Unmanned aerial vehicle (UAV) line patrol flight control system and method

Abstract

The invention relates to a UAV line patrol flight control system and method. The system comprises a UAV, a data collection assembly and a controller; the data collection assembly collects flight related data and transmits the data to the controller, and the controller comprises a UAV driving node and a line patrol flight control node; and the controller receives video image data of the UAV, a UAVdriving node processes the video image data and then sends the video image data to a line patrol flight control node, the line patrol flight control node processes the video image data and identifiesa track, a track error is detected then, the left-right linear velocity and deflection angle speed are obtained after PI control, the left-right linear velocity and deflection angle speed together with the forward linear velocity is sent to the UAV driving node, the UAV driving node processes the velocities and speed and then sends processed data to the UAV, so that the UAV carries out line patrolflight. In the method, the system is used to carry out line patrol flight, PI control is carried out on the flight error, the flight track of the UAV approaches a preset track, autonomous flight following the preset track can be realized, and patrol line flight of the UAV is realized.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle visual navigation autonomous flight, in particular to an unmanned aerial vehicle line inspection flight control system and method. Background technique [0002] A multi-rotor UAV is a special unmanned helicopter with three or more rotor shafts. It is rotated by an electric motor on each shaft to drive the rotor, thereby generating thrust. By changing the relative rotational speed between different rotors, the size of the single-axis propulsion can be changed, thereby controlling the trajectory of the aircraft. For example, for a quadrotor UAV, when the sum of the lift of the four propellers of the aircraft is equal to the total weight of the aircraft, the lift of the aircraft is balanced with the gravity, and the aircraft can hover in the air and fly at a fixed height. According to Newton's third law, when the rotor rotates, it will also apply a reaction force (reverse torque) to...

AI Technical Summary

Problems solved by technology

However, the use of infrared sensing technology for UAV line inspection has the following disadvantages. First, it is necessary to install infrared transmitter receivers. If large-scale detection is required, multiple infrared transmitter receivers need to be installed. Secondly, it is difficult to achieve an overall trajectory In the end, it will be interfered by various light sources containing infrared rays such as strong sunlight, which will affect the trajectory detection in complex environments

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