CN107463181A - A kind of quadrotor self-adoptive trace system based on AprilTag - Google Patents
A kind of quadrotor self-adoptive trace system based on AprilTag Download PDFInfo
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- CN107463181A CN107463181A CN201710763117.9A CN201710763117A CN107463181A CN 107463181 A CN107463181 A CN 107463181A CN 201710763117 A CN201710763117 A CN 201710763117A CN 107463181 A CN107463181 A CN 107463181A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 11
- 230000009187 flying Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 3
- 230000002547 anomalous effect Effects 0.000 claims description 2
- 238000000465 moulding Methods 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 230000004044 response Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000010006 flight Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 208000028752 abnormal posture Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of quadrotor self-adoptive trace system based on AprilTag, is made up of flight control modules, IMAQ analysis module and tracking target；Flight control modules by flight controller, core controller and many attitude sensor group into；IMAQ analysis module includes camera module, image processor；Tracking target carries AprilTag and indicates and post up above the fold.After camera module collects a two field picture, by image transmitting to image processor, after image procossing is using AprilTag recognizers analyzing and processing, the tracking target three dimensional local information recognized is sent to core controller, after core controller is computed processing, corresponding flare maneuver control command, which is sent to flight controller, the latter, controls quadrotor to make corresponding flare maneuver.The present invention is applied to, using autonomous quadrotor as plurality of application scenes such as the tracking of carrier, monitoring, improve the precision of aircraft tenacious tracking, achievable automatic Pilot.
Description
Technical field
The invention belongs to find the control technology field of target, more particularly to a kind of four rotor flyings based on AprilTag
Device self-adoptive trace system.
Background technology
AprilTag is a kind of vision positioning method positioned based on Quick Response Code road sign developed in recent years, it
Accurate three-dimensional position, direction and the tag ID of the two-dimension code label relative to camera can be calculated.AprilTag algorithms
Main flow is as follows：The coloured image containing two-dimension code label for camera shooting is inputted, image is filtered, denoising,
The gradient of pixel is calculated to cluster extraction edge, fitting edge line, points to the vector in clear zone, opposite side from dark space for edge line addition
Edge line is attached to obtain quad loops, differentiates quad loops and is decoded, identify Quick Response Code ID and the anglec of rotation, obtains
Camera parameter, builds the PnP equations of pose data, and solution obtains pose of the Quick Response Code coordinate system in photo coordinate system.
The output of AprilTag algorithms is position and posture of the Quick Response Code coordinate system being calculated in photo coordinate system.At present
AprilTag plays a significant role in Multi-Agent Cooperation, indoor positioning.
At present, the exploitation to small-sized quadrotor belongs to the hot issue of automation field, quadrotor
Also have been widely used for taking photo by plane, track, search and rescue, the numerous areas such as amusement.Quadrotor relies on its outstanding flexibility
Energy, the flying speed of elasticity and the good flight visual field, there is natural advantage in mobile object tracking.However, four rotors
Aircraft because its structure is complex, do not fix by state of flight, larger from the difficulty of motion tracking mobile object.Its primary limitation
It is, for the automatic quadrotor for performing tracing task, when it is tracked, target travel window is big, and change in location is fast, and
It is simple by object color component, shape identification when its tracking strategy lose target easily by Environmental Noise Influence.
The content of the invention
Present invention aims at provide a kind of quadrotor self-adoptive trace system based on AprilTag, the system
Realize and AprilTag is identified by carry-on special camera module and obtains relative three dimensional local information, pass through machine
Carry flight master control borad and automatically adjust state of flight, reach and the stable of specific objective is followed the trail of.The present invention is applied to autonomous four rotations
Rotor aircraft is the plurality of application scenes such as the tracking of carrier, monitoring, improves aircraft tenacious tracking ability.
The technical solution adopted for the present invention to solve the technical problems is a kind of quadrotor based on AprilTag
Self-adoptive trace system, the system are made up of flight control modules, IMAQ analysis module and tracking target；Flight control mould
Block by flight controller, core controller and many attitude sensor group into；IMAQ analysis module include camera module,
Image processor；Tracking target carries AprilTag and indicates and post up above the fold；When camera module collects a frame figure
As after, by image transmitting to image processor, after image procossing uses AprilTag recognizers analyzing and processing, by what is recognized
Tracking target three dimensional local information is sent to core controller, after core controller is computed processing, by corresponding flare maneuver control
System order sends to flight controller, flight controller control quadrotor and makes corresponding flare maneuver, follow the trail of target,
Meanwhile core controller receives attitude information, the obstacle position information that many attitude sensor returns, and flight is adjusted with this
Action, automatic obstacle-avoiding, complete control overall process.
Further, above-mentioned IMAQ analysis module includes AprilTag image according to a frame, it is possible to sends and chases after
Relative dimensional coordinate position, relative rotation angle and AprilTag numberings between track target.
Further, above-mentioned quadrotor can set two kinds of offline mode：One kind is tracking pattern, four rotor flyings
Device keeps the relative position between tracking target to be fluctuated in a small range；Another kind is hovering pattern, and quadrotor is protected
It is constant to hold height, course angle, standard of fuselage, locus is constant.
Further, it is above-mentioned to fly for detection quadrotor current pose and Obstacle Position, correction quadrotor
Row state and automatic obstacle-avoiding can configure the attitude transducer of comprehensive GPS, electronic compass, gyroscope, barometer, sonar.
Further, the above-mentioned AprilTag that can be carried respectively to multiple targets, which is numbered, identifies and distinguishes between, and can set
Determine specific tracking target.
Further, it is above-mentioned when flying height anomalous variation occurs, or during aircraft long-time loss target, can force
Hovering pattern is switched to, actively protects quadrotor.
Further, above-mentioned after being tracked target and stopping being moved to certain time, quadrotor can be hung down
Directly stable accurate landing.
Further, the flight control command that above-mentioned flight controller is received arises directly from core controller, core control
The foundation that device processed is said the word is：The target location and the feedback data of many attitude sensor that image processor is recognized,
Core controller can realize autotrace.
The many attitude sensor of the present invention using the sensor such as GPS, barometer, magnetometer realize itself flight stability and
Calibrate for error, under abnormal posture, core controller sends hovering order, force revert hovering pattern；Before keeping stable
Put, flight controller receives the control command that core controller is sent, and makes corresponding flare maneuver, and follow the trail of target.
Beneficial effect of the present invention：
1st, using the new location algorithms of AprilTag, the precision that quadrotor tracking is flown is improved.
2nd, using the new location algorithms of AprilTag, three-dimensional localization information can be obtained simultaneously, simplifies acquisition positional information
Difficulty.
3rd, flight control modules of the invention possess automatic identification ability of tracking, can realize drive automatically within the specific limits
Sail.
4th, quadrotor of the invention, from steady pattern and avoidance offline mode, subtracts using with active defencive function
Few air crash accident.
Brief description of the drawings
The structural representation of the quadrotor self-adoptive trace system based on AprilTag of Fig. 1 present invention.
The structural representation of the quadrotor control module of Fig. 2 present invention.
Embodiment
The implementation of the present invention will be described in more detail below in conjunction with Figure of description.
As depicted in figs. 1 and 2, a kind of quadrotor self-adoptive trace system based on AprilTag, it includes flying
Row control module, IMAQ analysis module and the tracking target for carrying AprilTag.Flight control modules include flight and controlled
Device, core controller and many attitude sensor.IMAQ analysis module includes camera module and image processor.Tracking
Target need to put up sizeable AprilTag labels in its upper surface.After camera module gathers a two field picture, by image
Data to image processor, image processor detected to view data using AprilTag recognizers, and will be obtained
Target position information to be followed the trail of passes to core controller, and core controller is according to target location and many attitude sensor institute
The attitude of flight vehicle informix processing of passback, and control instruction is sent to flight controller, commander's quadrotor is made
Corresponding flare maneuver, complete control overall process.
The flight control modules of the present invention include flight controller, core controller and many attitude sensor, and posture passes
Sensor includes：Gyroscope, accelerometer, barometer, GPS and sonar.Attitude transducer gathers in real time during aircraft flight
Current pose information, including course angle, the angle of pitch, roll angle, present level, current location etc., and it is sent to core control
Device processed, core controller is according to these real-time feedback control aircraft smooth flights.
The image capture module of the present invention includes camera module and image processor.Because AprilTag detection algorithms exist
Run faster, followed the trail of beneficial to the higher aircraft of requirement of real-time, camera module is taken the photograph from general gray scale in gray level image
As head or possess grayscale mode output universal color camera, image handle after filtering after using AprilTag detection calculate
AprilTag in method identification image, and return to accurately relative position, angle and number information.
The system of the present invention is mainly used in controlling two kinds of state of flights of quadrotor：Hovering pattern and tracking mould
Formula.When the tracking target of quadrotor is static or quadrotor identification is less than tracking target, it is necessary to keep hovering
State.And quadrotor because the factors such as itself error influence, common remote control manual manipulation pattern be difficult maintain flight
The hovering of device is static, and introduces many attitude transducers in the present invention so that aircraft is self by many attitude information
Feedback coordinates pid algorithm to realize attitude stabilization, and keeps hovering.When tracking target is moved, IMAQ analysis module
Detection target location in real time, flight control modules combine pid algorithm according to target location and carry out dynamic regulation, and are passed according to posture
The attitude information that sensor returns is kept certain height and carries out reasonably avoiding to the obstacle in flight path.It is by of the invention
Described two functions of uniting can accomplish to control quadrotor to complete required movement well, and improve the tracking of aircraft
The stability of target.
It should be appreciated that the above-mentioned description for the embodiment of the present invention is more detailed, therefore can not be considered pair
The limitation of the scope of the present invention, scope of patent protection of the invention should be defined by appended claims.
Claims (8)
1. a kind of quadrotor self-adoptive trace system based on AprilTag, it is characterised in that the system is controlled by flight
Molding block, IMAQ analysis module and tracking target composition；Flight control modules are by flight controller, core controller and more
Kind attitude transducer composition；IMAQ analysis module includes camera module, image processor；Target is followed the trail of to carry
AprilTag indicates and posts up above the fold；
After camera module collects a two field picture, by image transmitting to image processor, image procossing uses AprilTag
After recognizer analyzing and processing, the tracking target three dimensional local information recognized is sent to core controller, core controller
After being computed processing, corresponding flare maneuver control command is sent to flight controller, flight controller and controls four rotor flyings
Device makes corresponding flare maneuver, follows the trail of target, meanwhile, core controller receives the posture letter that many attitude sensor returns
Breath, obstacle position information, and flare maneuver is adjusted with this, automatic obstacle-avoiding, complete control overall process.
2. the quadrotor self-adoptive trace system according to claim 1 based on AprilTag, it is characterised in that：
IMAQ analysis module includes AprilTag image according to a frame, it is possible to sends the relative dimensional between tracking target
Coordinate position, relative rotation angle and AprilTag numberings.
3. the quadrotor self-adoptive trace system according to claim 1 based on AprilTag, it is characterised in that：
Quadrotor can set two kinds of offline mode：One kind is tracking pattern, quadrotor keep with tracking target it
Between relative position a small range fluctuate；Another kind is hovering pattern, and quadrotor keeps height, course angle constant,
Standard of fuselage, locus are constant.
4. the quadrotor self-adoptive trace system according to claim 1 based on AprilTag, it is characterised in that：
For detection quadrotor current pose and Obstacle Position, correct quadrotor state of flight and automatic obstacle-avoiding can
To configure the attitude transducer of comprehensive GPS, electronic compass, gyroscope, barometer, sonar.
5. the quadrotor self-adoptive trace system according to claim 1 based on AprilTag, it is characterised in that：
The AprilTag that can be carried respectively to multiple targets, which is numbered, to be identified and distinguished between, and can set specific tracking target.
6. the quadrotor self-adoptive trace system according to claim 1 based on AprilTag, it is characterised in that：
When flying height anomalous variation occurs, or during aircraft long-time loss target, can force to switch to hovering pattern, actively
Protect quadrotor.
7. the quadrotor self-adoptive trace system according to claim 1 based on AprilTag, it is characterised in that：
After being tracked target and stopping being moved to certain time, accurate landing that quadrotor can vertically be stablized.
8. the quadrotor self-adoptive trace system based on AprilTag according to claim 1-7 any one,
It is characterized in that：The flight control command that flight controller is received arises directly from core controller, and core controller is sent out
The foundation of order is：The target location and the feedback data of many attitude sensor that image processor is recognized, core control
Device can realize autotrace.
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107943102A (en) * | 2017-12-28 | 2018-04-20 | 南京工程学院 | A kind of aircraft of view-based access control model servo and its autonomous tracing system |
| CN108196576A (en) * | 2018-01-10 | 2018-06-22 | 辽宁科技学院 | A kind of quadrotor flying robot's target lock-on tracking system based on machine vision |
| CN108255187A (en) * | 2018-01-04 | 2018-07-06 | 北京科技大学 | A kind of micro flapping wing air vehicle vision feedback control method |
| CN108549397A (en) * | 2018-04-19 | 2018-09-18 | 武汉大学 | The unmanned plane Autonomous landing method and system assisted based on Quick Response Code and inertial navigation |
| CN108563241A (en) * | 2018-03-30 | 2018-09-21 | 哈尔滨理工大学 | A kind of shared based on embedded vision module independently follows carrying apparatus |
| CN108710383A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工业大学 | A kind of quadrotor Autonomous landing control method planned based on destination with tracking |
| CN108958283A (en) * | 2018-06-28 | 2018-12-07 | 芜湖新尚捷智能信息科技有限公司 | A kind of unmanned plane low latitude automatic obstacle avoiding system |
| CN108945536A (en) * | 2018-07-24 | 2018-12-07 | 浙江大学 | A kind of spacecrafts rendezvous experiment porch based on rotor craft |
| CN109074168A (en) * | 2018-01-23 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Control method, equipment and the unmanned plane of unmanned plane |
| CN109398688A (en) * | 2018-11-16 | 2019-03-01 | 湖南大学 | A kind of rotor flying double mechanical arms target positioning grasping system and method |
| CN110109469A (en) * | 2019-03-19 | 2019-08-09 | 南京理工大学泰州科技学院 | It is a kind of with color, identification, positioning, following function quadrotor drone control system |
| CN110674751A (en) * | 2019-09-25 | 2020-01-10 | 东北大学 | Device and method for detecting head posture based on monocular camera |
| CN110765798A (en) * | 2019-10-18 | 2020-02-07 | 深圳市开架易技术有限公司 | Commodity touch sensing method based on machine vision |
| CN110989688A (en) * | 2019-12-09 | 2020-04-10 | 台州学院 | Automatic following system and method based on AprilTag code recognition |
| CN110974284A (en) * | 2019-10-29 | 2020-04-10 | 神经元信息技术(深圳)有限公司 | X-ray protection equipment with image recognition target tracking function |
| CN112904879A (en) * | 2021-01-18 | 2021-06-04 | 天津大学 | Autonomous tracking landing system and method for quad-rotor aircraft based on color block landmarks |
| CN113703469A (en) * | 2021-08-24 | 2021-11-26 | 哈尔滨理工大学 | Enterprise night patrol tracking system based on four-rotor aircraft |
| CN113721449A (en) * | 2021-01-05 | 2021-11-30 | 北京理工大学 | Multi-rotor-wing aircraft control system and method |
| CN113781524A (en) * | 2021-09-13 | 2021-12-10 | 上海磐启微电子有限公司 | Target tracking system and method based on two-dimensional label |
| CN114007047A (en) * | 2021-11-02 | 2022-02-01 | 广西电网有限责任公司贺州供电局 | Power transformation field operation real-time monitoring and alarming system based on machine vision |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107943102A (en) * | 2017-12-28 | 2018-04-20 | 南京工程学院 | A kind of aircraft of view-based access control model servo and its autonomous tracing system |
| CN108255187A (en) * | 2018-01-04 | 2018-07-06 | 北京科技大学 | A kind of micro flapping wing air vehicle vision feedback control method |
| CN108196576A (en) * | 2018-01-10 | 2018-06-22 | 辽宁科技学院 | A kind of quadrotor flying robot's target lock-on tracking system based on machine vision |
| CN109074168A (en) * | 2018-01-23 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Control method, equipment and the unmanned plane of unmanned plane |
| US12125229B2 (en) | 2018-01-23 | 2024-10-22 | SZ DJI Technology Co., Ltd. | UAV control method, device and UAV |
| CN108563241A (en) * | 2018-03-30 | 2018-09-21 | 哈尔滨理工大学 | A kind of shared based on embedded vision module independently follows carrying apparatus |
| CN108549397A (en) * | 2018-04-19 | 2018-09-18 | 武汉大学 | The unmanned plane Autonomous landing method and system assisted based on Quick Response Code and inertial navigation |
| CN108710383A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工业大学 | A kind of quadrotor Autonomous landing control method planned based on destination with tracking |
| CN108958283A (en) * | 2018-06-28 | 2018-12-07 | 芜湖新尚捷智能信息科技有限公司 | A kind of unmanned plane low latitude automatic obstacle avoiding system |
| CN108945536A (en) * | 2018-07-24 | 2018-12-07 | 浙江大学 | A kind of spacecrafts rendezvous experiment porch based on rotor craft |
| CN109398688A (en) * | 2018-11-16 | 2019-03-01 | 湖南大学 | A kind of rotor flying double mechanical arms target positioning grasping system and method |
| CN109398688B (en) * | 2018-11-16 | 2020-06-30 | 湖南大学 | Rotor flight double-mechanical-arm target positioning and grabbing system and method |
| CN110109469A (en) * | 2019-03-19 | 2019-08-09 | 南京理工大学泰州科技学院 | It is a kind of with color, identification, positioning, following function quadrotor drone control system |
| CN110674751A (en) * | 2019-09-25 | 2020-01-10 | 东北大学 | Device and method for detecting head posture based on monocular camera |
| CN110765798A (en) * | 2019-10-18 | 2020-02-07 | 深圳市开架易技术有限公司 | Commodity touch sensing method based on machine vision |
| CN110974284A (en) * | 2019-10-29 | 2020-04-10 | 神经元信息技术(深圳)有限公司 | X-ray protection equipment with image recognition target tracking function |
| CN110989688A (en) * | 2019-12-09 | 2020-04-10 | 台州学院 | Automatic following system and method based on AprilTag code recognition |
| CN113721449A (en) * | 2021-01-05 | 2021-11-30 | 北京理工大学 | Multi-rotor-wing aircraft control system and method |
| CN112904879A (en) * | 2021-01-18 | 2021-06-04 | 天津大学 | Autonomous tracking landing system and method for quad-rotor aircraft based on color block landmarks |
| CN112904879B (en) * | 2021-01-18 | 2024-04-12 | 天津大学 | Autonomous tracking landing system and method for four-rotor aircraft based on color block landmarks |
| CN113703469A (en) * | 2021-08-24 | 2021-11-26 | 哈尔滨理工大学 | Enterprise night patrol tracking system based on four-rotor aircraft |
| CN113781524A (en) * | 2021-09-13 | 2021-12-10 | 上海磐启微电子有限公司 | Target tracking system and method based on two-dimensional label |
| CN113781524B (en) * | 2021-09-13 | 2023-12-08 | 上海磐启微电子有限公司 | Target tracking system and method based on two-dimensional label |
| CN114007047A (en) * | 2021-11-02 | 2022-02-01 | 广西电网有限责任公司贺州供电局 | Power transformation field operation real-time monitoring and alarming system based on machine vision |
| CN114007047B (en) * | 2021-11-02 | 2024-03-15 | 广西电网有限责任公司贺州供电局 | Machine vision-based real-time monitoring and alarming system for operation of power transformation site |
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Application publication date: 20171212 |