Flapping-wing micro air vehicle vision feedback control method

A flapping-wing aircraft and control method technology, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve the problems such as difficulty in obtaining accurate position information of miniature flapping-wing aircraft, and achieve rapid positioning and flight control , Avoid the effect of vibration and reduce the burden

Inactive Publication Date: 2018-07-06
UNIV OF SCI & TECH BEIJING
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Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a visual feedback control method for a miniature flapping-wing aircraft to solve the problem in the prior art that it is difficult to obtain accurate position information of the miniature flapping-wing aircraft through onboard sensors

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  • Flapping-wing micro air vehicle vision feedback control method
  • Flapping-wing micro air vehicle vision feedback control method
  • Flapping-wing micro air vehicle vision feedback control method

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Embodiment Construction

[0041] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0042] The present invention aims at the existing problem that it is difficult to obtain accurate position information of a miniature flapping-wing aircraft through an airborne sensor, and provides a visual feedback control method for a miniature flapping-wing aircraft.

[0043] Such as figure 1 As shown, the micro flapping wing aircraft visual feedback control method provided by the embodiment of the present invention includes:

[0044] S101, using the Kinect sensor of the peripheral device to capture the moving image of the miniature flapping wing aircraft during flight;

[0045] S102. Determine the three-dimensional space coordinates where the micro flapping wing aircraft is located according to the captured motion image;

[0046] S103. Control the ...

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Abstract

The invention provides a flapping-wing micro air vehicle vision feedback control method, which can realize quick positioning and flight control on the flapping-wing micro air vehicle. The method comprises steps: a peripheral Kinect sensor is used to capture the motion image when the flapping-wing micro air vehicle flies; according to the captured motion image, three-dimensional space coordinates of the flapping-wing micro air vehicle are determined; and according to the deviation between the determined three-dimensional space coordinates of the flapping-wing micro air vehicle and preset three-dimensional space coordinates, the flapping-wing micro air vehicle flies according to the preset three-dimensional space coordinates. The method is applicable to the flapping-wing micro air vehicle control field.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a visual feedback control method for a miniature flapping-wing aircraft. Background technique [0002] An orthopter is a heavier-than-air aircraft whose wings flap up and down like the wings of birds and insects. Compared with common fixed-wing and rotary-wing aircraft, flapping-wing aircraft has significant advantages such as high efficiency, light weight, and low energy consumption. Moreover, flapping-wing aircraft has natural advantages in terms of safety and concealment, and is an important direction for the development of aircraft . [0003] The micro flapping wing aircraft refers to a small flapping wing aircraft, which is mainly used in limited space scenarios such as indoor monitoring and indoor search and rescue at disaster relief sites. Different from the quasi-steady aerodynamic system of gyroplane flight, because the way of flapping wing flight will cause unsteady v...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10G06K9/00
CPCG05D1/0808G05D1/101G06V20/10
Inventor 贺威冯富森李鸿一谢文珍康业猛孙长银
Owner UNIV OF SCI & TECH BEIJING
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