CN106708081B - More rotor unmanned aircraft control systems - Google Patents
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- CN106708081B CN106708081B CN201710160342.3A CN201710160342A CN106708081B CN 106708081 B CN106708081 B CN 106708081B CN 201710160342 A CN201710160342 A CN 201710160342A CN 106708081 B CN106708081 B CN 106708081B
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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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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of more rotor unmanned aircraft control systems, comprising: image capture module, for acquiring image；It includes that two optical axises are parallel, and the camera of same size parameter, two cameras are placed in downward below more rotor unmanned aircrafts；Computing module, for calculating the horizontal light stream with vertical direction according to two camera acquired images, to obtain the motion information of more rotor unmanned aircrafts, and using binocular image matching algorithm and two camera acquired images are combined, calculate height of more rotor unmanned aircrafts apart from ground；Control module carries out the control of attitude of flight vehicle and position for the motion information according to more rotor unmanned aircrafts and the height apart from ground.The system aims to solve the problem that unmanned vehicle the problem of complex environment is with indoor autonomous flight, and using the high frame per second of common camera chip realization, light stream and binocular ranging is integrated, cost is relatively low, and alleviates aircraft load.
Description
Technical field
The present invention relates to image procossing and flying vehicles control technical field more particularly to a kind of more rotor unmanned aircraft controls
System processed.
Background technique
Currently, common unmanned vehicle navigation is to utilize GPS (Global Positioning System) and IMU
The integrated navigation of (Inertial Measurement Unit) is realized.But due to GPS in low latitude and indoor positioning defect and
The accumulated error of IMU causes unmanned vehicle relatively difficult to achieve with indoor autonomous flight under complex environment.Most solutions
It is the mode for introducing binocular vision system and being merged with light stream sensor, realizes the accurate control of unmanned vehicle.But binocular vision
Feel system includes two cameras, and light stream sensor (camera) has the demand of high frame per second, higher cost, and needs three
A camera increases aircraft load.
Summary of the invention
The object of the present invention is to provide a kind of more rotor unmanned aircraft control systems, it is intended to solve unmanned vehicle multiple
The problem of heterocycle border and indoor autonomous flight, and high frame per second is realized using common camera chip, by light stream and binocular ranging
It integrates, cost is relatively low, and alleviates aircraft load.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of more rotor unmanned aircraft control systems, comprising:
Image capture module, for acquiring image；It includes that two optical axises are parallel, and the camera of same size parameter,
Two cameras are placed in downward below more rotor unmanned aircrafts；
Computing module, for calculating the horizontal light stream with vertical direction according to two camera acquired images, from
And the motion information of more rotor unmanned aircrafts is obtained, and using binocular image matching algorithm and two cameras is combined to acquire
The image arrived calculates height of more rotor unmanned aircrafts apart from ground；
Control module carries out winged for the motion information according to more rotor unmanned aircrafts and the height apart from ground
The control of row device posture and position.
Camera chip sensor1 in one of camera is horizontal positioned, the camera core in another camera
Piece sensor2 is disposed vertically；
Two camera chips are configured to center row section outputs image by setting register, reach high frame per second output；
Alternatively, improving frame per second using the down-sampling mode and binning mode of camera chip；
The calculation formula of frame per second is as follows:
Wherein, Frame_rate indicates frame per second, and PCLK is clock frequency, and VSize is picture altitude, and VBlank disappears for field
Hidden, HSize is picture traverse, and HBlankTime is the horizontal blanking interval.
It is described that the horizontal light stream with vertical direction is calculated according to two camera acquired images, to obtain more rotations
The motion information of wing unmanned vehicle includes:
Water is calculated using the brightness value I11 and I12 of two continuous frames the image P11 and P12 of camera chip sensor1 acquisition
Square to light stream；Vertical direction is calculated using the brightness value I21 and I22 of two continuous frames the image P21 and P22 of sensor2
Light stream, calculation formula are as follows:
A, the brightness value Ix of the gradient image of the horizontal direction of image P11 is calculated
B. the brightness value Iy of the gradient image of the vertical direction of image P21 is calculated
C. optical flow constraint equation is sought using least square method:
Ix × u+It1=0
Iy × v+It2=0
Wherein, u, v are respectively light stream both horizontally and vertically, It1=I12-I11, It2=I22-I21；
Flying speed and the direction of aircraft are obtained further according to the horizontal light stream with vertical direction.
Described to utilize binocular image matching algorithm and combine two camera acquired images, calculating more rotors, nobody flies
Height of the row device apart from ground include:
Using camera calibration parameter, the P11 and camera chip sensor2 of camera chip sensor1 acquisition are adopted
The image P21 of collection carries out distortion correction respectively；
Then, then respectively two images are filtered, remove noise；
It recycles binocular image matching algorithm to carry out Stereo matching to two images, obtains parallax d；
Finally, using principle of triangulation and combine parallax d, seek depth image, obtain more rotor unmanned aircrafts away from
Height from the ground.
Described the step of carrying out Stereo matching to two images using binocular image matching algorithm, is as follows:
Calculate the feature of center pixel in N × N window, the N in N × N window2A pixel brightness value is respectively P1,
P2 ..., PN2, the mean value for seeking them is m, then by P1, P2 ..., PN2It is then 1 if it is larger than or equal to m respectively compared with m,
It is then 0 less than m；To obtain a N in N × N window2Position data, centered on pixel feature；And so on, point
The characteristic image C11 and C21 of image I11 and image I21 are not obtained, i.e. each pixel is N in characteristic image C11 and C212Position
Data；
In preset disparity range, the smallest hamming distance of image C11 and each pixel of C21 are calculated, in distance
Corresponding parallax when minimum, as the parallax d of image P11 and P21.
It is described to utilize principle of triangulation and combine parallax d, depth image is sought, more rotor unmanned aircraft distances are obtained
The height on ground includes:
If D is height of more rotor unmanned aircrafts apart from ground, B is the distance between two camera optical centers, and F is to take the photograph
As head focal length, x1 and x2 are respectively position of the object on two camera reviews, and x1-x2 is parallax d, then according to similar triangle
Shape principle, obtains
Wherein, M is in order to which similar triangles calculate the intermediate parameters introduced；
It is obtained by arrangement:
As seen from the above technical solution provided by the invention, two common camera integrated chips are replaced together
High frame rate camera, while the function of binocular ranging has been had both, cost is relatively low, and alleviates aircraft load.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the schematic diagram of more rotor unmanned aircraft control systems provided in an embodiment of the present invention；
Fig. 2 is two camera position schematic diagrames of image capture module provided in an embodiment of the present invention；
Fig. 3 is two camera chips placed angle schematic diagram provided in an embodiment of the present invention；
Fig. 4 is that camera provided in an embodiment of the present invention exports image schematic diagram；
Fig. 5 is principle of triangulation schematic diagram provided in an embodiment of the present invention.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
The embodiment of invention, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, belongs to protection scope of the present invention.
Fig. 1 is the schematic diagram of more rotor unmanned aircraft control systems provided in an embodiment of the present invention.As shown in Figure 1, its
It specifically includes that
Image capture module S1, for acquiring image；It includes that two optical axises as shown in Figure 2 are parallel, and same size
The camera (being denoted as S11~S12) of parameter, two cameras are placed in downward below more rotor unmanned aircrafts；
Computing module S2, for calculating the horizontal light stream with vertical direction according to two camera acquired images,
To obtain the motion information of more rotor unmanned aircrafts, and using binocular image matching algorithm and two cameras is combined to adopt
The image collected calculates height of more rotor unmanned aircrafts apart from ground；
Control module S3 is carried out for the motion information according to more rotor unmanned aircrafts and the height apart from ground
The control of attitude of flight vehicle and position.
In the embodiment of the present invention, the camera chip placed angle inside two cameras is as shown in figure 3, one of them is taken the photograph
As the camera chip sensor1 in head is horizontal positioned, the camera chip sensor2 in another camera is disposed vertically.
Two camera chips are configured to center row section outputs image as shown in Figure 4, are reached by setting register
High frame per second output, can satisfy the demand of optical flow algorithm in the present invention, and horizontal positioned chip sensor1 can cooperate calculating horizontal
The light stream (flowX) in direction, the chip sensor2 being disposed vertically can cooperate the light stream (flowY) for calculating vertical direction, can be complete
The higher high frame rate camera of full alternative cost, to reduce costs.Meanwhile depth map is calculated by distinctive matching algorithm
Picture, and then pass through height of the range of triangle calculating aircraft apart from ground.
The calculation formula of frame per second is as follows:
Wherein, Frame_rate indicates frame per second, and PCLK is clock frequency, and VSize is picture altitude, and VBlank disappears for field
Hidden, HSize is picture traverse, and HBlankTime is the horizontal blanking interval.
Illustratively, if the resolution ratio of camera is 640 × 480, clock frequency 12MHz, HblankTime be 9 ×
10-6S, VBlank 40, bringing above-mentioned frame per second calculation formula into then has:
As shown in above-mentioned frame per second calculation formula, if reducing camera chip goes out figure line number, i.e. reduction VSize then can be with
Increase frame per second.For example, as shown in figure 4, the mode for taking image center row to export, sets 90 for VSize, other parameters are not
Become, then obtaining frame per second is 123.41fps, realizes high frame per second, since chip (sensor) goes out the reduction of figure line number, reduces function
Consumption, and due to the reduction of data volume, subsequent calculating is corresponding to be reduced, to reduce system power dissipation.
Frame per second is improved alternatively, it is also possible to the down-sampling mode and binning mode of camera chip.
In the embodiment of the present invention, computing module is mainly used for calculating the motion information of more rotor unmanned aircrafts (that is, flight
Speed and direction), and the height apart from ground.Main processes of calculation is as follows:
1, the motion information of more rotor unmanned aircrafts is calculated.
Water is calculated using the brightness value I11 and I12 of two continuous frames the image P11 and P12 of camera chip sensor1 acquisition
Square to light stream；Vertical direction is calculated using the brightness value I21 and I22 of two continuous frames the image P21 and P22 of sensor2
Light stream, calculation formula are as follows:
A, the brightness value Ix of the gradient image of the horizontal direction of image P11 is calculated
B. the brightness value Iy of the gradient image of the vertical direction of image P21 is calculated
C. optical flow constraint equation is sought using least square method:
Ix × u+It1=0
Iy × v+It2=0
Wherein, u, v are respectively light stream both horizontally and vertically, It1=I12-I11, It2=I22-I21；
Then, flying speed and the direction of aircraft are obtained according to the horizontal light stream with vertical direction.
2, height of more rotor unmanned aircrafts apart from ground is calculated.
1) parallax is calculated
Using camera calibration parameter (including video camera internal reference, outer ginseng), to the P11 of camera chip sensor1 acquisition
Distortion correction is carried out respectively with the image P21 of camera chip sensor2 acquisition；
Then, then respectively two images are filtered, remove noise；
It recycles binocular image matching algorithm to carry out Stereo matching to two images, obtains parallax d；
Finally, using principle of triangulation and combine parallax d, seek depth image, obtain more rotor unmanned aircrafts away from
Height from the ground.
Described the step of carrying out Stereo matching to two images using binocular image matching algorithm, is as follows:
Calculate the feature of center pixel in N × N window, the N in N × N window2A pixel brightness value is respectively Q1,
Q2 ..., QN2, the mean value for seeking them is m, then by Q1, Q2 ..., QN2It is then 1 if it is larger than or equal to m respectively compared with m,
It is then 0 less than m；To obtain a N in N × N window2Position data, centered on pixel feature；And so on, point
Not obtaining the characteristic image C11 and C21 of image P11 and image P21, (wherein each pixel is N in C11 and C212The number of position
According to)；Illustratively, N herein can be set to 3,7,9 etc..
In preset disparity range (1~d), the smallest hamming distance of image C11 and each pixel of C21 are calculated,
Corresponding parallax, as the parallax d of image P11 and P21 when distance is minimum.
2) computed altitude.
Using principle of triangulation and parallax d is combined, depth image is sought, obtains more rotor unmanned aircrafts apart from ground
Height include:
As shown in fig. 5, it is assumed that D be height of more rotor unmanned aircrafts apart from ground, B be two cameras (S11 with
S12) the distance between optical center (i.e. baseline), F are camera focal length, and x1 and x2 are respectively position of the object on two camera reviews
It sets, x1-x2 is that parallax d is obtained then according to similar triangle theory
Wherein, M is in order to which similar triangles calculate the intermediate parameters introduced, no practical significance；
It is obtained by arrangement:
In the embodiment of the present invention, the flight for more rotor unmanned aircrafts that control module is mainly calculated according to computing module
Speed, direction, and the height apart from ground carry out the control of attitude of flight vehicle and position.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Within the technical scope of the present disclosure, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (3)
1. a kind of more rotor unmanned aircraft control systems characterized by comprising
Image capture module, for acquiring image；It includes that two optical axises are parallel, and the camera of same size parameter, and two
Camera is placed in downward below more rotor unmanned aircrafts；
Computing module, for calculating the horizontal light stream with vertical direction according to two camera acquired images, to obtain
Much motion informations of rotor unmanned aircraft, and using binocular image matching algorithm and combine two cameras collected
Image calculates height of more rotor unmanned aircrafts apart from ground；
Control module carries out aircraft for the motion information according to more rotor unmanned aircrafts and the height apart from ground
The control of posture and position；
Wherein, described that the horizontal light stream with vertical direction is calculated according to two camera acquired images, to obtain more
The motion information of rotor unmanned aircraft includes:
Camera chip sensor1 in one camera is horizontal positioned, the camera chip sensor2 in another camera
It is disposed vertically；
Level side is calculated using the brightness value I11 and I12 of two continuous frames the image P11 and P12 of camera chip sensor1 acquisition
To light stream；The light stream of vertical direction is calculated using the brightness value I21 and I22 of two continuous frames the image P21 and P22 of sensor2,
Calculation formula is as follows:
A, the brightness value Ix of the gradient image of the horizontal direction of image P11 is calculated
B. the brightness value Iy of the gradient image of the vertical direction of image P21 is calculated
C. optical flow constraint equation is sought using least square method:
Ix × u+It1=0
Iy × v+It2=0
Wherein, u, v are respectively light stream both horizontally and vertically, It1=I12-I11, It2=I22-I21；
Flying speed and the direction of aircraft are obtained further according to the horizontal light stream with vertical direction；
It is described to utilize binocular image matching algorithm and combine two camera acquired images, calculate more rotor unmanned aircrafts
Height apart from ground includes:
Using camera calibration parameter, the image P11 and camera chip sensor2 of camera chip sensor1 acquisition are adopted
The image P21 of collection carries out distortion correction respectively；
Then, then respectively two images are filtered, remove noise；
It recycles binocular image matching algorithm to carry out Stereo matching to two images, obtains parallax d；
Finally, using principle of triangulation and combining parallax d, depth image is sought, obtains more rotor unmanned aircraft distances ground
The height in face；
Described the step of carrying out Stereo matching to two images using binocular image matching algorithm, is as follows:
Calculate the feature of center pixel in N × N window, the N in N × N window2A pixel brightness value is respectively Q1, Q2 ..., QN2,
The mean value for seeking them is m, then by Q1, Q2 ..., QN2Then it is 1 if it is larger than or equal to m respectively compared with m, is less than m, then
It is 0；To obtain a N in N × N window2Position data, centered on pixel feature；And so on, respectively obtain figure
As the characteristic image C11 and C21 of P11 and image P21, i.e. each pixel is N in characteristic image C11 and C212The data of position；
In preset disparity range, the smallest hamming distance of image C11 and each pixel of C21 are calculated, it is minimum in distance
When corresponding parallax, the as parallax d of image P11 and P21.
2. a kind of more rotor unmanned aircraft control systems according to claim 1, which is characterized in that two camera cores
Piece is configured to center row section outputs image by setting register, reaches high frame per second output；Alternatively, using camera chip
Down-sampling mode and binning mode improve frame per second；
The calculation formula of frame per second is as follows:
Wherein, Frame_rate indicates frame per second, and PCLK is clock frequency, and VSize is picture altitude, and VBlank is field blanking,
HSize is picture traverse, and HBlankTime is the horizontal blanking interval.
3. a kind of more rotor unmanned aircraft control systems according to claim 1, which is characterized in that described to utilize triangle
Range measurement principle simultaneously combines parallax d, seeks depth image, obtaining more rotor unmanned aircrafts apart from the height on ground includes:
If D is height of more rotor unmanned aircrafts apart from ground, B is the distance between two camera optical centers, and F is camera
Focal length, x1 and x2 are respectively position of the object on two camera reviews, and x1-x2 is parallax d, then according to similar triangles original
Reason, obtains
Wherein, M is in order to which similar triangles calculate the intermediate parameters introduced；
It is obtained by arrangement:
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107680060A (en) * | 2017-09-30 | 2018-02-09 | 努比亚技术有限公司 | A kind of image distortion correction method, terminal and computer-readable recording medium |
| CN108171744A (en) * | 2017-12-26 | 2018-06-15 | 努比亚技术有限公司 | Determining method, mobile terminal and the storage medium of disparity map in a kind of binocular virtualization |
| CN114995487A (en) * | 2019-11-07 | 2022-09-02 | 深圳市道通智能航空技术股份有限公司 | Omnidirectional obstacle avoidance method and unmanned aerial vehicle |
| CN111486819B (en) * | 2020-04-10 | 2022-03-15 | 桂林电子科技大学 | Method for measuring three-dimensional angular motion by adopting optical flow |
| CN115597498B (en) * | 2022-12-13 | 2023-03-31 | 成都铂贝科技有限公司 | Unmanned aerial vehicle positioning and speed estimation method |
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