Control system and control method for autonomous grasp of unmanned aerial vehicle(UAV)

Abstract

The invention discloses a control system and a control method for the autonomous grasp of an unmanned aerial vehicle(UAV), and relates to a UAV system and a control method thereof. The system providedby the invention comprises a ground monitoring system, a UAV control system and an autonomous grasp system; wherein the ground monitoring system which comprises a mobile computer, a wireless communication unit and a data transmission unit is used for transmitting data information and monitoring the running state of the UAV; the UAV control system which comprises a UAV flying control unit, a UAV flying dynamic unit and a UAV hovering height holding unit is used for providing driving force to the UAV and controlling the flying state of the UAV; and the autonomous grasp system which comprises abinocular vision unit, an image processing unit, an autonomous grasp control unit and a grasp action unit is mainly used for obtaining object information and realizing autonomous grasp. By utilizing the advantage in binocular vision, the UAV takes the initiative to find a target and independently develops algorithms, thereby realizing the integration of the flying system and the grasp system and achieving good effects in stable UAV flying and precise autonomous grasp.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle system and a control method thereof, in particular to an unmanned aerial vehicle autonomous grasping control system and a control method thereof. Background technique [0002] With the maturity of UAV technology, UAVs have shown their talents in many fields due to their flexible movement, stability and reliability. However, at present, UAVs cannot effectively interact with the external environment, making the application of UAVs restricted. Very restrictive. [0003] If drones can autonomously identify and grab target objects, then drones can be applied to logistics transportation, disaster rescue and other fields, greatly expanding the application of drones. At present, the grasping research of drones has just started. Many researchers use external devices such as motion capture systems to obtain the position and attitude information of drones and targets, but motion capture systems are extremely ex...

AI Technical Summary

Problems solved by technology

At present, the grasping research of drones has just started. Many researchers use external devices such as motion capture systems to obtain the position and attitude information of drones and targets, but motion capture systems are extremely expensive and can only be used indoors; The method of picking up the UAV is the mode of the UAV’s hovering mechanical arm stretching and grabbing the target. This method is simple, but the UAV after grabbing the object is prone to the problem of unbalanced center of gravity, and the load capacity is limited. If it can be The grasping object is placed below the center of gravity of the drone, and a set of autonomous grasping control system for the drone to actively adjust its position and find the grasping target can be designed to open up a broader drone application market

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