CN111443727A - Flight control management system and method for multi-rotor unmanned aerial vehicle - Google Patents
Flight control management system and method for multi-rotor unmanned aerial vehicle Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
Abstract
The utility model provides a many rotor unmanned aerial vehicle's flight control management system and method, relate to unmanned aerial vehicle autonomous control technical field, to having the difficulty of operation, the problem of inefficiency in utilizing unmanned aerial vehicle to survey and draw among the prior art, unmanned aerial vehicle flight control software under the prior art, the majority needs pilot manual operation to take off the landing process, only can fly according to flight route automation in the flight area, in some actual flight tasks in addition, the majority needs pilot whole journey to control the aircraft, including taking off, carry out the task, land, and control unmanned aerial vehicle and accomplish the aerial photography task. In contrast, the unmanned aerial vehicle automatic surveying and mapping system is simple to operate, convenient to carry, efficient, stable, strong in autonomy, free of manual remote control of the unmanned aerial vehicle in the whole process, capable of effectively avoiding most flight accidents, reducing technical requirements on industrial flight personnel, and capable of calculating accurate flight time and flight route in advance through autonomous flight control, reducing flight range redundancy, improving surveying and mapping efficiency and saving project cost.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle autonomous control, in particular to a flight control management system and method of a multi-rotor unmanned aerial vehicle.
Background
The ground monitoring control system of the unmanned aerial vehicle is a monitoring center and a command control center of the unmanned aerial vehicle, and aims to overcome the defect that unmanned aerial vehicles, namely, unmanned aerial vehicles, control the unmanned aerial vehicles on the aircraft, so that the flight data of the unmanned aerial vehicles can be remotely monitored and controlled. People have developed all kinds of ground stations to different demands, help unmanned aerial vehicle flight control hand to control and corresponding processing to unmanned aerial vehicle to guarantee unmanned aerial vehicle flight and the safety of carrying out the task. The ground station serves as a center for command control, and monitors and controls flight data, flight parameters, flight processes, aircraft tracks, tasks performed, normal operation of communication links, and takeoff and landing of the aircraft. On the basis of completing basic tasks, the method is required to be capable of processing various unknown emergency conditions and be suitable for various environments. The ground station is expected to be more perfect in the future, the command center is higher in level, data transmission is more effective, and the integration of the internet can play a powerful role.
The existing ground station software used for development is usually developed and used on Windows CE, Windows XP, Vx Worx and other embedded operating systems. The Windows XP system is strong in usability, the Windows CE system has an excellent graphical user interface, the Vx Works system has high-efficiency real-time performance and good reliability, the application development market of the three operating systems is mature, and the system is high in functional stability and reliability, but the operating systems have the defects of high price, source code closure and the like, and are usually used for fixed equipment.
In recent years, unmanned aerial vehicle flight control system is relatively poor in surveying and mapping field application, survey and mapping work often has very most field operation to transfer the drawing work, develop a large amount of unmanned aerial vehicle flights in the field in order to obtain orthophoto and oblique photography achievement, the unmanned aerial vehicle flight control system that the surveying and mapping field needs is urgently needed to realize easy operation, and convenient to carry, the sexual valence relative altitude, high-efficient demand such as steady, and need to solve the stronger flight task of some surveying and mapping specialties, if orthophoto obtains, oblique photography, patrol line, plant protection etc., the conventional flight control ground station software can not be fine satisfy emergent survey and mapping, the field survey, survey and planning and other surveying and mapping work's needs.
Therefore, an autonomous control scheme of the multi-rotor unmanned aerial vehicle is needed, and the problems of autonomous takeoff, autonomous aerial photography task completion and autonomous landing of the unmanned aerial vehicle can be solved.
Disclosure of Invention
The purpose of the invention is: aiming at the problems of difficult operation and low efficiency in the prior art of surveying and mapping by using an unmanned aerial vehicle, the flight control management system and method of the multi-rotor unmanned aerial vehicle are provided.
The technical scheme adopted by the invention to solve the technical problems is as follows:
a flight control management system for a multi-rotor drone, comprising: the system comprises a flight task setting module, a flight task arrangement module, a flight route setting module, a communication module, a flight safety inspection module, a real-time monitoring module, an unmanned aerial vehicle flight control module and an unmanned aerial vehicle flight state monitoring module;
the communication module comprises an unmanned aerial vehicle communication module and a system communication module,
the flight task setting module is used for setting flight parameters of the multi-rotor unmanned aerial vehicle,
the flight mission configuration module is used for setting a flight mission area of the multi-rotor unmanned aerial vehicle,
the flight path setting module is used for drawing and displaying the flight path of the multi-rotor unmanned aerial vehicle according to the flight parameters and the flight mission area of the multi-rotor unmanned aerial vehicle,
the system communication module is used for sending the flight track drawn by the flight route setting module to the unmanned aerial vehicle and receiving the flight state information sent by the multi-rotor unmanned aerial vehicle,
the real-time monitoring module is used for displaying the current flight state information of the multi-rotor unmanned aerial vehicle,
the unmanned aerial vehicle communication module, the unmanned aerial vehicle flight control module and the unmanned aerial vehicle flight state monitoring module are arranged on the unmanned aerial vehicle,
the unmanned aerial vehicle communication module is used for receiving the flight track sent by the flight control management system and sending the flight state information of the multi-rotor unmanned aerial vehicle to the control management system,
the unmanned aerial vehicle flight control module is used for controlling the unmanned aerial vehicle to fly according to the received flight trajectory,
the unmanned aerial vehicle flight state monitoring module is used for monitoring flight state information of the unmanned aerial vehicle in real time.
Further, the flight parameters of the multi-rotor unmanned aerial vehicle comprise flight mode, flight height and route overlap, and the route overlap comprises route lateral overlap and course overlap.
Further, the flight mode includes an orthophoto, a 360-degree panorama, a plant protection mode, and a line patrol mode.
Further, many rotor unmanned aerial vehicle's current flight status information includes flying height, flying speed, cloud platform angle, unmanned aerial vehicle when flying, unmanned aerial vehicle current position, the horizontal distance, the unmanned aerial vehicle direction of returning the navigation point apart from.
A flight control management method of a multi-rotor unmanned aerial vehicle comprises the following steps:
the method comprises the following steps: setting the flight parameters of the unmanned aerial vehicle in a flight task setting module;
step two: a flight task arrangement module is used for delimiting a flight task area, namely a mapping task coverage area is selected;
step three: generating a flight track according to the area defined in the step two, namely a flight route path of the multi-rotor unmanned aerial vehicle;
step four: the flight route path is sent to the multi-rotor unmanned aerial vehicle through the system communication module;
step five: the unmanned aerial vehicle management control system is used for carrying out safety check before flight on the multi-rotor unmanned aerial vehicle to judge whether the aircraft is suitable for taking off or not, if not, the aircraft is not allowed to take off,
step six: after the unmanned aerial vehicle takes off, the unmanned aerial vehicle is monitored in real time and evaluated in state through the real-time monitoring module, displayed and then subjected to danger processing according to state evaluation information.
Further, the third step comprises the following specific steps:
step three, firstly: determining a regular rectangular area, namely a route range, according to the well-defined area;
step three: calculating the route side distance according to the flight height of the unmanned aerial vehicle and the set flight parameters;
step three: respectively calculating the distances between the return flight point and four vertexes of the route range according to the position of the existing unmanned aerial vehicle, namely the return flight point position, wherein the point with the shortest distance is the takeoff position;
step three and four: and planning the parallel route in a reciprocating parallel distribution mode according to the route lateral distance and the return route position.
Further, the calculation formula of the side distance of the central line in the third step and the second step is as follows:
double HD＝H/f*WOS*(1-WFOC/100)
wherein, HD is the route lateral distance, and H is flying height, and f is the focus that many rotor unmanned aerial vehicle carried on the camera, and WOS is the image width, and WFOC is the route lateral overlap degree.
Further, the information for monitoring the unmanned aerial vehicle in real time in the sixth step includes current longitude and latitude information of the unmanned aerial vehicle, height information, horizontal distance from a return point, direction of the unmanned aerial vehicle, angle of a holder, number of satellites searched by the unmanned aerial vehicle, total time of a current flight task, current time when the unmanned aerial vehicle has flown, and exposure number of cameras of the unmanned aerial vehicle.
Further, the safety inspection before flying in the fifth step comprises the following specific steps: the method comprises the steps of firstly estimating flight time according to the position of an unmanned aerial vehicle, the position of a return flight point and the range of a flight line, then calculating the number of shot photos according to camera parameters and aerial shooting parameters of the unmanned aerial vehicle, and checking the state of the aircraft, wherein the state of the aircraft comprises the memory card state of the aircraft, the electric quantity state of a battery, the connection condition of the aircraft, the state of a compass, the satellite searching state of a GPS (global positioning system), the position information of the aircraft, the mode of a remote controller, the.
The invention has the beneficial effects that:
the invention solves the flight control problem of the multi-rotor unmanned aerial vehicle, and realizes the flight management method for the take-off, flight and return processes of the unmanned aerial vehicle in the flight process. The invention supports the connection of an unmanned aerial vehicle and simultaneously automatically identifies the model of the airplane, the background automatically matches corresponding camera parameters, the system plans a route preset flight task according to the focal length and pixel size of the corresponding camera and combines flight parameters according to the task requirement, and simultaneously plans the route preset flight task according to the task requirement, wherein the flight task comprises a flight range and flight parameters such as flight height, speed, shooting time interval, waypoint position and return flight mode, the mobile device communicates with the aircraft through a remote controller and uploads the flight task, the remote controller is not required to be manually controlled in the whole process, the unmanned aerial vehicle can autonomously fly to a preset target point and automatically return to a takeoff point, the fussy flight control operation of the remote controller is thoroughly eliminated, and a series of preset flight tasks set for the unmanned aerial vehicle by people are completed.
In the prior art, most of unmanned aerial vehicle flight control software needs a pilot to manually operate a take-off and landing process, only can automatically fly according to a flight route in a flight area, and in other actual flight tasks, most of unmanned aerial vehicle flight control software needs the pilot to control the aircraft in the whole process, including take-off, executing tasks and landing, and control the unmanned aerial vehicle to complete an aerial photography task. In contrast, the unmanned aerial vehicle automatic surveying and mapping system is simple to operate, convenient to carry, efficient, stable, strong in autonomy, free of manual remote control of the unmanned aerial vehicle in the whole process, capable of effectively avoiding most flight accidents, reducing technical requirements on industrial flight personnel, and capable of calculating accurate flight time and flight route in advance through autonomous flight control, reducing flight range redundancy, improving surveying and mapping efficiency and saving project cost.
Drawings
FIG. 1 is a block diagram of a management system according to the present invention;
FIG. 2 is a flow chart of the management method of the present invention.
Detailed Description
The first embodiment is as follows: specifically describing the present embodiment with reference to fig. 1, the flight control management system of a multi-rotor drone according to the present embodiment includes: the system comprises a flight task setting module, a flight task arrangement module, a flight route setting module, a communication module, a flight safety inspection module, a real-time monitoring module, an unmanned aerial vehicle flight control module and an unmanned aerial vehicle flight state monitoring module;
the communication module comprises an unmanned aerial vehicle communication module and a system communication module,
the flight task setting module is used for setting flight parameters of the multi-rotor unmanned aerial vehicle,
the flight mission configuration module is used for setting a flight mission area of the multi-rotor unmanned aerial vehicle,
the flight path setting module is used for drawing and displaying the flight path of the multi-rotor unmanned aerial vehicle according to the flight parameters and the flight mission area of the multi-rotor unmanned aerial vehicle,
the system communication module is used for sending the flight track drawn by the flight route setting module to the unmanned aerial vehicle and receiving the flight state information sent by the multi-rotor unmanned aerial vehicle,
the real-time monitoring module is used for displaying the current flight state information of the multi-rotor unmanned aerial vehicle,
the unmanned aerial vehicle communication module, the unmanned aerial vehicle flight control module and the unmanned aerial vehicle flight state monitoring module are arranged on the unmanned aerial vehicle,
the unmanned aerial vehicle communication module is used for receiving the flight track sent by the flight control management system and sending the flight state information of the multi-rotor unmanned aerial vehicle to the control management system,
the unmanned aerial vehicle flight control module is used for controlling the unmanned aerial vehicle to fly according to the received flight trajectory,
the unmanned aerial vehicle flight state monitoring module is used for monitoring flight state information of the unmanned aerial vehicle in real time.
The invention is suitable for flight management of more than twenty types of multi-rotor unmanned aerial vehicles, such as Xinjiang spirit series, Yu series, Xiao series, spirit series and the like.
The invention includes a multi-rotor unmanned aerial vehicle and an unmanned aerial vehicle flight control management system, the multi-rotor unmanned aerial vehicle includes: the flight control module is used for controlling the airplane to fly according to the uploaded flight task information; the communication module is used for communication between the unmanned aerial vehicle and the flight control management system; and the flight state monitoring module is used for monitoring the flight state information of the unmanned aerial vehicle in real time. The unmanned aerial vehicle flight control management system comprises a flight task setting module, a flight control module and a flight control module, wherein the flight task setting module is used for setting flight parameters of the multi-rotor unmanned aerial vehicle, such as a flight mode, a flight height, a flight line overlapping degree and the like; the flight task arrangement module is used for framing a flight task area; the flight path setting module is used for drawing and displaying the flight path of the multi-rotor unmanned aerial vehicle according to the flight parameters and the flight mission area; the communication module is used for communicating with the multi-rotor unmanned aerial vehicle, such as uploading a flight task and downloading the flight state of the aircraft; the flight safety inspection module is used for inspecting the flight safety in the system; and the real-time monitoring module is used for displaying the current flight state of the airplane in real time, such as flight height, speed, cradle head angle, flying time, flying position and the like.
The invention aims to solve a series of flight autonomous control problems of autonomous take-off, task execution, autonomous landing and the like of the multi-rotor unmanned aerial vehicle and emergency treatment of accident situations in the flight process. The invention relates to a method for solving the problem of an autonomous flight control system of a multi-rotor unmanned aerial vehicle, which is combined with the experience autonomous research of a multi-year aerial survey production project, is applied to a platform of an unmanned aerial vehicle in Xinjiang, solves the problem of an intelligent APP terminal system for automatic data acquisition of the unmanned aerial vehicle, can perform autonomous mission planning, flight safety inspection, autonomous take-off, autonomous completion of aerial photography mission, automatic return flight and autonomous landing, and can better solve a series of flight related problems of the unmanned aerial vehicle in surveying and mapping work.
The second embodiment is as follows: the present embodiment is specifically described with reference to fig. 2, and relates to a flight control management method for a multi-rotor unmanned aerial vehicle, and the technical scheme for implementing the present invention is as follows:
a flight control management method of a multi-rotor unmanned aerial vehicle comprises the following steps:
the first step is that the flight parameter setting module of the invention refers to setting the flight height, the side direction overlapping degree and the course overlapping degree.
The flight mode setting module provided by the invention is used for setting a multi-rotor unmanned flight mode, including an orthoimage mode, a 360-degree panorama mode, a plant protection mode, a line patrol mode and the like, and setting a flight control management mode of an unmanned aerial vehicle through the flight mode, so that the flight path planning and setting are mainly influenced.
The flight mission layout module is used for planning a flight mission area, namely selecting a mapping mission coverage area so as to plan a flight trajectory in a mission area and implement a flight mission. The specific implementation mode is to circle a measuring area range in the image, and the measuring area range is usually a regular rectangle in the surveying and mapping project, namely, parallel flight paths can be generated in the measuring area range.
Step three, the flight route setting module of the invention is to generate a flight track in the generated flight task area, namely a flight route path of the multi-rotor unmanned aerial vehicle, and the process of generating the flight route is divided into four steps:
1. determining the range of the route: determining a regular rectangular area, namely a route range, according to the delineated operation area;
2. determining a lateral distance: obtaining the course sidewise distance according to the flying height and the flying parameters (sidewise overlapping degree and course overlapping degree), setting the flying height H, the course sidewise overlapping degree WFOC and the course overlapping degree HFOC according to the flying task requirement, determining the course sidewise distance according to the camera focal length f, the image width WOS and the image height HOS according to the camera model carried by the multi-rotor unmanned aerial vehicle, and calculating the course sidewise distance:
double HD＝H/f*WOS*(1-WFOC/100)；
3. determining a takeoff position: respectively calculating the distances between the return flight point and four vertexes of the rectangular range of the flight path according to the position of the current airplane, namely the return flight point position, wherein the point with the shortest distance is the takeoff position;
4. generating a parallel route: and planning parallel routes by adopting a reciprocating parallel distribution mode from the flying point according to the route lateral distance and the flying point position obtained in the steps so as to ensure that the routes cover the whole survey area and meet the requirement of the overlapping degree of aerial photography images.
And step four, the communication module comprises an unmanned aerial vehicle communication module and an unmanned aerial vehicle management system communication module. The unmanned aerial vehicle management system communication module is mainly used for receiving the current flight state (such as position, direction and speed) of the unmanned aerial vehicle, sending the flight task track to the unmanned aerial vehicle communication module and controlling the flight line of the unmanned aerial vehicle; the unmanned aerial vehicle communication module is mainly used for receiving flight task track information sent by the management system platform and sending current state information of the unmanned aerial vehicle to the unmanned aerial vehicle management system.
Step five, the flight safety inspection module, namely the automatic inspection and evaluation technology of the state of the unmanned aerial vehicle before flight, is used for carrying out safety inspection before flight on a multi-rotor unmanned aerial vehicle through an unmanned aerial vehicle management control system, is used for ensuring that the state of the unmanned aerial vehicle before flight is kept normal, ensuring the safe flight of the unmanned aerial vehicle, completing a aerial photography task, estimating flight time according to the position of the aircraft, the position of a return flight point, a course range and the like, calculating the number of shot photos according to camera parameters and aerial parameters, and inspecting the state of the aircraft, such as the memory card state of the aircraft, the battery power state, the connection condition of the aircraft, the compass state, the GPS satellite searching state, the position information of the aircraft, the mode of a remote controller, the memory card capacity, the uploading progress of a flight waypoint and the like, judging whether the aircraft is suitable for flight or not, a flight accident occurs.
Step six, the real-time monitoring module provided by the invention is used for carrying out real-time monitoring and state evaluation on the unmanned aerial vehicle according to the current flight state information of the unmanned aerial vehicle received by the communication module by a flight control management system in the flight process of the unmanned aerial vehicle, and displaying the information in a platform, wherein the information comprises the current longitude and latitude information, the height information, the horizontal distance from a return point, the direction of the unmanned aerial vehicle, the angle of a holder, the number of satellites searched by the unmanned aerial vehicle, the total time of a current flight task, the current flying time of the unmanned aerial vehicle and the exposure number of cameras of the unmanned aerial vehicle.
And seventhly, providing a series of evaluation and prejudgment methods in the whole process of flying and executing the task of the multi-rotor unmanned aerial vehicle to ensure that the artificial intervention is reduced to the maximum extent in the whole process of executing the flying task of the unmanned aerial vehicle and improve the safety, planning a flying mode of the aircraft (such as flying to a target height in situ and then flying to a target point) and a landing mode (flying to a return flight point at the target height and then landing to the ground after the task is completed) before the aircraft takes off, making a flying plan on a flying route, checking the safety and providing a series of special condition processing schemes.
And (3) taking off automatically: the invention provides a method for controlling an unmanned aerial vehicle to take off autonomously, wherein a multi-rotor unmanned aerial vehicle takes off in a vertical take-off and landing mode, firstly, the aircraft takes off perpendicularly at a return flight point position and flies to two thirds of a specified flight height, because an aerial shooting project needs to shoot photos and splice an orthographic image, the unmanned aerial vehicle opens a camera at the moment and starts to shoot the photos at a certain interval, if the camera is started successfully and shot normally, the unmanned aerial vehicle continues to take off to the specified flight height, otherwise, the unmanned aerial vehicle directly lands, and flight workers check whether the camera and a cradle head are in fault or not. The unmanned aerial vehicle autonomous take-off control means that the whole take-off process is realized by inputting commands into a control system of an airplane in advance by the system, and all actions after take-off are completed by the unmanned aerial vehicle autonomously.
And (3) automatically completing an aerial photography task: before the unmanned aerial vehicle takes off, the system can generate a flight route planning scheme according to the range of a task area and flight parameters, then a flight track is uploaded to a navigation controller of the aircraft, after the aircraft takes off, the controller controls the unmanned aerial vehicle to autonomously fly according to the planned route by combining the actual condition of the aircraft and the flight route, the camera can take pictures at the same time interval in the flying process, after the aerial photographing task is completed, the unmanned aerial vehicle can control the camera to finish photographing and automatically return to the air to finish autonomous landing.
Autonomous return and autonomous landing: the invention provides a pause and one-key return flight function after the unmanned aerial vehicle takes off, the unmanned aerial vehicle can be controlled to pause flight by clicking a button, the shooting is normally carried out in the period, a one-key return flight instruction can be sent to the airplane in an emergency, the airplane can stop shooting, and the airplane can automatically return to the position above a return flight point and complete the automatic landing function.
The hazard treatment of the present invention includes the following aspects:
1. the GPS signal of the unmanned aerial vehicle is weak, so that the navigation fault causes the unmanned aerial vehicle to deviate from the air route, the system can prompt a pilot and command the aircraft to automatically return under the conditions that the distance is too far from a return point, the flying height is too low or too high, and the like, thereby avoiding the condition that the electric quantity of a battery of the aircraft is not enough and the aircraft is out of control or crashed.
2. If the system finds that the exposure number is not increased, the fact that the aerial photography task is not executed in the flight process of the unmanned aerial vehicle is indicated, the system can prompt a pilot and command the aircraft to automatically return to the air, and waste of time and battery power is avoided.
3. Among many rotor unmanned aerial vehicle's the inherent mechanism of returning a voyage, if unmanned aerial vehicle horizontal distance is apart from returning to the navigation point within 20 meters and triggering the command of returning a voyage, unmanned aerial vehicle will follow the automatic descending of current position, can not climb to predetermineeing the height, can lead to the aircraft to descend in the place that is unsuitable to descend, such as meadow, waters etc., thereby cause the incident, to this condition, set up safe landing measure, fly to the position of returning a voyage at current altitude at first when returning a voyage, then directly descend or climb to predetermineeing the high back and descend, need not the manual aircraft of controlling, can guarantee aircraft safety and descend.
The invention is suitable for supporting the flight management of more than twenty types of multi-rotor unmanned aerial vehicles such as Xinjiang spirit series, imperial series, Xiao series, spirit series and the like, solves the flight control problem of the multi-rotor unmanned aerial vehicle, and realizes the flight management method of the unmanned aerial vehicle during take-off, flight and return flight in the flight process. The invention supports the connection of an unmanned aerial vehicle and simultaneously automatically identifies the model of the airplane, the background automatically matches corresponding camera parameters, the system plans a route preset flight task according to the focal length and pixel size of the corresponding camera and combines flight parameters according to the task requirement, and simultaneously plans the route preset flight task according to the task requirement, wherein the flight task comprises a flight range and flight parameters such as flight height, speed, shooting time interval, waypoint position and return flight mode, the mobile device communicates with the aircraft through a remote controller and uploads the flight task, the remote controller is not required to be manually controlled in the whole process, the unmanned aerial vehicle can autonomously fly to a preset target point and automatically return to a takeoff point, the fussy flight control operation of the remote controller is thoroughly eliminated, and a series of preset flight tasks set for the unmanned aerial vehicle by people are completed.
Aiming at the same rectangular area mapping task, the flight control management system respectively uses a manual control execution task and general flight control software to execute a aerial photography task, and the test results are as follows:
fig. 2 is a flow chart of a flight control management method of a multi-rotor unmanned aerial vehicle, wherein equipment inspection and verification are performed inside the multi-rotor unmanned aerial vehicle after the multi-rotor unmanned aerial vehicle is started, GPS satellite positioning is searched, so as to determine the position of a return flight point, whether the states of a battery, a camera memory card, a cradle head and a controller are normal or not is checked, then a flight control system is connected with the aircraft, an aircraft IMU module and a compass self-check are performed, the position of the return flight point is refreshed again, the flight height, the course overlapping degree and the side overlapping degree are set in a displayed system interface, then a flight path is planned according to a survey area range, after the completion, the system automatically performs safe flight inspection of the aircraft and uploads the flight path, the aircraft can take off so far, the aircraft can take off, the whole process after taking off does not need human.
It should be noted that the detailed description is only for explaining and explaining the technical solution of the present invention, and the scope of protection of the claims is not limited thereby. It is intended that all such modifications and variations be included within the scope of the invention as defined in the following claims and the description.
Claims (9)
1. The utility model provides a many rotor unmanned aerial vehicle's flight control management system which characterized in that includes: the system comprises a flight task setting module, a flight task arrangement module, a flight route setting module, a communication module, a flight safety inspection module, a real-time monitoring module, an unmanned aerial vehicle flight control module and an unmanned aerial vehicle flight state monitoring module;
the communication module comprises an unmanned aerial vehicle communication module and a system communication module,
the flight task setting module is used for setting flight parameters of the multi-rotor unmanned aerial vehicle,
the flight mission configuration module is used for setting a flight mission area of the multi-rotor unmanned aerial vehicle,
the flight path setting module is used for drawing and displaying the flight path of the multi-rotor unmanned aerial vehicle according to the flight parameters and the flight mission area of the multi-rotor unmanned aerial vehicle,
the system communication module is used for sending the flight track drawn by the flight route setting module to the unmanned aerial vehicle and receiving the flight state information sent by the multi-rotor unmanned aerial vehicle,
the real-time monitoring module is used for displaying the current flight state information of the multi-rotor unmanned aerial vehicle,
the unmanned aerial vehicle communication module, the unmanned aerial vehicle flight control module and the unmanned aerial vehicle flight state monitoring module are arranged on the unmanned aerial vehicle,
the unmanned aerial vehicle communication module is used for receiving the flight track sent by the flight control management system and sending the flight state information of the multi-rotor unmanned aerial vehicle to the control management system,
the unmanned aerial vehicle flight control module is used for controlling the unmanned aerial vehicle to fly according to the received flight trajectory,
the unmanned aerial vehicle flight state monitoring module is used for monitoring flight state information of the unmanned aerial vehicle in real time.
2. The system of claim 1, wherein the flight parameters of the multi-rotor drone include flight mode, flight altitude, and lane overlap, including lane side overlap and course overlap.
3. The system of claim 2, wherein the flight modes include an orthophoto, a 360 degree panorama, a plant protection mode, and a cruise mode.
4. The system of claim 1, wherein the current flight status information of the multi-rotor drone includes flight altitude, flight speed, pan/tilt angle, length of time the drone has flown, drone current position, horizontal distance from a return point, drone direction.
5. The flight control management method of the flight control management system of the multi-rotor unmanned aerial vehicle according to claim 1, characterized by comprising the following steps:
the method comprises the following steps: setting the flight parameters of the unmanned aerial vehicle in a flight task setting module;
step two: a flight task arrangement module is used for delimiting a flight task area, namely a mapping task coverage area is selected;
step three: generating a flight track according to the area defined in the step two, namely a flight route path of the multi-rotor unmanned aerial vehicle;
step four: the flight route path is sent to the multi-rotor unmanned aerial vehicle through the system communication module;
step five: the unmanned aerial vehicle management control system is used for carrying out safety check before flight on the multi-rotor unmanned aerial vehicle to judge whether the aircraft is suitable for taking off or not, if not, the aircraft is not allowed to take off,
step six: after the unmanned aerial vehicle takes off, the unmanned aerial vehicle is monitored in real time and evaluated in state through the real-time monitoring module, displayed and then subjected to danger processing according to state evaluation information.
6. The method of claim 5, wherein the third step comprises the following specific steps:
step three, firstly: determining a regular rectangular area, namely a route range, according to the well-defined area;
step three: calculating the route side distance according to the flight height of the unmanned aerial vehicle and the set flight parameters;
step three: respectively calculating the distances between the return flight point and four vertexes of the route range according to the position of the existing unmanned aerial vehicle, namely the return flight point position, wherein the point with the shortest distance is the takeoff position;
step three and four: and planning the parallel route in a reciprocating parallel distribution mode according to the route lateral distance and the return route position.
7. The method according to claim 6, wherein the formula for calculating the third and second median flight path lateral distance is:
double HD＝H/f*WOS*(1-WFOC/100)
wherein, HD is the route lateral distance, and H is flying height, and f is the focus that many rotor unmanned aerial vehicle carried on the camera, and WOS is the image width, and WFOC is the route lateral overlap degree.
8. The method according to claim 5, wherein the information for real-time monitoring of the UAVs in step six includes current longitude and latitude information of the UAVs, altitude information, horizontal distance from a return point, UAV direction, cradle head angle, number of satellites searched by the UAVs, total duration of a current flight mission, duration of a current flight mission of the UAVs, and number of camera exposures of the UAVs.
9. The flight control management method of a multi-rotor unmanned aerial vehicle according to claim 5, wherein the safety check before flight in step five specifically comprises the steps of: the method comprises the steps of firstly estimating flight time according to the position of an unmanned aerial vehicle, the position of a return flight point and the range of a flight line, then calculating the number of shot photos according to camera parameters and aerial shooting parameters of the unmanned aerial vehicle, and checking the state of the aircraft, wherein the state of the aircraft comprises the memory card state of the aircraft, the electric quantity state of a battery, the connection condition of the aircraft, the state of a compass, the satellite searching state of a GPS (global positioning system), the position information of the aircraft, the mode of a remote controller, the.
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