Multi-rotorcraft control system and method

Abstract

The invention discloses a multi-rotorcraft control system and method. The multi-rotorcraft control system comprises a measuring module, a processing module and an information transmission module, the processing module comprises a visual processor and a flight control main chip, and a detection model, a tracking model and an adjusting model are arranged in the visual processor; the detection model selects a suggested area from a subsequent image after determining the task target; the tracking model selects a tracking selection box from subsequent images after determining the task target; the adjusting model obtains the overlapping degree of the suggested area and the tracking selection box, the rotation angular speed of the photoelectric pod is controlled according to the overlapping degree, and the flight control main chip controls the rotorcraft to interact with the task target or land on the task target by resolving the normal expected overload under the sight line system in real time. According to the multi-rotorcraft control system and method, the recognition speed is high, safety and stability are achieved, and the multi-rotorcraft control system and method are particularly suitable for tracking, interaction and landing of fast moving targets.

Description

technical field [0001] The invention relates to a multi-rotor aircraft control system and method, belonging to the field of rotor aircraft. Background technique [0002] Multi-rotor aircraft has the advantages of small size, light weight, simple structure, flexible flight control mode, and strong adaptability to complex terrain and small spaces. In recent years, with the development of microelectronics technology and microprocessor technology, multi-rotor aircraft have been widely used in military and civilian fields, such as battlefield reconnaissance, battlefield strikes, power inspections, post-disaster search and rescue, indoor and outdoor reconnaissance, and express delivery , Agricultural plant protection, etc. [0003] With the widespread use of multi-rotor aircraft, the requirements for it are gradually increasing, and the difficulty of performing tasks is also gradually increasing, and the task environment is becoming more and more complicated and harsh. At present...

AI Technical Summary

Problems solved by technology

[0003] With the widespread use of multi-rotor aircraft, the requirements for it are gradually increasing, and the difficulty of performing tasks is also gradually increasing, and the task environment is becoming more and more complicated and harsh. At present, multi-rotor aircraft use cameras, GPS, and extended IMU sensors. Such equipment senses the environment and senses its own state, and the tracking and guidance of maneuvering targets are mostly manual operations, which can no longer meet the requirements of autonomous control of multi-rotor aircraft

[0004] The camera accuracy, GPS data stability, and sensor data reliability of the existing multi-rotor aircraft control system are insufficient, which limits the environmental awareness, autonomy, and execution capabilities of the rotor aircraft

[0005] In addition, most of the existing target tracking and automatic landing of rotorcraft use PID to cooperate with visual information to achieve, but the robustness of PID control is poor, and it is greatly affected by the environment, resulting in low control accuracy. When the target is in a moving state, For example, when interacting with other rotorcraft, grabbing a moving target object, or landing on a mobile platform, the rotorcraft will vibrate a lot, which will increase the interaction process, make the landing unstable, and even cause the rotorcraft to roll over and be damaged.

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