Autonomous Drone: 7 Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:27

Hauv txoj haujlwm no koj yuav kawm paub txheej txheem ntawm kev tsim thiab teeb tsa lub drone, ua ntej yuav mus tshuaj xyuas kev ya dav hlau uas siv lub Hom Phiaj Npaj thiab MATLAB.

Thov nco ntsoov cov lus qhia no yog npaj los ua kev qhia nkaus xwb. Kev siv drones tuaj yeem ua rau muaj kev phom sij nyob ib puag ncig tib neeg thiab tuaj yeem ua rau koj muaj teeb meem loj nrog txoj cai yog tias siv tsis raug lossis ua tsis raug. Xyuas kom koj ua raws txhua txoj cai thiab cov cai ib puag ncig siv drones. Tsis tas li ntawd, cov lej muab rau ntawm GitHub tsis tau sim tag nrho yog li xyuas kom koj muaj lwm qhov tsis ua haujlwm hauv qhov chaw kom tsis txhob poob lossis ua rau koj lub drone puas tsuaj.

Kauj Ruam 1: Daim Ntawv Teev Npe

Rau txoj haujlwm no koj yuav xav tau ob peb ntu. Ua ntej txuas ntxiv nrog cov haujlwm no, nco ntsoov yuav cov khoom hauv qab no thiab rub tawm cov ntawv rau 3D luam ntawv thiab laser txiav qhov kev cai.

Yuav Cov Khoom

Ncej: DJI F450 Nplaim Taws

www.buildyourowndrone.co.uk/dji-f450-flam…

PDB: Matek PDB-XT60

www.unmannedtechshop.co.uk/matek-pdb-xt60…

Cov motors x4: Emax 2205s 2300kv

www.unmannedtechshop.co.uk/rs2205-s-races…

Propellers x4: Gemfan Carbon/Nylon 5030

hobbyking.com/en_us/gemfan-propeller-5x3-…

ESCs x4: Me Bee 20A 2-4S

hobbyking.com/en_us/favourite-little-bee-…

Tus Tswj Dav Hlau: Navio 2 (nrog GPS/GNSS tus kav hlau txais xov thiab lub zog txuas)

Raspberry Pi 3B

thepihut.com/collections/raspberry-pi/pro…

Transmitter: FRSKY TARANIS X9D+

www.unmannedtechshop.co.uk/frsky-taranis-…

Tus Txais: FrSky XSR 2.4 Ghz ACCST

hobbyking.com/en_us/xsr-eu-lbt.html?_st…

Roj teeb: TATTU 1800mAh 14.8V 45C 4S1P Lipo Roj Teeb Pob

www.unmannedtechshop.co.uk/tattu-1800mah-…

Roj Teeb Charger: Turnigy Accucell-6 50W 6A Tus Kheej/Charger

hobbyking.com/en_us/turnigy-accucell-6-50…

Lub Hwj Huam Fais Fab rau Charger: RS 12V DC Lub Hwj Huam Fais Fab

uk.rs-online.com/web/p/plug-in-power-supp…

Hnab Roj Teeb: Hobby King Lithium Polymer Charge Pack

hobbyking.com/en_us/lithium-polymer-charg…

Txiv tsawb txuas

www.amazon.co.uk/gp/product/B013ZPUXZS/re…

WiFi Router: TP-LINK TL-WR802N

www.amazon.co.uk/TP-LINK-TL-WR802N-Wirele…

Micro SD Card: SanDisk 32GB

www.amazon.co.uk/SanDisk-microSDHC-Memory… nyeem ntxiv

Standoffs/Spacers: Nylon M2.5 Xov

thepihut.com/products/adafruit-black-nylon…

Laptop

Cov hlua khi

Velcro Pluaj

Thaum tshav kub kub ntsws

3D Luam Tshooj

Raspberry Pi / Navio 2 Case (Saum thiab Hauv Qab)

Cov Roj Teeb (Lub Thawv thiab Lub Hau)

Laser Txiav Qhov

Cov Khoom Siv Hluav Taws Xob x2

Kauj ruam 2: Kho vajtse

Kho vajtse thiab Lub Tsev Phase:

1. Sib sau ua ke F450 quadrotor thav duab thiab cov roj teeb luam tawm hauv nruab nrab (nco ntsoov ntxiv M2.5*5mm spacers)
2. Txuas cov motors rau tus ncej.
3. Muab cov txiv tsawb txuas rau ESCs thiab cov xov hlau.
4. Muab cov ESCs thiab lub zog hloov pauv rau PDB. Nco tseg: Nco ntsoov tsis txhob siv 5V tso zis ntawm PDB (nws yuav tsis muab lub zog txaus).
5. Ntxiv thawj txheej laser txiav rau saum F450 thav duab siv M2.5*10mm txiv neej-poj niam spacers; thiab txuas PDB thiab lub zog hluav taws xob rau txheej no. Nco tseg: nco ntsoov tso cov khoom sib xws xws li cov xov hlau ntev txaus mus txog rau txhua lub cav.
6. Txuas ESCs mus rau lub cav thiab siv zauv sib txuas kom ruaj ntseg cov xov hlau rau ntawm tus ncej.
7. Txuas Navio2 rau Raspberry Pi thiab muab tso rau hauv cov ntawv luam tawm.
8. Ntxiv cov txheej txheej laser txiav thib ob rau saum txheej thawj thiab muab Raspberry-Navio casing siv ob txheej nplaum nplaum.
9. GPS tuaj yeem ua rau sab saum toj ntawm lub casing, txawm li cas los xij ntawm no nws tau muab tso rau lwm txheej thib peb uas mus rau saum Raspberry-Navio casing raws li pom hauv cov duab, tab sis nws yog nyob ntawm tus neeg uas tsim nws. Tom qab ntawd yooj yim txuas GPS rau Navio.
10. Txhim kho tus neeg txais khoom nyob rau sab saum toj ntawm txheej thib ob siv ob daim nplaum nplaum. Txuas ESCs thiab txais xov hlau mus rau Navio pins. Tus neeg txais khoom nyob ntawm thawj kab ntawm cov pins thiab tom qab ntawd cov motors nyob rau plaub kab tom ntej. Nco tseg: Pem hauv ntej ntawm lub drone tau txiav txim siab los ntawm lub cav twg uas txuas ua ntej. Qhov twg los xij uas koj xaiv ua ntej kom ntseeg tau tias cov motors tau txuas nrog hauv daim duab thaum pib ntawm cov kauj ruam no.
11. Ntxiv cov kiv cua. Nws raug qhia kom tawm ntawm cov kiv cua mus rau qhov kawg piv txwv li tom qab ua tiav ntu software thiab ib txwm nco ntsoov tias koj ua tib zoo tiv thaiv kev nyab xeeb thaum cov kiv cua nyob ntawm qhov xwm txheej tsis raug.

Kauj ruam 3: Software

Phase Software: (Siv Navio2 docs)

1. Tau txais qhov tseeb Emlid Raspbian Duab los ntawm Navio2 docs.
2. Rub tawm, rho tawm thiab khiav Etcher nrog cov cai tswj hwm.
3. Xaiv cov ntawv khaws cia nrog cov duab thiab daim npav daim npav SD.
4. Nyem "Flash!" Cov txheej txheem yuav siv ob peb feeb. (Piv txwv yees duab)
5. Tam sim no txhawm rau teeb tsa WiFi nkag mus peb yuav tsum hloov kho wpa_supplicant.conf cov ntaub ntawv nyob ntawm daim npav SD. Kho nws kom nws zoo li thawj daim duab nyob rau saum toj ntawm cov kauj ruam no. Nco tseg: ssid yog lub npe TP-Txuas raws li nws tshwm hauv koj lub computer. Txoj hauv kev zoo tshaj plaws los nrhiav qhov tseeb ssid rau koj TP-Txuas yog txhawm rau txuas koj lub khoos phis tawj rau TP-Txuas thiab tom qab ntawd khiav cov lus txib hauv qab no ntawm lub qhov rai dav:

Rau lub qhov rais: netsh wlan qhia cov ntaub ntawv

Rau mac: pib nyeem /Library/Preferences/SystemConfiguration/com.apple.airport.preferences | grep SSIDString

psk yog tus password muab rau ntawm daim npav uas los nrog TP-Txuas.

1. Tshem tawm daim npav SD thiab muab tso rau hauv Raspberry Pi thiab siv nws.
2. Txhawm rau txheeb xyuas yog Raspberry Pi txuas nrog TP-Txuas koj tuaj yeem siv ib qho ntawm cov apps muaj uas qhia tag nrho cov cuab yeej txuas nrog koj lub network.
3. Nws yog qhov tsim nyog los teeb tsa IP chaw nyob rau cov cuab yeej txuas nrog koj TP-Txuas kom koj tsis tas yuav hloov tus IP chaw nyob ntawm cov lej koj sau txhua lub sijhawm. Koj tuaj yeem yooj yim ua li ntawd los ntawm kev qhib tplinkwifi.net (thaum koj txuas nrog TP-Txuas ntawm chav kawm). Sau tus Username: admin thiab Password: admin. Mus rau "DHCP" hauv cov ntawv qhia zaub mov ntawm sab laug ntawm qhov screen ces xaiv "Chaw Nyob" los ntawm cov ntawv qhia zaub mov nco. Ntxiv MAC Chaw Nyob ntawm cov khoom siv uas koj xav muab IP chaw nyob rau. Nov yog lub chaw nres tsheb hauv av (Laptop) tau muab tus IP chaw nyob ntawm 192.168.0.110 thiab Raspberry Pi 192.168.0.111.
4. Tam sim no peb yuav tsum rub tawm MAVProxy los ntawm qhov txuas hauv qab no.
5. Tam sim no tsim cov ntawv.bat uas zoo li daim duab thib ob nyob rau sab saum toj ntawm cov kauj ruam no, thiab kom paub tseeb tias koj siv cov kab ntawv uas koj mavproxy.exe tau khaws tseg ntawm koj lub laptop. Koj yuav tsum tau khiav cov ntaub ntawv no (los ntawm ob npaug nias nws) txhua lub sijhawm koj xav txuas rau koj lub drone.
6. Txhawm rau kom tau txais Raspberry Pi los sib tham nrog MAVProxy cov ntaub ntawv yuav tsum raug kho ntawm Pi.
7. Ntaus sudo nano/etc/default/arducopter rau hauv Linux davhlau ya nyob twg ntawm Raspberry Pi hosting Navio2 autopilot.
8. Cov kab saum toj kawg nkaus ntawm cov ntawv uas qhib yuav tsum nyeem TELEM1 = "-Udp: 127.0.0.1: 14550". Qhov no yuav tsum tau hloov pauv kom nws taw tes rau IP chaw nyob ntawm koj lub PC.
9. Txhim Kho Lub Hom Phiaj Npaj thiab txav mus rau Thawj Qhov Teeb Meem Tshooj.

Kauj Ruam 4: Thawj Lub Sijhawm Teeb

Txhawm rau txuas rau koj UAV ua raws cov txheej txheem no:

1. Khiav ob qho koj cov ntaub ntawv MAVProxy.bat, thiab Lub Hom Phiaj Npaj.
2. Txuas lub roj teeb rau koj UAV thiab tos kwv yees li 30-60 vib nas this. Qhov no yuav muab sijhawm rau nws txuas rau lub wireless network.
3. Nyem rau khawm txuas nyob rau sab xis saum toj ntawm Lub Hom Phiaj Npaj. Hauv thawj kab lus sib tham uas pom hom 127.0.0.1 thiab nyem OK. Hauv lub npov tom ntej no ntaus tus naj npawb chaw nres nkoj 14551 thiab nyem OK. Tom qab ob peb feeb Cov phiaj xwm phiaj xwm yuav tsum txuas rau koj li MAV thiab pib tso tawm cov ntaub ntawv xov tooj cua nyob rau sab laug.

Thaum koj teeb tsa koj lub UAV thawj zaug, nws yog qhov tsim nyog los teeb tsa thiab ntsuas qee yam khoom siv kho vajtse. ArduCopter cov ntaub ntawv muaj cov lus qhia ntxaws ntxaws txog yuav ua li cas teeb tsa hom kab, ntsuas ntsuas ntsuas, ntsuas xov tooj cua ntsuas ntsuas, ntsuas ntsuas lub ntsuas pa, ntsuas rc hom teeb tsa, ESC ntsuas, thiab lub cev muaj zog ntau yam teeb tsa.

Nyob ntawm seb koj tau teeb tsa koj li Raspberry Pi ntawm lub drone nws yuav tsim nyog hloov pauv pawg thawj coj hauv kev npaj phiaj xwm. Qhov no tuaj yeem ua tiav los ntawm kev kho Pawg Thawj Coj Kev Taw Qhia (AHRS_ORIENTATION) qhov ntsuas nyob hauv cov npe tsis tau tshaj nyob rau hauv Config/Tuning tab hauv Lub Hom Phiaj Npaj.

Kauj Ruam 5: Thawj Dav Hlau

Thaum kho vajtse thiab software tau npaj tiav, nws yog lub sijhawm los npaj rau thawj lub davhlau. Nws tau pom zoo tias ua ntej sim ya davhlau tus kheej UAV yuav tsum tau ya los ntawm tus kheej siv lub tshuab xa xov kom tau txais kev xav rau kev tuav lub dav hlau thiab txhawm rau kho txhua yam teeb meem uas yuav muaj.

Cov ntaub ntawv ArduCopter muaj cov ncauj lus ntxaws ntxaws thiab qhia paub ntawm koj thawj lub davhlau. Nws tham txog ntau hom davhlau uas tuaj nrog ArduCopter thiab txhua tus ntawm cov qauv no ua li cas. Rau thawj lub davhlau, hom ruaj khov yog hom davhlau tsim nyog tshaj plaws los siv.

ArduCopter muaj ntau yam ua rau muaj kev nyab xeeb. Ib ntawm cov yam ntxwv no yog Pre-Arm Safety checks uas tiv thaiv lub dav hlau los ntawm kev siv phom yog tias muaj teeb meem raug kuaj pom. Feem ntau ntawm cov tshev no tseem ceeb hauv kev pab txo txoj kev pheej hmoo poob lossis poob ntawm lub dav hlau tab sis lawv yuav xiam oob khab yog tias tsim nyog.

Txhim kho lub cav yog thaum lub tshuab hluav taws xob siv lub zog rau lub cav kom tso cai rau lawv tig. Ua ntej tiv thaiv lub cav nws yog qhov tseem ceeb uas lub dav hlau nyob hauv qhov chaw qhib kom huv, nyob deb ntawm ib tus neeg lossis teeb meem lossis hauv thaj chaw ya nyab xeeb. Nws kuj tseem ceeb heev uas tsis muaj dab tsi nyob ze ntawm lub kiv cua, tshwj xeeb yog lub cev thiab lwm yam uas yuav ua rau lawv puas tsuaj. Thaum txhua yam pom tseeb thiab tus kws tsav dav hlau txaus siab tias nws muaj kev nyab xeeb los pib, cov motors tuaj yeem ua tub rog. Nplooj ntawv no muab cov ncauj lus kom ntxaws qhia txog yuav ua li cas tiv thaiv lub dav hlau. Tsuas yog qhov sib txawv ntawm phau ntawv qhia no thiab Navio2 dag hauv qib 7 ntawm kev ua tub rog thiab qib 2 ntawm kev tshem riam phom. Txhawm rau caj npab Navio2, ob leeg yuav tsum tuav thiab hauv nruab nrab ob peb feeb (saib daim duab). Txhawm rau tshem riam phom, ob leeg yuav tsum tuav thiab sab rau ob peb feeb (saib daim duab).

Txhawm rau ua koj thawj lub davhlau, ua raws phau ntawv qhia no.

Tom qab thawj lub davhlau nws yuav tsim nyog los hloov qee yam. Tsuav yog kho vajtse ua haujlwm tau zoo thiab tau teeb tsa kom raug, cov kev hloov pauv no feem ntau yuav nyob hauv daim ntawv ntawm kev kho PID. Phau ntawv qhia no muaj qee cov lus qhia muaj txiaj ntsig rau kev kho lub quadcopter txawm li cas los xij hauv peb qhov xwm txheej, tsuas yog txo qis me ntsis P nce txaus los ua kom lub dav hlau ruaj khov. Thaum lub dav hlau ya tau nws tuaj yeem siv ArduCopter kev ua haujlwm autotune. Qhov no cia li mloog PIDs los muab cov lus teb nrawm tshaj plaws thaum tseem tseem ruaj khov. Cov ntaub ntawv ArduCopter muab cov ncauj lus qhia ntxaws txog yuav ua li cas thiaj ua tau autotuning.

Yog tias koj ntsib teeb meem hauv ib qho ntawm cov kauj ruam no, phau ntawv qhia daws teeb meem yuav tuaj yeem pab tau.

Kauj Ruam 6: Kev Dav Dav Dav Dav Dav

Lub Hom Phiaj Npaj

Tam sim no koj tus kws kho mob tau raug kho thiab tuaj yeem ya tau zoo hauv kev tswj phau ntawv, kev ya dav hlau tuaj yeem tshawb xyuas.

Txoj hauv kev yooj yim tshaj plaws kom nkag mus rau hauv lub davhlau tus kheej yog siv Lub Hom Phiaj Npaj raws li nws muaj ntau yam ntawm yam uas koj tuaj yeem ua nrog koj lub dav hlau. Kev tsav dav hlau uas muaj kev ywj pheej hauv Lub Hom Phiaj Npaj tau poob rau hauv ob pawg loj; txoj haujlwm npaj ua ntej (hom pib), thiab lub luag haujlwm nyob (hom coj). Lub vijtsam npaj dav hlau hauv lub hom phiaj npaj tuaj yeem siv los npaj lub davhlau suav nrog cov kev taw qhia mus ntsib thiab kev nqis tes ua xws li thaij duab. Waypoints tuaj yeem xaiv tus kheej, lossis cov cuab yeej siv txoj hauv kev tuaj yeem siv los tsim lub luag haujlwm los tshawb fawb thaj chaw. Thaum lub hom phiaj tau npaj tseg thiab xa mus rau lub drone, Hom pib dav hlau tuaj yeem siv tau kom lub dav hlau yuav ua raws li lub hom phiaj npaj ua ntej. Nov yog phau ntawv qhia yooj yim txog phiaj xwm phiaj xwm.

Hom kev coj ua yog txoj hauv kev sib tham hais kom UAV ua qee yam. Qhov no yog ua tiav los ntawm kev siv tab ua hauv Cov phiaj xwm phiaj xwm lossis los ntawm txoj nyem rau ntawm daim duab qhia chaw. Lub UAV tuaj yeem raug txib kom ua ntau yam xws li kev nce mus, rov qab qhib, thiab ya mus rau qhov chaw xaiv los ntawm txoj cai-nyem rau ntawm daim duab qhia chaw ntawm qhov chaw xav tau thiab xaiv ya mus rau ntawm no.

Failsafes yog ib qho tseem ceeb uas yuav tau txiav txim siab thaum lub davhlau tsis siv neeg kom ntseeg tau tias yog tias muaj qhov tsis raug, lub dav hlau tsis raug puas tsuaj thiab tib neeg tsis raug mob. Lub Hom Phiaj Npaj tau tsim tsa hauv Geo-Fence ua haujlwm uas tuaj yeem siv los txwv qhov UAV tuaj yeem ya thiab nres nws kom tsis txhob mus deb lossis siab dhau. Nws yuav tsim nyog txiav txim siab tethering UAV rau hauv av rau koj thawj ob peb lub davhlau raws li lwm qhov thaub qab. Thaum kawg, nws yog ib qho tseem ceeb uas koj muaj koj lub xov tooj cua xa xov thiab txuas nrog lub drone yog li yog tias tsim nyog koj tuaj yeem hloov tawm ntawm lub davhlau tsis siv neeg mus rau hauv phau ntawv davhlau hom xws li ruaj khov lossis alt-tuav kom UAV tuaj yeem ua haujlwm nyab xeeb mus rau av.

MATLAB

Kev tswj hwm tus kheej siv MATLAB tsis yooj yim dua thiab xav tau qee qhov kev paub ua haujlwm yav dhau los.

MATLAB cov ntawv sau tiag_search_polygon thiab real_search tso cai rau koj los tsim cov phiaj xwm npaj ua ntej txhawm rau tshawb nrhiav tus neeg siv lub ntsiab lus. Tsab ntawv real_search_polygon npaj txoj hauv kev hla tus neeg siv txhais cov duab plaub thaum ntawv tsab ntawv real_search npaj txoj hauv kev hla qhov tsawg kawg nkaus duab plaub puag ncig lub polygon. Cov kauj ruam los ua qhov no yog raws li hauv qab no:

1. Qhib Lub Hom Phiaj Npaj thiab mus rau Lub Dav Hlau Npaj Qhov rai.
2. Kos ib lub duab plaub hla thaj chaw xav tau siv cov cuab yeej ntau yam.
3. Txuag lub polygon li 'search_area.poly' hauv tib daim nplaub tshev raws li tsab ntawv MATLAB.
4. Mus rau MATLAB thiab khiav yog real_search_polygon lossis real_search. Nco ntsoov xaiv koj txoj hauv kev dav uas xav tau thiab hloov pauv file_path ntawm kab 7 mus rau cov npe uas raug uas koj ua haujlwm.
5. Thaum tsab ntawv tau khiav thiab koj zoo siab nrog txoj hauv kev tsim rov qab mus rau Lub Hom Phiaj Npaj.
6. Nyem Load WP Cov Ntaub Ntawv ntawm sab xis thiab xaiv txoj hauv kev cov ntaub ntawv 'search_waypoints.txt' uas koj nyuam qhuav tsim.
7. Nyem Sau WPs ntawm sab xis kom xa cov lus taw qhia rau lub drone.
8. Caj npab lub drone thiab tshem tawm ntawm tus kheej lossis los ntawm txoj cai-nyem rau hauv daim duab qhia chaw thiab xaiv kev nce mus.
9. Ib zaug ntawm qhov siab tsim nyog hloov hom rau pib thiab lub drone yuav pib lub hom phiaj.
10. Tom qab lub hom phiaj tiav lawm, nyem RTL hauv kab tab kom coj lub drone rov qab mus rau qhov chaw tso tawm.

Cov vis dis aus thaum pib ntawm qib no yog kev sim sim hauv Lub Hom Phiaj Npaj ntawm UAV tshawb nrhiav thaj chaw.

Kauj Ruam 7: Lub Zeem Muag

Lub luag haujlwm drone yog ya saum roob lossis roob moj sab qhua thiab pom tib neeg lossis cov khoom tsis zoo thiab tom qab ntawd ua haujlwm kom pom tias tus neeg ntawd xav tau kev pab. Qhov kev xav no yuav ua tiav siv lub koob yees duab infrared kim. Txawm li cas los xij, vim tias tus nqi siab ntawm lub koob yees duab infrared, hloov lub teeb pom kev pom tau zoo ib yam los ntawm kev txheeb xyuas txhua yam khoom uas tsis yog ntsuab siv lub koob yees duab Pi zoo ib yam.

1. ssh rau hauv Raspberry Pi
2. Ua ntej tshaj plaws peb yuav tsum teeb tsa OpenCV ntawm Raspberry Pi. Cov lus qhia hauv qab no muab los ntawm pyimagesearch yog ib qhov zoo tshaj plaws muaj nyob hauv is taws nem.
3. Rub tawm cov cai rau hauv Raspberry Pi los ntawm GitHub los ntawm qhov txuas hauv qab no. Txhawm rau rub cov cai mus rau Raspberry Pi, koj tuaj yeem rub tawm cov ntawv hauv koj lub computer thiab tom qab ntawd hloov nws mus rau Raspberry Pi.
4. Txhawm rau khiav cov cai, mus rau phau ntawv teev npe qhov chaw nyob chaws nyob hauv Raspberry Pi thiab tom qab ntawd khiav cov lus txib:

nab hab sej colour_target_detection.py --conf conf.json

Txuas ntxiv siv txhua lub sijhawm koj rov pib dua raspberry pi koj yuav tsum tau ua cov lus txib hauv qab no:

sudo ssh [email protected] -X

qhov chaw ~/.profile

siv cv

Tom qab ntawd txuas ntxiv nrog qib 4 saum toj no.

Lus ceeb toom tseem ceeb: Tsis yog txhua lub dav hlau muaj peev xwm ua yeeb yaj kiab. Ntawm mac siv XQuartz lub davhlau ya nyob twg.