Indoor visual navigation unmanned aerial vehicle cluster flight control system and method

Abstract

The invention relates to an indoor visual navigation unmanned aerial vehicle cluster flight control system and method. The system includes at least two unmanned aerial vehicles. Each unmanned aerial vehicle includes: an optical flow sensing module for acquiring a plane position of the unmanned aerial vehicle through an image; an ultrasonic ranging module for acquiring the height of the unmanned aerial vehicle; a short-range wireless communication module for communication between the unmanned aerial vehicles; a memory for storing flight control programs, wherein the flight control programs arecorresponding to various flight tasks; and a controller which is connected to the optical flow sensing module, the ultrasonic ranging module, the short-range wireless communication module, and the memory and is used for controlling unmanned aerial vehicle flight according to a control command, wherein the control command is sent by an unmanned aerial vehicle in the system. According to the invention, the flight control programs are written into the unmanned aerial vehicles in advance; the unmanned aerial vehicle cluster no longer need an external base station and a positioning system during flight, and can achieve independent flight and autonomous control; flight control devices are reduced; and the survival ability of the unmanned aerial vehicle cluster is enhanced.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle control, and more specifically, relates to an indoor visual navigation unmanned aerial vehicle cluster flight control system and method. Background technique [0002] The control of existing drone clusters relies on external control systems, such as ground control stations. The external control system sends control instructions to each drone in real time according to the location of the drone and the flight environment, and the drone completes the corresponding tasks according to the control instructions. However, once the control method has problems with the ground station or the wireless signal is blocked, the fleet will lose control. In addition, this flight control method requires the UAV to obtain location information through an external positioning system, such as a GPS positioning system, and it is basically impossible to locate indoors. The positioning device is cumbersome to operat...

AI Technical Summary

Problems solved by technology

[0002] The control of existing drone clusters relies on external control systems, such as ground control stations. The external control system sends control instructions to each drone in real time according to the location of the drone and the flight environment, and the drone completes the corresponding tasks according to the control instructions. However, once the control method has problems with the ground station or the wireless signal is blocked, the fleet will lose control

In addition, this flight control method requires the UAV to obtain location information through an external positioning system, such as a GPS positioning system, and it is basically impossible to locate indoors. Positioning device, cumbersome to operate

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