Graphical control configuration method of four-rotor unmanned aerial vehicle

Abstract

The invention relates to a graphical control configuration method of a four-rotor unmanned aerial vehicle. Action characteristics of the four-rotor unmanned aerial vehicle are divided into sensing characteristics, communication characteristics and driving characteristics; furthermore, corresponding four-rotor unmanned aerial vehicle control components are provided, and respectively used for reading robot sensing characteristics, controlling communication signals and driving basic instructions; the control process of the four-rotor unmanned aerial vehicle can be realized by component configuration in a graphical mode according to the predetermined logic; and furthermore, the control process can be monitored and intervened in real time. According to the graphical control configuration methodof the four-rotor unmanned aerial vehicle in the invention, programming of the four-rotor unmanned aerial vehicle is carried out in the graphical mode; the development difficulty of the unmanned aerial vehicle is reduced; the development efficiency is increased; the method has the visualized calculation characteristic; the fact that a user monitors intermediate data in a robot control process inreal time can be supported; furthermore, parameters of the components can be adjusted online; the control process can be debugged more conveniently and flexibly; and the failure checking and correcting efficiencies are increased.

Description

technical field [0001] The invention relates to motion control of a mobile robot, belongs to the technical field of industrial automation software, and specifically relates to a graphic control configuration method of a quadrotor drone. Background technique [0002] With the development and maturity of embedded processors, micro-sensor technology and control theory, micro-miniature UAVs are gradually developing towards high efficiency and multi-function, and are widely used in military, civilian, and scientific research and other fields. Among them, the quadrotor UAV can adapt to the flight conditions of various speeds and various flight routes due to its vertical take-off and landing and free hovering. It has the following characteristics: 1. Small in size and light in weight, it can be used in multiple spaces such as ground and warships. 2. Simple structure, easy portability, low cost, good safety, easy maintenance, no external equipment such as catapult; 2. Strong maneuv...

AI Technical Summary

Problems solved by technology

However, the existing graphical programming methods are often presented in the form of a "black box". The state of the intermediate variables in the robot control process cannot be predicted, which is not conducive to people's monitoring and intervention in the robot control process, and is also not conducive to fault inspection and repair.

At the same time, the graphic components of the existing graphical programming methods are often too modular, and it is difficult to find the module that caused the specific problem when a fault occurs, and the efficiency of troubleshooting is low.

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