Rotor unmanned aerial vehicle guided flight control system based on vision

Abstract

The invention provides a rotor unmanned aerial vehicle guided flight control system based on vision, wherein a CCD image camera which is commonly mounted on the rotor unmanned aerial vehicle can be used for realizing a flight guiding function on the rotor aerial vehicle. The rotor unmanned aerial vehicle guided flight control system comprises the components of an image acquiring module which is used for photographing a video image of a marker for use by an image storage module and an image processing module; the image storage module which is used for storing the image of the guiding marker; the image processing module which performs functions of processing the video image, detecting and tracking the guiding marker, calculating the offset of the guiding marker in each frame of image relative to a previous frame, and calculating a control amounts required for aerial vehicle and a pan / tilt when the guiding marker is arranged at the central part of the image according to the offset; an alarm system module which alarms and transmits a suspension control instruction to a gesture control module when the image processing module finds a similar guiding member; and a pan / tilt control module which controls the gesture of the pan / tilt by means of a pan / tilt gesture control amount that is generated by the image processing module.

Description

technical field [0001] The invention belongs to the field of automatic control of unmanned aerial vehicles, and relates to a vision-based guided flight control system for a rotor unmanned aerial vehicle. Background technique [0002] Traditional fixed-wing UAVs have fast level flight speed and high efficiency, but they can only hover for monitoring and cannot hover, and the turning radius has certain requirements. [0003] Rotor UAVs are powered by motor-driven propellers, which can complete vertical take-off and landing, hovering in the air, side flight, backward flight and other actions similar to helicopters. The attitude change is flexible, and it can achieve a small turning radius in flight. Subject to venue constraints. Rotor drones equipped with CCD cameras can fly safely around buildings and capture precise images through precise position and attitude changes. [0004] The following function of the UAV refers to the use of certain technical means to make the UAV au...

AI Technical Summary

Problems solved by technology

[0006] The above method can realize the operator's better guidance function to the UAV, but the wireless transmission link in this method is susceptible to electromagnetic interference, and the GPS module signal will be affected or even lost

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