Flight Conditions Monitoring And Image Processing Of Flight Vehicle

Quadrotor is a kind of small unmanned air vehicle (SUAV) with low flying height, smallweight and super-strong mechanical properties. Comparing with the traditional drone with singlerotary-wing, quadrotor uses smaller rotary-wing and the exposed rotary-wing is not easy to beinjured by collisions with objects around, which improves safety and flexibility of quadrotor. So, itis widely used in agriculture, forestry, pipeline inspection, security monitoring and many other fields.This topic focused on the research on flight condition of the quadrotor, which was monitoredby sensors and cameras. The monitor video was analyzed and processed by computer to direct thequadrotor to separately complete some particular tasks such as patrol of the pipeline, targetsearching in particular region and so onLarge amount of materials were collected at the beginning and by the comparison of variousmonitoring system schemes, the scheme described in this paper that is appropriate for video monitorin moving condition was adopted and the described system was able to be carried by the quadrotor.In the scheme, video-capture devices and sensors were carried on the quadrotor and the acquireddata was published to the host computer via wireless network. The host computer made essentialanalyses and processing on these messages and then the flight condition of quadrotor would beacquired. Combing the above data, the corresponding flight command would be got and sent to thequadrotor to direct quadrotor to fly autonomously.The monitoring system was divided into three parts: data collection module, data transmissionmodule and the host computer. The collected data in data collection module contains imagesinformation acquired through camera and real-time height, speed, battery power and otherinformation acquired by sensors. Data transmission module was divided into two parts to reduceenergy losses of quadrotor: video transmission channel to transmit video information throughwireless routers, and data transmission channel to transmit height and speed data through wirelesschip. The host computer performed the task of saving and displaying the acquired data, and guidingquadrotor to complete particular work through identification and extraction of objectives from theacquired video images.At the end, the experiment of line patrol flight was completed to verify the feasibility of thescheme. The manned track on the ground was the target. The host computer achieved targetrecognition by firstly detection the edge information by Canny algorithm and then extracting thetrack information through line and circle detection based on Hough transformation. Combing theextracted track information with high, speed and other information, the flight command wasorganized to direct the quadrotor to fly along the track. Based on the experiment result, the disadvantages and the next improving method of the scheme were proposed, and the subsequentresearch and development direction were given.