Unmanned aerial vehicle control method, unmanned aerial vehicle control device, and computer readable storage medium
View Patent ↗The present disclosure provides a control method of a UAV, a control device of a UAV, and a computer-readable storage medium, and relates to the technical field of UAVs. The control method of a UAV includes: determining a deviation between a vertical mapping point on the ground and a landing point of the UAV, the deviation comprising a deviation in a horizontal axis direction of a camera coordinate system and a deviation in a vertical axis direction of the camera coordinate system; and generating speed control amounts of the UAV in the horizontal axis direction and the vertical axis direction of the camera coordinate system by a controller, using the deviation in the horizontal axis direction and the deviation in the vertical axis direction.
1. A control method of an unmanned aerial vehicle (UAV), comprising:
determining a deviation between a vertical mapping point on a ground and a landing point of the UAV in a horizontal axis direction of a camera coordinate system and a deviation between the vertical mapping point and the landing point in a vertical axis direction of the camera coordinate system by using a vertical height of the UAV relative to the ground, coordinates of the landing point in a pixel coordinate system, an origin of an image coordinate system in the pixel coordinate system, and normalized focal lengths of the UAV camera in the horizontal axis and the vertical axis direction of the pixel coordinate system; and
generating speed control amounts of the UAV in the horizontal axis direction and the vertical axis direction of the camera coordinate system by a controller, using the deviation in the horizontal axis direction and the deviation in the vertical axis direction, comprising
coupling a first controller in the horizontal axis direction to a second controller in the vertical axis direction by setting a first coupling factor and a second coupling factor;
generating a speed control amount of the UAV in the horizontal axis direction of the camera coordinate system by the first controller, using the first coupling factor, the deviation in the horizontal axis direction, and the deviation in the vertical axis direction; and
generating a speed control amount of the UAV in the vertical axis direction of the camera coordinate system by the second controller, using the second coupling factor, the deviation in the horizontal axis direction, and the deviation in the vertical axis direction.
2. The control method of a UAV according to claim 1 , wherein determining a deviation between the vertical mapping point and the landing point in the horizontal axis direction of the camera coordinate system and a deviation between the vertical mapping point and the landing point in the vertical axis direction of the camera coordinate system comprises:
determining a correspondence between coordinates in the pixel coordinate system and coordinates in the image coordinate system;
determining a correspondence between coordinates in the image coordinate system and coordinates in the camera coordinate system; and
determining a correspondence between coordinates in the pixel coordinate system and coordinates in the camera coordinate system, and determining a deviation between the vertical mapping point and the landing point in the horizontal axis direction of the camera coordinate system and a deviation between the vertical mapping point and the landing point in the vertical axis direction of the camera coordinate system using this correspondence.
3. The control method of a UAV according to claim 1 , wherein a deviation between the vertical mapping point and the landing point in the horizontal axis direction of the camera coordinate system and a deviation between the vertical mapping point and the landing point in the vertical axis direction of the camera coordinate system are determined using the following formula:
{
x
=
z
(
u
-
u
0
)
/
α
x
y
=
z
(
v
-
v
0
)
/
α
y
where x represents a deviation between the vertical mapping point and the landing point in the horizontal axis direction of the camera coordinate system, y represents a deviation between the vertical mapping point and the landing point in the vertical axis direction of the camera coordinate system, and z represents a vertical height of the UAV relative to the ground, u represents an abscissa of the landing point in the pixel coordinate system, v represents an ordinate of the landing point in the pixel coordinate system, u 0 represents an abscissa of the origin of the image coordinate system in the pixel coordinate system, and v 0 represents an ordinate of the origin of the image coordinate system in the pixel coordinate system, α x represents a normalized focal length of the UAV camera in the horizontal axis direction of the pixel coordinate system, and α y represents a normalized focal length of the UAV camera in the vertical axis coordinate of the pixel coordinate system.
4. The control method of a UAV according to claim 1 , wherein:
the normalized focal length of the UAV camera in the horizontal axis direction of the pixel coordinate system is determined using a ratio of the focal length of the UAV camera to a size of each pixel in the horizontal axis direction;
the normalized focal length of the UAV camera in the vertical axis direction of the pixel coordinate system is determined using a ratio of the focal length of the UAV camera to a size of each pixel in the vertical axis direction.
5. The control method of a UAV according to claim 1 , wherein the controller is a proportional-integral-differential (PID) controller, the PID controller generating a speed control amount of the UAV in the horizontal axis direction of the camera coordinate system and a speed control amount of the UAV in the vertical axis direction of the camera coordinate system using the following formula:
{
U
x
(
t
)
=
P
x
x
(
t
)
+
I
x
[
x
(
t
)
+
…
+
x
(
0
)
]
+
D
x
[
x
(
t
)
-
x
(
t
-
1
)
]
U
y
(
t
)
=
P
y
y
(
t
)
+
I
y
[
y
(
t
)
+
…
+
y
(
0
)
]
+
D
y
[
y
(
t
)
-
y
(
t
-
1
)
]
where u x (t) represents a speed control amount of the UAV in the horizontal axis direction of the camera coordinate system at time t, u y (t) represents a speed control amount of the UAV in the vertical axis direction of the camera coordinate system at time t, P x represents a proportional control parameter of the PID controller in the horizontal axis direction of the camera coordinate system, P y represents a proportional control parameter of the PID controller in the vertical axis direction of the camera coordinate system, I x represents an integral control parameter of the PID controller in the horizontal axis direction of the camera coordinate system, I y represents an integral control parameter of the PID controller in the vertical axis direction of the camera coordinate system D x represents differential control parameter of the PID controller in the horizontal axis direction of the camera coordinate system, and D y represents a differential control parameter of the PID controller in the vertical axis direction of the camera coordinate system, x(t) represents the deviation in the horizontal axis direction at time t, and y(t) represents the deviation in the vertical axis direction at time t.
6. A control device of a UAV, comprising:
a processor; and
a memory coupled to the processor and storing instructions that when executed by the processor, cause the processor to:
determine a deviation between a vertical mapping point on a ground and a landing point of the UAV in a horizontal axis direction of a camera coordinate system and a deviation between the vertical mapping point and the landing point in a vertical axis direction of the camera coordinate system by using a vertical height of the UAV relative to the ground, coordinates of the landing point in a pixel coordinate system, an origin of an image coordinate system in the pixel coordinate system, and normalized focal lengths of the UAV camera in the horizontal axis and the vertical axis direction of the pixel coordinate system; and
generate speed control amounts of the UAV in the horizontal axis direction and the vertical axis direction of the camera coordinate system by a controller, using the deviation in the horizontal axis direction and the deviation in the vertical axis direction, comprising
couple a first controller in the horizontal axis direction to a second controller in the vertical axis direction by setting a first coupling factor and a second coupling factor;
generate a speed control amount of the UAV in the horizontal axis direction of the camera coordinate system by the first controller, using the first coupling factor, the deviation in the horizontal axis direction, and the deviation in the vertical axis direction; and
generate a speed control amount of the UAV in the vertical axis direction of the camera coordinate system by the second controller, using the second coupling factor, the deviation in the horizontal axis direction, and the deviation in the vertical axis direction.
7. The control device of a UAV according to claim 6 , wherein determining a deviation between the vertical mapping point and the landing point in the horizontal axis direction of the camera coordinate system and a deviation between the vertical mapping point and the landing point in the vertical axis direction of the camera coordinate system comprises:
determining a correspondence between coordinates in the pixel coordinate system and coordinates in the image coordinate system;
determining a correspondence between coordinates in the image coordinate system and coordinates in the camera coordinate system; and
determining a correspondence between coordinates in the pixel coordinate system and coordinates in the camera coordinate system, and determining a deviation between the vertical mapping point and the landing point in the horizontal axis direction of the camera coordinate system and a deviation between the vertical mapping point and the landing point in the vertical axis direction of the camera coordinate system using this correspondence.
8. The control device of a UAV according to claim 6 , wherein a deviation between the vertical mapping point and the landing point in the horizontal axis direction of the camera coordinate system and a deviation between the vertical mapping point and the landing point in the vertical axis direction of the camera coordinate system are determined using the following formula:
{
x
=
z
(
u
-
u
0
)
/
α
x
y
=
z
(
v
-
v
0
)
/
α
y
where x represents a deviation between the vertical mapping point and the landing point in the horizontal axis direction of the camera coordinate system, y represents a deviation between the vertical mapping point and the landing point in the vertical axis direction of the camera coordinate system, and z represents a vertical height of the UAV relative to the ground, u represents an abscissa of the landing point in the pixel coordinate system, v represents an ordinate of the landing point in the pixel coordinate system, u 0 represents an abscissa of the origin of the image coordinate system in the pixel coordinate system, and v 0 represents an ordinate of the origin of the image coordinate system in the pixel coordinate system, α x represents a normalized focal length of the UAV camera in the horizontal axis direction of the pixel coordinate system, and α y represents a normalized focal length of the UAV camera in the vertical axis coordinate of the pixel coordinate system.
9. The control device of a UAV according to claim 6 , wherein:
the normalized focal length of the UAV camera in the horizontal axis direction of the pixel coordinate system is determined using a ratio of the focal length of the UAV camera to a size of each pixel in the horizontal axis direction;
the normalized focal length of the UAV camera in the vertical axis direction of the pixel coordinate system is determined using a ratio of the focal length of the UAV camera to a size of each pixel in the vertical axis direction.
10. The control device of a UAV according to claim 6 , wherein the controller is a proportional-integral-differential (PID) controller, the PID controller generating a speed control amount of the UAV in the horizontal axis direction of the camera coordinate system and a speed control amount of the UAV in the vertical axis direction of the camera coordinate system using the following formula:
{
U
x
(
t
)
=
P
x
x
(
t
)
+
I
x
[
x
(
t
)
+
…
+
x
(
0
)
]
+
D
x
[
x
(
t
)
-
x
(
t
-
1
)
]
U
y
(
t
)
=
P
y
y
(
t
)
+
I
y
[
y
(
t
)
+
…
+
y
(
0
)
]
+
D
y
[
y
(
t
)
-
y
(
t
-
1
)
]
where u x (t) represents a speed control amount of the UAV in the horizontal axis direction of the camera coordinate system at time t, u y (t) represents a speed control amount of the UAV in the vertical axis direction of the camera coordinate system at time t, P x represents a proportional control parameter of the PID controller in the horizontal axis direction of the camera coordinate system, P y represents a proportional control parameter of the PID controller in the vertical axis direction of the camera coordinate system, I x represents an integral control parameter of the PID controller in the horizontal axis direction of the camera coordinate system, I y represents an integral control parameter of the PID controller in the vertical axis direction of the camera coordinate system D x represents a differential control parameter of the PID controller in the horizontal axis direction of the camera coordinate system, and D y represents a differential control parameter of the PID controller in the vertical axis direction of the camera coordinate system, x(t) represents the deviation in the horizontal axis direction at time t, and y(t) represents the deviation in the vertical axis direction at time t.
11. A non-transitory computer-readable storage medium storing computer instructions which, when executed by a processor, cause a processor to:
determine a deviation between a vertical mapping point on a ground and a landing point of the UAV in a horizontal axis direction of a camera coordinate system and a deviation between the vertical mapping point and the landing point in a vertical axis direction of the camera coordinate system by using a vertical height of the UAV relative to the ground, coordinates of the landing point in a pixel coordinate system, an origin of an image coordinate system in the pixel coordinate system, and normalized focal lengths of the UAV camera in the horizontal axis and the vertical axis direction of the pixel coordinate system; and
generate speed control amounts of the UAV in the horizontal axis direction and the vertical axis direction of the camera coordinate system by a controller, using the deviation in the horizontal axis direction and the deviation in the vertical axis direction, comprising
couple a first controller in the horizontal axis direction to a second controller in the vertical axis direction by setting a first coupling factor and a second coupling factor;
generate a speed control amount of the UAV in the horizontal axis direction of the camera coordinate system by the first controller, using the first coupling factor, the deviation in the horizontal axis direction, and the deviation in the vertical axis direction; and
generate a speed control amount of the UAV in the vertical axis direction of the camera coordinate system by the second controller, using the second coupling factor, the deviation in the horizontal axis direction, and the deviation in the vertical axis direction.
12. The non-transitory computer readable storage medium according to claim 11 , wherein the processor determines a deviation between the vertical mapping point and the landing point in the horizontal axis direction of the camera coordinate system and a deviation between the vertical mapping point and the landing point in the vertical axis direction of the camera coordinate system by using a vertical height of the UAV relative to the ground, coordinates of the landing point in a pixel coordinate system, an origin of the image coordinate system in the pixel coordinate system, and normalized focal lengths of the UAV camera in the horizontal axis and the vertical axis direction of the pixel coordinate system.
13. The non-transitory computer readable storage medium according to claim 11 , wherein a deviation between the vertical mapping point and the landing point in the horizontal axis direction of the camera coordinate system and a deviation between the vertical mapping point and the landing point in the vertical axis direction of the camera coordinate system are determined using the following formula:
{
x
=
z
(
u
-
u
0
)
/
α
x
y
=
z
(
v
-
v
0
)
/
α
y
where x represents a deviation between the vertical mapping point and the landing point in the horizontal axis direction of the camera coordinate system, y represents a deviation between the vertical mapping point and the landing point in the vertical axis direction of the camera coordinate system, and z represents a vertical height of the UAV relative to the ground, u represents an abscissa of the landing point in the pixel coordinate system, v represents an ordinate of the landing point in the pixel coordinate system, u 0 represents an abscissa of the origin of the image coordinate system in the pixel coordinate system, and v 0 represents an ordinate of the origin of the image coordinate system in the pixel coordinate system, α x represents a normalized focal length of the UAV camera in the horizontal axis direction of the pixel coordinate system, and α y represents a normalized focal length of the UAV camera in the vertical axis coordinate of the pixel coordinate system.
14. The non-transitory computer readable storage medium according to claim 11 , wherein:
the normalized focal length of the UAV camera in the horizontal axis direction of the pixel coordinate system is determined using a ratio of the focal length of the UAV camera to a size of each pixel in the horizontal axis direction;
the normalized focal length of the UAV camera in the vertical axis direction of the pixel coordinate system is determined using a ratio of the focal length of the UAV camera to a size of each pixel in the vertical axis direction.
15. The non-transitory computer readable storage medium according to claim 11 , wherein the controller is a proportional-integral-differential (PID) controller, the PID controller generating a speed control amount of the UAV in the horizontal axis direction of the camera coordinate system and a speed control amount of the UAV in the vertical axis direction of the camera coordinate system using the following formula:
{
U
x
(
t
)
=
P
x
x
(
t
)
+
I
x
[
x
(
t
)
+
…
+
x
(
0
)
]
+
D
x
[
x
(
t
)
-
x
(
t
-
1
)
]
U
y
(
t
)
=
P
y
y
(
t
)
+
I
y
[
y
(
t
)
+
…
+
y
(
0
)
]
+
D
y
[
y
(
t
)
-
y
(
t
-
1
)
]
where u x (t) represents a speed control amount of the UAV in the horizontal axis direction of the camera coordinate system at time t, u y (t) represents a speed control amount of the UAV in the vertical axis direction of the camera coordinate system at time t, P x represents a proportional control parameter of the PID controller in the horizontal axis direction of the camera coordinate system, P y represents a proportional control parameter of the PID controller in the vertical axis direction of the camera coordinate system, I x represents an integral control parameter of the PID controller in the horizontal axis direction of the camera coordinate system, I y represents an integral control parameter of the PID controller in the vertical axis direction of the camera coordinate system D x represents a differential control parameter of the PID controller in the horizontal axis direction of the camera coordinate system, and D y represents a differential control parameter of the PID controller in the vertical axis direction of the camera coordinate system, x(t) represents the deviation in the horizontal axis direction at time t, and y(t) represents the deviation in the vertical axis direction at time t.