Intelligent road tour inspection control method for multi-rotor-wing unmanned aerial vehicle

Abstract

The invention discloses an intelligent road tour inspection control method for a multi-rotor-wing unmanned aerial vehicle. The method includes the steps of: 1. an airborne holder image sensor is controlled through a holder control unit, and the image sensor is vertically downward, and obtains information of an image right under an unmanned aerial vehicle; 2. road surface image information is obtained through the image sensor carried by the unmanned aerial vehicle, and a road central line is obtained through image processing and extraction; and 3. a deviation value of the road central line obtained by extraction and the actual position of the unmanned aerial vehicle is utilized to perform flight control of the unmanned aerial vehicle. At the same time, to reduce coupling of control, after control bottom layer driving is designed, only pitching and yaw control of the unmanned aerial vehicle is performed. For pitching control, constant-speed flight is adopted; and for yaw control, dual-mode parameter self-correcting fuzzy PID control is adopted. The intelligent road tour inspection control method applies the unmanned aerial vehicle to perform road tour inspection, and can reduce to a great extent cost of road tour inspection which is performed by applying a patrol vehicle at present, the visual field range of tour inspection is wide, and the control method is not limited by the road traffic condition.

Description

technical field [0001] The invention relates to the technical field of expressway intelligent inspection control, and is suitable for police expressway intelligent inspection and road autonomous surveying and mapping, in particular to an intelligent road inspection control method for a multi-rotor UAV. Background technique [0002] With the advancement of urbanization, traffic safety problems are becoming more and more serious. A large part of common traffic problems are caused by illegal lane changes and speeding of drivers. In recent years, traffic monitoring has become one of the effective means to prevent traffic accidents. [0003] Most of the existing road patrol inspections use police patrol vehicles for patrol inspection, the cost of patrol inspection is high, and the scope of patrol inspection is small, and only the traffic information around the patrol vehicles can be obtained. At the same time, multi-rotor UAVs have developed rapidly in recent years. Due to their ...

AI Technical Summary

Problems solved by technology

[0004] The flight mode of the rotor UAV is mainly divided into two categories, using the remote control to control the flight and autonomous navigation flight. The flight stability of the remote control is relatively high, but there are certain requirements for the operator. Within the field of vision, long-distance flight cannot be realized

Most autonomously navigating UAVs use GPS navigation, and the navigation error is relatively large. In autonomous flight, the designed controller does not have strong anti-interference ability and self-adaptive ability

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