RU2749538C1 - Method for controlling unmanned aerial vehicle - Google Patents

Abstract

FIELD: vehicles.SUBSTANCE: invention relates to a method for controlling an unmanned aerial vehicle (UAV). To control the UAV, an optical marker is placed on a ground material object. The UAV is controlled by tracking the ground object by the optical marker and using commands generated by changing the optical marker.EFFECT: control of the UAV is provided in the absence of any types of communication.3 cl, 3 dwg

Description

The invention relates to methods for controlling an unmanned aerial vehicle (hereinafter - UAV).

It can also be used to perform the function of tracking ground material objects (“Follow Me” function).

A material object is understood as any existing object - a person, car, animal, etc. The "Follow me" mode is the UAV mode in which it constantly follows the operator at a distance - as if the machine is "on an invisible leash". The role of such a leash can be played by a remote control that constantly gives a signal to orient the device, a smartphone with a GPS module informing the quadrocopter about the location of the user, etc. In any case, the "Follow those" mode provides some interesting features - for example, automatic video recording without the need to constantly lead the quadrocopter from the remote control (https://www.e-katalog.ru/list/943/pr-21538A. Performing this function is one of the ways to control the UAV.

Also known is a method for controlling a UAV, according to which, in order to ensure a flight along a given route, a preliminary assignment of a route to the on-board navigation system is required, and this task includes an indication of the coordinates and heights of turning points and is carried out before the start of the flight (Ivanova I.A. et al. Methods organization of control of unmanned aerial vehicles.- URL: https://cyberleninka.ru/article/n/sposoby-organizatsii-upravleniya-bespilotnymi-letatelnymi-apparatami/viewer; date of access: 09/30/2020). As a rule, the UAV includes an integrated navigation system, including a satellite navigation receiver that provides navigation information, for example, from GLONASS and GPS systems. According to the known solution, the change of the route assignment up to the return to the starting point is carried out on command from the ground control point. In this case, the UAV can carry out auto-tracking of the selected target.

The disadvantages of the known solution include the complexity of the UAV design, due to the presence of high-precision equipment, and inevitably leading, on the one hand, to a decrease in the reliability of the UAV as a technical system, and, on the other hand, to an increase in the cost of the product as a whole. In addition, the disadvantages include the need to specify the original route, even if it is known in advance that the route can or should be subsequently changed.

A known method for controlling an unmanned aerial vehicle, in which control commands are transmitted through the main satellite communication channel from a stationary or mobile control point, take into account the compensation of the delay in the control command transmission channel, determine the dynamic characteristics of the impact, form a two- or three-dimensional image of the air situation on the screen of the worker's monitor. places of the operator of the control room (pat. RU No. 2562890, publ. 09/10/2015. Bull. No. 25). The UAV is equipped with a video camera and a satellite communication system.

The disadvantages of the known solution include the need for equipment that provides satellite communications, which, on the one hand, reduces the reliability of the UAV as a technical system, and, on the other hand, increases the cost of the product as a whole.

There is a patented Xiaomi solution called 'Follow Me', with the help of which the drone can fly after the subject of shooting, and the control itself will be carried out using the well-known Mi Band (fitness bracelet). It is also said that Mi Drone (the most likely name) will be compact enough to be easy to carry, https://4iam.net/news/xiaomi-patent-mi-drone/. It should be noted that this control will also be carried out using a radio channel as in the previously mentioned invention.

A common disadvantage for the above solutions is the impossibility of working in a poor radio-electronic environment (deliberate "noise" of the radio air with the help of communication blockers or an unfavorable situation may be caused by environmental conditions, etc.)

The technical problem to be solved by the present invention is to eliminate the disadvantages: to create a method for controlling an unmanned aerial vehicle that does not depend on the radio-electronic situation of the terrain over which the flight is taking place.

The technical problem posed is solved by using an optical marker placed on a mobile ground material object (for example, a car or a person). In this case, various commands can be given to the UAV by changing the optical marker.

The proposed inventive method for controlling an unmanned aerial vehicle is illustrated by a drawing (Fig. 1), where the positions indicate: UAV - 1 with a video camera 11, ground material object 2, optical marker 21.

The structure of the ground material object 2 is not subject to protection under this application. When a person is accompanied by a UAV, a marker can be applied, for example, to his helmet. When escorting the vehicle, the marker can be applied to the roof.

It is allowed to use a barcode (QR code) for marking. The fact is that many modern cameras are able to identify objects equipped with barcodes in automatic mode.

To increase the distance of UAV control of a moving material object in poorly lit areas and / or at night, it is recommended to make an optical marker using luminescent paint.

In this case, the height of the UAV can be set in advance when tracking the object, and the height can also change according to a certain predetermined algorithm (for example, due to deterioration of visibility), or the operator himself can change the height in any possible way (including by changing the optical marker).

The proposed method for providing the support function for an unmanned aerial vehicle is carried out as follows.

Let the UAV 1 accompany the material object from point "A" to point "B". On the ground material object 2, an identifying marking is applied in any known manner, which will be an optical marker 21 for the UAV.

It is preferable to apply the optical marker 21 to the roof of the material object 2. This embodiment is shown in FIG. one.

The UAV takes off at point "01" and gains the altitude set initially in the device 12 - the control system, which is part of the structure of the UAV 1, or transmitted to this device in any known way.

Ground material object 2 begins to move from point "A" to point "B". The video camera 11 located on the UAV 1 constantly monitors the optical marker 21. FIG. 1 cone 13 symbolizes the field of view of the video camera 11. The calculation of the necessary corrections to the heading of the UAV 1 occurs regardless of the absolute navigation coordinates of the ground material object 2, but only to eliminate the deviation of the boundaries of the field of view of the video camera 11 from the optical marker 21.

Ground material object 2 can move on any rough terrain, and the only limitation is its passability. The possibility of the proposed method is limited by the movement of a ground material object in the tunnels, but this case is quite rare.

Moreover, if a ground object makes a stop, the UAV "hovers" over it at a certain point in space.

In the event of a change in some parameter, for example, altitude or speed (return to the set points, end tracking, etc.), the operator can issue the appropriate command using a synchronization device connected to the optical marker (via wired or wireless), which translates the given command into a graphic symbol understandable for the UAV control system (UAV control system - 12).

For example, in FIG. 2 and FIG. 3 shows (simplified) possible changes in optical markers for different operator commands. For example, the UAV control system reads the optical marker changes in FIG. 2 and gives a command to the UAV to return to the starting point.

Various graphic systems can be used to change the optical marker, such as an LCD screen. Any PC, smartphone or similar device can be used to synchronize operator commands and change the optical marker.

The technical result of the proposed invention is to improve the reliability of UAV control due to independence from the quality of radio signals broadcast over any radio channel.

Claims (3)

1. A method for controlling an unmanned aerial vehicle based on the analysis of a video stream from a video camera installed on board, characterized in that the control is performed using an optical marker placed on a ground material object moving along a certain route, while the UAV accompanies a ground object with an applied optical marker , and various UAV control commands can be given by the ground operator by changing the optical marker. 2. The method according to claim. 1, characterized in that the optical marker is applied to the roof of the ground material object. 3. The method according to claim 1, characterized in that the optical marker is made using luminescent paint.

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