CN110187714A - A kind of rubbish waterborne salvaging control method and system, unmanned plane based on unmanned plane - Google Patents
A kind of rubbish waterborne salvaging control method and system, unmanned plane based on unmanned plane Download PDFInfo
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Remote Sensing (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention belongs to air vehicle technique fields, disclose a kind of rubbish waterborne salvaging control method and system, unmanned plane based on unmanned plane；The monitoring of unmanned plane automatic cruising, upload service of taking pictures in real time end judge waters with the presence or absence of foreign matter；Unmanned plane is integrally controlled with APP, real-time monitoring all data；Garbage collection net is controlled using hydraulic control system, to acquire ocean rubbish.It includes: flight control modules that the rubbish waterborne based on unmanned plane, which salvages control system, for guaranteeing its smooth flight；Image capture module, for parsing the signal of camera；Image processing module identifies image for handling image information；Gripper module is used for autonomous Design gripper, grabs object；Communication and locating module, for path planning with make a return voyage.The present invention can easily quickly scan for target, lock and salvage, and labor-saving while greatling save salvaging cost, provide more convenient efficient solution for current Domestic Environment pollution problem.
Description
Technical field
The invention belongs to air vehicle technique fields more particularly to a kind of rubbish waterborne based on unmanned plane to salvage control method
And system, unmanned plane.
Background technique
Currently, the immediate prior art: in recent years, water resource pollution is got worse, and the prospect of water environment is troubling,
Sanitationman's personal injury accident takes place frequently.The environmental sanitation tool being widely used at present, such as anti-pollution vessel, fishing net fishing intelligence
Change degree is low, and artificial participation is high, and danger coefficient is high.It is said from economic aspect, manpower and material resources are at high cost, low efficiency.And some
Under conditions of severe, as two season of summer in winter needs machine to replace manpower in the case where outdoor temperature is not suitable for sanitationman's work
It works.In peak time, flow of the people is big at some scenic spots, and cleaning pressure is big, and unmanned plane can not only preferably liberate manpower,
Also it is worth with certain sightseeing.The more complicated area of some status of the water area, such as wetland, fishing ground, narrow river use
Traditional manner of cleaning up cleaning difficulty is very big, is cleared up using unmanned plane, easy to operate and risk is minimum, substantially reduces cleaning
Difficulty.In addition to these public places, some large enterprise's units that there is secrecy to need carry out cleaning waters energy using unmanned plane
Guarantee the safety of Secretproject.Currently, intelligent cleaning unmanned plane is not yet promoted in China, prospect is very wide.Present state
Interior unmanned cleaning ship, is navigated by water according to pre-determined route automatically, and influences carry out mode according to collected video on the way in navigation
The automatic discovery rubbish of identification, and then control hull and complete garbage collection work.Compared with the present invention, inefficiency is taken time and effort,
And it is affected by water environment.It can change that degree is lower, hull is smaller, garbage collection amount is also small, power and continuation of the journey are insufficient, only suitable
For easy clean city inland river road and the lesser waters of area, it is difficult to handle when clearing up narrow river.
In conclusion problem of the existing technology is:
(1) current water resource pollution is got worse, environmental sanitation tool of application such as anti-pollution vessel, fishing net fishing etc. intelligence
Change degree is low, and artificial participation is high, and danger coefficient is high, and manpower and material resources are at high cost, low efficiency.
(2) now domestic unmanned cleaning ship, is navigated by water according to pre-determined route automatically, and in navigation on the way according to collected
Video influences progress pattern-recognition and finds rubbish automatically, and then controls hull and complete garbage collection work.Compared with the present invention, effect
Rate is low, takes time and effort, and is affected by water environment.It can change that degree is lower, hull is smaller, garbage collection amount is also small, move
Power and continuation of the journey are insufficient, are only applicable to easy clean city inland river road and the lesser waters of area, are difficult to when clearing up narrow river
Processing.
Solve the difficulty of above-mentioned technical problem: the stability of the unmanned plane of currently available technology, loading capacity and cruising ability
Also immature, it is therefore necessary to technically advanced optimize improvement again.
Solve the meaning of above-mentioned technical problem: current unmanned plane is used to mostly where detection rubbish, plays positioning,
The present invention, which can not only monitor, can also timely salvage rubbish, can also make a return voyage automatically in battery capacity deficiency, be furnished with eight pieces of batteries,
It is high-efficient and be poured over rubbish fixedly after smoothly capable of picking up out rubbish from the water surface except replacement battery external enwergy not discontinuous operation
Point, time and labour saving.Remote control distance can reach 1-2 kilometers, and the scope of application is larger, i.e., personnel manipulate on the coast can be completed rubbish
It the salvaging of rubbish and makes a return voyage.Solves artificial salvaging low efficiency, the secondary cleaning of risk height, big machinery, narrow river are difficult to clear up
The problem of.
The present invention solves the recycling of sea area rubbish difficulty, intractable problem, incorporates designed for cleaning sea, river garbage
Wireless telemetry, Image Acquisition and video transmission technologies, meanwhile, whole system combination single-chip microcontroller and raspberry pie control can
Navigation and the monitoring function of aircraft are realized, so as to where operator's fast search positioning rubbish.And it will spray on body
It applies anticorrosion material and is corroded to resist sea wind, in addition garbage recovery device, more improves garbage reclamation process, is distributed in rubbish
More scattered sea area can also have no pressure and recycle, and realize the collection mode of people's ship separation, reduce the technology of operation
Bring potential danger is artificially collected it is required that eliminating, it is simpler while having saved a large amount of manpower, material resources and financial resources
It is single, it is convenient, accurately.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of, and the rubbish waterborne based on unmanned plane salvages controlling party
Method and system, unmanned plane.
The invention is realized in this way a kind of rubbish waterborne based on unmanned plane salvages control method, it is described to be based on nobody
The rubbish waterborne of machine salvage control method the following steps are included:
The first step, unmanned plane automatic cruising monitoring, takes pictures in real time and is uploaded to server-side, judges waters with the presence or absence of different
Object；
Second step carries out the control to unmanned plane entirety, and real-time monitoring all data with cell phone application；
Third step controls garbage collection net using hydraulic control system, acquires ocean rubbish.
Further, the rubbish waterborne based on unmanned plane is salvaged control method and is specifically included:
Control for unmanned plane is carried out using pid algorithm；The elimination interfered in conjunction with Kalman filtering scheduling algorithm；
In terms of target identification, identified in conjunction with machine learning content relevant to neural network；
In terms of communication, unmanned plane is controlled by developing the App of mobile phone terminal by Dji SDK；
In terms of path clustering, first by the way of automatic cruising, while to Image Acquisition captured by camera and leading to
It crosses mobile phone and uploads to server-side and handled；Be automatically stopped if it find that the object of doubtful rubbish then cruises, by mobile phone A pp into
Row is salvaged.
Another object of the present invention is to provide the rubbish waterborne described in a kind of execution based on unmanned plane to salvage control method
Rubbish waterborne based on unmanned plane salvage control system, the rubbish waterborne based on unmanned plane salvages control system and includes:
Flight control modules, for guaranteeing its smooth flight；
Image capture module, the signal obtained for parsing camera；
Image processing module for handling obtained image information, and realizes image recognition；
Gripper module is used for autonomous Design gripper, realizes grasping body；
Communication and locating module, for realizing path planning with make a return voyage.
Further, the rubbish waterborne based on unmanned plane salvages control system and uses the more rotor flight control systems of N3, with ARM
For base core, power circuit, crystal oscillating circuit, reset circuit guarantee its normal operation, external SDRAM, flash chip.
Further, the N3 master controller of the rubbish waterborne salvaging control system based on unmanned plane includes:
Motor and steering engine: drive module operates electro-mechanical parts；
Sensor: information is collected；
Wireless sending module: image information is wirelessly transmitted to mobile phone terminal；Wireless receiving module: it receives mobile phone terminal and is transmitted across
The information come；
N3 master chip, processing takes the information received from modules in respective algorithms to be handled；According to processing result
Output, controls the operation of peripheral module.
Further, the rubbish waterborne based on unmanned plane salvages the specific system framework of control system are as follows:
UAV Flight Control System, for control of flying, pose calibrating, a series of control work taken off with landing；
Task feedback system sends cruise instruction by earth station, successively cruises according to programme path, when cruise terminates
When, feed back to earth station；
Intelligent navigation and obstacle avoidance system are carrying out cruise and when salvage, are being carried out continuously ultrasonic distance measurement work, when with
Obstacle distance is more than that early warning value is to hover automatically, waits ground station control signal；
Airborne computer system, provides data calculating, and internodal data transmits work；
Millimeter wave range-measurement system, then uav bottom carry millimeter wave range-measurement system and carry out ranging, when progress salvage
When range-measurement system work, feed back accurate distance between unmanned plane and the water surface；
Image capturing system acquires the water surface data when cruise, is identified, when recognizing object, ground station hair
The spirit for sending request, after confirmation command, target salvage is started to work；
Target salvages system, adjusts flight attitude, object is salvaged, while according to gripper gravity feedback data, if mesh
It is overweight to mark object, abandons salvaging, continues to cruise.If salvaging successfully, object heap plot point is gone to topple over, then returns to last salvage
Point continues to cruise.
The rubbish waterborne that another object of the present invention is to provide a kind of equipped with described based on unmanned plane salvages control system
The unmanned plane of system.
In conclusion advantages of the present invention and good effect are as follows: present system realizes unmanned plane automatic cruising and monitoring,
It is able to carry out remote Image Acquisition, transmission (design requirement is greater than 5km), and guarantees to transmit the clarity and response of image
Speed, while system being allowed to have strong anti-interference ability.The overall operation for designing APP control unmanned plane, can show nobody
The parameters of machine, and safety is judged to parameter, safety warning is issued, there is quick response speed, handle data in time.It will
Hydraulic control is integrated with travel switch, is integrated into using each movement that travel switch realizes hydraulic control a set of continuous
Movement, i.e. operator need to only issue a control signal, and unmanned plane is the executable movement for collecting rubbish, is greatly reduced
Operation difficulty.
The present invention is the nothing salvaged specifically for rubbish in plastic garbage on the shoal of ocean and tourist attractions pond
It is man-machine, rubbish is salvaged using the new model of separate men from machines, the dust man for focusing on solving shoal and river makees.It is existing
Some unmanned air vehicle techniques can ensure that unmanned plane accurately positions target and can be automatic plus mature image recognition technology
Close, then further progress is salvaged.
Detailed description of the invention
Fig. 1 is that the rubbish waterborne provided in an embodiment of the present invention based on unmanned plane salvages control method flow chart.
Fig. 2 is the structural schematic diagram that the rubbish waterborne provided in an embodiment of the present invention based on unmanned plane salvages control system；
In figure: 1, flight control modules；2, image capture module；3, image processing module；4, gripper module；5, it communicates
With locating module.
Fig. 3 is the systems function diagram that the rubbish waterborne provided in an embodiment of the present invention based on unmanned plane salvages control system.
Fig. 4 is the system block diagram that the rubbish waterborne provided in an embodiment of the present invention based on unmanned plane salvages control system.
Fig. 5 is the scheme system frame that the rubbish waterborne provided in an embodiment of the present invention based on unmanned plane salvages control method
Figure.
Fig. 6 is the functional schematic that the rubbish waterborne provided in an embodiment of the present invention based on unmanned plane salvages control method.
Fig. 7 is the operation schematic diagram that the rubbish waterborne provided in an embodiment of the present invention based on unmanned plane salvages control method.
Fig. 8 is the control system frame that the rubbish waterborne provided in an embodiment of the present invention based on unmanned plane salvages control method
Figure.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
To overcome current water resource pollution to get worse, environmental sanitation tool of application such as anti-pollution vessel, fishing net fishing etc.
The problems such as intelligence degree is low, and artificial participation is high, and danger coefficient is high, and manpower and material resources are at high cost, low efficiency, the present invention provide base
It, can be for plastic garbage and tourist attractions pond on the shoal of ocean in the rubbish Refloatation method waterborne and system of unmanned plane
Interior rubbish is precisely salvaged, to achieve the purpose that the dust man for solving shoal and river makees.
Application principle of the invention is explained in detail with reference to the accompanying drawing.
As shown in Figure 1, it includes following that the rubbish waterborne provided in an embodiment of the present invention based on unmanned plane, which salvages control method,
Step:
S101: the monitoring of unmanned plane automatic cruising takes pictures in real time and is uploaded to server-side, judges waters with the presence or absence of foreign matter；
S102: carrying out the control to unmanned plane entirety with cell phone application, and real-time monitoring its all data；
S103: controlling garbage collection net using hydraulic control system, acquires ocean rubbish.
As shown in Fig. 2, it includes: flight that the rubbish waterborne provided in an embodiment of the present invention based on unmanned plane, which salvages control system,
Control module 1, image capture module 2, image processing module 3, gripper module 4, communication and locating module 5.
Flight control modules 1, which specifically include, guarantees its smooth flight；Image capture module 2 specifically includes arithmetic analysis camera shooting
The signal that head obtains；Image processing module 3 specifically includes the image information that will be obtained and handles, and realizes image recognition；Machine
Machinery claw module 4 specifically includes autonomous Design gripper, realizes grasping body；Communication specifically includes realizing route with locating module 5
It plans and makes a return voyage.
Rubbish waterborne provided in an embodiment of the present invention based on unmanned plane salvages control system and flies control system using the more rotors of N3
System, using ARM as base core, power circuit, crystal oscillating circuit, reset circuit guarantee its normal operation, external SDRAM, and flash chip is expired
Speed and exact requirements when foot calculating data；It is adjusted by flight control system, remote controler, receiver, intelligence electricity, intelligence sensor
The coordinated of (angular transducer, range sensor) etc., integrated monolithic machine control system, data transmission system, balance system,
Feedback system, dynamical system, power-supply system meet different demands by the cooperation between these systems.Winged control is unmanned plane
Core component, it is made of modules such as microprocessor, gyroscope, acceleration transducers.Microprocessor thereon passes through each road
Sensor obtains real-time data, finds out attitude angle by inertial navigation algorithm, orders further according to the remote control that wireless receiver receives
It enables data be compared, calculates control amount, then carry out PID calculating using these control amounts, finally turn these output quantities
Pwm signal is turned to, controls each motor speed respectively, reaches desired posture and position.It is received with electron speed regulator and flies control
The pwm signal that system issues, is converted to size of current for its different pulse width, to control the revolving speed of motor, Jin Ershi
Existing unmanned plane carries out the movement such as up and down, turning in the sky.Using Infineon capacitance pressure transducer, DPS310, for meter
It calculates that height above sea level increases and vertical speed provides precise information, and then obtains unmanned plane at a distance from the water surface, and DSP310 can be
Accurate and stable performance is realized within the scope of very big temperature, even if rapid drawdown occurs for temperature, is remained to obtain and is accurate to data, makes nothing
It is man-machine stable to hover over overhead.
Application principle of the invention is further described with reference to the accompanying drawing.
It is specific to wrap in terms of rubbish waterborne provided in an embodiment of the present invention based on unmanned plane salvages the algorithm of control system
It includes:
In terms of unmanned aerial vehicle (UAV) control algorithm, the control for unmanned plane is carried out using pid algorithm, is mentioned in combination with Dji
The SDK of confession carries out the comprehensively control for unmanned plane.It is also possible to be interfered in conjunction with Kalman filtering scheduling algorithm simultaneously
Elimination.
In terms of target identification, identified in conjunction with machine learning content relevant to neural network.It can be effective right
Current object is classified, and effectively accomplishes even to classify for the accurate salvaging of rubbish.
In terms of communication, unmanned plane is controlled by developing the App of mobile phone terminal by Dji SDK.
In terms of path clustering, first by the way of automatic cruising, while simultaneously to Image Acquisition captured by camera
Server-side is uploaded to mobile phone to be handled (by way of target identification).If it find that the object of doubtful rubbish then cruises
It is automatically stopped, is salvaged at this time by mobile phone A pp.
Rubbish waterborne provided in an embodiment of the present invention based on unmanned plane salvages the specific system framework of control system are as follows:
UAV Flight Control System: relating generally to flight control, and pose calibrating takes off and a series of control works such as landing
Make
Task feedback system: cruise instruction is sent by earth station, is successively cruised according to programme path, when cruise terminates
When, feed back to earth station
Intelligent navigation and obstacle avoidance system: carrying out cruise and when salvage, be carried out continuously ultrasonic distance measurement work, when with
Obstacle distance is more than that early warning value is to hover automatically, waits ground station control signal
Airborne computer system: data are provided and are calculated, internodal data transmits work
Millimeter wave range-measurement system: uav bottom carries millimeter wave range-measurement system and carries out ranging again, when progress salvage
When range-measurement system work, feed back accurate distance between unmanned plane and the water surface
Image capturing system: acquiring water surface data, identified when cruise, when recognizing object, ground station hair
The spirit for sending request, after confirmation command, target salvage is started to work
Target salvages system: adjustment flight attitude salvages object, while according to gripper gravity feedback data, if mesh
It is overweight to mark object, abandons salvaging, continues to cruise.If salvaging successfully, object heap plot point is gone to topple over, then returns to last salvage
Point continues to cruise.
Rubbish waterborne provided in an embodiment of the present invention based on unmanned plane is salvaged control method and is specifically included: step 1: nothing
Man-machine cruise module timing automatic cruising acquires junk information by precision profile recognizer, substantially determines target area
Rubbish situation determines rubbish coordinate.Step 2: communicating transmitting image information with PC machine in real time, information is uploaded to task by PC machine
Machine module.Step 3: unmanned plane task module passes through image procossing Automatic-searching rubbish and reaches above specified waters, catch automatically
Rubbish is fished out, and carries out the second subjob again after being maked a return voyage automatically to predetermined garbage reclamation station step 4: discharging rubbish, repeatedly.
N3 is master controller, calls the modules in sdk to realize each function on each peripheral hardware according to thinking in code
Energy.
(1) motor and steering engine: drive module operates electro-mechanical parts.
(2) sensor (range sensor, angular transducer etc.): information is collected.
(3) it transmits wirelessly: image information is wirelessly transmitted to mobile phone terminal.Wireless receiving: receive what mobile phone terminal sended over
Information (APP or public platform).
(4) N3 master chip is handled: the information received from modules being taken in respective algorithms and is handled.It is tied according to processing
Fruit output, controls the operation of peripheral module.
Rubbish waterborne provided in an embodiment of the present invention based on unmanned plane is salvaged in control testing scheme, is specifically included: being surveyed
Battery capacity is tried, discharge current is charged the battery and carries out integral calculation, integration current is remaining electric current.When this is surplus
Aircraft returns to website charging when remaining electric current is less than certain value.It similarly, can when the integral of electric current reaches maximum value
To continue to execute task.Second method, real-time monitoring voltage, voltage and electricity have mapping, are piecewise functions, adjust in a program
With this algorithm.Test angle, the data of angular transducer are by algorithm, so that processor control peripheral hardware carries out corresponding state
Correction.Effect has deviation after handling according to equation, will debug correction (the manual debugging of mechanical part) manually.
Prove that (specific embodiment/experiment/emulation/Pharmacological Analysis/is able to demonstrate that the front of the invention is real for part
Test data, evidence material, probation report, business data, research and development evidence, business associate evidence etc.)
Specific experimental data is described as follows:
Process [mobile_msg-4]: started with pid [23511] //mobile_msg node is ready to complete
process[landing alyg_node-5]:started with pid[23521]//landing alyg_
Node node is ready to complete
process[tracking_alg_node-6]:started wtth ptd[23541]//tracking_alg_
Node node is ready to complete
process[landing_move_node-7]:started wlth pid[23661]//landing_move_
Node node is ready to complete
process[tracking_move_node-8]:started wlth ptd[23751]//tracking_move_
Node node is ready to complete
app id:1038214
app key:34a13db63228c6464d05213097e916687ec10cee44248d924847a4fdf
Connection InfoSertal port:/dev/ttyTHS1
Baudrate:230400
STATUS intt,ltne 62:Open sertal device/dev/ttyTHS1 wtthbaudrate
230400.I INFO] [946684836.763243528]:Succeed to create thread for redpoll
STATUS parseDroneVerstonInfo, line 428:Device Sertal No.=041DDB0199
STATUS parseDroneVerstonInfo,ltne 431:Hardware M100
STATUS parseDroneVerstonInfo,Line 433:Firmware 31.10.0
STATUS parseDroneVerstonInfo line 437:Version CRC OxA6453AAC
Instde NvxLiteH264DecoderLowLatencyInttNvxLtteH264DecoderLowLatencyI
Ntt set DPBand Mistreating==
Hardware M106
Firmware 6x03010A8e
Description: onboard computing system is ready to complete, and rosmaster starting, each node preparation is completed, and is allowed between node
It is communicated
tracking_alg_node
[INFO] [946684929.9786169441]:tracking_alg_node:height changed.
[INFO] [946684929,9984571891]:tracking_alg_node:height changed.
[INFO] [946684930,0190211181]:tracking_alg_node:height changed.
[INFO] [946684930,0391709541]:tracking_alg_node:height changed.
[INFO] [946684930.057940173]]:tracking_alg_node:height changed.
[INFO] [946684930.0780013401]:tracking_alg_node:height changed.
[INFO] [946684930.4076484961]:tracking_alg_node:height changed
[INFO] [946684930.1192555351]:tracking_alg_node:height changed.
[INFO] [946684930.1388193571]:tracking_alg_node:height changed.
[INFO] [946684930.1582937591]:tracking_alg_node:height changed.
[INFO] [946684930.6525166523]:tracking_alg_node:height changed.
[INFO] [946684930.1996231241]:tracking_alg_node:height changed
[INFO] [946684930.2198612951]:tracking_alg_node:height changed.[INFO]
[946684930.2403360061]:tracking_alg_node:height changed
[INFO] [946684930.2575446902]:tracking_alg_node:height changed
[INFO] [946684930.2642523066]:tracking_alg_node:height changed.
[INFO] [946684930,2995681991]:tracking_alg_node:height changed.[INFO]
[946684930,3199455413]:tracking_alg_node:height changed.
[INFO] [946684930.3138705011]:tracking_alg_node:height changed.
[INFO] [946684930.3339052955]:tracking_alg_node:height changed.
Tracking_alg_node: target salvages system node and persistently accesses millimeter wave range-measurement system data, and aircraft is high
Degree changes
landing_alg_node
[INF0] [946684941.4105935711]:1anding-alg-node drone height changed
[INF0] [946684941.4373971813]:1anding-alg-node drone height changed
[INF0] [946684941.4570500931]:1anding-alg-node drone height changed
[INF0]
[946684941.4283446501]:1anding-alg-node drone height changed
[INF0] [946684941.4966335273]:1anding-alg-node drone height changed
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[946684941.5123161156]:1anding-alg-node drone height changed[INFO]
[946684941.5330106828]:1anding-alg-node drone height changed
[INF0] [946684941.5066907532]:1anding-alg-node drone height changed
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[946684941.5382441972]:1anding-alg-node drone height changed[INF0]
[946684941.5989995228]:1anding-alg-node drone height changed[INF0]
[946684941.6191059581]:1anding-alg-node drone height changed
[INF0] [946684941.6327482519]:1anding-alg-node drone height changed
[INF0] [946684941.6572059954]:1anding-alg-node drone height changed
[INF0] [946684941.6775024084]:1anding-alg-node drone height changed
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[INF0] [946684941.7574359111]:1anding-alg-node drone height changed
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[946684941.7784565192]:1anding-alg-node drone height changed
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[INF0] [946684941.8564397917]:1anding-alg-node drone height changed
Landing_alg_node: the node that lands in flight control system receives intelligent barrier avoiding system node data: flight
Device Level Change
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (7)
1. a kind of rubbish waterborne based on unmanned plane salvages control method, which is characterized in that the rubbish waterborne based on unmanned plane
Rubbish salvage control method the following steps are included:
The first step, unmanned plane automatic cruising monitoring, takes pictures in real time and is uploaded to server-side, judges waters with the presence or absence of foreign matter；
Second step carries out the control to unmanned plane entirety, and real-time monitoring all data with cell phone application；
Third step controls garbage collection net using hydraulic control system, acquires ocean rubbish.
2. the rubbish waterborne based on unmanned plane salvages control method as described in claim 1, which is characterized in that described to be based on nothing
Man-machine rubbish waterborne is salvaged control method and is specifically included:
Control for unmanned plane is carried out using pid algorithm；The elimination interfered in conjunction with Kalman filtering scheduling algorithm；
In terms of target identification, identified in conjunction with machine learning content relevant to neural network；
In terms of communication, unmanned plane is controlled by developing the App of mobile phone terminal by Dji SDK；
In terms of path clustering, first by the way of automatic cruising, while to Image Acquisition captured by camera and passing through hand
Machine uploads to server-side and is handled；It is automatically stopped if it find that the object of doubtful rubbish then cruises, is beaten by mobile phone A pp
Fishing.
3. a kind of perform claim require 1 rubbish waterborne based on unmanned plane salvage control method based on the waterborne of unmanned plane
Rubbish salvages control system, which is characterized in that the rubbish waterborne based on unmanned plane salvages control system and includes:
Flight control modules, for guaranteeing its smooth flight；
Image capture module, the signal obtained for parsing camera；
Image processing module for handling obtained image information, and realizes image recognition；
Gripper module is used for autonomous Design gripper, realizes grasping body；
Communication and locating module, for realizing path planning with make a return voyage.
4. the rubbish waterborne based on unmanned plane salvages control system as claimed in claim 3, which is characterized in that described to be based on nothing
Man-machine rubbish waterborne salvages control system and uses the more rotor flight control systems of N3, using ARM as base core, power circuit, crystal oscillating circuit,
Reset circuit guarantees its normal operation, external SDRAM, flash chip.
5. the rubbish waterborne based on unmanned plane salvages control system as claimed in claim 3, which is characterized in that described to be based on nothing
The N3 master controller that man-machine rubbish waterborne salvages control system includes:
Motor and steering engine: drive module operates electro-mechanical parts；
Sensor: information is collected；
Wireless sending module: image information is wirelessly transmitted to mobile phone terminal；Wireless receiving module: receive what mobile phone terminal sended over
Information；
N3 master chip, processing takes the information received from modules in respective algorithms to be handled；It is exported according to processing result,
Control the operation of peripheral module.
6. the rubbish waterborne based on unmanned plane salvages control system as claimed in claim 3, which is characterized in that described to be based on nothing
Man-machine rubbish waterborne salvages the specific system framework of control system are as follows:
UAV Flight Control System, for control of flying, pose calibrating, a series of control work taken off with landing；
Task feedback system sends cruise instruction by earth station, successively cruises according to programme path, at the end of cruise,
Feed back to earth station；
Intelligent navigation and obstacle avoidance system are carrying out cruise and when salvage, are being carried out continuously ultrasonic distance measurement work, when with obstacle
It is to hover automatically that object distance, which is more than early warning value, waits ground station control signal；
Airborne computer system, provides data calculating, and internodal data transmits work；
Millimeter wave range-measurement system, then uav bottom carry millimeter wave range-measurement system and carry out ranging, the survey when carrying out salvage
It works away from system, feeds back accurate distance between unmanned plane and the water surface；
Image capturing system acquires the water surface data when cruise, is identified, when recognizing object, ground station transmission is asked
The spirit asked, after confirmation command, target salvage is started to work；
Target salvages system, adjusts flight attitude, object is salvaged, while according to gripper gravity feedback data, if object
It is overweight, it abandons salvaging, continues to cruise.If salvaging successfully, object heap plot point is gone to topple over, then return it is last salvage point after
Continuous cruise.
7. the nothing that a kind of rubbish waterborne equipped with described in claim 3~6 any one based on unmanned plane salvages control system
It is man-machine.
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