四旋翼飞行器自主循迹取物运输系统的研究
|
摘要
为实现无人机在运输方面的自动化和信息化,设计并实现一种能自主循迹、取物并运输至目标点的四旋翼飞行器。通过对四旋翼飞行器飞行控制原理的分析,使用超声波传感器获取飞行器实时高度,利用计算机图像处理技术实时判断飞行器位置,并用PID(Proportion-Integral-Derivative)控制器控制飞行器的飞行高度和自身姿态,实现了四旋翼飞行器的自主循迹飞行和物体识别,以及驱动机械手完成对目标物体的抓取与投放。测试结果表明,飞行器可在1 m高度上以20 cm/s的速度沿预设轨迹自主循迹飞行,能在50 s内识别与抓取底面半径为4 cm、高度为8 cm的圆柱形物体,并投放在以目标点为圆心半径为25 cm的范围内,达到了预期效果。
In order to realize the quadrotor's automation and informatization in transportation,we designed and realized a quadrotor which could track and grasp target automatically and then carry it to the specified place.By applying the control theory of quadrotor,the quadrotor could be able to judge its position in real time using computer vision technology and acquire its amplitude with a sonar sensor,thus adjust its flying amplitude and attitude angel with the PID( Proportion-Integral-Derivative) controller. Thus,the system finished automatically tracking and target identification using camera and drove a manipulator to accomplish target grasping and releasing. The result shows that the quadrotor could keep its flying height at 1 m,and fly at the speed of20 cm/s. The machine could recognize and grasp a cylindrical target of which the radius is 4 cm and the length is 8 cm. The whole process can be finished in 50 s.
In order to realize the quadrotor's automation and informatization in transportation,we designed and realized a quadrotor which could track and grasp target automatically and then carry it to the specified place.By applying the control theory of quadrotor,the quadrotor could be able to judge its position in real time using computer vision technology and acquire its amplitude with a sonar sensor,thus adjust its flying amplitude and attitude angel with the PID( Proportion-Integral-Derivative) controller. Thus,the system finished automatically tracking and target identification using camera and drove a manipulator to accomplish target grasping and releasing. The result shows that the quadrotor could keep its flying height at 1 m,and fly at the speed of20 cm/s. The machine could recognize and grasp a cylindrical target of which the radius is 4 cm and the length is 8 cm. The whole process can be finished in 50 s.
引文
[1]刘一莎,杨晟萱,王伟.四旋翼飞行器的自抗扰飞行控制方法[J].控制理论与应用,2015,32(10):1351-1360.LIU Yisha, YANG Shengxuan, WANG Wei. An Active Disturbance-Rejection Flight Control Method for Quad-Rotor Unmanned Aerial Vehicles[J]. Control Theory&Applications,2015,32(10):1351-1360.
[2]潘海珠.四旋翼无人机自适应导航控制[J].计算机仿真,2012,29(5):98-102,218.PAN Haizhu. Adaptive Navigation Control for Quadrotor Unmanned Aerial Vehicles[J]. Computer Simulation,2012,29(5):98-102,218.
[3]何嘉继.四旋翼飞行器建模与控制方法的研究[D].沈阳:东北大学信息科学与工程学院,2012.HE Jiaji. Modeling the Quad-rotor and Control Strategy Research[D]. Shenyang:College of Information Science and Engineering,Northeastern University,2012.
[4]林伟财.四旋翼飞行器控制器的设计及实现[D].南昌:南昌大学控制工程学院,2014.LIN Weicai. Design and Implementation of Four-Rotor Aircraft Controller[D]. Nanchang:College of Control Engineering,Nanchang University,2014.
[5]刘玉洪.基于STM32F4的四旋翼飞行控制系统研究[D].马鞍山:安徽工业大学,2015.LIU Yuhong. Research on Flight Control System for Quad UAV Based on STM32F4[D]. Ma Anshan:Anhui University of Technology,2015.
[6]王丽飞. PID控制器参数整定方法研究[D].北京:中国石油大学信息与控制工程学院,2008.WANG Lifei. Parameters Tuning of PID Controller[D]. Beijing:College of Information and Control Engineering,China University of Petroleum,2008.
[7]KOO T J,MA Y. Nonlinear-Control of a Helicopter Based Unmanned Aerial Vehicle Model[DB/OL].(2018-01-27). http:∥www. doc88. com/p-1476080092948. html.
[8]王立梅.开源计算机视觉库Open CV的应用研究[J].科技传播,2013(9):224-225.WANG Limei. Research on the Application of Open Source Computer Vision Library Open CV[J]. Public Communication of Science&Technology,2013(9):224-225.
[9]孙一力,甄子洋,王新华.基于视觉的四旋翼直升机目标跟踪技术研究[J].电子设计工程,2016,24(18):159-161.SUN Yili,ZHEN Ziyang,WANG Xinhua. Quad-Rrotor Helicopter Target Tracking Based on Computer Vision[J]. Electronic Design Engineering,2016,24(18):159-161.
[10]秦小文,温志芳,乔维维.基于Open CV的图像处理[J].电子测试,2011(7):39-41.QIN Xiaowen,WEN Zhifang,QIAO Weiwei. Image Processing Based on Open CV[J]. Electronic Test,2011(7):39-41.
[11]滕俊,王弟林,文汉云.基于Open CV下的Visual C++数字图像处理方法[J].现代计算机(专业版),2012(11):70-72.TENG Jun,WANG Dilin,WEN Hanyun. Visual C++Digital Image Processing MethodBased on Open CV[J]. Modern Computer,2012(11):70-72.
[12]康海,赵坤,刘书林.基于MPU6050模块的飞行姿态记录系统设计[J].电子设计工程,2015,23(10):188-190.KANG Hai,ZHAO Kun,LIU Shulin. Design of Flight Attitude Recording System Based on MPU6050 Module[J]. Electronic Design Engineering,2015,23(10):188-190.
[13]喻文倩.基于US-100超声波测距仪设计[J].山东工业技术,2015(4):147-194.YU Wenqian. Design of Ultrasonic Range Finder Based on US-100[J]. Shandong Industrial Technology,2015(4):147-194.
[14]梅真,赵熙临.基于增量式PID智能车调速系统的设计[J].湖北工业大学学报,2015,30(2):72-76.MEI Zhen,ZHAO Xilin. The Intelligent Car Speed Regulation System Based on the Incremental PID[J]. Journal of Hubei University of Technology,2015,30(2):72-76.
[2]潘海珠.四旋翼无人机自适应导航控制[J].计算机仿真,2012,29(5):98-102,218.PAN Haizhu. Adaptive Navigation Control for Quadrotor Unmanned Aerial Vehicles[J]. Computer Simulation,2012,29(5):98-102,218.
[3]何嘉继.四旋翼飞行器建模与控制方法的研究[D].沈阳:东北大学信息科学与工程学院,2012.HE Jiaji. Modeling the Quad-rotor and Control Strategy Research[D]. Shenyang:College of Information Science and Engineering,Northeastern University,2012.
[4]林伟财.四旋翼飞行器控制器的设计及实现[D].南昌:南昌大学控制工程学院,2014.LIN Weicai. Design and Implementation of Four-Rotor Aircraft Controller[D]. Nanchang:College of Control Engineering,Nanchang University,2014.
[5]刘玉洪.基于STM32F4的四旋翼飞行控制系统研究[D].马鞍山:安徽工业大学,2015.LIU Yuhong. Research on Flight Control System for Quad UAV Based on STM32F4[D]. Ma Anshan:Anhui University of Technology,2015.
[6]王丽飞. PID控制器参数整定方法研究[D].北京:中国石油大学信息与控制工程学院,2008.WANG Lifei. Parameters Tuning of PID Controller[D]. Beijing:College of Information and Control Engineering,China University of Petroleum,2008.
[7]KOO T J,MA Y. Nonlinear-Control of a Helicopter Based Unmanned Aerial Vehicle Model[DB/OL].(2018-01-27). http:∥www. doc88. com/p-1476080092948. html.
[8]王立梅.开源计算机视觉库Open CV的应用研究[J].科技传播,2013(9):224-225.WANG Limei. Research on the Application of Open Source Computer Vision Library Open CV[J]. Public Communication of Science&Technology,2013(9):224-225.
[9]孙一力,甄子洋,王新华.基于视觉的四旋翼直升机目标跟踪技术研究[J].电子设计工程,2016,24(18):159-161.SUN Yili,ZHEN Ziyang,WANG Xinhua. Quad-Rrotor Helicopter Target Tracking Based on Computer Vision[J]. Electronic Design Engineering,2016,24(18):159-161.
[10]秦小文,温志芳,乔维维.基于Open CV的图像处理[J].电子测试,2011(7):39-41.QIN Xiaowen,WEN Zhifang,QIAO Weiwei. Image Processing Based on Open CV[J]. Electronic Test,2011(7):39-41.
[11]滕俊,王弟林,文汉云.基于Open CV下的Visual C++数字图像处理方法[J].现代计算机(专业版),2012(11):70-72.TENG Jun,WANG Dilin,WEN Hanyun. Visual C++Digital Image Processing MethodBased on Open CV[J]. Modern Computer,2012(11):70-72.
[12]康海,赵坤,刘书林.基于MPU6050模块的飞行姿态记录系统设计[J].电子设计工程,2015,23(10):188-190.KANG Hai,ZHAO Kun,LIU Shulin. Design of Flight Attitude Recording System Based on MPU6050 Module[J]. Electronic Design Engineering,2015,23(10):188-190.
[13]喻文倩.基于US-100超声波测距仪设计[J].山东工业技术,2015(4):147-194.YU Wenqian. Design of Ultrasonic Range Finder Based on US-100[J]. Shandong Industrial Technology,2015(4):147-194.
[14]梅真,赵熙临.基于增量式PID智能车调速系统的设计[J].湖北工业大学学报,2015,30(2):72-76.MEI Zhen,ZHAO Xilin. The Intelligent Car Speed Regulation System Based on the Incremental PID[J]. Journal of Hubei University of Technology,2015,30(2):72-76.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |