Method of controlling flying of unmanned aerial vehicle around contour of object

Abstract

The invention provides a method of controlling the flying of an unmanned aerial vehicle (UAV) around the contour of an object, comprising the following steps: a UAV is powered on and self-tested; the UAV takes off and makes a target to be surrounded go into a target detection range, and a target surrounding mode is opened; the included angle (namely, slip angle) between the head direction of the UAV and the center direction of the target and the distance (namely, target distance) between the UAV and the target are calculated based on laser radar detection information; the slip angle is input to a steering PID controller, and the output of the controller is used to make the UAV lock the target; the target distance is input to a distance-fixing PID controller, and the output of the controller is used to control the distance between the UAV and the target at a set distance; and the UAV flies around the contour of the target under control. Through the method of controlling the flying of an UAV around the contour of an object, the head direction can be always facing the target, the UAV can fly at a fixed distance around the contour of the target under control, and the difficulty in manually controlling the flying of the UAV around the target is reduced greatly.

Description

technical field [0001] The invention relates to a method for controlling an unmanned aerial vehicle, in particular to a method for controlling the flight of an unmanned aerial vehicle around the outline of an object. Background technique [0002] UAVs have the characteristics of low cost of use, no direct risk of casualties, and can be equipped with a variety of testing instruments. UAVs play an important role in aerial photography, search and rescue, wildlife inspection, atmospheric research, power line inspection, bridge inspection and other fields. [0003] The bridge support is a vulnerable part of the bridge, and it is the key inspection object of bridge inspection. The drone can be equipped with a camera to take pictures and record the bearing disease, and the drone can be controlled by humans to fly around the bridge pier to check the health status of the bridge support and control the drone. The control technology requirements of the latter are relatively high. The ...

AI Technical Summary

Problems solved by technology

The amount of environmental information acquired by the visual sensor is large, the feature extraction algorithm is complex, and the amount of calculation is large. When the ambient light is dark or strong or the environmental features are not obvious, the feature extraction effect will be affected, which will affect the control of the UAV flying around the target. Effect

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