Control method for unmanned aerial vehicle flying around the contour of object

Abstract

The invention provides a method of controlling the flying of an unmanned aerial vehicle (UAV) around the contour of an object, comprising the following steps: a UAV is powered on and self-tested; the UAV takes off and makes a target to be surrounded go into a target detection range, and a target surrounding mode is opened; the included angle (namely, slip angle) between the head direction of the UAV and the center direction of the target and the distance (namely, target distance) between the UAV and the target are calculated based on laser radar detection information; the slip angle is input to a steering PID controller, and the output of the controller is used to make the UAV lock the target; the target distance is input to a distance-fixing PID controller, and the output of the controller is used to control the distance between the UAV and the target at a set distance; and the UAV flies around the contour of the target under control. Through the method of controlling the flying of an UAV around the contour of an object, the head direction can be always facing the target, the UAV can fly at a fixed distance around the contour of the target under control, and the difficulty in manually controlling the flying of the UAV around the target is reduced greatly.

Description

Technical field [0001] The invention relates to an unmanned aerial vehicle control method, in particular to an unmanned aerial vehicle flying around the contour of an object. Background technique [0002] The UAV has the characteristics of low cost, no direct risk of casualties, and can be equipped with a variety of detection instruments. UAVs play an important role in the fields of aerial photography, search and rescue, wildlife survey, atmospheric research, power line inspection, and bridge inspection. [0003] The bridge support is the vulnerable part of the bridge and is the key inspection object for bridge inspection. The drone can be equipped with a camera to take pictures and record the disease of the support, and the drone can be manually controlled to fly around the pier to check the health of the bridge support. Control the drone The control technology of drones is relatively high. The use of drone flight control technology around the pier at a fixed distance can greatly...

AI Technical Summary

Problems solved by technology

The amount of environmental information acquired by the visual sensor is large, the feature extraction algorithm is complex, and the amount of calculation is large. When the ambient light is dark or strong or the environmental features are not obvious, the feature extraction effect will be affected, which will affect the control of the UAV flying around the target. Effect

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