CN117075625A - Autonomous and precise target attachment method and system for multi-rotor unmanned aerial vehicle - Google Patents
Autonomous and precise target attachment method and system for multi-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses an autonomous and accurate target attachment method and system of a multi-rotor unmanned aerial vehicle, wherein the method comprises a detection module, a control module and a control module, wherein the detection module is used for acquiring detected target attachment information in real time and transmitting the target attachment information to an airborne task computer; the airborne task computer is used for analyzing and processing the data information of the detection module and planning out a flight path point; the flight control module is used for controlling the multi-rotor unmanned aerial vehicle to fly according to the flight path points; according to the invention, the target is tracked through the image acquisition equipment, the attached target is arranged right in front of the unmanned aerial vehicle, navigation information is provided for the unmanned aerial vehicle through the laser detector and the ultrasonic detector, and the attached flight is realized without depending on external auxiliary navigation, so that the full-automatic and accurate control of the flight process is achieved; the position, the speed and the gesture of the final attachment target point are restrained, so that the abdomen of the unmanned aerial vehicle is attached to the surface of the attachment target, and the unmanned aerial vehicle with multiple rotors is automatically and accurately attached to the surface of the target.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an autonomous and accurate target attachment method and system for a multi-rotor unmanned aerial vehicle.
Background
A rotorcraft is an aircraft that generates lift and thrust through multiple rotors. Compared with the traditional fixed wing unmanned plane, the fixed wing unmanned plane has the characteristics of vertical take-off and landing, hovering flight, flexible maneuver and the like, and is widely applied to the fields of aerial photography, building inspection, safety monitoring, geographical mapping, rescue and the like. However, due to low pneumatic efficiency and limited carried battery power energy, the task time is limited, and the use endurance performance is poor. Therefore, in order to improve the endurance of the rotary-wing unmanned aerial vehicle, research on the attachment perching technology of the rotary-wing unmanned aerial vehicle is started, and the attachment technology endows the multi-rotor unmanned aerial vehicle with wider application scenes. For example, in the aspect of building inspection, the safety inspection and detail defect catching can be carried out on the outer wall of a high-rise building, and the danger of manual climbing is avoided. In the safety monitoring field, unmanned aerial vehicle can monitor and record the video of important area in narrow and small space through the mode of attached wall, has important meaning to the protection focus place. Meanwhile, in rescue actions, the multi-rotor unmanned aerial vehicle can quickly reach an accident scene and be attached to a wall surface to provide assistance or exchange information for trapped people.
However, when the rotor unmanned aerial vehicle attaches to a wall surface or other targets, the primary task is to detect the wall surface or the targets of the targets and acquire relevant information of the attached targets, such as the distance between the attached targets and the angle of the surface of the attached targets, but due to the complexity of the wall surface or other target shapes, the unmanned aerial vehicle cannot accurately sense and understand the change of the profile of the wall surface and the inclination angle of the surface in the attaching process, so that the unmanned aerial vehicle may not correctly adjust the flight attitude to realize stable attachment. Secondly, present four rotor unmanned aerial vehicle mainly relies on its anterior adherence mechanism when carrying out the target and adheres to the action, and this mechanism is used for realizing unmanned aerial vehicle and wall's adhesion, however, owing to the existence of anterior adherence mechanism, adds unmanned aerial vehicle fuselage and wall perpendicularly again, and four rotor unmanned aerial vehicle's focus is kept away from the wall this moment, and required adhesive force will become big, relies on the design of adherence mechanism more. And the structure of the attaching mechanism is complex, and the attaching mechanism occupies most of the whole mass of the unmanned aerial vehicle, so that the load is increased and the endurance time of the unmanned aerial vehicle is reduced.
The present invention provides a new solution to this problem.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the invention aims to provide a method and a system for automatically and accurately attaching targets for a multi-rotor unmanned aerial vehicle, so as to solve the problems in the prior art, and the specific scheme is as follows:
an autonomous and precise target attachment method for a multi-rotor unmanned aerial vehicle comprises the following steps:
s1, carrying out manual flight by a multi-rotor unmanned aerial vehicle or carrying out autonomous flight according to a preset task route bound by an onboard task computer;
s2, acquiring environmental image information in real time through image acquisition equipment carried by the multi-rotor unmanned aerial vehicle, and sending the acquired image to an onboard task computer;
s3, the airborne task computer performs recognition analysis on the acquired image information and autonomously judges whether the attached target is in the image;
s4, after the airborne task computer identifies the attachment target in the acquired image, calculating the sight angle of the attachment target relative to the multi-rotor unmanned aerial vehicle according to the follow-up image information, and then outputting a control instruction to the flight controller to control the multi-rotor unmanned aerial vehicle to adjust the gesture so as to achieve alignment of the attachment target;
s5, enabling the multi-rotor unmanned aerial vehicle to approach to the attached target, and acquiring the distance between the multi-rotor unmanned aerial vehicle and the surface of the attached target in real time through two laser ranging modules, wherein the measured distances are Z respectively 1 And Z 2 The laser ranging module inputs the distance information into an onboard computer and calculates the inclination angle alpha of the attachment surface in real time as follows:
α＝arctan(d/Z 1 -Z 2 ) (1)
d is the distance between the central positions of the two laser ranging modules;
s6, when the multi-rotor unmanned aerial vehicle reaches a preset attachment distance, the airborne task computer plans an attachment flight path of the unmanned aerial vehicle on line according to the distance from the multi-rotor unmanned aerial vehicle to an attachment target and the surface inclination angle of the attachment target, and an attachment flight path point is obtained;
and S7, transmitting the attached flight path to a flight controller by the airborne task computer, and flying the multi-rotor unmanned aerial vehicle according to the attached flight path point, so that the attachment of the target is realized.
Preferably, the step S4 specifically includes:
after identifying the target, the on-board task computer calculates the viewing angle relative to the attached target, including the horizontal viewing angle beta h And vertical line of sight angle beta v Then outputting control instructions to the flight controller, and adjusting the posture of the multi-rotor unmanned aerial vehicle to enable the horizontal sight angle beta h And vertical line of sight angle beta v And the target alignment of the unmanned aerial vehicle is realized by reducing the target alignment to zero.
Preferably, the step S6 specifically includes:
setting the attachable distance of the multi-rotor unmanned aerial vehicle as Z 0 When the distance between the rotor unmanned plane and the attachment target reaches the attachable distance Z 0 Then, the airborne task computer online plans the attachment flight path of the unmanned aerial vehicle, and at the moment, the unmanned aerial vehicle position is set as p epsilon R 3 Speed v.epsilon.R 3 Constructing a target cost function J when the pitch angle is theta
J＝∑w Δ J Δ ，Δ＝{p，v，θ} (5)
Wherein J is p To minimize the length and time of the path, w, as a distance cost function p Is the weight of the path length, p n And p n-1 The position of the nth point and the position of the (n-1) th point on the path are respectively represented; j (J) v For balancing the relationship between path length and speed variation to generate a smooth and efficient path, w v Is the weight of the speed change, v n And v n-1 The speeds of the nth point and the (n-1) th point on the path are respectively represented; j (J) θ A pose cost function for balancing the relationship between path length and pitch angle to generate a path satisfying the pitch angle constraint, w θ Is the weight of pitch angle, θ n And alpha represents the pitch angle of the nth point on the path and the target pitch angle respectively; j is an objective cost function for balancing the relationship between path length, speed variation and pitch angle to generate a smooth and efficient path meeting constraints, where delta represents a triplet between adjacent points on the path, including position p, speed v and pitch angle θ, w Δ Is the weight of the triplet.
Preferably, the constraint condition of the formula (2) in the step S6 is as follows:
wherein p is 0 ，v 0 ，θ 0 ，φ 0 ，ψ 0 Is the constraint of initial position, speed and attitude, p N ，v N ，θ N ，φ N ，ψ N Is the constraint of the target position, speed and gesture; τ min Is the minimum value of the control input thrust, τ max Is the maximum value of the control input thrust and is used for restraining the acceleration in the path; v max Is the maximum value of the control input speed, p n，z Is the z-axis coordinate of the nth point, H min Is to set the minimum height of the flying for ensuring the planningThe outgoing path does not collide with the ground.
A multi-rotor unmanned aerial vehicle autonomous precise attachment target system, comprising:
the detection module is used for collecting the detected attached target information in real time and transmitting the attached target information to the airborne task computer;
the airborne task computer is used for analyzing and processing the data information of the detection module and planning out a flight path point;
and the flight control module is used for controlling the multi-rotor unmanned aerial vehicle to fly according to the flight path point.
Preferably, the detection module includes:
the image acquisition equipment is used for acquiring image information in the flight process;
an ultrasonic detector for detecting the attached target information;
and the first laser detector and the second laser detector are used for measuring the distance between the multi-rotor unmanned aerial vehicle and the attached target.
Preferably, the on-board task computer includes:
the autonomous route flight module is used for performing autonomous flight according to a preset flight route bound by the airborne task computer;
and the attached flight path planning module is used for planning an attached flight path of the multi-rotor unmanned aerial vehicle on line according to the airborne mission computer and obtaining attached flight path points.
Preferably, the flight control module includes:
the motor is used for providing flight power for the multi-rotor unmanned aerial vehicle;
and the flight controller is used for controlling the working state of the motor.
Through the technical scheme, the invention has the beneficial effects that:
1. according to the invention, the target is tracked through the image acquisition equipment, the attached target is arranged right in front of the unmanned aerial vehicle, navigation information is provided for the unmanned aerial vehicle through the laser detector and the ultrasonic detector, and the attached flight is realized without depending on external auxiliary navigation, so that the full-automatic and accurate control of the flight process is achieved;
2. the characteristic acquisition of the attached target by the detection module can realize the accurate tracking of the attached target and the calculation of the inclination angle and the distance of the attached surface;
3. and constraining the position, the speed and the gesture of the final attachment target point, so that the abdomen of the unmanned aerial vehicle is attached to the surface of the attachment target, and the unmanned aerial vehicle with multiple rotors is automatically and accurately attached to the surface of the target.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it will be obvious that the drawings in the following description are only some embodiments of the present invention, and the embodiments in the drawings do not constitute any limitation of the present invention, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.
Fig. 1 is a schematic flow chart of the autonomous precise attachment target method of the multi-rotor unmanned aerial vehicle.
Fig. 2 is a schematic diagram of a structure of a laser ranging module for ranging an attached object according to the present invention.
Fig. 3 is a schematic view of the calculation of the line-of-sight angle of the attachment target image in the present invention.
Fig. 4 is a schematic plan view of a flight path point in the present invention.
Fig. 5 is a block diagram of the autonomous precise attachment target system of the multi-rotor unmanned aerial vehicle of the present invention.
Detailed Description
The following describes the technical scheme of the present invention in further detail by referring to the accompanying drawings and examples, which are preferred examples of the present invention. It should be understood that the described embodiments are merely some, but not all, embodiments of the present invention; it should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
Embodiment 1,
As shown in fig. 1, an embodiment of the present invention provides a method for autonomous and precise attachment of a multi-rotor unmanned aerial vehicle, including the following steps:
s1, carrying out manual flight by a multi-rotor unmanned aerial vehicle or carrying out autonomous flight according to a preset task route bound by an onboard task computer;
s2, acquiring environmental image information in real time through image acquisition equipment carried by the multi-rotor unmanned aerial vehicle, and sending the acquired image to an onboard task computer;
s3, the airborne task computer performs recognition analysis on the acquired image information and autonomously judges whether the attached target is in the image;
s4, after the airborne task computer identifies the attachment target in the acquired image, calculating the sight angle of the attachment target relative to the multi-rotor unmanned aerial vehicle according to the follow-up image information, and then outputting a control instruction to the flight controller to control the multi-rotor unmanned aerial vehicle to adjust the gesture so as to achieve alignment of the attachment target;
s5, enabling the multi-rotor unmanned aerial vehicle to approach to the attached target, and acquiring the distance between the multi-rotor unmanned aerial vehicle and the surface of the attached target in real time through two laser ranging modules, wherein the measured distances are Z respectively 1 And Z 2 As shown in fig. 2, the laser ranging module inputs the distance information into an on-board computer and calculates in real time an attachment surface tilt angle α as:
α＝arctan(d/Z 1 -Z 2 ) (1)
d is the distance between the central positions of the two laser ranging modules;
s6, when the multi-rotor unmanned aerial vehicle reaches a preset attachment distance, the airborne task computer plans an attachment flight path of the unmanned aerial vehicle on line according to the distance from the multi-rotor unmanned aerial vehicle to an attachment target and the surface inclination angle of the attachment target, and an attachment flight path point is obtained;
and S7, transmitting the attached flight path to a flight controller by the airborne task computer, and flying the multi-rotor unmanned aerial vehicle according to the attached flight path point, so that the attachment of the target is realized.
In the embodiment of the present application, the step S4 specifically includes:
after identifying the target, the on-board task computer calculates the viewing angle relative to the attached target, including the horizontal viewing angle beta h And vertical line of sight angle beta v Then outputting control instructions to the flight controller, and adjusting the posture of the multi-rotor unmanned aerial vehicle to enable the horizontal sight angle beta h And vertical line of sight angle beta v All the unmanned aerial vehicle alignment targets are reduced to zero, so that unmanned aerial vehicle alignment targets are realized;
specifically, the horizontal line-of-sight angle β of the attachment target in the image horizontal positive direction is set h Positive and negative in the opposite direction; vertical line of sight angle beta of attached object in vertical positive direction of image v Positive and negative in the opposite direction; taking the attachment target position shown in FIG. 3 as an example, the attachment target horizontal viewing angle β h And vertical line of sight angle beta v is equal to When the angle of the horizontal line of sight beta is larger than zero, the flight controller can output a control signal to enable the multi-rotor unmanned aerial vehicle to translate towards the horizontal positive direction h After the rotation speed is reduced to zero, the multi-rotor unmanned aerial vehicle stops translating to the horizontal positive direction; similarly, the flight controller can output and control the multi-rotor unmanned aerial vehicle to ascend to the vertical positive direction until the vertical sight angle beta v After reducing to zero, the multi-rotor unmanned aerial vehicle stops ascending to the vertical positive direction.
In the embodiment of the present application, the step S6 specifically includes:
setting the attachable distance of the multi-rotor unmanned aerial vehicle as Z 0 When the distance between the rotor unmanned plane and the attachment target reaches the attachable distance Z 0 Then, the on-board mission computer online plans the attachment flight path of the unmanned aerial vehicle, and at this time, the attachment target position is the distance (Z 1 +Z 2 ) At/2; adhesion target speed v x ＝0，v y ＝0，v z =0; pitch angle θ of attached target attitude target α, roll angle φ target =0, yaw angle ψ target =0. Then, a flight path of the unmanned aerial vehicle is planned on line based on the target position, the speed and the gesture, and an attached flight path point is obtained;
specifically, let unmanned plane position be p e R 3 Speed v.epsilon.R 3 Constructing a target cost function J with a pitch angle alpha
J＝∑w Δ J Δ ，Δ＝{p，v，θ} (5)
Wherein J is p To minimize the length and time of the path, w, as a distance cost function p Is the weight of the path length, p n And p n-1 The position of the nth point and the position of the (n-1) th point on the path are respectively represented; j (J) v For balancing the relationship between path length and speed variation to generate a smooth and efficient path, w v Is the weight of the speed change, v n And v n-1 The speeds of the nth point and the (n-1) th point on the path are respectively represented; j (J) θ A pose cost function for balancing the relationship between path length and pitch angle to generate a path satisfying the pitch angle constraint, w θ Is the weight of pitch angle, θ n And alpha represents the pitch angle of the nth point on the path and the target pitch angle respectively; j is an objective cost function for balancing the relationship between path length, speed variation and pitch angle to generate a smooth and efficient path meeting constraints, where delta represents a triplet between adjacent points on the path, including position p, speed v and pitch angle θ, w Δ Is a tripletIs a weight of (2).
In the embodiment of the present application, the constraint condition of equation (3) in step S6 is as follows:
wherein p is 0 ，v 0 ，θ 0 ，φ 0 ，ψ 0 Is the constraint of initial position, speed and attitude, p N ，v N ，θ N ，φ N ，ψ N Is the constraint of the target position, speed and gesture; τ min Is the minimum value of the control input thrust, τ max Is the maximum value of the control input thrust and is used for restraining the acceleration in the path; v max Is the maximum value of the control input speed, p n，z Is the z-axis coordinate of the nth point, H min The minimum height capable of flying is set for ensuring that the planned path does not collide with the ground;
finally, the objective cost function and the constraint condition are brought into a gradient descent algorithm to solve the minimum cost function, so that the optimal path point meeting the constraint can be obtained, as shown in fig. 4, wherein each flight path point comprises the position, the speed and the gesture of the point.
Embodiment II,
An embodiment of the present invention provides a system for autonomous and precise attachment of a multi-rotor unmanned aerial vehicle, as shown in fig. 5, including:
the detection module is used for collecting the detected attached target information in real time and transmitting the attached target information to the airborne task computer;
the airborne task computer is used for analyzing and processing the data information of the detection module and planning out a flight path point;
and the flight control module is used for controlling the multi-rotor unmanned aerial vehicle to fly according to the flight path point.
In an embodiment of the present application, the detection module includes:
the image acquisition equipment is used for acquiring image information in the flight process;
an ultrasonic detector for detecting the attached target information;
and the first laser detector and the second laser detector are used for measuring the distance between the multi-rotor unmanned aerial vehicle and the attached target.
In an embodiment of the present application, the on-board task computer includes:
the autonomous route flight module is used for performing autonomous flight according to a preset flight route bound by the airborne task computer;
and the attached flight path planning module is used for planning an attached flight path of the multi-rotor unmanned aerial vehicle on line according to the airborne mission computer and obtaining attached flight path points.
In an embodiment of the present invention, the flight control module includes:
the motor is used for providing flight power for the multi-rotor unmanned aerial vehicle;
and the flight controller is used for controlling the working state of the motor.
Specifically, in this embodiment, taking a quad-rotor unmanned helicopter as an example, the airborne task computer transmits the attached flight path to the flight controller through the serial port, and the flight controller controls the rotor unmanned helicopter to fly according to the attached flight path point by controlling the thrust of the four motors, so as to finally reach the position, the speed and the gesture of the attached target, and achieve the purpose that the belly of the unmanned helicopter is attached to the surface of the attached target. At the moment, the unmanned aerial vehicle belly ultrasonic ranging module detects that the distance between the unmanned aerial vehicle belly and the target surface reaches the minimum value, then triggers the flight controller to send a reverse instruction to the four motors, and the pull direction of the four propellers of the unmanned aerial vehicle faces to the attached target surface at the moment, so that the four-rotor unmanned aerial vehicle is attached to the target surface independent of an external attachment mechanism.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. The autonomous and accurate target attachment method for the multi-rotor unmanned aerial vehicle is characterized by comprising the following steps of:
s1, carrying out manual flight by a multi-rotor unmanned aerial vehicle or carrying out autonomous flight according to a preset task route bound by an onboard task computer;
s2, acquiring environmental image information in real time through image acquisition equipment carried by the multi-rotor unmanned aerial vehicle, and sending the acquired image to an onboard task computer;
s3, the airborne task computer performs recognition analysis on the acquired image information and autonomously judges whether the attached target is in the image;
s4, after the airborne task computer identifies the attachment target in the acquired image, calculating the sight angle of the attachment target relative to the multi-rotor unmanned aerial vehicle according to the follow-up image information, and then outputting a control instruction to the flight controller to control the multi-rotor unmanned aerial vehicle to adjust the gesture so as to achieve alignment of the attachment target;
s5, enabling the multi-rotor unmanned aerial vehicle to approach to the attached target, and acquiring the distance between the multi-rotor unmanned aerial vehicle and the surface of the attached target in real time through two laser ranging modules, wherein the measured distances are Z respectively 1 And Z 2 The laser ranging module inputs the distance information into an onboard computer and calculates the inclination angle alpha of the attachment surface in real time as follows:
α＝arctan(d/Z 1 -Z 2 ) (1)
d is the distance between the central positions of the two laser ranging modules;
s6, when the multi-rotor unmanned aerial vehicle reaches a preset attachment distance, the airborne task computer plans an attachment flight path of the unmanned aerial vehicle on line according to the distance from the multi-rotor unmanned aerial vehicle to an attachment target and the surface inclination angle of the attachment target, and an attachment flight path point is obtained;
and S7, transmitting the attached flight path to a flight controller by the airborne task computer, and flying the multi-rotor unmanned aerial vehicle according to the attached flight path point, so that the attachment of the target is realized.
2. The method according to claim 1, wherein said step S4 specifically comprises:
after identifying the target, the on-board task computer calculates the viewing angle relative to the attached target, including the horizontal viewing angle beta h And vertical line of sight angle beta v Then outputting control instructions to the flight controller, and adjusting the posture of the multi-rotor unmanned aerial vehicle to enable the horizontal sight angle beta h And vertical line of sight angle beta v And the target alignment of the unmanned aerial vehicle is realized by reducing the target alignment to zero.
3. The method according to claim 2, wherein said step S6 specifically comprises:
setting the attachable distance of the multi-rotor unmanned aerial vehicle as Z 0 When the distance between the rotor unmanned plane and the attachment target reaches the attachable distance Z 0 Then, the airborne task computer online plans the attachment flight path of the unmanned aerial vehicle, and at the moment, the unmanned aerial vehicle position is set as p epsilon R 3 Speed v.epsilon.R 3 Constructing a target cost function J when the pitch angle is theta
J＝∑w Δ J Δ ，Δ＝{p,v,θ} (5)
Wherein J is p To minimize the length and time of the path, w, as a distance cost function p Is the weight of the path length, p n And p n-1 The position of the nth point and the position of the (n-1) th point on the path are respectively represented; j (J) v For balancing the relationship between path length and speed variation to generate a smooth and efficient path, w v Is the weight of the speed change, v n And v n-1 The speeds of the nth point and the (n-1) th point on the path are respectively represented; j (J) θ A pose cost function for balancing the relationship between path length and pitch angle to generate a path satisfying the pitch angle constraint, w θ Is the weight of pitch angle, θ n And alpha represents the pitch angle of the nth point on the path and the target pitch angle respectively; j is an objective cost function for balancing the relationship between path length, speed variation and pitch angle to generate a smooth and efficient path meeting constraints, where delta represents a triplet between adjacent points on the path, including position p, speed v and pitch angle θ, w Δ Is the weight of the triplet.
4. A method according to claim 3, wherein the constraint of formula (1) in step S6 is as follows:
wherein p is 0 ,v 0 ,θ 0 ,φ 0 ,ψ 0 Is the constraint of initial position, speed and attitude, p N ,v N ,θ N ,φ N ,ψ N Is the constraint of the target position, speed and gesture; τ min Is the minimum value of the control input thrust, τ max Is the most important for controlling the input thrustA large value for constraining the magnitude of acceleration in the path; v max Is the maximum value of the control input speed, p n,z Is the z-axis coordinate of the nth point, H min The minimum height capable of flying is set for ensuring that the planned path does not collide with the ground.
5. A system based on the autonomous precise attachment target method of a multi-rotor unmanned aerial vehicle according to any one of claims 1 to 4, comprising:
the detection module is used for collecting the detected attached target information in real time and transmitting the attached target information to the airborne task computer;
the airborne task computer is used for analyzing and processing the data information of the detection module and planning out a flight path point;
and the flight control module is used for controlling the multi-rotor unmanned aerial vehicle to fly according to the flight path point.
6. The system of claim 5, wherein the detection module comprises:
the image acquisition equipment is used for acquiring image information in the flight process;
an ultrasonic detector for detecting the attached target information;
and the first laser detector and the second laser detector are used for measuring the distance between the multi-rotor unmanned aerial vehicle and the attached target.
7. The system of claim 5, wherein the on-board task computer comprises:
the autonomous route flight module is used for performing autonomous flight according to a preset flight route bound by the airborne task computer;
and the attached flight path planning module is used for planning an attached flight path of the multi-rotor unmanned aerial vehicle on line according to the airborne mission computer and obtaining attached flight path points.
8. The system of claim 5, wherein the flight control module comprises:
the motor is used for providing flight power for the multi-rotor unmanned aerial vehicle;
and the flight controller is used for controlling the working state of the motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311147388.3A CN117075625A (en) | 2023-09-06 | 2023-09-06 | Autonomous and precise target attachment method and system for multi-rotor unmanned aerial vehicle |
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