Omnidirectional mobile detection detector, control system and control method

Abstract

The invention discloses an omnidirectional mobile detection detector, a control system and a control method, and relates to the technical field of unmanned aerial vehicles. The omni-directional mobile detection detector provided by the present invention, on the basis of the structure of the fork-shaped quadrotor, adds two auxiliary rotor assemblies to increase the torque, and cooperates with the four main rotor assemblies to make the omni-directional mobile detection detection The robot can not only fly in the air, but also flexibly complete movements such as forward, backward, left, right, turn, front and rear pitching in the water environment. It has strong maneuverability and is not restricted by the complex and changeable regional environment. It can realize aerial reconnaissance and underwater detection, and has strong functionality. The present invention obtains more accurate sampling data based on the fuzzy voting mechanism, and then calculates the current pose information through an explicit complementary filtering algorithm, so that the omnidirectional mobile detection detector can realize the strong detection of its own body in the environment of narrow and long sections and turbulent surges. Anti-disturbance control.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an omnidirectional mobile detection detector, a control system and a control method. Background technique [0002] In recent years, with the rapid development of multi-rotor UAV technology, a wide variety of UAV reconnaissance detectors have emerged. This type of unmanned aerial vehicle system can not only complete certain land and air reconnaissance and detection tasks, but also complete corresponding real-time effective information feedback. But as far as the system technology that has been designed at present is concerned, they have many deficiencies. First of all, they have a single structure and poor maneuverability. Most of them use air rotor racks. Therefore, they are subject to complex and changeable geographical environments. If they cannot effectively complete real-time reconnaissance and detection tasks in water environment, this greatly reduces their...

AI Technical Summary

Problems solved by technology

First of all, they have a single structure and poor maneuverability. Most of them use air rotor racks. Therefore, they are subject to complex and changeable geographical environments. If they cannot effectively complete real-time reconnaissance and detection tasks in water environment, this greatly reduces their reconnaissance scope.

Secondly, they have limited functions and lack of flexibility. For example, it is difficult to complete the arduous task of searching and reconnaissance in the woods at night, and at the same time, their battery life is poor, so they often need to consume a lot of manpower and material resources.

Finally, this type of system currently often uses a traditional single inertial measurement element to collect data to complete the attitude calculation, which makes it difficult to collect more accurate sensor data for calculation in the complex and changeable environment across water, land and air to obtain the optimal attitude. Attitude solution, therefore, this makes the body attitude of this type of unmanned reconnaissance detection system unable to effectively achieve strong anti-disturbance control during flight operations such as water-air environment switching, and affects the motion planning task of the entire system to a large extent.

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