text: (window.webpackJsonp=window.webpackJsonp||[]).push([[47],{2384:function(t,e,r){"use strict";r.r(e);var v=r(18),i=Object(v.a)({},(function(){var t=this,e=t.$createElement,v=t._self._c||e;return v("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[v("h1",{attrs:{id:"px4-vision-视觉自主开发套件"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#px4-vision-视觉自主开发套件"}},[t._v("#")]),t._v(" PX4 Vision 视觉自主开发套件")]),t._v(" "),v("p",[v("a",{attrs:{href:"http://www.holybro.com/product/px4-vision/",target:"_blank",rel:"noopener noreferrer"}},[v("em",[t._v("PX4 Vision 视觉自主开发套件")]),v("OutboundLink")],1),t._v(" 是一个稳定且高性价比的套件，让你能够在自动化载具上开发计算机视觉。")]),t._v(" "),v("p",[v("img",{attrs:{src:r(581),alt:"综述"}})]),t._v(" "),v("p",[t._v("这个套件含有一个几乎到手即飞的碳纤维机架四旋翼，配备 "),v("em",[t._v("Pixhawk 4飞控")]),t._v(" ， "),v("em",[t._v("UP Core")]),t._v(" 机载计算机（4GB 内存和64GB eMMC），以及"),v("em",[t._v("Structure Core")]),t._v(" 深度相机。")]),t._v(" "),v("div",{staticClass:"custom-block 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"),v("li",[v("em",[t._v("降落计划器")]),t._v(" 需要一个向下的摄像头，并且必须先修改相机的安装座才能使用。")])])]),t._v(" "),v("li",[v("p",[t._v("按如下所示旋转连接螺旋桨：")]),t._v(" "),v("p",[v("img",{attrs:{src:r(588),alt:"电机顺序示意图"}})]),t._v(" "),v("ul",[v("li",[v("p",[t._v("螺旋桨方向可以从标签中确定："),v("em",[t._v("6045")]),t._v(" (顺时针) 和 "),v("em",[t._v("6045")]),t._v(" "),v("strong",[t._v("R")]),t._v(" (逆时针)。")]),t._v(" "),v("p",[v("img",{attrs:{src:r(589),alt:"螺旋桨识别"}})])]),t._v(" "),v("li",[v("p",[t._v("使用随附的螺旋桨螺母将其拧紧：")]),t._v(" "),v("p",[v("img",{attrs:{src:r(590),alt:"螺旋桨螺母"}})])])])])]),t._v(" "),v("h2",{attrs:{id:"测试飞行-带避障"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#测试飞行-带避障"}},[t._v("#")]),t._v(" 测试飞行（带避障）")]),t._v(" "),v("p",[v("em",[t._v("PX4 避障")]),t._v(" 系统由计算机视觉软件组成，这种软件运行在一个配套的计算机上(附着的深度摄像头)，向运行在 "),v("em",[t._v("飞行控制器")]),t._v(" 上的PX4飞行堆栈提供障碍和/或路线信息。")]),t._v(" "),v("ol",[v("li",[v("p",[t._v("连接电池来给载具供电")])]),t._v(" "),v("li",[v("p",[t._v("找到一个安全的户外位置进行飞行，最好是用树或其他方便的障碍测试PX4视觉。")])])]),t._v(" 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"),v("RouterLink",{attrs:{to:"/zh/flight_modes/position_mc.html"}},[t._v("位置模式")]),t._v(" 并手动向障碍飞行。 无人机应减速，然后在障碍物距离小于6米时悬停(通过 "),v("RouterLink",{attrs:{to:"/zh/advanced_config/parameter_reference.html#CP_DIST"}},[t._v("CP_DIST")]),t._v(" 参数，距离 "),v("RouterLink",{attrs:{to:"/zh/advanced_config/parameters.html"}},[t._v("可调整")]),t._v("  )。")],1)]),t._v(" "),v("li",[v("p",[t._v("要测试 "),v("RouterLink",{attrs:{to:"/zh/computer_vision/obstacle_avoidance.html"}},[t._v("避障")]),t._v("，创建一个被障碍阻止的路径。 然后切换到 "),v("RouterLink",{attrs:{to:"/zh/flight_modes/mission.html"}},[t._v("任务模式")]),t._v(" 来运行任务。并观察无人机绕开障碍物，然后返回计划路线。")],1)])]),t._v(" "),v("h2",{attrs:{id:"使用套件开发"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#使用套件开发"}},[t._v("#")]),t._v(" 使用套件开发")]),t._v(" "),v("p",[t._v("The following sections explain how to use the kit as an environment for developing computer vision software.")]),t._v(" "),v("h3",{attrs:{id:"px4-避障概述"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#px4-避障概述"}},[t._v("#")]),t._v(" PX4 避障概述")]),t._v(" "),v("p",[t._v("您可以在 "),v("em",[t._v("UP Core")]),t._v(" 上安装镜像，并从内部内存启动(而不是U盘)。")]),t._v(" "),v("p",[t._v("Documentation about the companion computer vision/planning software can be found on github here: "),v("a",{attrs:{href:"https://github.com/PX4/avoidance#obstacle-detection-and-avoidance",target:"_blank",rel:"noopener noreferrer"}},[t._v("PX4/avoidance"),v("OutboundLink")],1),t._v(". The project provides a number of different planner implementations (packaged as ROS nodes):")]),t._v(" "),v("ul",[v("li",[t._v("您需要通过 "),v("strong",[t._v("USB")]),t._v(" 将 "),v("em",[t._v("QGroundControl")]),t._v(" 连接到套件的 "),v("em",[t._v("Pixhawk 4")]),t._v(" 来更新固件。")]),t._v(" "),v("li",[t._v("加载新固件后选择 "),v("em",[t._v("PX4 Vision DevKit")]),t._v(" 机架：")]),t._v(" "),v("li",[v("em",[t._v("降落计划器")]),t._v(" 需要一个向下的摄像头，并且必须先修改相机的安装座才能使用。")])]),t._v(" "),v("p",[t._v("将USB镜像刷新到UP Core：")]),t._v(" "),v("ul",[v("li",[v("a",{attrs:{href:"https://wiki.up-community.org/Ubuntu",target:"_blank",rel:"noopener noreferrer"}},[v("em",[t._v("UP Core")]),t._v(" Wiki"),v("OutboundLink")],1),t._v(" - 机载计算机技术信息")]),t._v(" "),v("li",[v("a",{attrs:{href:"https://structure.io/developers",target:"_blank",rel:"noopener noreferrer"}},[t._v("Occipital Developer Forum"),v("OutboundLink")],1),t._v(" - "),v("em",[t._v("结构核心")]),t._v(" 相机信息")])]),t._v(" "),v("p",[v("span",{attrs:{id:"install_image_mission_computer"}})]),t._v(" "),v("h3",{attrs:{id:"在机载计算机上安装镜像"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#在机载计算机上安装镜像"}},[t._v("#")]),t._v(" 在机载计算机上安装镜像")]),t._v(" "),v("p",[t._v("You can install the image on the "),v("em",[t._v("UP Core")]),t._v(" and boot from internal memory (instead of the USB stick).")]),t._v(" "),v("p",[t._v("要将USB映像刷到 "),v("em",[t._v("UP Core")]),t._v(" ：")]),t._v(" "),v("p",[t._v("首先将提供的 USB2.0 U盘插入标有 "),v("code",[t._v("USB1")]),t._v(" 的 "),v("em",[t._v("UP Core")]),t._v(" 端口，然后使用4S电池为无人机供电。 避障系统应在大约1分钟内启动(这取决于所提供的U盘)。")]),t._v(" "),v("p",[t._v("To flash the USB image to the "),v("em",[t._v("UP Core")]),t._v(":")]),t._v(" "),v("ol",[v("li",[t._v("将预先烧录的USB驱动器插入标有 "),v("code",[t._v("USB1")]),t._v(" 的 "),v("em",[t._v("UP Core")]),t._v(" 端口中。")]),t._v(" "),v("li")]),t._v(" "),v("p",[t._v("登录到配套计算机<0> （如上所述）。")]),t._v(" "),v("p",[t._v("1 打开终端，然后运行以下命令将映像复制到内部存储器（eMMC）。 终端将在刷新过程中提示您一些响应。")]),t._v(" "),v("div",{staticClass:"language-sh extra-class"},[v("pre",{pre:!0,attrs:{class:"language-sh"}},[v("code",[v("span",{pre:!0,attrs:{class:"token builtin class-name"}},[t._v("cd")]),t._v(" ~/catkin_ws/src/px4vision_ros\n"),v("span",{pre:!0,attrs:{class:"token function"}},[t._v("sudo")]),t._v(" ./flash_emmc.sh\n")])])]),v("div",{staticClass:"custom-block note"},[v("p",{staticClass:"custom-block-title"},[t._v("注解")]),t._v(" "),v("p",[t._v("执行此脚本时，将删除 "),v("em",[t._v("UP Core")]),t._v(" 计算机中保存的所有信息。")])]),t._v(" "),v("p",[t._v("1 拔出U盘。")]),t._v(" "),v("p",[t._v("1 重启无人机， "),v("em",[t._v("UP Core")]),t._v(" 计算机现在将从内部内存（eMMC）引导。"),t._v(" "),v("span",{attrs:{id:"boot_mission_computer"}})]),t._v(" "),v("h3",{attrs:{id:"开启机载计算机-boot-mission-computer"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#开启机载计算机-boot-mission-computer"}},[t._v("#")]),t._v(" 开启机载计算机 {#boot_mission_computer}")]),t._v(" "),v("p",[t._v("PX4 视觉的 "),v("em",[t._v("UP Core")]),t._v(" 计算机为扩展PX4规避软件（以及更广泛地用于使用ROS2开发新的计算机视觉算法）提供了完整且配置完整的环境。 您可以在无人机上开发和测试您的软件，将其同步到自己的git存储库，并在github "),v("a",{attrs:{href:"https://github.com/PX4/avoidance",target:"_blank",rel:"noopener noreferrer"}},[t._v("PX4/Avoidance"),v("OutboundLink")],1),t._v(" 存储库上与更广泛的PX4社区共享所有修复和改进。")]),t._v(" "),v("div",{staticClass:"custom-block tip"},[v("p",{staticClass:"custom-block-title"},[t._v("提示")]),t._v(" "),v("p",[v("a",{attrs:{href:"#Fly-the-Drone-with-Avoidance"}},[t._v("Fly the Drone with Avoidance")]),t._v(" additionally explains how to verify that the avoidance system is active.")])]),t._v(" "),v("p",[t._v("If you've already "),v("a",{attrs:{href:"#install_image_mission_computer"}},[t._v("installed the image on the companion computer")]),t._v(" you can just power the vehicle (i.e. no USB stick is needed). The avoidance system should be up and running within around 30 seconds.")]),t._v(" "),v("p",[t._v("Once started the companion computer can be used both as a computer vision development environment and for running the software.")]),t._v(" "),v("p",[v("span",{attrs:{id:"login_mission_computer"}})]),t._v(" "),v("h3",{attrs:{id:"登录机载计算机"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#登录机载计算机"}},[t._v("#")]),t._v(" 登录机载计算机")]),t._v(" "),v("p",[t._v("To login to the companion computer:")]),t._v(" "),v("ol",[v("li",[v("p",[t._v("通过端口 "),v("code",[t._v("USB2")]),t._v(" 将键盘和鼠标连接到 "),v("em",[t._v("UP Core")]),t._v("：")]),t._v(" "),v("p",[v("img",{attrs:{src:r(592),alt:"UP Core：USB2"}})]),t._v(" "),v("ul",[v("li",[v("p",[t._v("使用套件中的 USB-JST电缆获取一个 USB A 连接器")]),t._v(" "),v("p",[v("img",{attrs:{src:r(593),alt:"USB 转 JST 线"}})])]),t._v(" "),v("li",[v("p",[t._v("如果键盘和鼠标具有单独的接口，则可以将USB集线器连接到电缆。")]),t._v(" "),v("ol",[v("li",[t._v("连接显示器到 "),v("em",[t._v("UP Core")]),t._v(" 的 HDMI 接口。\n"),v("img",{attrs:{src:r(594),alt:"UP Core：HDMI 端口"}})])])])])])]),t._v(" "),v("p",[t._v("Ubuntu 登录屏幕应显示在显示器上。")]),t._v(" "),v("ol",[v("li",[t._v("使用凭据登录到 "),v("em",[t._v("UP Core")]),t._v("：\n"),v("ul",[v("li",[t._v("**用户名：**px4vision")]),t._v(" "),v("li",[t._v("**密码：**px4vision")])])])]),t._v(" "),v("h3",{attrs:{id:"开发-扩展-px4-避障功能"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#开发-扩展-px4-避障功能"}},[t._v("#")]),t._v(" 开发/扩展 PX4 避障功能")]),t._v(" "),v("p",[t._v("避障程序包在引导时启动。 要整合一个不同的计划，需要禁用此项。")]),t._v(" "),v("p",[t._v("ROS 工作区位于 "),v("code",[t._v("~/catkin_ws")]),t._v("。 有关在 ROS 中进行开发以及使用 catkin 工作区的参考，请参见 "),v("a",{attrs:{href:"http://wiki.ros.org/catkin/Tutorials",target:"_blank",rel:"noopener noreferrer"}},[t._v("ROS catkin教程"),v("OutboundLink")],1),t._v("。")]),t._v(" "),v("p",[t._v("The avoidance package is started on boot. To integrate a different planner, this needs to be disabled.")]),t._v(" "),v("ol",[v("li",[v("p",[t._v("使用以下指令禁用避障程序：")]),t._v(" "),v("div",{staticClass:"language-sh extra-class"},[v("pre",{pre:!0,attrs:{class:"language-sh"}},[v("code",[t._v("systemctl stop avoidance.service\n")])])])])]),t._v(" "),v("p",[t._v("您只需重启机器即可重启服务。")]),t._v(" "),v("p",[t._v("其他有用的指令是：")]),t._v(" "),v("div",{staticClass:"language-sh extra-class"},[v("pre",{pre:!0,attrs:{class:"language-sh"}},[v("code",[v("span",{pre:!0,attrs:{class:"token comment"}},[t._v("# restart service")]),t._v("\nsystemctl start avoidance.service\n\n"),v("span",{pre:!0,attrs:{class:"token comment"}},[t._v("# disable service (stop service and do not restart after boot)")]),t._v("\nsystemctl disable avoidance.service\n\n"),v("span",{pre:!0,attrs:{class:"token comment"}},[t._v("# enable service (start service and enable restart after boot)")]),t._v("\nsystemctl "),v("span",{pre:!0,attrs:{class:"token builtin class-name"}},[t._v("enable")]),t._v(" avoidance.service  \n")])])]),v("ol",[v("li",[v("p",[t._v("避障碍包的源代码可在 https://github.com/PX4/evidence 中查找，该代码位于 "),v("code",[t._v("~/catkin_ws/src/evering")]),t._v(" 中。")])]),t._v(" "),v("li",[v("p",[t._v("更改代码！ 要获取最新的避障代码，请从避障仓库中提取代码：")]),t._v(" "),v("div",{staticClass:"language-sh extra-class"},[v("pre",{pre:!0,attrs:{class:"language-sh"}},[v("code",[v("span",{pre:!0,attrs:{class:"token function"}},[t._v("git")]),t._v(" pull origin\n"),v("span",{pre:!0,attrs:{class:"token function"}},[t._v("git")]),t._v(" checkout origin/master\n")])])])]),t._v(" "),v("li",[v("p",[t._v("构建软件包")]),t._v(" "),v("div",{staticClass:"language- extra-class"},[v("pre",{pre:!0,attrs:{class:"language-text"}},[v("code",[t._v("catkin build local_planner\n")])])])])]),t._v(" "),v("p",[t._v("The ROS workspace is placed in "),v("code",[t._v("~/catkin_ws")]),t._v(". For reference on developing in ROS and using the catkin workspace, see the "),v("a",{attrs:{href:"http://wiki.ros.org/catkin/Tutorials",target:"_blank",rel:"noopener noreferrer"}},[t._v("ROS catkin tutorials"),v("OutboundLink")],1),t._v(".")]),t._v(" "),v("h3",{attrs:{id:"开发-px4-固件"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#开发-px4-固件"}},[t._v("#")]),t._v(" 开发 PX4 固件")]),t._v(" "),v("p",[t._v("The kit is designed for creating computer vision software that runs on the companion computer, and which integrates with PX4’s flexible path planning and collision prevention interfaces.")]),t._v(" "),v("p",[t._v("可从 "),v("a",{attrs:{href:"http://www.holybro.com/manual/PX4_Vision_carrier_board_pinouts_v1.1.pdf",target:"_blank",rel:"noopener noreferrer"}},[t._v("Holybro的网站"),v("OutboundLink")],1),t._v(" 下载载板的引脚 。")]),t._v(" "),v("ul",[v("li",[t._v("您需要通过 "),v("strong",[t._v("USB")]),t._v(" 将 "),v("em",[t._v("QGroundControl")]),t._v(" 连接到套件的 "),v("em",[t._v("Pixhawk 4")]),t._v(" 来更新固件。")]),t._v(" "),v("li",[t._v("加载新固件后选择 "),v("em",[t._v("PX4 Vision DevKit")]),t._v(" 机架： "),v("img",{attrs:{src:r(595),alt:"机身选择 - PX4 Vision DevKit"}})])]),t._v(" "),v("div",{staticClass:"custom-block note"},[v("p",{staticClass:"custom-block-title"},[t._v("注解")]),t._v(" "),v("p",[t._v("Modification of PX4 code is not "),v("em",[t._v("needed")]),t._v(" to meet most computer vision use cases. To discuss the interfaces or how to integrate other features join the PX4 slack channel: #computer-vision.")])]),t._v(" "),v("h2",{attrs:{id:"其他拓展资源"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#其他拓展资源"}},[t._v("#")]),t._v(" 其他拓展资源")]),t._v(" "),v("p",[t._v("软件问题，请使用以下社区支持频道：")]),t._v(" "),v("h2",{attrs:{id:"如何获得技术支持"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#如何获得技术支持"}},[t._v("#")]),t._v(" 如何获得技术支持？")]),t._v(" "),v("ul",[v("li",[v("a",{attrs:{href:"https://wiki.up-community.org/Ubuntu",target:"_blank",rel:"noopener noreferrer"}},[v("em",[t._v("UP Core")]),t._v(" Wiki"),v("OutboundLink")],1),t._v(" - "),v("em",[t._v("Up Core")]),t._v(" 机载计算机技术信息")]),t._v(" "),v("li",[v("a",{attrs:{href:"https://structure.io/developers",target:"_blank",rel:"noopener noreferrer"}},[t._v("Occipital Developer Forum"),v("OutboundLink")],1),t._v(" - "),v("em",[t._v("结构核心")]),t._v(" 相机信息")]),t._v(" "),v("li",[v("RouterLink",{attrs:{to:"/zh/flight_controller/pixhawk4.html"}},[t._v("Pixhawk 4 概述")])],1),t._v(" "),v("li",[v("a",{attrs:{href:"https://github.com/PX4/avoidance",target:"_blank",rel:"noopener noreferrer"}},[t._v("PX4 避障软件/文档"),v("OutboundLink")],1)]),t._v(" "),v("li",[v("RouterLink",{attrs:{to:"/zh/computer_vision/path_planning_interface.html"}},[t._v("路径规划接口")])],1),t._v(" "),v("li",[v("a",{attrs:{href:"http://www.holybro.com/manual/PX4_Vision_carrier_board_pinouts_v1.1.pdf",target:"_blank",rel:"noopener noreferrer"}},[t._v("Px4 Vision 载板引脚排列"),v("OutboundLink")],1)])]),t._v(" "),v("h2",{attrs:{id:"如何获得技术支持-2"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#如何获得技术支持-2"}},[t._v("#")]),t._v(" 如何获得技术支持")]),t._v(" "),v("p",[t._v("For hardware issues, please contact Holybro at: "),v("a",{attrs:{href:"mailto:productservice@holybro.com"}},[t._v("productservice@holybro.com")]),t._v(".")]),t._v(" "),v("p",[t._v("For software issues, use the following community support channels:")]),t._v(" "),v("ul",[v("li",[v("a",{attrs:{href:"https://discuss.px4.io/c/Vision-based-navigation-and-obstacle-avoidance",target:"_blank",rel:"noopener noreferrer"}},[t._v("PX4讨论：Computer Vision（计算机视觉）目录。"),v("OutboundLink")],1)]),t._v(" "),v("li",[v("a",{attrs:{href:"https://slack.px4.io/",target:"_blank",rel:"noopener noreferrer"}},[t._v("PX4 slack"),v("OutboundLink")],1),t._v(" 频道：#avoidance")]),t._v(" "),v("li",[v("a",{attrs:{href:"https://wikifactory.com/+holybro/px4-vision",target:"_blank",rel:"noopener noreferrer"}},[t._v("Holybro PX4 Vision Wikifactory 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