基于外部單目視覺的仿生撲翼飛行器室內定高控制

付強; 張樹禹; 王久斌; 馮富森

doi:10.13374/j.issn2095-9389.2019.08.03.002

基于外部單目視覺的仿生撲翼飛行器室內定高控制

doi: 10.13374/j.issn2095-9389.2019.08.03.002

付強^{1, 2, ,},
張樹禹^{1, 2},
王久斌^{1, 2},
馮富森^{1, 2}

1.
北京科技大學自動化學院，北京 100083
2.
北京科技大學人工智能研究院，北京 100083

基金項目: 裝備預研教育部聯合基金資助項目(6141A02033339)；中央高校基本科研業務費專項資金資助項目(FRF-TP-18-100A1)；國家自然科學基金資助項目(61803025)

詳細信息

通訊作者:
E-mail: fuqiang@ustb.edu.cn

中圖分類號: TP242.6
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- 文章訪問數: 1730
- HTML全文瀏覽量: 712
- PDF下載量: 74
- 被引次數: 0
出版歷程
- 收稿日期: 2019-08-03
- 刊出日期: 2020-02-01

Indoor fixed-height control for bio-inspired flapping-wing aerial vehicles based on off-board monocular vision

FU Qiang^{1, 2
, ,},
ZHANG Shu-yu^{1, 2},
WANG Jiu-bin^{1, 2},
FENG Fu-sen^{1, 2}

1.
School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China
2.
Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China

More Information

Corresponding author: E-mail: fuqiang@ustb.edu.cn

摘要

摘要: 針對撲翼飛行器的定高飛行，設計了基于外部單目視覺的室內定高控制系統：通過外部單目相機獲取撲翼飛行器的飛行圖像，基于Qt編寫的地面站軟件接收圖像并利用基于OpenCV的圖像處理算法檢測撲翼飛行器上的發光標識點，獲得標識點在圖像上的像素坐標；基于卡爾曼濾波器（KF）建立標識點像素坐標的運動狀態估計器，降低環境噪聲干擾并解決了標識點被短暫遮擋的問題；分別建立常規PID和單神經元PID控制系統，通過藍牙控制撲翼飛行器的電機轉速，實現了基于圖像的撲翼飛行器室內定高飛行。對比實驗結果表明，本文設計的定高飛行控制系統可以使撲翼飛行器標記點的圖像坐標保持在外部單目相機圖像的中心橫線處。針對階躍響應信號，單神經元PID控制系統的響應速度比常規PID控制系統響應速度稍慢一些，但是控制精度明顯優于常規PID控制器，最大相對誤差為3%。
- 單目視覺 /
- 撲翼飛行器 /
- 定高控制 /
- 視覺伺服 /
- 圖像誤差
Abstract: The flapping-wing aerial vehicle (FWAV) is a new kind of aerial vehicle that imitates the flapping wings of birds or insects during flight and has the advantages of flexible flight, high flight efficiency, and good concealment compared with the fixed-wing and the rotary-wing aerial vehicles. Therefore, the FWAV has attracted considerable attention in recent years. However, the flight mechanism of the FWAV is complex and has many motion parameters with strong coupling. Thus, establishing a precise and practical motion model is difficult. At the same time, given the limited weight and load capacity of small FWAVs, it cannot carry accurate but heavy positioning equipment. Thus, many problems in autonomous flight control of FWAVs need to be addressed at this stage. For the fixed-height flight of FWAVs, an indoor fixed-height control system based on off-board monocular vision was designed. First, image sequences of the FWAV were obtained using the off-board monocular camera. Then, the ground station software based on Qt received the images, detected the light-emitting feature point on the FWAV, and obtained the pixel coordinates of the feature point on each image using the OpenCV image processing algorithms. On the basis of the Kalman filter, the image state estimator of the feature point was established to reduce the environmental interference and solve the temporal missing data problem of the feature point. Finally, the conventional and single-neuron PID control systems were established, where the motor speed of the FWAV was controlled by Bluetooth, to achieve image-based indoor fixed-height flight of the FWAV. Experimental results show that the fixed-height flight control system designed in this study can keep the image coordinates of the feature point of the FWAV at the center of the camera image. For the step signal, the response speed of the single-neuron PID control system is slightly slower than that of the conventional PID control system. However, the control accuracy of the single-neuron PID control system is better than that of the conventional PID controller, with a maximum relative error of 3%.
- monocular vision /
- flapping-wing aerial vehicle /
- fixed height control /
- visual servoing /
- image error

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圖 1 問題描述示意圖

Figure 1. Illustration of the problem formulation

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圖 2 X翼撲翼飛行器

Figure 2. FWAV with the X-wing

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圖 3 飛行控制電路板

Figure 3. Flight control circuit board

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圖 4 單目相機成像原理圖

Figure 4. Imaging principle of the monocular camera

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圖 5 視覺檢測流程圖

Figure 5. Flowchart of visual detection

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圖 6 觀測結果處理流程圖

Figure 6. Flowchart of observation result processing

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圖 7 定高控制系統示意圖

Figure 7. Illustration of the fixed-height control system

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圖 8 控制系統結構框圖

Figure 8. Structure diagram of the control system

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圖 9 地面站界面

Figure 9. Software interface of the ground station

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圖 10 實物實驗圖

Figure 10. Physical experiment

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圖 11 PID控制飛行高度曲線

Figure 11. Flight height curve of the PID controller

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表 1 視覺檢測各部分耗時表

Table 1. Time cost of visual detection

環節耗時/ms

圖像采集 4.16
高斯濾波 1.94
HSV變換 1.95
圖像分割 1.73
取最大輪廓 0.03
計算質心 0.02

下載: 導出CSV

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