A kind of multi-rotor unmanned aerial vehicle flight control method and system

A multi-rotor UAV, flight control technology, applied in control/adjustment systems, non-electric variable control, three-dimensional position/channel control, etc., can solve the problems of reduced flight reliability, reduced battery capacity, and inability to carry sensors, etc. Achieve the effect of improving battery life, improving work efficiency, and low detection cost

Active Publication Date: 2019-12-17
CHINA UNIV OF GEOSCIENCES (WUHAN)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, if the reduced UAV is used to operate in a small space, the battery capacity needs to be reduced, and its working time will also be reduced, and the miniature multi-rotor UAV itself is small and cannot carry the required sensors for work. Sensors affect real-time control and decision-making of multi-rotor drones, making flight less reliable

Method used

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  • A kind of multi-rotor unmanned aerial vehicle flight control method and system
  • A kind of multi-rotor unmanned aerial vehicle flight control method and system
  • A kind of multi-rotor unmanned aerial vehicle flight control method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0055] A multi-rotor UAV flight control method 100, such as figure 1 shown, including:

[0056] Step 110, when an obstacle is detected in front of the flight of the multi-rotor UAV by ultrasonic waves, the first image of the obstacle is collected, and the position information of the obstacle is collected in real time.

[0057] Step 120: Determine the flight mode of the multi-rotor drone according to the first image, position information, preset acquisition parameter information and the traversable space size of the multi-rotor drone. The bracket flies forward and returns.

[0058] Step 130. Control the flight of the multi-rotor UAV according to the flight mode.

[0059] It should be noted that in step 110, it is judged in real time whether there is an obstacle ahead according to the ultrasonic return value and the preset value. In step 120, the collection parameter information includes: the upper and lower boundary points, the left and right boundary points of the photosens...

Embodiment 2

[0061] On the basis of Example 1, as figure 2 As shown, step 110 includes:

[0062] When an obstacle within the preset range in front of the multi-rotor UAV is detected by ultrasonic waves in real time, the first image of the obstacle is collected, and the position information of the obstacle is collected in real time.

[0063] Use ultrasound to detect in real time whether there is an obstacle in front of the multi-rotor UAV. If there is, collect the first image and collect the position information of the obstacle in real time.

[0064] For example, according to the ultrasonic return value and the preset value, it is judged in real time whether there is an obstacle 2 meters ahead, and the preset value is expressed as the return value of the ultrasonic wave when there is an obstacle 2 meters ahead.

[0065] Ultrasonic real-time detection of obstacles within the preset range in front of the multi-rotor UAV is safe and reliable, and the detection cost is low.

Embodiment 3

[0067] On the basis of Example 1, specifically, as image 3 As shown, step 120 includes:

[0068] Step 121. Perform binarization processing on the first image to obtain a second image.

[0069] Step 122: Determine the number of pixels in the second image whose grayscale value is greater than the preset grayscale value and the traversable area formed by the pixels.

[0070] Step 123, judging whether the above number is greater than a preset value.

[0071] Step 124, if yes, execute step 125, if no, control the multi-rotor UAV to return.

[0072] Step 125: Calculate the actual size of the traversable area according to the position information and the collection parameter information.

[0073] Step 126: Determine the flight mode of the multi-rotor UAV according to the actual size and the size of the traversable space.

[0074] Wherein, the position information is expressed as the horizontal distance between the obstacle and the camera lens on the camera device, and the collec...

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Abstract

The invention relates to a multi-rotor UAV flight control method including acquiring the first image of an obstacle and acquiring the position information of the obstacle in real time when the obstacle is detected in front of the multi-rotor UAV by supersonic wave; determining the multi-rotor UAV flight modes, including forward flying with an unfolded support, forward flying with a folded support, and returning, according to the first image, the position information, the preset acquisition parameter information and the transmissible space dimension of the multi-rotor UAV; and controlling the flight of the multi-rotor UAV according to the flight modes. According to the invention, the identification of the narrow space in the obstacle can be realized by image identification, the stable crossing of the multi-rotor UAV in the narrow space can be realized through flight control, the size of the multi-rotor UAV cannot be reduced, and the endurance capability of the multi-rotor UAV can be improved.

Description

technical field [0001] The invention relates to the technical field of UAV flight control, in particular to a multi-rotor UAV flight control method and system. Background technique [0002] With the full opening of my country's low-altitude airspace, the domestic multi-rotor UAV industry has entered a period of rapid development. Because of its low production cost, simple operation and safe and stable operation, it is widely used in many fields such as military, civil and scientific research. In particular, multi-rotor drones have the advantages of small size, vertical take-off and landing, hovering in the air, and omni-directional flight. They can simply and effectively obtain more comprehensive ground information in the air, and their positions can be switched and fixed easily. , and can carry a certain amount of items, so it is widely used in earthquake relief, terrain survey, and aerial photography. Therefore, multi-rotor drones are gradually developing in the directio...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 刘振焘吴敏刘小波胡江南范业鑫杨帆
Owner CHINA UNIV OF GEOSCIENCES (WUHAN)
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