Unmanned vehicle and control device and control system thereof

Abstract

A control system for an unmanned vehicle (UAV) is disclosed, suitable for wireless autonomous flight environments. The control system includes an artificial intelligence (AI) module and a flight control module. Before takeoff, the AI ​​module receives target images and flight plans transmitted from a ground-based guidance system. During wireless autonomous flight, it receives three-axis information generated by a gyroscope to perform autonomous control algorithm calculations, thereby generating attitude control commands corresponding to the designated target. The flight control module receives these attitude control commands and generates control signals to drive at least one actuator of the UAV. The AI ​​module and flight control module are integrated into a single system-on-a-chip (SoC) to reduce data processing latency and improve the control response performance of the UAV during wireless autonomous flight.

Claims

1. A control system for an unmanned vehicle, applicable to wireless autonomous flight, comprising: an artificial intelligence module configured to receive a target photograph and a flight plan transmitted by a ground-based guidance system before takeoff, and to receive three-axis information generated by a gyroscope during wireless autonomous flight of the unmanned vehicle to perform calculations of an autonomous control algorithm to generate an attitude control command corresponding to flying towards a designated target; and a flight control module configured to receive the attitude control command and generate a control signal to control at least one actuator of the unmanned vehicle; wherein... The artificial intelligence module and the flight control module are implemented using the same system monolithic chip. The integrated architecture of the system monolithic chip reduces data processing latency and improves the control response performance of the unmanned vehicle during wireless autonomous flight.

2. The control system of the unmanned vehicle as described in claim 1, wherein the artificial intelligence module is further configured to perform feature extraction and image analysis on the target photograph to extract a key feature vector of the specified target and establish a target recognition benchmark accordingly.

3. The control system of the unmanned vehicle as described in claim 2, wherein the artificial intelligence module is further configured to receive an image stream generated by a gimbal camera module when the unmanned vehicle approaches the designated target, and to perform feature comparison between the image stream and the target recognition reference to identify the designated target position in the image frame corresponding to the image stream.

4. The control system of the unmanned vehicle as described in claim 3, wherein the artificial intelligence module is further configured to, after identifying the target position, calculate a positional deviation of the unmanned vehicle relative to the target position, and generate a corresponding attitude control command based on the positional deviation to guide the unmanned vehicle to fly accurately to the designated target.

5. The control system of the unmanned vehicle as described in claim 4, wherein the artificial intelligence module is further configured to transmit a mission control command corresponding to a predetermined mission to the flight control module when the unmanned vehicle approaches the designated target, so as to execute an operation procedure corresponding to the predetermined mission.

6. The control system of the unmanned vehicle as described in claim 3, wherein the artificial intelligence module is further configured to receive gimbal attitude information generated by the gimbal camera module, calculate a corresponding gimbal attitude adjustment amount based on the offset between the target position and the center position of an image frame, and generate a gimbal control command to the gimbal camera module so that the gimbal camera module continuously aligns with the designated target.

7. The control system of the unmanned vehicle as described in claim 3, wherein the artificial intelligence module uses YOLO as an image recognition model and combines it with a Siamese-based image tracking network.

8. The control system of the unmanned vehicle as described in claim 1, wherein the artificial intelligence module includes an image analysis module, an image recognition module, a flight decision module and a flight attitude calculation module.

9. The control system of the unmanned vehicle as described in claim 1, wherein the autonomous control algorithm includes an offset compensation algorithm.

10. The control system for the unmanned vehicle as described in claim 1, wherein the system single-chip includes at least one central processing unit, at least one internal shared memory unit, at least one peripheral interface unit, and at least one image and graphics unit; wherein, The gyroscope on the unmanned vehicle is electrically connected to the peripheral interface unit and transmits the three-axis information generated by the gyroscope through a corresponding transmission protocol. A camera on the unmanned vehicle is electrically connected to an image interface in the image and graphics unit and transmits an image stream generated by the camera through a corresponding transmission protocol. The central processing unit in the system chip, in conjunction with the internal shared memory unit, performs data processing, access, and exchange on the three-axis information and the image stream to reduce data processing latency and improve the control response performance of the unmanned vehicle during wireless autonomous flight.

11. An unmanned vehicle applicable to wireless autonomous flight, comprising: a system-on-a-chip (SoC) configured to be electrically connected to a printed circuit board assembly and performing artificial intelligence calculations and controlling flight heading, wherein the SoC includes at least one central processing unit (CPU), at least one internal shared memory unit, at least one peripheral interface unit (PIU), and at least one image and graphics unit; a gyroscope configured to be electrically connected to the PUI and transmitting three-axis information generated by the gyroscope through a corresponding transmission protocol; and at least one camera configured to be electrically connected to an image interface in the image and graphics unit and transmitting an image stream generated by the camera through a corresponding transmission protocol; wherein... The central processing unit, in conjunction with the internal shared memory unit, performs data processing, storage, and exchange on the three-axis information and the video stream, thereby reducing data processing latency and improving the control response performance of the unmanned vehicle during wireless autonomous flight.

12. A control device for an unmanned vehicle, applicable to wireless autonomous flight, comprising: a system single-chip microcomputer configured to be electrically connected to a printed circuit board assembly, and performing artificial intelligence calculations and controlling the flight course to enable the unmanned vehicle to autonomously fly wirelessly to a designated target, wherein the system single-chip microcomputer includes at least one central processing unit, at least one internal shared memory unit, at least one peripheral interface unit, and at least one image and graphics unit, wherein... The internal shared memory unit is connected to the central processing unit, the image and graphics unit, and the peripheral interface unit, respectively. The system chip is further configured to receive a target image and a flight plan transmitted by a ground-based guidance system before the unmanned vehicle takes off. The system chip is also configured to receive three-axis information generated by a gyroscope during wireless autonomous flight of the unmanned vehicle to execute an autonomous control algorithm to generate an attitude control command corresponding to the flight towards the designated target. Furthermore, the system chip is configured to receive... An image stream generated by a gimbal camera module is used to identify the position of a designated target within the image stream. Based on this, the positional deviation of the unmanned vehicle relative to the target position is calculated, and corresponding attitude control commands are generated based on the positional deviation to guide the unmanned vehicle to fly accurately to the designated target. In addition, the central processing unit of the system chip, in conjunction with the internal shared memory unit, performs data processing, storage, and exchange on the three-axis information and the image stream to reduce data processing latency and improve the control response performance of the unmanned vehicle during wireless autonomous flight.

13. The control device for the unmanned vehicle as described in claim 12, wherein the system chip is further configured to generate a corresponding task control command according to a predetermined task when the unmanned vehicle arrives at the designated target, so as to execute a corresponding operation process.

14. A control device for an unmanned vehicle, applicable to wireless autonomous flight, comprising: an artificial intelligence module including a first printed circuit board and a first chip electrically connected to the first printed circuit board, configured to perform artificial intelligence calculations; and a flight control module including a second printed circuit board and a second chip electrically connected to the second printed circuit board, configured to control the flight heading, so that the unmanned vehicle can autonomously fly wirelessly to a designated target; wherein... The artificial intelligence module and the flight control module are integrated on the same printed circuit board assembly to form a single-board integrated system.

15. The control device for an unmanned vehicle as described in claim 14, wherein the single-board integrated system is configured to receive a target photograph and a flight plan transmitted by a ground guidance system before the unmanned vehicle takes off; during unmanned autonomous flight without a connection, receive three-axis information generated by a gyroscope to perform calculations of an autonomous control algorithm to generate an attitude control command corresponding to flying to the designated target; when the unmanned vehicle approaches the designated target, receive an image stream generated by a gimbal camera module, identify the target position of the designated target in the image stream based on the image stream, calculate a position deviation of the unmanned vehicle relative to the target position, and generate the corresponding attitude control command based on the position deviation to guide the unmanned vehicle to fly accurately to the designated target.

16. The control device for the unmanned vehicle as described in claim 15, wherein the single-board integration system is further configured to generate a corresponding task control command according to a predetermined task when the unmanned vehicle arrives at the designated target, so as to execute a corresponding operation procedure.

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