is obtained according to kinetic model；
C. PD control algorithm is used as Flight Vehicle Design self-balancing controller, and is carried out under Matlab Simulink environment
Emulation experiment；
D. simulation result shows that the control effect of controller is good；The design of aircraft interior self-balancing controller is also in next step
Design aircraft exterior visual spatial attention ring lays the foundation；
Second step, flying robot's Visual servoing control system design,
A. visual servo technology is described；
B. under Matlab simulated environment Visual servoing control system is devised for flying robot；
C. in testing, control system has chosen different parameters and is emulated, and simulation result is analyzed finally；
3rd step, flying robot's Visual servoing control system is realized, is flying robot on the basis to work before
AR-Drone builds Visual servoing control system, designs pc control procedure, and in an experiment to the knot of IBVS control algolithms
Fruit has carried out verification, analysis.
Further, flying robot's model foundation in the first step and controller design include the knot of aircraft
Structure, the kinetic model of aircraft, the design of aircraft self-balancing controller and related emulation experiment.
Further, the artificial microminiature quadrotor of the flying machine.
Further, flying robot's Visual servoing control system design of the second step includes with step：
A. brief introduction has been done to Visual servoing control technology, compared location-based Visual servoing control strategy (PBVS) with
Visual servoing control strategy (IBVS) based on image；
B. flying robot's Visual servoing control system using the design of IBVS Visual servoing controls strategy, the system control have been sketched
The input of device processed is the image information that air craft carried video camera obtains, vision controller aim at the hovering of control aircraft in
It observes above object；
C. the design principle of vision controller has mainly been explained, it is former including video camera imaging principle and feature Jacobian matrix construction
Manage two parts；
D. it is described in detail and combines vision controller and aircraft self-balancing controller structure flying robot's Visual servoing control system
Process；
E. it is experimental section, under MATLAB SIMULINK simulated environment, flying robot's Visual servoing control system is carried out
Simulation modeling demonstrates system performance.
Further, flying robot's Visual servoing control system realization of the 3rd step includes with step：
A. related introduction has been made to flying robot AR-Drone, and has generally described the Visual servoing control system for preparing to build
Basic condition；
B. the design structure that program is controlled in system is described, associated description has been carried out to the various pieces of program；
C. when AR-Drone is moved along different degree of freedom, Airborne camera acquisition multiple image, and calculate corresponding image
Feature vector；It is calculated afterwards using IBVS control algolithms and it is expected that aircraft reaches speed in subsequent time, finally in experiment
The result of calculation of IBVS control algolithms is analyzed, the results showed that and IBVS control algolithms can tentatively meet control task needs,
And Visual servoing control system is needed to be further improved from now on, realize the real-time control to flying robot.
The present invention compared with prior art, establishing by flying robot's Hovering control system setup method of the invention
Flying machine human occupant dynamic model on the basis of devise flying robot's control system based on IBVS visual servo algorithms,
And the feasibility and validity of the control system are demonstrated by the emulation experiment under the SIMULINK environment of MATLAB；Herein
On emulation experiment basis, finally Visual servoing control system is built for Parrot AR-Drone microminiature quadrotors.
Specific embodiment
Flying robot's Hovering control system setup method of the present invention, the described method comprises the following steps：
The first step, flying robot's model foundation and controller design,
A. the derivation of the structure for analyzing quadrotor and the Newton-Euller method for representing vehicle dynamics model
Journey；
B. dummy vehicle is obtained according to kinetic model；
C. PD control algorithm is used as Flight Vehicle Design self-balancing controller, and is carried out under Matlab Simulink environment
Emulation experiment；
D. simulation result shows that the control effect of controller is good；The design of aircraft interior self-balancing controller is also in next step
Design aircraft exterior visual spatial attention ring lays the foundation；
Second step, flying robot's Visual servoing control system design,
A. visual servo technology is described；
B. under Matlab simulated environment Visual servoing control system is devised for flying robot；
C. in testing, control system has chosen different parameters and is emulated, and simulation result is analyzed finally；
3rd step, flying robot's Visual servoing control system is realized, is flying robot on the basis to work before
AR-Drone builds Visual servoing control system, designs pc control procedure, and in an experiment to the knot of IBVS control algolithms
Fruit has carried out verification, analysis.
Flying robot's model foundation and controller design in the first step include the structure of aircraft, aircraft
Kinetic model, the design of aircraft self-balancing controller and related emulation experiment.
The artificial microminiature quadrotor of flying machine.
Flying robot's Visual servoing control system design of the second step includes with step：
A. brief introduction has been done to Visual servoing control technology, compared location-based Visual servoing control strategy (PBVS) with
Visual servoing control strategy (IBVS) based on image；
B. flying robot's Visual servoing control system using the design of IBVS Visual servoing controls strategy, the system control have been sketched
The input of device processed is the image information that air craft carried video camera obtains, vision controller aim at the hovering of control aircraft in
It observes above object；
C. the design principle of vision controller has mainly been explained, it is former including video camera imaging principle and feature Jacobian matrix construction
Manage two parts；
D. it is described in detail and combines vision controller and aircraft self-balancing controller structure flying robot's Visual servoing control system
Process；
E. it is experimental section, under MATLAB SIMULINK simulated environment, flying robot's Visual servoing control system is carried out
Simulation modeling demonstrates system performance.
Flying robot's Visual servoing control system realization of 3rd step includes with step：
A. related introduction has been made to flying robot AR-Drone, and has generally described the Visual servoing control system for preparing to build
Basic condition；
B. the design structure that program is controlled in system is described, associated description has been carried out to the various pieces of program；
C. when AR-Drone is moved along different degree of freedom, Airborne camera acquisition multiple image, and calculate corresponding image
Feature vector；It is calculated afterwards using IBVS control algolithms and it is expected that aircraft reaches speed in subsequent time, finally in experiment
The result of calculation of IBVS control algolithms is analyzed, the results showed that and IBVS control algolithms can tentatively meet control task needs,
And Visual servoing control system is needed to be further improved from now on, realize the real-time control to flying robot.
The flying robot Hovering control system setup method of the present invention, in the flying machine human occupant dynamic model of foundation
On the basis of devise flying robot's control system based on IBVS visual servo algorithms, and pass through the SIMULINK in MATLAB
Emulation experiment under environment demonstrates the feasibility and validity of the control system；On this emulation experiment basis, finally for
Parrot AR-Drone microminiature quadrotors build Visual servoing control system.
Above-described embodiment is only the better embodiment of the present invention, therefore all structures described according to present patent application scope
It makes, the equivalent change or modification that feature and principle are done, is included in the range of present patent application.
Claims (5)
- A kind of 1. flying robot's Hovering control system setup method, which is characterized in that the described method comprises the following steps：The first step, flying robot's model foundation and controller design,A. the derivation of the structure for analyzing quadrotor and the Newton-Euller method for representing vehicle dynamics model Journey；B. dummy vehicle is obtained according to kinetic model；C. PD control algorithm is used as Flight Vehicle Design self-balancing controller, and is carried out under Matlab Simulink environment Emulation experiment；D. simulation result shows that the control effect of controller is good；The design of aircraft interior self-balancing controller is also in next step Design aircraft exterior visual spatial attention ring lays the foundation；Second step, flying robot's Visual servoing control system design,A. visual servo technology is described；B. under Matlab simulated environment Visual servoing control system is devised for flying robot；C. in testing, control system has chosen different parameters and is emulated, and simulation result is analyzed finally；3rd step, flying robot's Visual servoing control system is realized, is flying robot on the basis to work before AR-Drone builds Visual servoing control system, designs pc control procedure, and in an experiment to the knot of IBVS control algolithms Fruit has carried out verification, analysis.
- 2. flying robot's Hovering control system setup method according to claim 1, which is characterized in that the first step In flying robot's model foundation and controller design include the structure of aircraft, the kinetic model of aircraft, aircraft The design of self-balancing controller and related emulation experiment.
- 3. flying robot's Hovering control system setup method according to claim 1, which is characterized in that the flying machine The artificial microminiature quadrotor of device.
- 4. flying robot's Hovering control system setup method according to claim 1, which is characterized in that the second step Flying robot's Visual servoing control system design include with step：A. brief introduction has been done to Visual servoing control technology, has compared location-based Visual servoing control strategy with being based on figure The Visual servoing control strategy of picture；B. flying robot's Visual servoing control system using the design of IBVS Visual servoing controls strategy, the system control have been sketched The input of device processed is the image information that air craft carried video camera obtains, vision controller aim at the hovering of control aircraft in It observes above object；C. the design principle of vision controller has mainly been explained, it is former including video camera imaging principle and feature Jacobian matrix construction Manage two parts；D. it is described in detail and combines vision controller and aircraft self-balancing controller structure flying robot's Visual servoing control system Process；E. it is experimental section, under MATLAB SIMULINK simulated environment, flying robot's Visual servoing control system is carried out Simulation modeling demonstrates system performance.
- 5. flying robot's Hovering control system setup method according to claim 1, which is characterized in that the 3rd step Flying robot's Visual servoing control system realization include with step：A. related introduction has been made to flying robot AR-Drone, and has generally described the Visual servoing control system for preparing to build Basic condition；B. the design structure that program is controlled in system is described, associated description has been carried out to the various pieces of program；C. when AR-Drone is moved along different degree of freedom, Airborne camera acquisition multiple image, and calculate corresponding image Feature vector；It is calculated afterwards using IBVS control algolithms and it is expected that aircraft reaches speed in subsequent time, finally in experiment The result of calculation of IBVS control algolithms is analyzed, the results showed that and IBVS control algolithms can tentatively meet control task needs, And Visual servoing control system is needed to be further improved from now on, realize the real-time control to flying robot.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111191351A (en) * | 2019-12-18 | 2020-05-22 | 中国船舶重工集团公司第七一五研究所 | Method for quickly constructing simplified real-time model of hydraulic valve |
| CN113467503A (en) * | 2021-07-26 | 2021-10-01 | 广东电网有限责任公司 | Stability augmentation control method and device for power transmission line inspection robot |
| CN113485401A (en) * | 2021-07-26 | 2021-10-08 | 广东电网有限责任公司 | Vision feedback-based hovering control method and device for inspection robot |
-
2016
- 2016-11-09 CN CN201610984282.2A patent/CN108062104A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111191351A (en) * | 2019-12-18 | 2020-05-22 | 中国船舶重工集团公司第七一五研究所 | Method for quickly constructing simplified real-time model of hydraulic valve |
| CN111191351B (en) * | 2019-12-18 | 2023-04-25 | 中国船舶重工集团公司第七一五研究所 | Method for quickly constructing simplified real-time model of hydraulic valve |
| CN113467503A (en) * | 2021-07-26 | 2021-10-01 | 广东电网有限责任公司 | Stability augmentation control method and device for power transmission line inspection robot |
| CN113485401A (en) * | 2021-07-26 | 2021-10-08 | 广东电网有限责任公司 | Vision feedback-based hovering control method and device for inspection robot |
| CN113467503B (en) * | 2021-07-26 | 2024-04-30 | 广东电网有限责任公司 | Stability enhancement control method and device for power transmission line inspection robot |
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