Flight control system of micro ornithopter, micro ornithopter, flight control method and chip

Abstract

The invention provides a flight control system of a flapping-wing micro air vehicle, the flapping-wing micro air vehicle, a flight control method and a chip. The flight control system comprises a micro flapping-wing aircraft and a ground station device, wherein an image processing and flight control integrated chip is arranged in a flight control module of the flapping-wing micro air vehicle. The image processing and flight control integrated chip integrates a real-time flight control function and a visual processing function. According to the invention, through the image processing and flight control integrated chip, the space utilization rate of hardware is improved, and the requirements of light weight, low power consumption and low time delay of the flapping-wing micro air vehicle are met at the same time.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a flight control system, a micro flapping-wing aircraft, a flight control method, and a chip for a micro flapping-wing aircraft. Background Technology

[0002] Ornithoptering aircraft, especially bird-inspired micro-ornithoptering aircraft, have become an important branch of the field of biomimetic robotics due to their millimeter-sized dimensions, excellent hovering capabilities, and high-frequency flapping (10-50Hz) characteristics. Ornithoptering aircraft have demonstrated unique potential in highly challenging mission scenarios that are difficult for traditional drones to handle, such as detecting inside complex pipes and searching for survivors in disaster ruins.

[0003] The complete functionality and extreme miniaturization (typically referring to a total weight of less than 30g) of flapping-wing aircraft are core prerequisites for enabling them to complete complex flight missions. Currently, existing micro-aircraft control systems generally adopt a discrete architecture, primarily consisting of a separate flight control microcontroller unit, a dedicated vision / image processor, and one or more radio communication receiver modules. However, applying existing micro-aircraft control systems to micro-hovering flapping-wing aircraft (especially bird-inspired ultralightweight platforms) presents problems such as hardware system redundancy conflicting with miniaturization requirements, power consumption bottlenecks, and low energy utilization. The existing "chip stacking" model of micro-aircraft control systems creates a fundamental vicious cycle at the system level: "lightweighting inevitably sacrifices functionality (such as removing vision processing), while maintaining functionality results in a loss of maneuverability / practicality (such as excessive weight / short endurance)." Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this application is to provide a flight control system, a micro flapping-wing aircraft, a flight control method and a chip for a micro flapping-wing aircraft, in order to solve the problem that the hardware system of the existing micro aircraft control system conflicts with the lightweight requirements of the flapping-wing aircraft.

[0005] To achieve the above and other related objectives, a first aspect of this application provides a flight control system for a micro flapping-wing aircraft, comprising: a micro flapping-wing aircraft and a ground station device; wherein, the micro flapping-wing aircraft includes: an indoor positioning device, a servo module, and a flight control module; the flight control module is equipped with an image processing and flight control integrated chip, a sensor group, an image acquisition device, and a first communication module; the indoor positioning device and the sensor group are used to acquire flight attitude and environmental information in real time; the image acquisition device is used to acquire flight image information in real time; the image processing and flight control integrated chip is used to calculate flight attitude information based on the real-time acquired flight attitude and environmental information, and send it to the ground station device through the first communication module; then, based on the received flight control information sent by the ground station device and the flight attitude information, it uses a constructed hybrid control model to generate corresponding flight control quantities and sends them to the servo module to adjust the attitude of the micro flapping-wing aircraft; it is also used to process the real-time acquired flight image information and send the processed flight image information to the ground station device through the first communication module.

[0006] In some embodiments of the first aspect of this application, the image processing and flight control integrated chip is provided with a UART interface, an IIC interface, an SPI interface and a MIPI interface.

[0007] In some embodiments of the first aspect of this application, the indoor positioning device is connected to the image processing and flight control integrated chip via the UART interface; the sensor group is directly connected to the image processing and flight control integrated chip; and the image acquisition device is connected to the image processing and flight control integrated chip via the MIPI interface.

[0008] In some embodiments of the first aspect of this application, the servo module is connected to the image processing and flight control integrated chip via the UART interface; the servo module includes: a pitch servo for controlling the pitch of the flapping-wing aircraft, a roll servo for controlling the roll of the flapping-wing aircraft, a yaw servo for the heading of the flapping-wing aircraft, and a main motor for controlling the flapping frequency of the flapping-wing aircraft.

[0009] In some embodiments of the first aspect of this application, the ground station device includes: a second wireless communication module, a processing module, a remote control module, and a display module; wherein the processing module is connected to the second wireless communication module, the remote control module, and the display module respectively; the processing module is used to send flight attitude information received through the second wireless communication module and processed flight image information to the display module for corresponding display by the display module; it is also used to process the remote control signal received from the remote control module and the operation of the built-in ground station software, generate flight control information, and send it to the image processing and flight control integrated chip through the second wireless communication module.

[0010] In some embodiments of the first aspect of this application, based on the flight control information received from the ground station device and the flight attitude information, a corresponding flight control quantity is generated using a constructed hybrid control model, including: obtaining control quantity information based on the flight control information received from the ground station device and the flight attitude information; inputting the control quantity information into the constructed hybrid control model to obtain the corresponding flight control quantity; wherein the control quantity information includes: roll control quantity, pitch control quantity, heading control quantity, and throttle control quantity.

[0011] In some embodiments of the first aspect of this application, the method of constructing the hybrid control model specifically includes: constructing an output relationship model between the servo motor and the motor in the servo servo system of the micro flapping-wing aircraft; wherein the constructed output relationship model is: And among them, For flight control variables, For the standard vector of control quantity information, For dynamic coupling and mechanical errors, K is the theoretical transfer matrix before compensation; r is the standard vector of roll control, p is the standard vector of pitch control, y is the standard vector of yaw control, and t is the standard vector of throttle control. δ1, δ2, and δ3 represent the control values ​​of the roll servo, pitch servo, and yaw servo, respectively, while f represents the control value of the main motor. A decoupling compensation matrix is ​​constructed. Based on the constructed decoupling compensation matrix and the output relationship model, a hybrid control model is built. in, For decoupling compensation matrix, For flight control variables, This is the standard vector for control quantity information.

[0012] To achieve the above and other related objectives, a second aspect of this application provides a micro flapping-wing aircraft, which is communicatively connected to a ground station device, including: an indoor positioning device, a servo module, and a flight control module; the flight control module includes an image processing and flight control integrated chip, a sensor group, an image acquisition device, and a first communication module; the indoor positioning device and the sensor group are used to acquire flight attitude and environmental information in real time; the image acquisition device is used to acquire flight image information in real time; the image processing and flight control integrated chip is used to calculate flight attitude information based on the real-time acquired flight attitude and environmental information, and send it to the ground station device through the first communication module; then, based on the flight control information received from the ground station device and the flight attitude information, it uses a constructed hybrid control model to generate corresponding flight control quantities and sends them to the servo module to adjust the attitude of the micro flapping-wing aircraft; it is also used to process the real-time acquired flight image information and send the processed flight image information to the ground station device through the first communication module.

[0013] To achieve the above and other related objectives, a third aspect of this application provides a flight control method for a micro flapping-wing aircraft, executed by an image processing and flight control integrated chip in the flight control module of the micro flapping-wing aircraft; wherein the micro flapping-wing aircraft includes an indoor positioning device and a servo module; the flight control module further includes a sensor group and a first communication module; the method includes: receiving flight attitude and environmental information acquired in real time from the indoor positioning device and the sensor group, and calculating flight attitude information based on the flight attitude and environmental information; based on the received flight control information sent by the ground station device and the flight attitude information, generating corresponding flight control quantities using a constructed hybrid control model and sending them to the servo module to adjust the attitude of the micro flapping-wing aircraft.

[0014] To achieve the above and other related objectives, a fourth aspect of this application provides an image processing and flight control integrated chip, including a memory, a processor, and a computer program stored in the memory; the processor executes the computer program to implement a flight control method for the micro flapping-wing aircraft.

[0015] As described above, the flight control system, micro flapping-wing aircraft, flight control method, and chip of this application have the following beneficial effects:

[0016] This application improves the space utilization of hardware by integrating image processing and flight control chips, while simultaneously meeting the requirements of lightweight, low power consumption and low latency for micro flapping-wing aircraft. Attached Figure Description

[0017] Figure 1 The diagram shown is a schematic block diagram of the flight control system of a micro flapping-wing aircraft according to an embodiment of this application.

[0018] Figure 2 The diagram shown is a schematic representation of the flight control system of a micro flapping-wing aircraft according to an embodiment of this application.

[0019] Figure 3 The diagram shows the workflow of an integrated image processing and flight control chip in one embodiment of this application.

[0020] Figure 4 The diagram shown is a schematic representation of the working process of a ground station device in one embodiment of this application.

[0021] Figure 5 The diagram shown is a flowchart illustrating the flight control method of a micro flapping-wing aircraft according to an embodiment of this application.

[0022] Figure 6 The diagram shown is a schematic representation of the structure of an image processing and flight control integrated chip in one embodiment of this application. Detailed Implementation

[0023] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0024] In the embodiments of this application, terms such as "first" and "second" are used to distinguish identical or similar items with essentially the same function and purpose. For example, "first communication module" and "second communication module" are used only to distinguish different communication modules and do not limit their order. Those skilled in the art will understand that terms such as "first" and "second" do not limit the quantity or execution order, and that "first" and "second" do not necessarily imply that they are different.

[0025] It should be noted that, in the embodiments of this application, the words "exemplary" or "for example" indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0026] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0027] To facilitate understanding of the embodiments of this application, firstly, in conjunction with Figure 1 as well as Figure 2 Detailed explanation. Figure 1 A schematic block diagram of the flight control system of a micro flapping-wing aircraft according to an embodiment of the present invention is shown. Figure 2 A schematic diagram illustrating the specific structure of a flight control system for a micro flapping-wing aircraft according to an embodiment of the present invention is shown. The flight control system of the micro flapping-wing aircraft in this embodiment includes:

[0028] Miniature flapping-wing aircraft 1 and ground station device 2;

[0029] The micro flapping-wing aircraft includes: an indoor positioning device, a servo module, and a flight control module; the flight control module is equipped with an image processing and flight control integrated chip, a sensor group, an image acquisition device, and a first communication module.

[0030] Indoor positioning devices and sensor arrays are used to acquire flight attitude and environmental information in real time; image acquisition devices are used to acquire flight image information in real time.

[0031] The image processing and flight control integrated chip is used to calculate flight attitude information based on real-time acquired flight attitude and environmental information, and send it to the ground station device through the first communication module; then, based on the flight control information received from the ground station device and the flight attitude information, it uses the constructed hybrid control model to generate corresponding flight control quantities and send them to the servo module to adjust the attitude of the micro flapping-wing aircraft; it is also used to process real-time acquired flight image information and send the processed flight image information to the ground station device through the first communication module.

[0032] It should be noted that attitude calculation refers to determining the attitude information of an aircraft or other carrier in space through sensor measurements and algorithm processing. Existing attitude calculation methods can be used for calculation, and this invention does not limit this.

[0033] In one embodiment, the image processing and flight control integrated chip employs an image processor.

[0034] It should be noted that the complete functionality of a micro flapping-wing aircraft requires real-time visual processing capabilities (such as environmental perception and target recognition). Visual processing tasks, especially those involving image encoding / decoding, feature extraction, and target detection / tracking, demand significantly more computing resources (e.g., CPU / GPU / NPU computing power, memory bandwidth, and storage capacity) than basic flight control tasks (e.g., attitude calculation, PID control, and servo command generation). Furthermore, traditional flight control MCUs, typically designed for deterministic, low-latency control tasks, have limited CPU clock speeds, memory size, bus bandwidth, and a lack of dedicated hardware acceleration units (e.g., GPUs / NPUs), making it difficult to meet the massive computational demands and data throughput required for real-time video stream processing. Implementing visual functionality on a flight control MCU would result in performance limitations. Even if performance issues were addressed, an extremely high-specification MCU would be required, contradicting the initial goal of miniaturization. Image processors, on the other hand, possess powerful computing resources that are more than sufficient for relatively lightweight flight control tasks. Integrating flight control tasks onto an image processor allows for full utilization of its remaining resources, achieving optimal overall system resource allocation. Therefore, this invention, considering functional requirements, computing power matching, hardware optimization, and resource utilization, selects an image processor as the basic platform and integrates the flight control algorithm into it, resolving the contradiction between "function, weight, and power consumption" in micro flapping-wing aircraft. Reverse operation is either infeasible or uneconomical under existing technology. This invention, by integrating the flight control algorithm into the image processor, reduces the weight of the flight control module to 3g, a 50% reduction compared to the existing 6g.

[0035] It should also be noted that image processors are typically highly integrated, with a single chip potentially containing CPU, GPU, and NPU cores, and some even integrating wireless communication modules. This high degree of integration naturally aligns with the single-board converged architecture of this invention, greatly simplifying peripheral circuit design (eliminating numerous interface conversions, level matching, independent clock / reset circuits required by the flight control MCU). Image processors typically support a wider range of operating systems (such as Linux, Android, RTOS, etc.) and development frameworks (such as OpenCV, TensorFlow Lite, ROS, etc.). This provides a powerful and mature software environment for the simultaneous development, debugging, and deployment of vision processing and flight control tasks, reducing system complexity and accelerating the development process. The powerful computing capabilities and rich interfaces of image processors reserve space for future functional upgrades (such as more complex AI visual navigation, multi-sensor fusion, cluster communication, etc.), ensuring strong system sustainability and evolution capabilities.

[0036] In one embodiment, flight control has extremely high real-time requirements (low latency, deterministic response) (milliseconds), while visual processing tasks (especially video stream processing) are often computationally intensive, time-consuming, and relatively unstable. Coordinating these two on the image processor requires a critical adaptation: In this invention, one CPU core of the image processor is dedicated to real-time tasks. High real-time flight control tasks (such as attitude calculation, control law calculation, and servo command output) are deployed to this CPU core to avoid interference from other processes. Computationally intensive but less real-time visual tasks (such as target detection) are deployed to another CPU core. A kernel patch (e.g., Preempt_RT for Linux) is then installed in the image processor to achieve full preemption, compressing latency to 100μs–500μs. This provides precise task scheduling, low-latency interrupt response, and deterministic execution time guarantees, meeting the stringent timing requirements of flight control tasks. Simultaneously, although the image processor is powerful, the micro flapping-wing aircraft is extremely sensitive to power consumption. This invention dynamically adjusts the core frequency and voltage of the image processor during flight control and vision tasks while meeting real-time requirements, optimizing the operation strategy of the vision task (such as dynamically adjusting image resolution, frame rate, or AI model complexity) to reduce average power consumption while ensuring basic functionality. Furthermore, to ensure efficient and reliable access to the sensors and actuators required by the flight control system, reliable, low-latency drivers are developed or ported to the interfaces of the sensor array and servo modules.

[0037] In one specific embodiment, the image processor type includes, but is not limited to, low-power AI accelerators, dedicated vision SoCs, etc.

[0038] In one embodiment, such as Figure 2 As shown, the image processing and flight control integrated chip is equipped with UART, IIC, SPI and MIPI interfaces to enable efficient interaction with flight control modules, sensor groups and other components.

[0039] In one embodiment, such as Figure 2 As shown, the indoor positioning device is connected to the image processing and flight control integrated chip via a UART interface; the sensor group is directly connected to the image processing and flight control integrated chip; and the image acquisition device is connected to the image processing and flight control integrated chip via a MIPI interface. It should be noted that suitable camera equipment can be selected as the image acquisition device according to actual needs, and this invention does not impose any limitations on this.

[0040] In one embodiment, such as Figure 2 as well as Figure 3As shown, the sensor group includes: a motion sensor, a geomagnetic sensor, a barometric pressure sensor, and a GPS. The motion sensor measures angular velocity and angular acceleration; the geomagnetic sensor detects the strength and direction of the Earth's magnetic field; the barometric pressure sensor detects air pressure; and the GPS detects the outdoor location. The indoor positioning device detects the three-axis position of the flapping-wing aircraft using an optical flow sensor. The information collected by these sensors, combined with the information collected by the indoor positioning device, constitutes the flight attitude and environmental information. The motion sensor can be an IMU (Insulated Unit).

[0041] In one embodiment, the flight image information is camera image data from the image acquisition device.

[0042] In one embodiment, such as Figure 2 As shown, the image processing and flight control integrated chip is used to perform H.265 video compression encoding on camera image data.

[0043] In one embodiment, the servo module is connected to the image processing and flight control integrated chip via a UART interface. The servo module includes: a pitch servo for controlling the pitch of the flapping-wing aircraft, a roll servo for controlling the roll of the flapping-wing aircraft, a yaw servo for controlling the heading of the flapping-wing aircraft, and a main motor for controlling the flapping frequency of the flapping-wing aircraft. It should be understood that the servo module is equivalent to the servo system. In this invention, the servo system implements specific motor control, avoiding control delays caused by multi-task scheduling.

[0044] In one embodiment, such as Figure 2 as well as Figure 4 As shown, the ground station device includes: a second wireless communication module, a processing module, a remote control module, and a display module;

[0045] The processing module is connected to the second wireless communication module, the remote control module, and the display module, respectively.

[0046] The processing module transmits the flight attitude information received via the second wireless communication module and the processed flight image information to the display module for corresponding display. It also processes the remote control signals received from the remote control module and the operations of the built-in ground station software, generating corresponding flight control information, which is then transmitted to the image processing and flight control integrated chip via the second wireless communication module. It should be noted that existing ground station information processing methods can be used to process the remote control signals and ground station software operations; these will not be elaborated upon here.

[0047] In one embodiment, the operation of the ground station software includes, but is not limited to, waypoint planning operations and parameter calibration operations. Flight control information includes, but is not limited to, remote control command information, parameter setting information, and waypoint and route information.

[0048] In one specific embodiment, the display module is a display screen, or it can be a VR glasses device for first-person perspective flight; the remote control device is a remote controller.

[0049] In one embodiment, the processing module uses a PC as the host computer, which runs ground station software. The type of ground station software includes, but is not limited to, QGroundControl (QGC) and Mission Planner.

[0050] In one embodiment, the second wireless communication module sends information to the first wireless communication module via the MAVLink protocol.

[0051] In one embodiment, the flight control module abandons the dedicated receiver module and uses the image link of the image processing and flight control integrated chip to multiplex the remote control command information, thereby eliminating redundant hardware space.

[0052] In one embodiment, the ground station device also provides a control and information display interface.

[0053] In one embodiment, such as Figure 4 As shown, the ground station device is also used to process flight mode selection and waypoint route information.

[0054] In one embodiment, such as Figure 3 As shown, based on the flight control information and flight attitude information received from the ground station device, the corresponding flight control quantities are generated using the constructed hybrid control model. This includes: obtaining control quantity information based on the flight control information and flight attitude information received from the ground station device; inputting the control quantity information into the constructed hybrid control model to obtain the corresponding flight control quantities; wherein, the control quantity information includes: roll control quantity, pitch control quantity, yaw control quantity, and throttle control quantity.

[0055] Specifically, flight control information mainly includes the target attitude information of the flapping-wing aircraft. Attitude information includes, but is not limited to, target roll angle, target pitch angle, and target yaw angle. Based on the target attitude information and flight attitude information, roll control, pitch control, yaw control, and throttle control quantities can be calculated using existing calculation methods for roll control, pitch control, yaw control, and throttle control quantities (e.g., roll control calculation based on a PID controller). These quantities are then input into the hybrid control model to obtain the control quantities for the pitch servo, roll servo, yaw servo, and main motor.

[0056] In one embodiment, the method of constructing the hybrid control model specifically includes:

[0057] Roll control, pitch control, yaw control, and throttle control are constructed as a standard vector.

[0058]

[0059] A standard basis vector typically refers to a set of particularly simple basis vectors in a vector space.

[0060] Furthermore, a model of the output relationship between the servo motor and the servo system of the micro flapping-wing aircraft is constructed; the constructed output relationship model is as follows:

[0061]

[0062] And among them, For flight control variables, For the standard vector of control quantity information, For dynamic coupling and mechanical errors, K is the theoretical transfer matrix before compensation; r is the standard vector of roll control, p is the standard vector of pitch control, y is the standard vector of yaw control, and t is the standard vector of throttle control. δ1 is the control input of the roll servo, δ2 is the control input of the pitch motor and δ3 is the control input of the yaw motor, and f is the control input of the main motor.

[0063] Furthermore, a 4×4 dimensional decoupling compensation matrix is ​​constructed.

[0064]

[0065] in, off-diagonal elements of the matrix -a ij (i≠j) is used to counteract the cross-coupling effect between servo motor channels, and the diagonal element K ij This indicates the gain of each channel. The specific parameters of the matrix (K) ij ,α ij This can be obtained through theoretical modeling, simulation, or experimental verification. One calibration method involves setting up a high frame rate motion capture system in the laboratory, injecting step control signals channel by channel, recording the actual servo / motor responses, and calculating the equivalent cross-coupling coefficients between each channel.

[0066] Furthermore, based on the constructed decoupling compensation matrix and output relationship model, a hybrid control model is constructed:

[0067]

[0068] in, For decoupling compensation matrix, For flight control variables, This is the standard vector for control quantity information.

[0069] It should be noted that this invention achieves full-function flight control and high-definition video transmission on the flight control module of a micro flapping-wing aircraft weighing less than 3g through a three-in-one design of hardware reconstruction, communication multiplexing, and algorithm decoupling, which can simultaneously meet the requirements of lightweight and high performance.

[0070] Similar to the above embodiments, the present invention also provides a micro flapping-wing aircraft, which is connected to a ground station device for communication, including: an indoor positioning device, a servo module, and a flight control module; the flight control module includes an image processing and flight control integrated chip, a sensor group, an image acquisition device, and a first communication module;

[0071] Indoor positioning devices and sensor arrays are used to acquire flight attitude and environmental information in real time; image acquisition devices are used to acquire flight image information in real time.

[0072] The image processing and flight control integrated chip is used to calculate flight attitude information based on real-time acquired flight attitude and environmental information, and send it to the ground station device through the first communication module; then, based on the flight control information received from the ground station device and the flight attitude information, it uses the constructed hybrid control model to generate corresponding flight control quantities and send them to the servo module to adjust the attitude of the micro flapping-wing aircraft; it is also used to process real-time acquired flight image information and send the processed flight image information to the ground station device through the first communication module.

[0073] It should be understood that the specific structure of the micro flapping-wing aircraft in this embodiment has been described in the above embodiments and will not be repeated here.

[0074] In one embodiment, the image processing and flight control integrated chip is provided with a UART interface, an IIC interface, an SPI interface and a MIPI interface.

[0075] In one embodiment, the indoor positioning device is connected to the image processing and flight control integrated chip via the UART interface; the sensor group is directly connected to the image processing and flight control integrated chip; and the image acquisition device is connected to the image processing and flight control integrated chip via the MIPI interface.

[0076] In one embodiment, the servo module is connected to the image processing and flight control integrated chip via the UART interface; the servo module includes: a pitch servo for controlling the pitch of the flapping-wing aircraft, a roll servo for controlling the roll of the flapping-wing aircraft, a yaw servo for the heading of the flapping-wing aircraft, and a main motor for controlling the flapping frequency of the flapping-wing aircraft.

[0077] In one embodiment, the ground station device includes: a second wireless communication module, a processing module, a remote control module, and a display module; wherein, the processing module is connected to the second wireless communication module, the remote control module, and the display module respectively; the processing module is used to send the flight attitude information received through the second wireless communication module and the processed flight image information to the display module for corresponding display; it is also used to process the remote control signal received from the remote control module and the operation of the built-in ground station software, generate flight control information, and send it to the image processing and flight control integrated chip through the second wireless communication module.

[0078] In one embodiment, based on the received flight control information sent by the ground station device and the flight attitude information, a corresponding flight control quantity is generated using a constructed hybrid control model. This includes: obtaining control quantity information based on the received flight control information sent by the ground station device and the flight attitude information; inputting the control quantity information into the constructed hybrid control model to obtain the corresponding flight control quantity; wherein the control quantity information includes: roll control quantity, pitch control quantity, heading control quantity, and throttle control quantity.

[0079] In one embodiment, the method of constructing the hybrid control model specifically includes: constructing an output relationship model between the servo motor and the motor in the servo system of the micro flapping-wing aircraft; wherein, the constructed output relationship model is: And among them, For flight control variables, For the standard vector of control quantity information, For dynamic coupling and mechanical errors, K is the theoretical transfer matrix before compensation; r is the standard vector of roll control, p is the standard vector of pitch control, y is the standard vector of yaw control, and t is the standard vector of throttle control. δ1, δ2, and δ3 represent the control values ​​of the roll servo, pitch servo, and yaw servo, respectively, while f represents the control value of the main motor. A decoupling compensation matrix is ​​constructed. Based on the constructed decoupling compensation matrix and the output relationship model, a hybrid control model is built. in, For decoupling compensation matrix, For flight control variables, This is the standard vector for control quantity information.

[0080] Figure 5 This is a schematic flowchart of the flight control method for a micro flapping-wing aircraft provided in an embodiment of this application. Figure 5 As shown, the flight control method of the micro flapping-wing aircraft is executed by an image processing and flight control integrated chip in the flight control module of the micro flapping-wing aircraft; wherein, the micro flapping-wing aircraft includes an indoor positioning device and a servo module; the flight control module also includes a sensor group and a first communication module; the method includes:

[0081] Step S51: Receive flight attitude and environmental information acquired in real time from the indoor positioning device and the sensor group, and calculate the flight attitude information based on the flight attitude and environmental information.

[0082] Step S52: Based on the flight control information and flight attitude information received from the ground station device, the corresponding flight control quantity is generated using the constructed hybrid control model and sent to the servo module to adjust the attitude of the micro flapping-wing aircraft.

[0083] It should be understood that the specific implementation process of the method has been described in detail in the above system embodiments, and will not be repeated here for the sake of brevity.

[0084] In one embodiment, the image processing and flight control integrated chip is provided with a UART interface, an IIC interface, an SPI interface and a MIPI interface.

[0085] In one embodiment, the indoor positioning device is connected to the image processing and flight control integrated chip via the UART interface; the sensor group is directly connected to the image processing and flight control integrated chip; and the image acquisition device is connected to the image processing and flight control integrated chip via the MIPI interface.

[0086] In one embodiment, the servo module is connected to the image processing and flight control integrated chip via the UART interface; the servo module includes: a pitch servo for controlling the pitch of the flapping-wing aircraft, a roll servo for controlling the roll of the flapping-wing aircraft, a yaw servo for the heading of the flapping-wing aircraft, and a main motor for controlling the flapping frequency of the flapping-wing aircraft.

[0087] In one embodiment, the ground station device includes: a second wireless communication module, a processing module, a remote control module, and a display module; wherein, the processing module is connected to the second wireless communication module, the remote control module, and the display module respectively; the processing module is used to send the flight attitude information received through the second wireless communication module and the processed flight image information to the display module for corresponding display; it is also used to process the remote control signal received from the remote control module and the operation of the built-in ground station software, generate corresponding flight control information, and send it to the image processing and flight control integrated chip through the second wireless communication module.

[0088] In one embodiment, based on the received flight control information sent by the ground station device and the flight attitude information, a corresponding flight control quantity is generated using a constructed hybrid control model. This includes: obtaining control quantity information based on the received flight control information sent by the ground station device and the flight attitude information; inputting the control quantity information into the constructed hybrid control model to obtain the corresponding flight control quantity; wherein the control quantity information includes: roll control quantity, pitch control quantity, heading control quantity, and throttle control quantity.

[0089] In one embodiment, the method of constructing the hybrid control model specifically includes: constructing an output relationship model between the servo motor and the motor in the servo system of the micro flapping-wing aircraft; wherein, the constructed output relationship model is: And among them, For flight control variables, For the standard vector of control quantity information, For dynamic coupling and mechanical errors, K is the theoretical transfer matrix before compensation; r is the standard vector of roll control, p is the standard vector of pitch control, y is the standard vector of yaw control, and t is the standard vector of throttle control. δ1, δ2, and δ3 represent the control values ​​of the roll servo, pitch servo, and yaw servo, respectively, while f represents the control value of the main motor. A decoupling compensation matrix is ​​constructed. Based on the constructed decoupling compensation matrix and the output relationship model, a hybrid control model is built. in, For decoupling compensation matrix, For flight control variables, This is the standard vector for control quantity information.

[0090] Figure 6 This is a schematic block diagram of the image processing and flight control integrated chip provided in an embodiment of this application. Figure 6As shown, the image processing and flight control integrated chip includes: at least one processor 601, a memory 602, at least one network interface 603, and a user interface 605. The various components in the device are coupled together via a bus system 604. It is understood that the bus system 604 is used to implement communication between these components. In addition to a data bus, the bus system 604 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 6 The general will label all buses as bus systems.

[0091] The user interface 605 may include a monitor, keyboard, mouse, trackball, clicker, button, touchpad, or touch screen.

[0092] It is understood that memory 602 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM) or programmable read-only memory (PROM), used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM) and synchronous static random access memory (SSRAM). The memories described in the embodiments of this invention are intended to include, but are not limited to, these and any other suitable categories of memory.

[0093] In this embodiment of the invention, the memory 602 is used to store various types of data to support the operation of the image processing and flight control integrated chip 600. Examples of this data include: any executable program for operating on the image processing and flight control integrated chip 600, such as the operating system 6021 and application program 6022; the operating system 6021 contains various system programs, such as the framework layer, core library layer, driver layer, etc., for implementing various basic services and handling hardware-based tasks. The application program 6022 may contain various applications, such as a media player, browser, etc., for implementing various application services. The flight control method for the micro flapping-wing aircraft provided in this embodiment of the invention can be included in the application program 6022.

[0094] The methods disclosed in the above embodiments of the present invention can be applied to processor 601, or implemented by processor 601. Processor 601 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 601 or by instructions in the form of software. The processor 601 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Processor 601 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present invention. General-purpose processor 601 may be a microprocessor or any conventional processor, etc. The steps of the accessory optimization method provided in the embodiments of the present invention can be directly reflected as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, which is located in memory. The processor reads the information in the memory and combines it with its hardware to complete the steps of the aforementioned method.

[0095] In an exemplary embodiment, the image processing and flight control integrated chip 600 may be used by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), or complex programmable logic devices (CPLDs) to perform the aforementioned method.

[0096] According to the method provided in the embodiments of this application, this application also provides a computer program product, which includes: computer program code, which, when run on a computer, causes the computer to execute... Figure 5 The flight control method of the micro flapping-wing aircraft in the illustrated embodiment.

[0097] According to the method provided in the embodiments of this application, this application also provides a computer-readable storage medium storing program code, which, when executed on a computer, causes the computer to perform... Figure 5 The flight control method of the micro flapping-wing aircraft in the illustrated embodiment.

[0098] As used in this specification, the terms "component," "module," "system," etc., are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. As illustrated, applications running on computing devices and computing devices can both be components. One or more components may reside in a process and / or an execution thread, and components may be located on a single computer and / or distributed among two or more computers. Furthermore, these components can be executed from various computer-readable media on which various data structures are stored. Components can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system, and / or a network, such as the Internet interacting with other systems via signals).

[0099] Those skilled in the art will recognize that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0100] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0101] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0102] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0103] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0104] In the above embodiments, the functions of each functional unit can be implemented entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. A computer program product includes one or more computer instructions (programs). When the computer program instructions (programs) are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high-density digital video discs, DVDs), or semiconductor media (e.g., solid-state disks, SSDs, etc.).

[0105] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0106] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0107] In summary, this application provides a flight control system, a micro flapping-wing aircraft, a flight control method, and a chip for a micro flapping-wing aircraft. The flight control system includes a micro flapping-wing aircraft and a ground station device; wherein the flight control module of the micro flapping-wing aircraft incorporates an image processing and flight control integrated chip. This image processing and flight control integrated chip integrates real-time flight control and visual processing functions. This application improves hardware space utilization through the image processing and flight control integrated chip, while simultaneously meeting the requirements of lightweight, low power consumption, and low latency for micro flapping-wing aircraft. Therefore, this application effectively overcomes various shortcomings of the prior art and has high industrial applicability.

[0108] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A flight control system for a micro flapping-wing aircraft, characterized in that, include: Miniature flapping-wing aircraft and ground station equipment; The micro flapping-wing aircraft includes: an indoor positioning device, a servo module, and a flight control module; the flight control module is equipped with an image processing and flight control integrated chip, a sensor group, an image acquisition device, and a first communication module. The indoor positioning device and the sensor group are used to acquire flight attitude and environmental information in real time; the image acquisition device is used to acquire flight image information in real time. The image processing and flight control integrated chip is used to calculate flight attitude information based on real-time acquired flight attitude and environmental information, and send it to the ground station device through the first communication module; then, based on the flight control information received from the ground station device and the flight attitude information, it uses the constructed hybrid control model to generate corresponding flight control quantities and send them to the servo module to adjust the attitude of the micro flapping-wing aircraft; it is also used to process real-time acquired flight image information and send the processed flight image information to the ground station device through the first communication module.

2. The flight control system for a micro flapping-wing aircraft according to claim 1, characterized in that, The image processing and flight control integrated chip is equipped with a UART interface, an IIC interface, an SPI interface, and a MIPI interface.

3. The flight control system for a micro flapping-wing aircraft according to claim 2, characterized in that, The indoor positioning device is connected to the image processing and flight control integrated chip via the UART interface; the sensor group is directly connected to the image processing and flight control integrated chip; and the image acquisition device is connected to the image processing and flight control integrated chip via the MIPI interface.

4. The flight control system for a micro flapping-wing aircraft according to claim 2, characterized in that, The servo module is connected to the image processing and flight control integrated chip via the UART interface; the servo module includes: a pitch servo for controlling the pitch of the flapping wing aircraft, a roll servo for controlling the roll of the flapping wing aircraft, a heading servo for controlling the heading of the flapping wing aircraft, and a main motor for controlling the flapping frequency of the flapping wing aircraft.

5. The flight control system for a micro flapping-wing aircraft according to claim 1, characterized in that, The ground station device includes: a second wireless communication module, a processing module, a remote control module, and a display module; The processing module is connected to the second wireless communication module, the remote control module, and the display module, respectively. The processing module is used to send the flight attitude information received through the second wireless communication module and the processed flight image information to the display module for corresponding display; it is also used to process the remote control signal received from the remote control module and the operation of the built-in ground station software to generate flight control information, and send it to the image processing and flight control integrated chip through the second wireless communication module.

6. The flight control system for a micro flapping-wing aircraft according to claim 5, characterized in that, Based on the flight control information and flight attitude information received from the ground station device, corresponding flight control quantities are generated using the constructed hybrid control model. This includes: obtaining control quantity information based on the flight control information and flight attitude information received from the ground station device; inputting the control quantity information into the constructed hybrid control model to obtain the corresponding flight control quantities; wherein the control quantity information includes: roll control quantity, pitch control quantity, heading control quantity, and throttle control quantity.

7. The flight control system for a micro flapping-wing aircraft according to claim 6, characterized in that, The specific methods for constructing a hybrid control model include: A model of the output relationship between the servo motor and the motor in the servo system of a micro flapping-wing aircraft is constructed; the constructed output relationship model is as follows: And among them, For flight control variables, For the standard vector of control quantity information, For dynamic coupling and mechanical errors, K is the theoretical transfer matrix before compensation; r is the standard vector of roll control, p is the standard vector of pitch control, y is the standard vector of y heading control, and t is the standard vector of throttle control. δ1, δ2, and δ3 are the control values ​​of the roll servo, pitch servo, and yaw servo, respectively, and f is the control value of the main motor. Construct a decoupling compensation matrix; based on the constructed decoupling compensation matrix and the output relationship model, construct a hybrid control model: in, For decoupling compensation matrix, For flight control variables, This is the standard vector for control quantity information.

8. A miniature flapping-wing aircraft, characterized in that, The micro flapping-wing aircraft communication connection ground station device includes: an indoor positioning device, a servo module, and a flight control module; the flight control module is equipped with an image processing and flight control integrated chip, a sensor group, an image acquisition device, and a first communication module; The indoor positioning device and the sensor group are used to acquire flight attitude and environmental information in real time; the image acquisition device is used to acquire flight image information in real time. The image processing and flight control integrated chip is used to calculate flight attitude information based on real-time acquired flight attitude and environmental information, and send it to the ground station device through the first communication module; then, based on the flight control information received from the ground station device and the flight attitude information, it uses the constructed hybrid control model to generate corresponding flight control quantities and send them to the servo module to adjust the attitude of the micro flapping-wing aircraft; it is also used to process real-time acquired flight image information and send the processed flight image information to the ground station device through the first communication module.

9. A flight control method for a micro flapping-wing aircraft, characterized in that, The method is executed by an image processing and flight control integrated chip in the flight control module of a micro flapping-wing aircraft; wherein the micro flapping-wing aircraft includes an indoor positioning device and a servo module; the flight control module also includes a sensor group and a first communication module; the method includes: The system receives flight attitude and environmental information acquired in real time from the indoor positioning device and sensor group, and calculates flight attitude information based on the flight attitude and environmental information. Based on the flight control information and flight attitude information received from the ground station device, the corresponding flight control quantities are generated using the constructed hybrid control model and sent to the servo module to adjust the attitude of the micro flapping-wing aircraft.

10. An integrated chip for image processing and flight control, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the method of claim 9.

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