UAV Flies Indoor With Variable Altitude And Auto Flight Technology

With the development of robot technology at home and abroad,drone technology has made great achievements.Due to its small size,low cost,strong maneuverability and simple operation,multi-rotor UAVs can still show good adaptability in complex environments.However,this also imposes certain constraints on the load capacity and endurance of multi-rotor UAVs.Especially in indoor environments where GPS signals are missing,large-weight,high-power sensors are not suitable for multi-rotor.Manmachine.Therefore,this paper designs a self-propelled four-rotor UAV based on monocular vision technology.By obtaining image processing for the camera in the indoor strip environment,a flight channel-guided quadrotor UAV is established to achieve autonomous flight.Firstly,this paper designs the four-rotor UAV system platform,completes the platform construction,and introduces the system software and hardware.The hardware platform mainly includes flight controller,onboard computer,monocular vision module,ultrasonic elevation module,etc.;software system includes flight control software architecture,serial communication between flight controller and onboard computer,onboard computer and terminal Wireless communication in the middle of the computer,etc.Secondly,based on the dynamic model of quadrotor UAV,the attitude calculation,attitude control,position calculation,position control principle and implementation process are analyzed to realize the fusion of the external control information of the airborne computer and the position control information of the flight controller.Verify the effectiveness of the external control in the simulator.Thirdly,introduce the principle of monocular camera imaging,use Zhang Zhengyou calibration method to calibrate the monocular camera used;use the improved Canny edge detection and Hough transform to extract the flightable area in the gray image and establish the forward three-layer safe flight path.And verify the feasibility of channel establishment in different scenarios.Finally,two four-rotor UAV flight strategies were developed to convert the flight strategy into eight different flight mode combinations,and the feasibility of the two flight strategies was verified in the simulation environment and the actual environment.