Intelligent road tour inspection control method for multi-rotor-wing unmanned aerial vehicle

A multi-rotor UAV and intelligent road technology, which is applied in the field of highway intelligent inspection control, can solve the problems that the controller does not have strong anti-interference ability and self-adaptive ability, cannot realize long-distance flight, and has large navigation errors. Achieve the effect of good dynamic performance, good self-adaptation, and fast error elimination

Active Publication Date: 2016-05-04
BEIHANG UNIV
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Problems solved by technology

[0004] The flight mode of the rotor UAV is mainly divided into two categories, using the remote control to control the flight and autonomous navigation flight. The flight stability of the remote control is relatively high, but there are certain requirements for the operator. With

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  • Intelligent road tour inspection control method for multi-rotor-wing unmanned aerial vehicle
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  • Intelligent road tour inspection control method for multi-rotor-wing unmanned aerial vehicle

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Embodiment Construction

[0033] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0034] In order to achieve the above object, the present invention selects a small road as an example to realize the cruising of the small road.

[0035] An intelligent road cruise control method for a multi-rotor UAV, the process is as follows Figure 4 shown, including:

[0036] Step 1: Obtain the road information directly below the drone by controlling the onboard gimbal image sensor of the drone so that it faces vertically downward.

[0037] Step 2:: attach the acquired image information figure 1 The image processing shown:

[0038] 2a) Convert the captured image from RGB color space to HSV color space. The H channel represents the color information, which is measured by angle; the S channel represents the saturation, which refers to the ratio of the purity of the color to the maximum purity; the V channel represents the brightness of the colo...

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Abstract

The invention discloses an intelligent road tour inspection control method for a multi-rotor-wing unmanned aerial vehicle. The method includes the steps of: 1. an airborne holder image sensor is controlled through a holder control unit, and the image sensor is vertically downward, and obtains information of an image right under an unmanned aerial vehicle; 2. road surface image information is obtained through the image sensor carried by the unmanned aerial vehicle, and a road central line is obtained through image processing and extraction; and 3. a deviation value of the road central line obtained by extraction and the actual position of the unmanned aerial vehicle is utilized to perform flight control of the unmanned aerial vehicle. At the same time, to reduce coupling of control, after control bottom layer driving is designed, only pitching and yaw control of the unmanned aerial vehicle is performed. For pitching control, constant-speed flight is adopted; and for yaw control, dual-mode parameter self-correcting fuzzy PID control is adopted. The intelligent road tour inspection control method applies the unmanned aerial vehicle to perform road tour inspection, and can reduce to a great extent cost of road tour inspection which is performed by applying a patrol vehicle at present, the visual field range of tour inspection is wide, and the control method is not limited by the road traffic condition.

Description

technical field [0001] The invention relates to the technical field of expressway intelligent inspection control, and is suitable for police expressway intelligent inspection and road autonomous surveying and mapping, in particular to an intelligent road inspection control method for a multi-rotor UAV. Background technique [0002] With the advancement of urbanization, traffic safety problems are becoming more and more serious. A large part of common traffic problems are caused by illegal lane changes and speeding of drivers. In recent years, traffic monitoring has become one of the effective means to prevent traffic accidents. [0003] Most of the existing road patrol inspections use police patrol vehicles for patrol inspection, the cost of patrol inspection is high, and the scope of patrol inspection is small, and only the traffic information around the patrol vehicles can be obtained. At the same time, multi-rotor UAVs have developed rapidly in recent years. Due to their ...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 王云鹏余贵珍王章宇于海洋马亚龙
Owner BEIHANG UNIV
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