CN106094849A - Four-rotor aircraft control system and control method for farm autonomous management - Google Patents

Abstract

The present invention relates to a kind of four-rotor aircraft control system for farm autonomous management and control method, the scope on operation farm and setting invader's information are sent quadrotor by GPRS network by intelligent mobile terminal, quadrotor obtains position, region of search by the GPS module carried and performs aerial mission, and utilizing the voice module carried to play stimulates sound wave to threaten setting invader.In task process, quadrotor gathers view data and wireless is sent to ground control centre, ground control centre by image procossing obtain quadrotor real time position and with the relative attitude data of invader, by GPRS network, flight guiding data are delivered to quadrotor be allowed to close to invader and play stimulation sound wave, until invader expels operation farm scope.In the case of realizing non-intervention, identify, follow the tracks of and expel the birds being hidden under crop.Can be widely used for large-scale farm, airport etc. and need automatically to drive the scene of the invaders such as birds.

Description

Four-rotor aircraft control system and control method for farm autonomous management

Technical field

The present invention relates to a kind of control system, control particularly to a kind of quadrotor for farm autonomous management System and control method.

Background technology

Along with science and technology and social development, traditional agriculture is just accelerating transition, forms farm of certain scale in the future.Greatly There is the phenomenon of the animal such as birds, domestic animal " invasion destroys " in type farm, salary earner carries out inspection every day and there is cost height, patrols Ablepsia point is many, make an inspection tour the shortcomings such as cycle length.Therefore, quadrotor is used to replace manually being monitored, go on patrol, intervene and driving By, it is achieved farm is non-intervenes the inexorable trend that management is modern agricultural development.At present, domestic this type of patent that there is no discloses.

Summary of the invention

The present invention be directed to the problem of bird damage crop present in farm, it is proposed that a kind of manage independently for farm Four-rotor aircraft control system and control method, identify in the case of being used for realizing non-intervention, follow the tracks of and expulsion is hidden in work Birds under thing.

The technical scheme is that a kind of four-rotor aircraft control system for farm autonomous management, including four Rotor craft and remotely control subsystem, flight subsystem, detects and expels subsystem to be contained on quadrotor, Flight subsystem includes embedded microcontroller, the 2 pairs of propeller motors, GPRS network, GPS module and inertia measurement list Unit, detects and expels subsystem to include photographic head, voice module and 5.8GHz image transmission module, remotely controls subsystem and includes Image receiver module, ground control centre and intelligent mobile terminal；

The scope on operation farm and setting invader's information are sent four rotor flyings by GPRS network by intelligent mobile terminal Embedded microcontroller in device, the view data of camera collection uses wireless transmission method by 5.8GHz image transmission module Sending, image receiver module deliver to ground control centre after receiving, ground control centre obtains four rotors by image procossing Flight guiding data are delivered to four rotations by GPRS network by the real time position of aircraft and the relative attitude data of setting invader Rotor aircraft, in quadrotor, embedded microcontroller controls 2 and propeller motor carries out flight guiding, four rotor flyings Device obtains position, region of search by GPS module and send embedded microcontroller, and the embedded microcontroller number of delivering letters is to detecting and drives By subsystem, controlling photographic head and be acquired image, controlling voice module broadcasting stimulates sound wave to threaten setting invader；

Inertial Measurement Unit measures acceleration and angular velocity send embedded microcontroller, and embedded microcontroller is according to filtering Carry out attitude fusion after processing with attitude algorithm and export PWM ripple to motor, in the way of this controls the rotating speed of four motors Changing the attitude of four rotors, ultrasonic signal send embedded microcontroller, and embedded microcontroller is according to ultrasonic ranging principle Control the aircraft flying height when searching for target.

Described embedded microcontroller uses the double cas PID control of two-layer to carry out target following, position PID as outer shroud, Attitude PID is internal ring, and control object is motor speed, it is desirable to position is that ground control centre is according to the video data meter received The flight calculated and send guides data, comprises tracked target and the horizontal displacement of quadrotor, phase under world coordinate system Hope that position and physical location feedback signal difference send outer shroud PID, outer shroud PID output to send attitude PID, appearance after comparing with current pose State PID is output as following the tracks of signal, and then changes the attitude of four rotors self by controlling the rotating speed of four motors, it is achieved to mesh Target is followed the tracks of continuously.

Described embedded microcontroller uses the double cas PID control of two-layer to carry out operation domain search, and position PID is as outward Ring, highly PID are as internal ring, and region of search center point coordinate is as desired locations, it is desirable to position is moved with physical location feedback signal Difference send outer shroud PID, outer shroud PID output to send height PID, highly PID to be output as search and track signal, no after comparing with present level Disconnected correction quadrotor attitude, progressively close to desired locations.

Described ground control centre is identified setting invader and tracking comprises the steps of

1.: quadrotor airborne camera collection image also wirelessly sends；

2.: the earth station PC end software obtaining step of remote control center video image 1.；

3.: carry out image procossing, it is achieved feature point extraction and the characteristic matching to image；

4.: target recognition, frame difference method is utilized to extract moving target and carry out binaryzation and dilation erosion process；

5.: target following, particle filter algorithm is used with strong tracking Kalman filter algorithm, target to be tracked；

6.: by GPRS network, step tracking coordinate 5. is sent to embedded microcontroller；

7.: embedded microcontroller receiving step data 6. also control the rotating speed of motor to change attitude, thus to fortune Dynamic target is followed the tracks of continuously.

The beneficial effects of the present invention is: the present invention is used for four-rotor aircraft control system and the control of farm autonomous management Method processed, can identify, follows the tracks of and expel " invaders " such as farm birds to include the birds being hidden under crop, whole work automatically Process is without manual operation intervention.Largely save human cost and time, there is preferable practicality and convenience. Can be widely used for large-scale farm, airport etc. and need automatically to drive the scene of " invaders " such as birds.

Accompanying drawing explanation

Fig. 1 is the four-rotor aircraft control system structural representation that the present invention manages independently for farm；

Fig. 2 is the target following PID controller schematic diagram that aircraft of the present invention uses when following the tracks of target；

Fig. 3 is quadrotor gesture stability PID controller schematic diagram of the present invention；

Fig. 4 is photographic head perspective imaging model figure of the present invention；

Fig. 5 is the operation domain search PID controller schematic diagram that aircraft of the present invention uses when operation domain search target；

Fig. 6 is the flow chart that target is identified and follows the tracks of by earth station of the present invention PC end.

Detailed description of the invention

As shown in Figure 1 for the four-rotor aircraft control system structural representation of farm autonomous management, including four rotors Aircraft and remotely control subsystem, flight subsystem, detects and expels subsystem to be contained on quadrotor, flight Control subsystem and include that embedded microcontroller (flight control center), the 2 pairs of propellers, GPRS network, GPS module and inertia are surveyed Amount unit, detects and expels subsystem to include photographic head, voice module and 5.8GHz image transmission module, remotely control subsystem Including image receiver module, ground control centre and intelligent mobile terminal, wherein, described flight subsystem completes four rotors The aerial statue of aircraft controls, flight guides and searching position controls, and described detecting and expulsion subsystem are for " invader " Finding, follow the trail of and expel, described long-range control subsystem is that user side controls equipment, determines the scope on operation farm for user And remotely control quadrotor operation process.Inertial Measurement Unit measures acceleration and angular velocity send embedded microcontroller Device, embedded microcontroller carries out attitude fusion and exports PWM ripple to motor, with this after processing according to filtering and attitude algorithm Control 2 changes the attitude of four rotors to the mode of the rotating speed of four motors of propeller, and ultrasonic signal send embedded microcontroller, Embedded microcontroller controls the aircraft flying height when searching for target according to ultrasonic ranging principle.

In such scheme, described flight subsystem utilizes and uses two-layer tandem closed loop control method to realize institute State the control of 2 pairs of propeller motors, it is achieved stablizing of flight attitude；The view data of described camera collection is by described 5.8GHz image transmission module uses wireless transmission method that image is delivered to described ground control centre, described ground control centre By image procossing obtain described quadrotor real time position and with the relative attitude data of " invader ", and pass through Flight guiding data are delivered to described quadrotor and are carried out flight guiding by GPRS network；Described quadrotor utilizes GPS module obtains current search position, and utilization determines next one region of search, farm.

In such scheme, described detecting and expulsion subsystem utilize described ground control station to described camera collection View data process, the birds such as Passeris montani saturati " invader " are identified, and, send out to affiliated flight control system through GPRS Sending and utilizing described voice module to play stimulates sound wave to threaten " invader ", reaches to expel effect.

In such scheme, intelligent mobile terminal by the scope on operation farm and sets invader's information by GPRS network Quadrotor in quadrotor, the described subsystem that remotely controls is sent to utilize described intelligent mobile phone terminal on map Determining the scope on operation farm, and initiating task task, described quadrotor starts and flies to appointment after reception task Farm, in operation process, described intelligent mobile phone terminal may utilize GPRS network and sends four rotor flyings described in order remote interrupt The task of device is also maked a return voyage.

In such scheme, described quadrotor, operation domain search, " invasion " identify and follow the tracks of and expulsion process Automatically carry out, it is not necessary to human intervention and manipulation.

In such scheme, described operation domain search method, including following step:

1, described quadrotor arrives behind operation farm, according to the task data stored, including treating operation farm Shape and area data, carry out Optimal calculation, determine number and the geographical coordinate position of region of search central point of region of search；

2, use described carry-on ultrasonic sensor, set its flying height as away from crop 50 centimeters；

3, described aircraft prepares flight, and arrives first region of search central point；

4, obtain described camera image information and be sent to ground control station in real time, starting described voice module playback merit Can, send stimulation sound wave and realize expelling effect in advance；

If 5 have the moving objects such as Passeris montani saturati to fly out, by ground control station identification, " invasion " method for tracking target is used to carry out Following the tracks of, whole playback process lasts till that tracked target exceedes border, farm；

6, step 2～5 is repeated until search procedure covers whole operation territory.

In such scheme, described " invasion " method for tracking target, including following step:

1, ground control station receives image information；

2, target is tracked by target tracking algorism based on particle filter and Kalman filtering, and predict target next The secondary position being likely to occur；

3, send flight by GPRS network and guide data, comprise the tracked target expectation angle of pitch and roll angle；

4, the data that aircraft receiving step 4 sends, are consisted of target following PID controller and attitude PID controller Two-layer cascade controller constantly revise the attitude of aircraft；

5, above step is repeated, until target leaves border, farm.

Fig. 2 is the target following PID controller schematic diagram that aircraft uses when following the tracks of target, and target following PID controls Device is made up of the double cascade controller of two-layer, and position PID is as outer shroud, and attitude PID is that internal ring together constitutes target following control Device, it is desirable to position is that ground control centre guides data (to contain according to the flight that the video data calculating and sending received is sent Tracked target and the horizontal displacement of four rotors under world coordinate system), it is desirable to position is passed through with physical location feedback signal moment Send internal ring attitude PID after outer shroud PID, after comparing with current pose, send attitude PID, attitude PID to be output as following the tracks of signal, attitude control Applying angular velocity in system as internal ring, angle is as the cas PID control of outer shroud.

Fig. 3 is quadrotor gesture stability PID controller schematic diagram, and this PID controller is by the double serials control of two-layer Device forms, and angle PID is as outer shroud, and angular velocity PID is internal ring.Expect that attitude angle is tried to achieve according to formula (4), (5).

Fig. 4 is photographic head perspective imaging model, according to the conversion relational expression between world coordinate system and camera coordinate system With photo-geometry knowledge, target horizontal relative displacement coordinate between the location of pixels and target and aircraft of the plane of delineation becomes Change formula:

$\left(\begin{array}{c}x\\ y\end{array}\right)=\left(\begin{array}{c}{u}_i\·h\cos \mathrm{\β}\cos \mathrm{\θ}/f\sin (\mathrm{\β}+\mathrm{\θ})\\ h\cos \mathrm{\θ}\cos \mathrm{\θ}/\sin (\mathrm{\β}+\mathrm{\θ})\end{array}\right)---\left(1\right)$

$\mathrm{\θ}={\tan }^{-1}\frac{v_i-v_0}{f}---\left(2\right)$

Wherein, x, y are horizontal displacement (target is to the distance of aircraft on two dimensional surface), and h is for be measured by ultrasound Aircraft present level, β is the angle of pitch of photographic head, and θ is the angle between image line and camera lens optical axis, (u_i, v_i) it is picture Vegetarian refreshments position in plane of delineation coordinate system, (u₀, v₀) it is the zero in image pixel coordinates system.If each pixel It is u=[u that physical size in x-axis with y-axis is respectively dx and dy, position PID expectation input_x u_y u_z]^T, then through position PID calculates to be had:

${\left(\begin{array}{ccc}{u}_x& u_y& u_z\end{array}\right)}^T=h_0\left(\begin{array}{c}{\mathrm{sin\ψ}}_d{\mathrm{sin\γ}}_d+{\mathrm{cos\ψ}}_d{\mathrm{sin\θ}}_d{\mathrm{cos\γ}}_d\\ -{\mathrm{cos\ψ}}_d{\mathrm{sin\ψ}}_d+{\mathrm{sin\ψ}}_d{\mathrm{sin\θ}}_d{\mathrm{cos\ψ}}_d\\ {\mathrm{cos\θ}}_d{\mathrm{cos\γ}}_d\end{array}\right)---\left(3\right)$

Wherein, θ_d, γ_d, Ψ_dIt is respectively attitude PID expectation input attitude angle (angle of pitch, roll angle, yaw angle), h₀For u Distance to initial point.

Then obtain attitude PID expectation attitude angle θ_dAnd γ_d:

γ_d=sin^-1[(u_x sinψ_d-u_y cosψ_d)/h₀] (4)

θ_d=sin^-1[(u_xcosψ_d-u_ysinψ_d)(cosγ_d)0.5/h₀] (5)

Fig. 5 is the operation domain search PID controller schematic diagram that aircraft uses when operation domain search target, and operation territory is searched Rope PID controller is made up of cascade controller, and position PID is as outer shroud, and highly PID together constitutes operation territory as internal ring and searches Rope controller.Region of search center point coordinate is as desired locations, after PID controller, constantly revises attitude of flight vehicle so that it is Progressively close to desired locations.

Using operation domain search method when scanning for the birds etc. being hidden under crop, the method mainly includes following Several steps:

Step is 1.: uses ultrasonic wave module range finding (in the present embodiment, ultrasonic wave module model is HC-SR04), utilizes formula S=(E_hC)/2, in formula, s is for measuring distance (m), E_hFor high level lasting time, (persistent period of high level is exactly ultrasound wave Time from being transmitted into return), c is the velocity of sound (340m/s), controls the aircraft flying height when searching for target；

Step is 2.: assuming first that the square s that farm is rule, its length of side is m, is uniformly divided into n region of search (n₁₁, n₁₂, n₁₃...), represent with A matrix:

In formula, n=N²。

Step is 3.: this region square is made up of a series of, and its length of side is m/n.Owing to detecting in each region one by one The substantial amounts of time can be wasted and the energy content of battery carried of four rotors is limited, it is contemplated that the environmental change of periphery is compared by birds etc. Sensitivity, as long as therefore disturbing at a zone line, then influences whether the region on both sides.Concretely comprise the following steps:

(1) boundary point is rejected, actual search matrix A °:

In formula, u is uncertainty node, n_ij(i=2,3,4 ..., j=2,4,6 ...) it is the region unit divided；

(2) searching matrix s is simplified^A:

$s^A=\left[\begin{array}{cccc}{n}_{22}& n_{24}& ...& n_{2\left(2N\right)}\\ n_{42}& n_{44}& ...& n_{4\left(2N\right)}\\ .& .& .& .\\ .& .& .& .\\ .& .& .& .\\ n_{2N2}& n_{2N4}& ...& n_{2N\left(2N\right)}\end{array}\right]$

(3) serpentine arrangement the most from top to bottom, extracts matrix S respectively^AElement.

With n₂₂Search step is described in detail as a example by this point.

From matrix S₁It can be seen that n₂₂Have impact on four points of periphery, use symbolRepresent.If appointed in these four points Anticipate and find target at one, then expel.Owing to birds have group activity behavior, certain region has activity to influence whether other The activity of region birds, thus be excluded that some n₁₁、n₁₃、n₃₁、n₃₃.Scan for target in this approach, be therefore actually needed detection Region can be reduced to N²/₉.Hypothesis district n₁₂There is expulsion target (P₁), then four rotors arrive region n₁₂At effective depth, now Four rotor hoverings, are approximately fixed point.Then blow a whistle interference, utilize frame difference method to region n₁₂Detect.If there being expulsion mesh Mark (P₁) fly out, mobile object can be detected, it is tracked until this target leaves S region, to prevent (P₁) flee from n₁₂ Again arrive n_ij(i ≠ 1, j ≠ 2)；If being now not detected by (P₁), then continue n₄₄Scan for, repeat above step, After complete the search in whole S territory.

Fig. 6 is the flow chart that target is identified and follows the tracks of by center, ground PC end, should " invasion " method for tracking target bag Contain following steps:

Step is 1.: air craft carried camera collection image also wirelessly sends；

Step is 2.: the earth station PC end software of remote control center obtains video image 1.；

Step is 3.: carry out image procossing, it is achieved feature point extraction and the characteristic matching to image；

Step is 4.: target recognition, utilizes frame difference method to extract moving target and carries out binaryzation and dilation erosion processes；

Step is 5.: target following, uses particle filter algorithm to be tracked target with strong tracking Kalman filter algorithm；

Step is 6.: by GPRS, tracking coordinate 5. is sent to embedded microcontroller；

Step is 7.: embedded microcontroller receives data 6. and controls the rotating speed of motor to change attitude, thus to fortune Dynamic target is followed the tracks of continuously.

Claims (4)

1. the four-rotor aircraft control system for farm autonomous management, it is characterised in that include quadrotor Remotely controlling subsystem, flight subsystem, detect and expel subsystem to be contained on quadrotor, flight controls son System includes embedded microcontroller, the 2 pairs of propeller motors, GPRS network, GPS module and Inertial Measurement Unit, detects and drives Include photographic head, voice module and 5.8GHz image transmission module by subsystem, remotely control subsystem and include image-receptive mould Block, ground control centre and intelligent mobile terminal；

The scope on operation farm and setting invader's information are sent in quadrotor by intelligent mobile terminal by GPRS network Embedded microcontroller, the view data of camera collection uses wireless transmission method to send by 5.8GHz image transmission module Going out, image receiver module deliver to ground control centre after receiving, ground control centre obtains four rotors by image procossing and flies Flight guiding data are delivered to four rotors by GPRS network by the real time position of row device and the relative attitude data of setting invader Aircraft, in quadrotor, embedded microcontroller controls 2 and propeller motor carries out flight guiding, quadrotor Obtain position, region of search by GPS module and send embedded microcontroller, the embedded microcontroller number of delivering letters to detecting and expulsion Subsystem, controls photographic head and is acquired image, and controlling voice module broadcasting stimulates sound wave to threaten setting invader；

Inertial Measurement Unit measures acceleration and angular velocity send embedded microcontroller, and embedded microcontroller is according to filtering and appearance State resolving carries out attitude fusion and exports PWM ripple to motor after processing, change in the way of this controls the rotating speed of four motors The attitude of four rotors, ultrasonic signal send embedded microcontroller, and embedded microcontroller controls according to ultrasonic ranging principle The aircraft flying height when searching for target.

The control method of the four-rotor aircraft control system managed independently for farm the most according to claim 1, it is special Levying and be, described embedded microcontroller uses the double cas PID control of two-layer to carry out target following, and position PID is as outer shroud, appearance State PID is internal ring, and control object is motor speed, it is desirable to position is that ground control centre calculates according to the video data received And the flight sent guides data, comprise tracked target and the horizontal displacement of quadrotor under world coordinate system, it is desirable to Position and physical location feedback signal difference send outer shroud PID, outer shroud PID output to send attitude PID, attitude after comparing with current pose PID is output as following the tracks of signal, and then changes the attitude of four rotors self by controlling the rotating speed of four motors, it is achieved to target Continuous tracking.

State the control method of the four-rotor aircraft control system managed independently for farm the most according to claim 1, its Being characterised by, described embedded microcontroller uses the double cas PID control of two-layer to carry out operation domain search, and position PID is as outward Ring, highly PID are as internal ring, and region of search center point coordinate is as desired locations, it is desirable to position is moved with physical location feedback signal Difference send outer shroud PID, outer shroud PID output to send height PID, highly PID to be output as search and track signal, no after comparing with present level Disconnected correction quadrotor attitude, progressively close to desired locations.

State the control method of the four-rotor aircraft control system managed independently for farm the most according to claim 1, its Being characterised by, described ground control centre is identified setting invader and tracking comprises the steps of

1.: quadrotor airborne camera collection image also wirelessly sends；

2.: the earth station PC end software obtaining step of remote control center video image 1.；

3.: carry out image procossing, it is achieved feature point extraction and the characteristic matching to image；

4.: target recognition, frame difference method is utilized to extract moving target and carry out binaryzation and dilation erosion process；

5.: target following, particle filter algorithm is used with strong tracking Kalman filter algorithm, target to be tracked；

6.: by GPRS network, step tracking coordinate 5. is sent to embedded microcontroller；

7.: embedded microcontroller receiving step data 6. also control the rotating speed of motor to change attitude, thus to motion Target is followed the tracks of continuously.