Method and device for aiming control of two-degree-of-freedom nozzle of unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle two-degree-of-freedom nozzle aiming control method and device, belonging to the technical field of unmanned aerial vehicles, comprising: acquiring an image captured by an onboard camera of the unmanned aerial vehicle; Center; in the camera coordinate system, the relative attitude control amount is calculated according to the pixel position deviation of the auxiliary aiming laser spot of the two-axis nozzle and the target to be aimed; according to the relative attitude control amount, the auxiliary aiming laser of the two-axis nozzle is controlled The spot of light coincides with the center of the object to be aimed at that is delineated in the image. The invention connects the nozzle and the drone freely, decouples the aiming control of the nozzle and the attitude of the drone, and regards the movement of the drone as the disturbance of the automatic aiming system of the nozzle, so as to realize the target detection. more precise targeting.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and device for aiming control of a two-degree-of-freedom nozzle of an unmanned aerial vehicle. Background technique [0002] In the power system, pollutants such as oil, metal particles, acid-base salts and other pollutants in the air are attached to the insulator strings of high-voltage lines, which are prone to dangers such as line flashover and soft breakdown, causing hidden dangers to the safe and stable operation of the line. In the past, the cleaning of power transmission lines had to be wiped by manual climbing towers when the line was powered off, which has the disadvantages of incomplete decontamination, low efficiency and high risks. [0003] The multi-rotor flight platform has high stability and simple electronic control. The use of multi-rotor drones for water washing tasks can effectively improve the cleaning efficiency. At the same time, i...

AI Technical Summary

Problems solved by technology

[0004] However, in the existing devices, the nozzle is mostly connected to the body, and the aiming of the nozzle to the target needs to depend on the position change of the UAV, and the position movement of the UAV itself must depend on its own attitude movement, which will lead to Difficulty aiming during exercise

Moreover, it is difficult for UAVs to meet the fine operation requirements of nozzle aiming, which further exacerbates the difficulty of aiming the nozzles on such UAVs.

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