CN116520877A - Autonomous positioning and control method in narrow pipeline of four-rotor unmanned aerial vehicle - Google Patents
Autonomous positioning and control method in narrow pipeline of four-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses an autonomous positioning and controlling method in a narrow pipeline of a four-rotor unmanned aerial vehicle, which belongs to the field of unmanned aerial vehicle control, and the method is used for positioning the unmanned aerial vehicle based on a laser ranging principle under a pipeline coordinate system; when the unmanned aerial vehicle is located in the pipeline cruising section, double closed-loop control is carried out by utilizing the acquired real-time information and expected information of the unmanned aerial vehicle, and control instructions of the height, the roll angle, the pitch angle and the yaw angle of the unmanned aerial vehicle in the Z-axis direction are obtained. According to the method, the flight characteristics of the four-rotor unmanned aerial vehicle are combined, the unmanned aerial vehicle in the closed narrow pipeline can be autonomously positioned and controlled under the GPS refusing condition, and the unmanned aerial vehicle has the capability of autonomously executing a space detection task in the pipeline aiming at the pipeline with the diameter smaller than 600mm, so that the application scene of the four-rotor unmanned aerial vehicle is expanded, and a new solution is provided for detecting the closed pipeline.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle control, and particularly relates to an autonomous positioning and controlling method in a narrow pipeline of a four-rotor unmanned aerial vehicle.
Background
The four-rotor unmanned aerial vehicle is a multiaxial aircraft which utilizes four rotors to generate lift. The four rotors provide different thrust to control the take-off, landing, hovering and flying movements of the unmanned aerial vehicle in all directions. In recent years, with the development of microprocessor technology, sensor technology and manufacturing technology, the four-rotor unmanned aerial vehicle has higher and higher intelligent and miniaturization degree. By loading various sensors on the quadrotor unmanned aerial vehicle, the quadrotor unmanned aerial vehicle can fly in an autonomous mode. Autonomous flight control of quad-rotor unmanned vehicles has also received wide attention and application.
Nowadays, the application scenario of the quadrotor unmanned plane is not limited to outdoor open environments, but begins to be involved in more and more complex environments, such as closed environments of sewer, pipeline, passage shaft, chimney and the like. Almost all industries face more or less the need of detecting and monitoring a closed space, while the current detection technology mainly relies on manual field detection, so that in order to reduce the harm of choking, fire and explosion possibly faced by workers in the environment, expensive safety protection measures are required to be additionally provided, and extra operation cost is increased. If the unmanned aerial vehicle with various sensors is used for executing the detection task of the closed pipeline environment, the operation cost can be greatly reduced, the safety and stability of task execution are improved, and meanwhile, the flexible maneuvering performance of the unmanned aerial vehicle can also greatly improve the detection efficiency.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides an autonomous positioning and controlling method in a narrow pipeline of a four-rotor unmanned aerial vehicle, and aiming at a pipeline with the diameter smaller than 600mm, the unmanned aerial vehicle has the capability of autonomously executing a space detection task in the pipeline, so that the application scene of the four-rotor unmanned aerial vehicle is expanded, and a new solution is provided for the detection of a closed pipeline.
To achieve the above object, according to a first aspect of the present invention, there is provided a method for autonomous positioning and control in a narrow duct of a quad-rotor unmanned helicopter, comprising:
s1, positioning an unmanned aerial vehicle based on a laser ranging principle under a pipeline coordinate system;
s2, when the unmanned aerial vehicle is located in a pipeline cruising section, performing double closed-loop control by using the acquired real-time information and expected information of the unmanned aerial vehicle to obtain a control instruction U of the height, the rolling angle, the pitch angle and the yaw angle of the unmanned aerial vehicle in the Z-axis direction 1 ，U 2 ，U 3 ，U 4 ；
Wherein the real-time information includes: real-time position y, z of unmanned aerial vehicle at Y, Z axis, real-time speed v at X, Y, Z axis x 、v y 、v z Real-time yaw anglePitch angle θ and roll angle Φ; the pipeline coordinate system takes the axial direction of a pipeline as an X axis and the radial direction of the end face of an inlet of the pipeline as a Z axis; the desired information includes: desired position y of unmanned aerial vehicle at Y, Z axis d 、z d Desired velocity v in X-axis xd And a desired yaw angle relative to the direction of advance of the duct>
The double closed-loop control comprises outer ring position control, gesture inverse solution and inner ring gesture control; the outer ring position is controlled to be y d 、z d Y, z are input, output U 1 And a desired acceleration u in the X, Y axial direction x And u y The method comprises the steps of carrying out a first treatment on the surface of the The gesture is inversely solved according tou x And u y Inverse solution to obtain the desired pitch angle θ d And roll angle phi d The method comprises the steps of carrying out a first treatment on the surface of the The inner ring posture is controlled to be +.>θ、φ、/>θ d And phi d For input, output U 2 ，U 3 ，U 4 。
According to a second aspect of the present invention, there is provided an autonomous positioning and control system within a narrow duct of a quadrotor unmanned aerial vehicle, comprising:
the sensor module comprises eight laser ranging sensors, an optical flow sensor, an accelerometer, a gyroscope and a magnetometer;
the six laser ranging sensors are uniformly distributed around the central section of the unmanned aerial vehicle and are used for collecting the relative position information of the unmanned aerial vehicle in the pipeline;
the optical flow sensor and the acceleration sensor are respectively arranged at the bottom and the gravity center of the unmanned aerial vehicle and are respectively used for acquiring first speed information and second speed information of the unmanned aerial vehicle so as to determine the real-time speed of the unmanned aerial vehicle;
the gyroscope is used for collecting real-time pitch angle and roll angle of the unmanned aerial vehicle;
the magnetometer is used for jointly confirming the real-time yaw angle of the unmanned aerial vehicle with the gyroscope before the unmanned aerial vehicle enters the pipeline or after the unmanned aerial vehicle leaves the pipeline;
a controller for performing the method as described in the first aspect.
According to a third aspect of the present invention, there is provided an autonomous positioning and control system in a narrow duct of a quadrotor unmanned aerial vehicle, comprising: a computer readable storage medium and a processor;
the computer-readable storage medium is for storing executable instructions;
the processor is configured to read executable instructions stored in the computer readable storage medium and perform the method according to the first aspect.
According to a fourth aspect of the present invention there is provided a computer readable storage medium storing computer instructions for causing a processor to perform the method according to the first aspect.
In general, the above technical solutions conceived by the present invention, compared with the prior art, enable the following beneficial effects to be obtained:
1. according to the method for automatically positioning and controlling the four-rotor unmanned aerial vehicle in the narrow pipeline, provided by the invention, a set of method for automatically positioning and controlling the unmanned aerial vehicle in the narrow pipeline under the condition of GPS refusal of multi-sensor fusion is designed by combining with the flight characteristics of the four-rotor unmanned aerial vehicle, and aiming at the pipeline with the diameter smaller than 600mm, the unmanned aerial vehicle has the capability of automatically executing a space detection task in the pipeline, so that the application scene of the four-rotor unmanned aerial vehicle is expanded, and a new solution is provided for detecting the closed pipeline.
2. According to the method for autonomously positioning and controlling the four-rotor unmanned aerial vehicle in the narrow pipeline, provided by the invention, the included angle of the unmanned aerial vehicle relative to the pipeline advancing direction is defined as the yaw angle, and compared with the mode that the yaw angle is judged by using a magnetometer in the prior art, the method has the advantage of being free from the interference of an external magnetic field, and is more suitable for the flight environment in the pipeline; in addition, the real-time position information of the unmanned aerial vehicle moving along the X direction is obtained through speed integration, and the position information obtained through integration is inaccurate, so that the real-time position information of the X direction is not adopted to participate in the control process, the speed information of the X direction is utilized to participate in the control process, and the unmanned aerial vehicle has the advantages of being more flexible, direct and high in adaptability, and meanwhile, the stability and the control precision of the movement in a pipeline can be improved.
Drawings
Fig. 1 is a schematic flow chart of an autonomous positioning and controlling method in a narrow pipeline of a quad-rotor unmanned helicopter provided by an embodiment of the invention;
fig. 2 is a block diagram of a four-rotor unmanned aerial vehicle system according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an installation position of an eight-directional laser sensor on a quad-rotor unmanned helicopter according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a pipeline coordinate system according to an embodiment of the present invention;
fig. 5 is a flow chart of a flight in a pipeline of a quad-rotor unmanned helicopter provided by an embodiment of the invention;
fig. 6 is a schematic diagram of a dual closed-loop control system architecture of a quad-rotor unmanned helicopter provided by an embodiment of the present invention;
FIG. 7 is a block diagram of a position loop cascade PID control provided by an embodiment of the invention;
fig. 8 is a schematic view of a yaw angle of the unmanned aerial vehicle in a pipeline according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The embodiment of the invention provides an autonomous positioning and controlling method in a narrow pipeline of a four-rotor unmanned aerial vehicle, which is shown in fig. 1 and comprises the following steps:
s1, positioning an unmanned aerial vehicle based on a laser ranging principle under a pipeline coordinate system;
s2, when the unmanned aerial vehicle is located in a pipeline cruising section, performing double closed-loop control by using the acquired real-time information and expected information of the unmanned aerial vehicle to obtain a control instruction U of the height, the rolling angle, the pitch angle and the yaw angle of the unmanned aerial vehicle in the Z-axis direction 1 ，U 2 ，U 3 ，U 4 ；
Wherein the real-time information includes: real-time position y, z of unmanned aerial vehicle at Y, Z axis, real-time speed v at X, Y, Z axis x 、v y 、v z Real-time yaw anglePitch angle θ and roll angle Φ; the pipeline coordinate system takes the axial direction of a pipeline as an X axis and the radial direction of the end face of an inlet of the pipeline as a Z axis; the desired information includes: desired position y of unmanned aerial vehicle at Y, Z axis d 、z d Desired velocity v in X-axis xd And a desired yaw angle relative to the direction of advance of the duct>
The double closed-loop control comprises outer ring position control, gesture inverse solution and inner ring gesture control; the outer ring position is controlled to be y d 、z d Y, z are input, output U 1 And a desired acceleration u in the X, Y axial direction x And u y The method comprises the steps of carrying out a first treatment on the surface of the The gesture is inversely solved according tou x And u y Inverse solution to obtain the desired pitch angle θ d And roll angle phi d The method comprises the steps of carrying out a first treatment on the surface of the The inner ring posture is controlled to be +.>θ、φ、/>θ d And phi d For input, output U 2 ，U 3 ，U 4 。
Preferably, when the pipeline coordinate system takes the lowest point of the pipeline inlet end face as the origin, the expected position Y of the Y axis of the unmanned plane d Desired position z of z axis =0 d R, desired yaw angleDesired velocity v in X-axis direction xd To the desired cruising speed v 1 The method comprises the steps of carrying out a first treatment on the surface of the Where r is the radius of the pipe cross section.
Preferably, both the outer loop position control and the inner loop attitude control employ PID control.
Preferably, the drone is considered to be in the pipe cruise section when the following three conditions are met;
first condition: d, d 1 、d 3 、d 6 Are all smaller than d th1 ；
Second condition: d, d 4 、d 5 Are all smaller than d th2 ；
Third condition: d, d 7 、d 8 Are all smaller than d th2 ；
Wherein d 1 、d 2 Data acquired by laser ranging sensors distributed at the top center and the bottom center of the unmanned aerial vehicle respectively, d 3 、d 4 、d 5 、d 6 、d 7 、d 8 D, respectively, uniformly distributing data acquired by six laser ranging sensors around the central section of the unmanned aerial vehicle th1 、d th2 The first threshold value and the second threshold value are respectively.
Preferably, when only the first condition and the second condition are satisfied, then the unmanned aerial vehicle is considered to be located at the pipe cruise inlet section, and the desired speed v in the X-axis direction is set xd ＝v 0 ；
When only the first condition and the third condition are satisfied, the unmanned aerial vehicle is considered to be positioned at the pipeline cruising inlet section, and the expected speed v in the X-axis direction is set xd ＝v 0 ；
Wherein v is 0 ＜v xd 。
Preferably, the unmanned aerial vehicle is a real-time yaw angleThe real-time positions y and z on the Y, Z axis are calculated according to the following formulas:
y＝d 6 -d 3 ；
z＝d 2 。
specifically, the scheme provided by the embodiment of the invention mainly comprises the construction of a pipeline detection four-rotor unmanned aerial vehicle hardware system and the design of an unmanned aerial vehicle pipeline internal control algorithm.
1. Four rotor unmanned aerial vehicle hardware systems
The pipeline detection four-rotor unmanned aerial vehicle hardware system is as shown in fig. 2, and the whole architecture can be divided into five parts: sensor system, actuator system, electrical power generating system, manual operating system and Pixhawk bottom control board. When the four-rotor unmanned aerial vehicle enters the pipeline, the sensor system formed by the optical flow sensor, the eight-direction laser sensor, the magnetometer, the accelerometer, the gyroscope and other sensors collects original pose information, the original pose information is transmitted to the Pixhawk bottom control board, pose information of the unmanned aerial vehicle in the pipeline is obtained after the pose information is calculated in the Pixhawk through the pose calculating module, and a control instruction is output to the executing mechanism through the cascade control system of the position and the pose, so that the executing mechanism regulates the rotation of the four rotors, and the movement of the unmanned aerial vehicle in the pipeline is controlled. In the whole process, the power supply system is responsible for providing power for the system.
1.1. Sensor system
The sensor system mainly comprises an optical flow sensor, an accelerometer, a gyroscope (used for collecting the pitch angle and the roll angle of the unmanned aerial vehicle), a magnetometer and an eight-direction laser sensor. The method is used for acquiring pose information of the unmanned aerial vehicle in the pipeline. When the sensor system is installed, the accelerometer and the gyroscope should be installed near the gravity center of the unmanned aerial vehicle as much as possible; the magnetometer needs to be installed far away from a strong magnetic interference source such as a power line, a strong magnetic load and the like; the optical flow sensor is arranged at the bottom of the unmanned aerial vehicle, image information is acquired through the downward-looking camera, the moving speed of the pixels obtained by analyzing frame data of different moments of images is converted into the flying speed of the unmanned aerial vehicle, and as the interior of a pipeline is usually a dark environment, a light source is required to be additionally added for light supplementing when the optical flow sensor is used.
Because the section in the pipeline is relatively regular round, the invention mainly utilizes the eight-direction laser sensor to obtain the relative position information of the unmanned aerial vehicle in the pipeline. The eight-direction laser sensor module consists of eight laser ranging sensors which are respectively arranged at different positions on the unmanned aerial vehicle as shown in fig. 3, wherein two laser sensors are arranged at the bottom and the top of the quadrotor unmanned aerial vehicle, and distance information of the quadrotor unmanned aerial vehicle from the bottom and the top of the pipeline is obtained; the other six laser sensors are uniformly distributed on one circle of the central section of the unmanned aerial vehicle, and the included angle between two adjacent laser sensors is 60 degrees.
Pixhawk underlying control board
The Pixhawk bottom control board is provided with a microcontroller, and an accelerometer, a gyroscope and a magnetometer sensor are integrated. The Pixhawk can acquire the original data acquired by the sensor system, and calculate the real position and posture information of the four-rotor unmanned aerial vehicle after processing. The Pixhawk is provided with a control algorithm, and control signals of four motors are output to an execution mechanism system, so that the unmanned aerial vehicle can realize autonomous control in a pipeline.
1.3. Actuator system
The actuating mechanism system of the pipeline detection unmanned aerial vehicle comprises an electronic speed regulator, a motor and paddles. The control signal obtained by calculation of the Pixhawk bottom control board is input to the electronic speed regulator, and the electronic speed regulator regulates the motor to rotate according to the control signal so as to drive the blade to rotate to generate lifting force. The four-rotor unmanned aerial vehicle adjusts the gesture of unmanned aerial vehicle through the rotational speed that changes four motors to the removal of control unmanned aerial vehicle.
1.4. Power supply system
The power supply system of the pipeline detection unmanned aerial vehicle adopts a lithium platinum battery. One path of the battery directly supplies power to the motor through the electric power regulator; the other path of the sensor is supplied to the Pixhawk bottom control board through the voltage reducing module to reduce the voltage to 5V, and the sensor is driven to work through a voltage output port of the bottom control board.
1.5. Manual operation system
The flight control of the quadrotor unmanned aerial vehicle outside the pipeline is controlled by a flying hand, and the flying hand sends a control instruction to the quadrotor unmanned aerial vehicle through a remote controller to control the unmanned aerial vehicle to fly into the pipeline. The unmanned aerial vehicle can independently execute the flight task in the pipeline, and after the unmanned aerial vehicle flies out of the pipeline, the flight hand can operate the four-rotor unmanned aerial vehicle to return to the appointed position through the remote controller.
2. Control software system in unmanned aerial vehicle pipeline
The invention builds an overall software system architecture aiming at the autonomous flight task of the four-rotor unmanned aerial vehicle in the pipeline, and comprises a positioning algorithm of the unmanned aerial vehicle in the pipeline, an autonomous flight program design in the pipeline and a four-rotor unmanned aerial vehicle control algorithm.
2.1. Pipeline internal positioning algorithm
For in-pipeline flight missionsA pipe coordinate system as shown in fig. 4 is established. The X axis is the axial direction of the pipeline, and the pipeline inlet points to the extending direction of the pipeline; the Y axis is positioned on a circular tangential plane at the inlet of the pipeline and is vertical to the X axis, and the right direction is the positive direction of the Y axis; the Z axis is vertical to the X, Y axis, and the vertical upward direction is the positive direction of the Z axis; the triaxial intersects at the origin O, and the origin O is located the circular tangent plane minimum point of pipeline entrance. Define unmanned aerial vehicle's position P= [ P ] under pipeline coordinate system x p y p z ]Speed v= [ V x v y v z ]。
2.1.1. Triaxial speed fusion algorithm
The optical flow sensor can calculate the speed of the object motion in a certain plane by using the pixel information of the adjacent frame images, and the accelerometer can detect the acceleration of the object motion and integrate the speed of the object motion. Therefore, the accelerometer sensor and the optical flow sensor which are mounted on the unmanned aerial vehicle can obtain the speed information under the axis of the unmanned aerial vehicle body. By V a ＝[v ax v ay v az ]Representing three-axis motion speed of unmanned aerial vehicle obtained by accelerometer by using V op ＝[v opx v opy ]And speed information representing the unmanned aerial vehicle moving in the XY plane, which is obtained by the optical flow sensor.
Defining the motion speed V [ k ] of the four-rotor unmanned aerial vehicle at time k along a pipeline coordinate system in a pipeline]＝[v x [k] v y [k] v z [k]]. The final movement speed of the quadrotor unmanned aerial vehicle in the XY direction in the pipeline is obtained by complementary filtering:
v x [k]＝v ax +c(v x [k-1]-v opx )
v y [k]＝v ay +c(v y [k-1]-v opy )
wherein c is the complementary filtering weight of the optical flow. The speed of the unmanned plane in the Z direction at the moment k is obtained by integrating the acceleration in the Z direction acquired by the accelerometer, namely v z [k]＝v az . Namely, the real-time speed of the unmanned aerial vehicle is V [ k ]]＝[v x [k] v y [k] v z [k]]The above is the real-time speed of the drone.
2.1.2. Triaxial positioning algorithm
The real-time position information of the four-rotor unmanned plane moving along the X direction is obtained by integrating the speed information of the X direction, namely p x ＝∫v x 。
As the unmanned aerial vehicle executes the flight task in the pipeline, the unmanned aerial vehicle mainly moves forward and backward along the X axis by changing the pitching angle. Because the pipeline is narrow, the rolling angle is not changed greatly in the whole task execution process and is always kept near 0 ℃, so that the real-time position information of the four-rotor unmanned aerial vehicle on the Y axis can be determined by laser sensors arranged on the left and right sides of the unmanned aerial vehicle, and d is used i Representing distance information measured by a laser ranging sensor numbered i, then there is: p is p y ＝d 3 -d 6 。
Considering that the pipeline is in a narrow environment and has a certain wind disturbance, when the quadrotor unmanned aerial vehicle makes flying motion in the pipeline, the condition of large attitude angle change does not occur, and the attitude of the quadrotor unmanned aerial vehicle relatively keeps a stable state, so that the height information of the quadrotor unmanned aerial vehicle in the pipeline (namely, the real-time position information of the quadrotor unmanned aerial vehicle on the Z axis) can be represented by the distance information measured by a lower laser sensor, namely, p z ＝d 2 。
2.2. Autonomous flight programming
The autonomous flight process of the quadrotor unmanned aerial vehicle in the pipeline mainly comprises three stages: a pipe inlet section, a pipe outlet section, and a pipe cruise section. The unmanned aerial vehicle executes different instructions at the three stages respectively, so that the whole flight inspection task is completed. The overall flight flow is shown in fig. 5, and the unmanned aerial vehicle is at a low speed (v 0 ) Advancing, when the unmanned aerial vehicle completely enters the pipeline, at a preset cruising speed v 1 Flying, when the unmanned aerial vehicle approaches to the pipeline outlet, the unmanned aerial vehicle is slowed down at a speed v 0 Flying out of the pipeline, wherein v 0 ＜v 1 。
When the unmanned aerial vehicle flies in the pipeline, besides the attitude angle information of the unmanned aerial vehicle, the yaw angle (shown in fig. 8) of the unmanned aerial vehicle relative to the pipeline advancing direction needs to be calculated additionally, and the calculation of the yaw angle is mainly calculated through a circle of laser data around the unmanned aerial vehicle.
2.2.1 control flow in unmanned aerial vehicle pipeline
The four rotor unmanned aerial vehicle is controlled by the flying hand and flies into the pipeline, after entering the pipeline, the upper laser and the left and right laser ranging sensors (1), (3) and (6) carried by the four rotor unmanned aerial vehicle detect and obtain the distance information of the unmanned aerial vehicle relative pipe wall, so that abrupt change can occur. By d th1 Indicating and judging laser information threshold value of the unmanned aerial vehicle entering the pipeline, when d 1 、d 3 、d 6 Are all smaller than d th1 And when the four-rotor unmanned aerial vehicle enters the pipeline, the four-rotor unmanned aerial vehicle is judged.
When the unmanned plane just enters the pipeline, the unmanned plane still protrudes out of the pipeline from the left rear laser sensor (4) and the right rear laser sensor (5) in a circle of laser around the unmanned plane because the unmanned plane does not completely enter the pipeline environment, namely d 4 、d 5 Is significantly larger than the remaining 4 laser data. By d th2 Indicating that the oblique laser data is judged to protrude out of the pipeline, d can be compared 4 、d 5 And d th2 And judging that the unmanned aerial vehicle is positioned at the pipeline inlet section.
Similarly, when the laser beam is positioned at the outlet section of the pipeline, the left front laser sensor (7) and the right front laser sensor (8) can firstly extend out of the pipeline in a circle of laser around the unmanned aerial vehicle. Thus when d 7 、d 8 Greater than d th2 And when the unmanned aerial vehicle is positioned at the pipeline outlet section, judging that the unmanned aerial vehicle is positioned at the pipeline outlet section.
And when d 1 、d 3 、d 6 Are all smaller than d th1 ，d 4 、d 5 、d 7 、d 8 Are all smaller than d th2 And when the unmanned aerial vehicle is positioned at the pipeline cruising section, the unmanned aerial vehicle flies forward in the pipeline at the preset cruising speed.
2.2.2 relative yaw calculation algorithm in unmanned aerial vehicle pipeline
Because the unmanned aerial vehicle mainly flies along the X axis in the pipeline, the unmanned aerial vehicle is enabled to fly along the pipeline direction in the pipeline, and the direction of the unmanned aerial vehicle is enabled to be consistent with the pipeline direction during flying, so that yaw information of the unmanned aerial vehicle relative to the pipeline direction is required. The laser around the unmanned plane can be calculated through the triangle relationYaw angle to relative duct of unmanned aerial vehicle
2.3. Four-rotor unmanned aerial vehicle control algorithm
The control system of the four-rotor unmanned aerial vehicle in the pipeline is a double closed-loop control system, and the control of the four-rotor unmanned aerial vehicle is divided into an inner ring module and an outer ring module. As shown in fig. 6, the outer ring is the position subsystem of the drone and the inner ring is the attitude subsystem of the drone.
PID control is adopted for the inner ring and the outer ring of the unmanned aerial vehicle. As shown in fig. 7, the outer loop control adopts a cascade PID control, which divides the PID controller into two stages, wherein the outer loop receives a desired position and an actual position, and outputs a desired speed required by the inner loop; the inner loop receives the desired speed and the actual speed V [ k ]]＝[v x [k] v y [k] v z [k]]The desired acceleration is output.
Defining the desired position P d ＝[y d z d ]Then the outer loop error E pos ＝[e y e z ]：
So that the outer loop control outputs the desired speed v d ＝[v yd v zd ]
Defining an inner loop error based on the calculated desired velocity of the outer loop and the given x-direction velocity
E vel ＝[e vx e vy e vz ]
From this the inner loop calculates the desired acceleration U by PID pos ＝[u x u y u z ]：
By control output of position ring, given desired yaw angleCan be reversely solved to obtain the expected pitch angle theta d And roll angle phi d I.e. the inverse solution yields the desired attitude angle of the inner ring:
since the yaw angle of the unmanned aerial vehicle in the pipeline is the relative yaw angle calculated by the multi-directional laser, the expected yaw angle is known from the above
PID control is adopted in unmanned aerial vehicle inner ring attitude control, and finally control quantity U= [ U ] of unmanned aerial vehicle output is adopted 1 U 2 U 3 U 4 ]Four control amounts respectively corresponding to the height, the roll angle phi, the pitch angle theta and the yaw angleControl instruction of (2)Error of sense loop
Thereby obtaining the control output of the controller as follows:
U 1 ＝u z
wherein u is z In the event of a height control instruction,k φp 、k θp 、/>the proportional coefficients of the rolling angle, the pitch angle and the yaw angle are respectively used for carrying out proportional amplification or reduction on the output according to the magnitude of the error, and k φd 、k θd 、/>Differential coefficients for controlling roll angle, pitch angle and yaw angle respectively, for differentially amplifying or reducing the output according to the magnitude of the error change rate, k φi 、k θi 、/>The integral coefficients of the roll, pitch and yaw control, respectively, are used to eliminate static errors of the system by accumulating errors.
According to the method provided by the invention, in a narrow pipeline environment refused by a GPS, data of an optical flow, an inertial measurement unit and a plurality of laser range finders are fused, so that the unmanned aerial vehicle can independently fly in a pipeline with the diameter smaller than 600 mm.
The embodiment of the invention provides an autonomous positioning and controlling system in a narrow pipeline of a four-rotor unmanned aerial vehicle, which comprises the following components:
the sensor module comprises eight laser ranging sensors, an optical flow sensor, an accelerometer, a gyroscope and a magnetometer;
the six laser ranging sensors are uniformly distributed around the central section of the unmanned aerial vehicle and are used for collecting the relative position information of the unmanned aerial vehicle in the pipeline;
the optical flow sensor and the acceleration sensor are respectively arranged at the bottom and the gravity center of the unmanned aerial vehicle and are respectively used for acquiring first speed information and second speed information of the unmanned aerial vehicle so as to determine the real-time speed of the unmanned aerial vehicle;
the gyroscope is used for collecting real-time pitch angle and roll angle of the unmanned aerial vehicle;
the magnetometer is used for collecting the real-time yaw angle of the unmanned aerial vehicle together with the gyroscope before the unmanned aerial vehicle enters the pipeline or after the unmanned aerial vehicle leaves the pipeline; it will be appreciated that the drone is in an outdoor environment either before flying into the duct or after flying out of the duct, at which point the real-time yaw angle of the drone is co-confirmed by the magnetometer with the gyroscope.
A controller for performing the method as in any one of the embodiments above;
further, the controller comprises a first processing module and a second processing module, wherein the first processing module is used for positioning the unmanned aerial vehicle based on a laser ranging principle under a pipeline coordinate system; the second processing module is used for entering by using the acquired real-time information and expected information of the unmanned aerial vehicle when the unmanned aerial vehicle is positioned in the pipeline cruising sectionPerforming double closed-loop control to obtain a control instruction U of the unmanned aerial vehicle in the Z-axis direction, namely the height, the rolling angle, the pitch angle and the yaw angle 1 ，U 2 ，U 3 ，U 4 ；
Wherein the real-time information includes: real-time position y, z of unmanned aerial vehicle at Y, Z axis, real-time speed v at X, Y, Z axis x 、v y 、v z Real-time yaw anglePitch angle θ and roll angle Φ; the pipeline coordinate system takes the axial direction of a pipeline as an X axis and the radial direction of the end face of an inlet of the pipeline as a Z axis; the desired information includes: desired position y of unmanned aerial vehicle at Y, Z axis d 、z d Desired velocity v in X-axis xd And a desired yaw angle relative to the direction of advance of the duct>
The double closed-loop control comprises outer ring position control, gesture inverse solution and inner ring gesture control; the outer ring position is controlled to be y d 、z d Y, z are input, output U 1 And a desired acceleration u in the X, Y axial direction x And u y The method comprises the steps of carrying out a first treatment on the surface of the The gesture is inversely solved according tou x And u y Inverse solution to obtain the desired pitch angle θ d And roll angle phi d The method comprises the steps of carrying out a first treatment on the surface of the The inner ring posture is controlled to be +.>θ、φ、/>θ d And phi d For input, output U 2 ，U 3 ，U 4 。
The embodiment of the invention provides an autonomous positioning and controlling system in a narrow pipeline of a four-rotor unmanned aerial vehicle, which comprises the following components: a computer readable storage medium and a processor;
the computer-readable storage medium is for storing executable instructions;
the processor is configured to read executable instructions stored in the computer readable storage medium and perform a method as in any of the embodiments described above.
An embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium stores computer instructions for causing a processor to implement a method according to any of the foregoing embodiments when executed.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. An autonomous positioning and controlling method in a narrow pipeline of a four-rotor unmanned aerial vehicle is characterized by comprising the following steps:
s1, positioning an unmanned aerial vehicle based on a laser ranging principle under a pipeline coordinate system;
s2, when the unmanned aerial vehicle is located in a pipeline cruising section, performing double closed-loop control by using the acquired real-time information and expected information of the unmanned aerial vehicle to obtain a control instruction U of the height, the rolling angle, the pitch angle and the yaw angle of the unmanned aerial vehicle in the Z-axis direction 1 ，U 2 ，U 3 ，U 4 ；
Wherein the real-time information includes: real-time position y, z of unmanned aerial vehicle at Y, Z axis, real-time speed v at X, Y, Z axis x 、v y 、v z Real-time yaw anglePitch angle θ and roll angle Φ; the pipeline coordinate system takes the axial direction of a pipeline as an X axis and the radial direction of the end face of an inlet of the pipeline as a Z axis; the desired information includes: desired position y of unmanned aerial vehicle at Y, Z axis d 、z d Desired velocity v in X-axis xd And a desired yaw angle relative to the direction of advance of the duct>
The double closed-loop control comprises outer ring position control, gesture inverse solution and inner ring gesture control; the outer ring position is controlled by y d 、z d Y, z are input, output U 1 And a desired acceleration u in the X, Y axial direction x And u y The method comprises the steps of carrying out a first treatment on the surface of the The gesture is inversely solved according tou x And u y Inverse solution to obtain the desired pitch angle θ d And roll angle phi d The method comprises the steps of carrying out a first treatment on the surface of the The inner ring posture is controlled to be +.>θ、φ、/>θ d And phi d For input, output U 2 ，U 3 ，U 4 。
2. The method of claim 1, wherein the desired position Y of the drone in the Y-axis when the conduit coordinate system is at the origin of the lowest point of the conduit inlet face d =0, at the desired position Z of the Z-axis d R, desired yaw angle
3. The method of claim 1, wherein the outer loop position control and the inner loop attitude control each employ PID control.
4. The method of claim 3, wherein,
U 1 ＝u z
wherein u is z In the event of a height control instruction,k φp 、k θp 、/>the proportional coefficients of real-time roll angle, pitch angle and yaw angle control are respectively adopted; k (k) φd 、k θd 、/>Differential coefficients for real-time roll angle, pitch angle and yaw angle control respectively; k (k) φi 、k θi 、/>The integral coefficients of the real-time roll angle, pitch angle and yaw angle control are respectively.
5. The method of claim 1, wherein the drone is considered to be in a pipe cruise section when the following three conditions are met;
first condition: d, d 1 、d 3 、d 6 Are all smaller than d th1 ；
Second condition: d, d 4 、d 5 Are all smaller than d th2 ；
Third condition: d, d 7 、d 8 Are all smaller than d th2 ；
Wherein d 1 、d 2 Data acquired by laser ranging sensors distributed at the top center and the bottom center of the unmanned aerial vehicle respectively, d 3 、d 4 、d 5 、d 6 、d 7 、d 8 D, respectively, uniformly distributing data acquired by six laser ranging sensors around the central section of the unmanned aerial vehicle th1 、d th2 The first threshold value and the second threshold value are respectively.
6. The method according to claim 5, wherein when only the first condition and the second condition are satisfied, then the unmanned aerial vehicle is considered to be located at the pipe cruise inlet section, and the desired speed v in the X-axis direction is set xd ＝v 0 ；
When only the first condition and the third condition are satisfied, the unmanned aerial vehicle is considered to be positioned at the pipeline cruising inlet section, and the expected speed v in the X-axis direction is set xd ＝v 0 ；
Wherein v is 0 ＜v xd 。
7. The method of claim 5, wherein the real-time yaw angle of the droneThe real-time positions y and z on the Y, Z axis are calculated according to the following formulas:
y＝d 6 -d 3 ；
z＝d 2 。
8. an autonomous positioning and control system in a narrow duct of a quad-rotor unmanned helicopter, comprising:
the sensor module comprises eight laser ranging sensors, an optical flow sensor, an accelerometer, a gyroscope and a magnetometer;
the six laser ranging sensors are uniformly distributed around the central section of the unmanned aerial vehicle and are used for collecting the relative position information of the unmanned aerial vehicle in the pipeline;
the optical flow sensor and the acceleration sensor are respectively arranged at the bottom and the gravity center of the unmanned aerial vehicle and are respectively used for acquiring first speed information and second speed information of the unmanned aerial vehicle so as to determine the real-time speed of the unmanned aerial vehicle;
the gyroscope is used for collecting real-time pitch angle and roll angle of the unmanned aerial vehicle;
the magnetometer is used for jointly confirming the real-time yaw angle of the unmanned aerial vehicle with the gyroscope before the unmanned aerial vehicle enters the pipeline or after the unmanned aerial vehicle leaves the pipeline;
a controller for performing the method of any one of claims 1-7.
9. An autonomous positioning and control system in a narrow duct of a quad-rotor unmanned helicopter, comprising: a computer readable storage medium and a processor;
the computer-readable storage medium is for storing executable instructions;
the processor is configured to read executable instructions stored in the computer readable storage medium and perform the method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the method of any one of claims 1-7.
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