CN106774363B - Unmanned aerial vehicle flight control system and method - Google Patents
Unmanned aerial vehicle flight control system and method Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle flight control system and a method, the unmanned aerial vehicle flight control system comprises a main control unit for controlling a power device of an unmanned aerial vehicle to control the flight attitude of the unmanned aerial vehicle, an image acquisition unit distributed around the unmanned aerial vehicle to acquire image information around the unmanned aerial vehicle and transmit the image information to the main control unit in real time, an ultrasonic ranging unit distributed around the unmanned aerial vehicle to detect the distance between the unmanned aerial vehicle and obstacles around and transmit detected ultrasonic signals to the main control unit in real time, and a threshold storage module connected with the main control unit, wherein a distance threshold is stored in the threshold storage module, and when the distance value in the current direction detected by the ultrasonic ranging unit is smaller than the distance threshold, the main control unit controls the power device to change the flight attitude of the unmanned aerial vehicle. The unmanned aerial vehicle flight control system can realize the identification of the unmanned aerial vehicle on the surrounding environment so as to automatically adjust the flight attitude and carry out automatic flight.
Description
Technical Field
The invention relates to the technical field of flight control of unmanned aerial vehicles, in particular to a flight control system of an unmanned aerial vehicle. The invention also relates to an unmanned aerial vehicle flight control method based on the unmanned aerial vehicle flight control system.
Background
With the rapid development of modern science and technology, the automation requirement in the agriculture and forestry field is higher and higher, the distribution of forestry resources in China is very wide, and the automation degree of the forestry is high and low, which is a major problem related to the national civilization. At present, unmanned aerial vehicle has used a great deal of fields of industry and civilian life, for example, can use unmanned aerial vehicle to take photo by plane, survey and drawing and article transmission etc, along with the continuous rising of various demands, unmanned aerial vehicle's technical quality is also advancing gradually, but on unmanned aerial vehicle's control mode, current unmanned aerial vehicle still is for adopting artifical remote control, or utilize GPS to carry out automatic navigation, unmanned aerial vehicle does not possess the ability of discerning in order to carry out automatic flight to the surrounding environment, this has just led to the fact certain limitation to unmanned aerial vehicle's application.
Disclosure of Invention
In view of the above, the present invention is directed to a flight control system for an unmanned aerial vehicle, so that the unmanned aerial vehicle can recognize the surrounding environment for automatic flight.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
an unmanned aerial vehicle flight control system, comprising:
the main control unit is used for controlling a power device of the unmanned aerial vehicle so as to control the flight attitude of the unmanned aerial vehicle;
the image acquisition units are distributed around the unmanned aerial vehicle to acquire image information around the unmanned aerial vehicle and transmit the image information to the main control unit in real time;
the ultrasonic ranging units are distributed around the unmanned aerial vehicle to detect the distance between the unmanned aerial vehicle and surrounding obstacles and send detected ultrasonic signals to the main control unit in real time;
the threshold value storage module is connected with the main control unit, the threshold value storage module stores a distance threshold value, the distance value of the current flight direction of the unmanned aerial vehicle detected by the ultrasonic ranging unit is smaller than that of the distance threshold value, and the main control unit controls the power device to change the flight attitude of the unmanned aerial vehicle.
Further, a reversing threshold storage module is connected to the main control unit, and a reversing distance threshold is stored in the reversing threshold storage module; the commutation distance threshold is greater than the distance threshold.
Furthermore, an image processing module is connected to the main control unit, and the image processing module processes real-time image information acquired by each image acquisition unit to acquire speed information of the unmanned aerial vehicle.
Further, in unmanned aerial vehicle's bottom be equipped with the bottom ultrasonic sensor that the main control unit links to each other.
Further, each side of the unmanned aerial vehicle the ultrasonic ranging units are close to two arranged in the middle of the unmanned aerial vehicle, and the image acquisition units on each side are respectively arranged on two sides of the ultrasonic ranging units.
Compared with the prior art, the invention has the following advantages:
the unmanned aerial vehicle flight control system provided by the invention can be used for collecting required information by shooting through the image collecting unit, and can realize control on the flight attitude of the unmanned aerial vehicle by comparing the barrier distance detected by the ultrasonic ranging unit with the stored distance threshold through the arrangement of the ultrasonic ranging unit and the threshold storage module, so that the unmanned aerial vehicle can recognize the surrounding environment to automatically adjust the flight attitude to automatically fly.
Another objective of the present invention is to provide a method for controlling flight of an unmanned aerial vehicle, which comprises the following steps:
a distance acquisition step, wherein an ultrasonic ranging unit detects the distance of obstacles around the unmanned aerial vehicle in real time and sends detected ultrasonic signals to a main control unit;
an image acquisition step, wherein an image acquisition unit acquires image information around the unmanned aerial vehicle and transmits the image information to the main control unit in real time;
the control method comprises a flying attitude control step, wherein the main control unit is used for comparing a distance value detected by the ultrasonic ranging unit in the flying direction of the unmanned aerial vehicle with a distance threshold value stored in a threshold value storage module, and when the distance value detected by the ultrasonic ranging unit is smaller than the distance threshold value, the main control unit changes the flying direction of the unmanned aerial vehicle.
Further, in the flight attitude control step, before the main control unit changes the flight direction of the unmanned aerial vehicle, a flight direction decision step is formed: the main control unit compares other distance values detected by the ultrasonic ranging unit with a reversing distance threshold value stored by a reversing threshold value storage module so as to decide the flight direction of the unmanned aerial vehicle.
The unmanned aerial vehicle flight control method can realize identification of surrounding environment, enables the unmanned aerial vehicle to automatically adjust flight attitude to realize automatic flight, and enables the unmanned aerial vehicle to be used under the condition of no manual operation and GPS navigation, thereby improving the use performance of the unmanned aerial vehicle.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram of a flight control system of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a diagram of an arrangement structure of an image acquisition unit and an ultrasonic ranging unit according to an embodiment of the present invention;
fig. 3 is a schematic layout diagram of an image acquisition unit and an ultrasonic ranging unit on an unmanned aerial vehicle according to an embodiment of the present invention;
description of reference numerals:
the method comprises the following steps of 1-a main control unit, 2-an image acquisition unit, 3-an ultrasonic ranging unit, 4-a threshold storage module, 5-a reversing threshold storage module, 6-an image processing module, 7-an installation frame, 8-an ultrasonic sensor, 9-a camera and 10-an unmanned aerial vehicle.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The embodiment relates to an unmanned aerial vehicle flight control system, as shown in fig. 1, which comprises a main control unit 1, wherein the main control unit 1 forms control over a power device of the unmanned aerial vehicle to control the flight attitude of the unmanned aerial vehicle, the control system also comprises an image acquisition unit 2 which is distributed around the unmanned aerial vehicle to acquire image information around the unmanned aerial vehicle and transmit the acquired image information to the main control unit 1 in real time, an ultrasonic ranging unit 3 which is distributed around the unmanned aerial vehicle to detect the distance between the unmanned aerial vehicle and surrounding obstacles and transmit the detected ultrasonic signals to the main control unit 1 in real time, and a threshold storage module 4 which is connected with the main control unit 1, a distance threshold value is stored in the threshold storage module 4, and when the distance value of the current flight direction of the unmanned aerial vehicle detected by the ultrasonic ranging unit 3 is smaller than the distance threshold value, the main control unit 1 controls the power device to change the flight attitude of the unmanned aerial vehicle.
In this embodiment, the main control unit 1 is also connected to a commutation threshold storage module 5, and a commutation distance threshold is stored in the commutation threshold storage module 5, and the commutation distance threshold is greater than the distance threshold stored in the threshold storage module 4. Except for the reversing threshold storage module 5, the main control unit 1 is further connected with an image processing module 6, and the image information acquired by each image acquisition unit 2 can be processed through the image processing module 6 so as to acquire the speed information of the unmanned aerial vehicle.
Based on overall structure as above in this embodiment, main control unit 1 adopts the programmable controller who installs on unmanned aerial vehicle and have data processing ability alright on concrete design, unmanned aerial vehicle's structure and make unmanned aerial vehicle flight and the power device of adjustable unmanned aerial vehicle flight gesture all adopt current unmanned aerial vehicle's relevant structure can, this scheme only explains to the aspect of unmanned aerial vehicle control. As shown in fig. 2, the image acquisition unit 2 in this embodiment adopts the camera 9, and the ultrasonic ranging unit adopts the ultrasonic sensor 8, and the ultrasonic sensor 8 and the camera 9 are fixed on the mounting bracket 7 to carry out the installation on the unmanned aerial vehicle. For obtaining better image acquisition and range finding effect, ultrasonic sensor 8 and camera 9 on mounting bracket 7 all set up to two, and two ultrasonic sensor 8 are close to the centre and arrange to be located unmanned aerial vehicle's middle part when installing on unmanned aerial vehicle, and two cameras 9 then set up respectively in ultrasonic sensor 8's both sides.
Be fixed in image acquisition unit 2 and the installation of ultrasonic ranging unit 3 on unmanned aerial vehicle on mounting bracket 7 as shown in fig. 3, four mounting brackets 7 distribute around unmanned aerial vehicle 10, and the center of each image acquisition unit 2 and ultrasonic ranging unit 3 after the installation is accomplished coincides with unmanned aerial vehicle 10's center, so can be convenient for mark each acquisition unit or ranging unit according to unmanned aerial vehicle 10's size. Except installing in unmanned aerial vehicle 10 ultrasonic ranging unit 3 all around in this embodiment, also install an ultrasonic sensor 8 at unmanned aerial vehicle 10's top, can measure unmanned aerial vehicle 10's flying height through this ultrasonic sensor 8.
In the embodiment, when the unmanned aerial vehicle 10 is used, for the image processing module 6, the images collected by the cameras 9 are respectively generated into gray-scale images, and the images can be processed by using the existing optical flow method, so as to obtain the relative speed between the unmanned aerial vehicle 10 and the obstacle. By utilizing the optical flow method, the motion information of the unmanned aerial vehicle can be obtained, and the optical flow also carries the three-dimensional structure information about the surrounding environment of the unmanned aerial vehicle, so that the positioning information can be provided for the flight of the unmanned aerial vehicle 10.
In this embodiment, unmanned aerial vehicle 10 is when flying, unmanned aerial vehicle 10 ultrasonic sensor 8 all around detects the distance of barrier all around in real time, and give main control unit 1 with the ultrasonic signal who detects, camera 9 then gathers unmanned aerial vehicle 10 image information all around, and also give main control unit 1 with image information real-time transfer, main control unit 1 compares through the distance value that detects to ultrasonic sensor 8 on its flight direction and the distance threshold value in threshold value storage module 4, alright when the distance value that this ultrasonic sensor 8 detected is less than the distance threshold value that stores, change unmanned aerial vehicle 10's flight direction by main control unit 1 control.
When the flight direction of the unmanned aerial vehicle 10 needs to be changed, the main control unit 1 can make a decision on the flight direction according to the detection values of the ultrasonic sensors 8 in other directions, specifically, the main control unit 1 compares the distance value of the obstacle detected by the ultrasonic sensors 8 in other directions with the reversing distance threshold value stored in the reversing threshold value storage module 5, and then determines which direction the unmanned aerial vehicle 10 is adjusted to fly, and if the direction is the farthest direction of the obstacle, the unmanned aerial vehicle can fly.
The unmanned aerial vehicle flight control system of this embodiment, make a video recording through image acquisition unit 2, can be used to the collection of required information, and can obtain unmanned aerial vehicle 10's speed information, through ultrasonic ranging unit 3 and threshold value storage module 4's setting, the control to unmanned aerial vehicle flight attitude is realized with the comparison of the distance threshold value of storage to the barrier distance that usable ultrasonic ranging unit 3 detected, thereby can realize that unmanned aerial vehicle carries out automatic flight with automatic adjustment flight attitude to the discernment of all ring edge borders. This unmanned aerial vehicle flight control system can make unmanned aerial vehicle 10 also can use under the condition of unmanned aerial vehicle manual operation and GPS navigation to can promote unmanned aerial vehicle 10's performance.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. An unmanned aerial vehicle flight control method is characterized in that: the unmanned aerial vehicle flight control system based on the unmanned aerial vehicle flight control method comprises the following steps:
the main control unit is used for controlling a power device of the unmanned aerial vehicle so as to control the flight attitude of the unmanned aerial vehicle;
the image acquisition units are distributed around the unmanned aerial vehicle to acquire image information around the unmanned aerial vehicle and transmit the image information to the main control unit in real time;
the ultrasonic ranging units are distributed around the unmanned aerial vehicle to detect the distance between the unmanned aerial vehicle and surrounding obstacles and send detected ultrasonic signals to the main control unit in real time;
the threshold value storage module is connected with the main control unit and stores a distance threshold value, and when the distance value of the current flight direction of the unmanned aerial vehicle detected by the ultrasonic ranging unit is smaller than the distance threshold value, the main control unit controls the power device to change the flight attitude of the unmanned aerial vehicle;
the reversing threshold storage module is connected with the main control unit, and a reversing distance threshold is stored in the reversing threshold storage module and is greater than the distance threshold;
in unmanned aerial vehicle's bottom be equipped with the bottom ultrasonic sensor that the main control unit links to each other, unmanned aerial vehicle each side ultrasonic ranging unit is for being close to in two that the unmanned aerial vehicle middle part was arranged, each side image acquisition unit is for dividing to be put two of ultrasonic ranging unit both sides, center and unmanned aerial vehicle's the center coincidence of each image acquisition unit and ultrasonic ranging unit after the installation was accomplished
The flight control method of the unmanned aerial vehicle comprises the following steps:
a distance acquisition step, wherein an ultrasonic ranging unit detects the distance of obstacles around the unmanned aerial vehicle in real time and sends detected ultrasonic signals to a main control unit;
an image acquisition step, wherein an image acquisition unit acquires image information around the unmanned aerial vehicle and transmits the image information to the main control unit in real time;
the control method comprises a flying attitude control step, wherein the main control unit is used for comparing a distance value detected by the ultrasonic ranging unit in the flying direction of the unmanned aerial vehicle with a distance threshold value stored in a threshold value storage module, and when the distance value detected by the ultrasonic ranging unit is smaller than the distance threshold value, the main control unit changes the flying direction of the unmanned aerial vehicle.
2. The unmanned aerial vehicle flight control method of claim 1, wherein: and the main control unit is connected with an image processing module, and the image processing module processes the real-time image information acquired by each image acquisition unit to acquire the speed information of the unmanned aerial vehicle.
3. The unmanned aerial vehicle flight control method of claim 1, wherein: in the flight attitude control step, before the main control unit changes the flight direction of the unmanned aerial vehicle, a flight direction decision step is formed: the main control unit compares other distance values detected by the ultrasonic ranging unit with a reversing distance threshold value stored by a reversing threshold value storage module so as to decide the flight direction of the unmanned aerial vehicle.
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| CN110612496A (en) * | 2018-01-05 | 2019-12-24 | 深圳市大疆创新科技有限公司 | Control method and device for unmanned aerial vehicle and movable platform |
| CN108313312A (en) * | 2018-01-25 | 2018-07-24 | 芜湖应天光电科技有限责任公司 | A kind of unmanned plane drop preventer |
| CN108735001A (en) * | 2018-05-31 | 2018-11-02 | 智飞智能装备科技东台有限公司 | A kind of unmanned plane based on Beidou navigation is anti-to hit prior-warning device |
| CN109375537A (en) * | 2018-10-13 | 2019-02-22 | 南昌大学 | A kind of real-time resolution system in extra large day of unmanned plane |
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| CN111722638A (en) * | 2020-07-02 | 2020-09-29 | 山西工程职业学院 | Unmanned aerial vehicle flight control system |
| JP7444334B2 (en) * | 2021-04-13 | 2024-03-06 | 三菱電機ビルソリューションズ株式会社 | A flying object that inspects the inside of an elevator hoistway, a control device for the flying object, and a method for flying the flying object |
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