CN106020239A - Precise landing control method for unmanned aerial vehicle - Google Patents
Precise landing control method for unmanned aerial vehicle Download PDFInfo
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- CN106020239A CN106020239A CN201610628067.9A CN201610628067A CN106020239A CN 106020239 A CN106020239 A CN 106020239A CN 201610628067 A CN201610628067 A CN 201610628067A CN 106020239 A CN106020239 A CN 106020239A
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- base station
- unmanned plane
- aerial vehicle
- control system
- suspicious points
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
Abstract
The invention discloses a precise landing control method for an unmanned aerial vehicle. The method comprises the steps that 1, the unmanned aerial vehicle executes landing preparing; 2, the unmanned aerial vehicle starts hovering and shoots a base station through a camera; 3, an unmanned aerial vehicle control system conducts denoising processing and binarization processing on a shot image, a central point is determined by adopting a central method, when the central point is marked as a suspicious point, mode recognition is conducted on the suspicious point, and when mode matching is successful, an unmanned aerial vehicle flying control system controls the unmanned aerial vehicle to land; 4, in the landing process of the unmanned aerial vehicle, the flying control system controls the flying attitude of the unmanned aerial vehicle according to the offset; 5, the unmanned aerial vehicle precisely lands on the base station for landing. According to the method, an influence of interference factors on base station seeking is reduced by adopting denoising processing, binarization processing and mode recognition, and the control precision is high; in the landing process of the unmanned aerial vehicle, the flying attitude of the unmanned aerial vehicle is adjusted in real time, and it is guaranteed that the unmanned aerial vehicle precisely lands on the base station.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control technical field, be specifically related to a kind of unmanned plane and precisely land control method.
Background technology
Along with the development of science and technology, unmanned plane increasingly obtains the favor of masses and applies in multiple fields, prior art
In, the flight of unmanned plane must rely on the operator of specialty to use control equipment to manipulate, either the most still
Short range, this UAV Intelligent degree is low, but in some dangerous applications, such as carries out some
Large chemical plant, some gas of storage warehouse or the detection of fluid leakage, need unmanned plane automatic takeoff, hold
Row task, automatic task of having landed.At present, the landing of automatic flight unmanned plane can not accurately control, and finds
Base station, bottom surface difficulty, landing place judges low precision.
Summary of the invention
It is an object of the invention to provide a kind of unmanned plane precisely to land control method, solve in prior art automatically
The landing of flight unmanned plane can not accurately control, and finds base station, bottom surface difficulty, and landing place judges the technology of low precision
Problem.
In order to solve above-mentioned technical problem, the present invention adopts the following technical scheme that
The control method that unmanned plane precisely lands, described unmanned plane includes flight control system, video camera, location mould
Block, electrically connects between flight control system with video camera, locating module；Unmanned plane hover in the air searching ground multiple
The base station landed in base station, and precisely land, its control method comprises the steps:
Step one, unmanned plane perform to prepare landing instruction, and described instruction is by aircraft control system or ground
Remote control unit sends；
Step 2, unmanned plane start searching base station of spiraling, and shoot base station by video camera, by the image of shooting
Send unmanned aerial vehicle control system to；Multiple signal transmitting terminal it is provided with on described each base station, video camera shooting
Image includes the signal transmitting terminal of base station surroundings and multiple luminescence；
Step 3, unmanned aerial vehicle control system carry out denoising to the image of shooting, denoising are exported
Image is fixed threshold values binary conversion treatment, whole image procossing becomes image black, white, and detects black image
Region contour, uses center method to determine each black image region central point；Described black image region is signal
Region, transmitting terminal position；In system for flight control computer determines image, central point number is equal to flight control system
In characteristic point number set in advance time, these central points are labeled as suspicious points, and suspicious points are carried out pattern
Identify:
3.1), when pattern match unsuccessful, then go to perform step 2；
3.2), when pattern match success, then these suspicious points are marked as impact point, and send out to this base station
Go out landing request；
3.2.1) do not receive the landing grant commands of this base station when described unmanned aerial vehicle control system connects, then turn
To performing step 2；
3.2.2) receive the landing grant commands of this base station when unmanned aerial vehicle control system, then show this base station
Can land, system for flight control computer controls unmanned plane and lands；
Step 4, unmanned plane are in descent, and locating module is in real time by the current position signal of unmanned plane
Sending flight control system to, flight control system calculates unmanned plane current location point with base station to be landed impact point same flat
Side-play amount on face, and the flight attitude of unmanned plane is controlled according to side-play amount；
Step 5, repeat step 4, until unmanned plane precision approach to this base station to be landed, withdrawal unmanned plane.
Improving further, described step 3 carries out denoising to the image of shooting, uses at gaussian filtering denoising
Reason, by each pixel and the Gaussian kernel convolution of the image of input, by convolution with as output pixel value.
Denoising can reduce other interference factors and unmanned plane judges the impact of base station reliability.
Improve further, described step 3 uses the mode that image first corrodes reflation the image of shooting is entered
Row denoising.Denoising can reduce other interference factors and unmanned plane judges the impact of base station reliability.
Improve further, the signal transmitting terminal on described all base stations, the infrared waves of a length of 950nm of transmitted wave；
Described video camera uses the infrared filter of 950nm.Because the electromagnetic wave of this wave band, it is seen that light interference is little, can
Strong by property, false recognition rate is low.
Improving further, described unmanned plane is provided with the steady The Cloud Terrace of increasing, video camera is arranged on the steady The Cloud Terrace of increasing,
Video camera is connected with flight control system by usb or cmos.Because the vibrations of unmanned plane can cause the trueest of data
Reality strengthens, and in order to solve this problem, devises integration and increases steady The Cloud Terrace, photographic head is embedded into integration
Increase in steady The Cloud Terrace.
Improving further, in described step 3, the pattern recognition to suspicious points is to judge what multiple suspicious points was constituted
Pattern is the most identical with preset pattern in system for flight control computer:
1), when suspicious points can not constitute pre-set image, then illustrate that this base station is non-landing base station, go to perform
Step 2；
2), when multiple suspicious points can constitute pre-set image, then these suspicious points are marked as impact point, and to
This base station sends landing request.
Improving further, in described step 3, the pattern recognition to suspicious points is red by judging that suspicious points is sent
External signal flicker frequency is the most identical with the signal flicker frequency preset in system for flight control computer:
1), the letter preset in the infrared signal flicker frequency sent when suspicious points and system for flight control computer
Number flicker frequency difference, then illustrate that this base station is non-landing base station, goes to perform step 2；
2), the letter preset in the infrared signal flicker frequency sent when suspicious points and system for flight control computer
Number flicker frequency is identical, then these suspicious points are marked as impact point, and send fall to this base station
Fall request.
Improving further, in described step 3, the pattern recognition to suspicious points is to judge what multiple suspicious points was constituted
Pattern is the most identical with preset pattern in system for flight control computer, judges the infrared signal that suspicious points is sent simultaneously
Flicker frequency is the most identical with the signal flicker frequency preset in system for flight control computer:
1), when suspicious points can not constitute pre-set image, then illustrate that this base station is non-landing base station, go to perform
Step 2；
2), the signal preset in the infrared signal flicker frequency sent when suspicious points and system for flight control computer
Flicker frequency is different, then illustrate that this base station is non-landing base station, goes to perform step 2；
3), pre-set image, and the infrared signal flicker frequency that suspicious points is sent can be constituted when multiple suspicious points
Identical with the signal flicker frequency preset in system for flight control computer, then these suspicious points are marked as
Impact point, and landing request is sent to this base station.
Improve further, it is characterised in that in described step 4, unmanned aerial vehicle control system is according to side-play amount control
The flight attitude of unmanned plane, wherein unmanned plane and the upper deviation amount in same level in level point, base station
S=0.3hn/f；
Wherein, unmanned plane and the upper deviation amount in same level of base station impact point during S is descent；
H be now unmanned plane camera lens to the vertical height of base station impact point；
F is the focal length of camera lens；
N is the pixel quantity on image between impact point and unmanned plane；
Size according to S adjusts the horizontal range between unmanned plane and impact point in real time, ensures as far as possible
S is zero, i.e. unmanned plane is positioned at the surface of base station impact point.
Compared with prior art, there is advantages that
1, described control method, carries out finding base station by launching, gather the infrared waves that wavelength is 950nm,
The electromagnetic wave visible ray interference of 950nm wave band is little, and highly reliable, false recognition rate is low.
2, use denoising, binary conversion treatment, pattern recognition, reduce the interference factor impact on finding base station,
Control accuracy is high.
3, being provided by increasing steady The Cloud Terrace, that reduces unmanned plane shakes the impact on data validity, improves
Stability, it is ensured that control accuracy.
4, unmanned plane is in descent, and locating module is to be sent to by the current position signal of unmanned plane in real time
Flight control system, flight control system calculates unmanned plane current location point and base station to be landed impact point at grade
Side-play amount, and the flight attitude of unmanned plane is controlled according to side-play amount, it is ensured that unmanned plane precision approach is waited to this to land
Base station.
Accompanying drawing explanation
Fig. 1 is the control method flow chart that unmanned plane of the present invention precisely lands.
Detailed description of the invention
In order to be more fully understood that the present invention, explain present disclosure further below in conjunction with embodiment, but this
Bright content is not limited solely to the following examples.
Embodiment one:
As it is shown in figure 1, the control method that unmanned plane precisely lands, described unmanned plane includes flight control system, takes the photograph
Camera, locating module, electrically connect between flight control system with video camera, locating module；Flight control system central authorities process
Device dominant frequency is more than 1.2GHz, and described unmanned plane hovers in the air and finds landing in multiple base station, ground
Base station, and precisely land, its control method comprises the steps:
Step one, unmanned plane perform to prepare landing instruction, and described instruction is by aircraft control system or ground
Remote control unit sends；
Step 2, unmanned plane start searching base station of spiraling, and shoot base station by video camera, by the image of shooting
Send unmanned aerial vehicle control system to；Multiple signal transmitting terminal it is provided with on described each base station, video camera shooting
Image includes the signal transmitting terminal of base station surroundings and multiple luminescence；
Step 3, unmanned aerial vehicle control system carry out denoising to the image of shooting, figure denoising exported
As being fixed threshold values binary conversion treatment, whole image procossing is become image black, white, and detects black image district
Territory profile, uses center method to determine each black image region central point；Described black image region is that signal is sent out
Penetrate end region, position；In system for flight control computer determines image, central point number is equal in flight control system
During characteristic point number set in advance, these central points are labeled as suspicious points, and suspicious points is carried out pattern knowledge
Not, by suspicious points is carried out pattern recognition be possible to prevent stranger with infrared beacon capture unmanned plane.
Wherein, the pattern recognition to suspicious points is to judge whether the pattern that multiple suspicious points is constituted flies control with unmanned plane
In system, preset pattern is identical:
3.1), when suspicious points can not constitute pre-set image, then illustrate that this base station is non-landing base station, go to perform
Step 2；
3.2), when multiple suspicious points can constitute pre-set image, then these suspicious points are marked as impact point, and to
This base station sends landing request.
3.2.1) do not receive the landing grant commands of this base station when described unmanned aerial vehicle control system connects, go to perform
Step 2；
3.2.2) receive the landing grant commands of this base station when unmanned aerial vehicle control system, then show that this base station can
With landing, system for flight control computer controls unmanned plane and lands；
Step 4, unmanned plane are in descent, and locating module is in real time by the current position signal of unmanned plane
Sending flight control system to, flight control system calculates unmanned plane current location point with base station to be landed impact point same flat
Side-play amount on face, and the flight attitude of unmanned plane is controlled according to side-play amount, wherein unmanned plane and level point, base station
Upper deviation amount S=0.3hn/f in same level；
Wherein, unmanned plane and the upper deviation amount in same level of base station impact point during S is descent；
H be now unmanned plane camera lens to the vertical height of base station impact point；
F is the focal length of camera lens；
N is the pixel quantity on image between impact point and unmanned plane；
Size according to S adjusts the horizontal range between unmanned plane and impact point in real time, ensures as far as possible
S is zero, i.e. unmanned plane is positioned at the surface of base station impact point；
Step 5, repeat step 4, until unmanned plane precision approach to this base station to be landed, withdrawal unmanned plane.
In the present embodiment, described step 3 carries out denoising to infrared signal, uses gaussian filtering denoising
Process, by each pixel and the Gaussian kernel convolution of the infrared signal of input, by convolution with as output picture
Element value.
In the present embodiment, described all base stations are provided with infrared transmitter, a length of 950nm's of transmitted wave
Infrared waves, video camera uses the infrared filter of 950nm.
In the present embodiment, described unmanned plane being provided with the steady The Cloud Terrace of increasing, video camera is arranged on the steady The Cloud Terrace of increasing,
Video camera is connected with flight control system by usb or cmos,
Embodiment two:
In the present embodiment, described step 3 uses the mode that image first the corrodes reflation image to shooting
Carry out denoising.Denoising can reduce other interference factors and unmanned plane judges the shadow of base station reliability
Ring.Other steps are identical with embodiment one.
Embodiment three:
In the present embodiment, infrared by judging that suspicious points is sent to the pattern recognition of suspicious points in step 3
Signal flicker frequency is the most identical with the signal flicker frequency preset in system for flight control computer: when suspicious points is sent out
The infrared signal flicker frequency gone out is different from the signal flicker frequency preset in system for flight control computer, then explanation should
Base station is non-landing base station, goes to perform step 2；The infrared signal flicker frequency sent when suspicious points and nothing
The signal flicker frequency preset in man-machine flight control system is identical, then these suspicious points are marked as impact point, and to
This base station sends landing request.Other steps are identical with embodiment one or two.
Embodiment four:
In the present embodiment, in described step 3 to the pattern recognition of suspicious points for judge that multiple suspicious points is constituted
Pattern the most identical with preset pattern in system for flight control computer, judge the infrared letter that suspicious points is sent simultaneously
Number flicker frequency is the most identical with the signal flicker frequency preset in system for flight control computer: when suspicious points can not
Constitute pre-set image, then illustrate that this base station is non-landing base station, go to perform step 2；When suspicious points is sent
Infrared signal flicker frequency from system for flight control computer preset signal flicker frequency different, then this base is described
Standing is non-landing base station, goes to perform step 2；When multiple suspicious points can constitute pre-set image, and suspicious points institute
The infrared signal flicker frequency sent with in system for flight control computer preset signal flicker frequency identical, then these
Suspicious points is marked as impact point, and sends landing request to this base station.In other steps and embodiment one or two
Identical.
The present invention does not does illustrate be prior art or can be realized by prior art, Er Qieben
It is embodied as case described in invention and is only the exemplary embodiments of the present invention, be not used for limiting the present invention
Practical range.The most all equivalence changes made according to the content of scope of the present invention patent and modification, all should make
Technology category for the present invention.
Claims (9)
1. the control method that unmanned plane precisely lands, it is characterised in that include flight control system on described unmanned plane, take the photograph
Camera, locating module, electrically connect between flight control system with video camera, locating module；Unmanned plane is aloft
Spiral the base station landed found in multiple base station, ground, and precisely land, its control method include as
Lower step:
Step one, unmanned plane perform to prepare landing instruction, and described instruction is by aircraft control system or ground
Remote control unit sends；
Step 2, unmanned plane start searching base station of spiraling, and shoot base station by video camera, by the image of shooting
Send unmanned aerial vehicle control system to；Being provided with multiple signal transmitting terminal on described each base station, video camera is clapped
The image taken the photograph includes the signal transmitting terminal of base station surroundings and multiple luminescence；
Step 3, unmanned aerial vehicle control system carry out denoising to the image of shooting, denoising are exported
Image be fixed threshold values binary conversion treatment, whole image procossing is become image black, white, and detects black
Color image region contour, uses center method to determine each black image region central point；Described black image
Region is region, signal transmitting terminal position；In system for flight control computer determines image, count in center
When mesh is equal to characteristic point number set in advance in flight control system, these central points are labeled as suspicious points,
And suspicious points is carried out pattern recognition:
3.1), when pattern match unsuccessful, then go to perform step 2；
3.2), when pattern match success, then these suspicious points are marked as impact point, and send out to this base station
Go out landing request；
3.2.1) do not receive the landing grant commands of this base station when described unmanned aerial vehicle control system connects, then turn
To performing step 2；
3.2.2) receive the landing grant commands of this base station when unmanned aerial vehicle control system, then show this base station
Can land, system for flight control computer controls unmanned plane and lands；
Step 4, unmanned plane are in descent, and locating module is in real time by the present bit confidence of unmanned plane
Number sending flight control system to, flight control system calculates unmanned plane current location point and exists with base station to be landed impact point
Side-play amount on same plane, and the flight attitude of unmanned plane is controlled according to side-play amount；
Step 5, repeat step 4, until unmanned plane precision approach to this base station to be landed, withdrawal unmanned plane.
The control method that unmanned plane the most according to claim 1 precisely lands, it is characterised in that described step
The images of three pairs of shootings carry out denoising, use gaussian filtering denoising, every by the image of input
One pixel and Gaussian kernel convolution, by convolution with as output pixel value.
The control method that unmanned plane the most according to claim 1 precisely lands, it is characterised in that described step
Use the mode that image first corrodes reflation that the image of shooting is carried out denoising in three.
4. the control method precisely landed according to the unmanned plane described in Claims 2 or 3, it is characterised in that described
Signal transmitting terminal on all base stations, the infrared waves of a length of 950nm of transmitted wave；Described video camera uses
The infrared filter of 950nm.
The control method that unmanned plane the most according to claim 4 precisely lands, it is characterised in that described unmanned
Being provided with the steady The Cloud Terrace of increasing on machine, video camera is arranged on the steady The Cloud Terrace of increasing, and video camera passes through usb or cmos
It is connected with flight control system.
The control method that unmanned plane the most according to claim 5 precisely lands, it is characterised in that described step
In three, the pattern recognition to suspicious points is to judge whether the pattern that multiple suspicious points is constituted flies control system with unmanned plane
In system, preset pattern is identical:
1), when suspicious points can not constitute pre-set image, then illustrate that this base station is non-landing base station, turn
To performing step 2；
2), when multiple suspicious points can constitute pre-set image, then these suspicious points are marked as impact point,
And landing request is sent to this base station.
The control method that unmanned plane the most according to claim 5 precisely lands, it is characterised in that described step
The infrared signal flicker frequency in three, the pattern recognition of suspicious points sent by judging suspicious points whether with nothing
The signal flicker frequency preset in man-machine flight control system is identical:
1), the letter preset in the infrared signal flicker frequency sent when suspicious points and system for flight control computer
Number flicker frequency difference, then illustrate that this base station is non-landing base station, goes to perform step 2；
2), the letter preset in the infrared signal flicker frequency sent when suspicious points and system for flight control computer
Number flicker frequency is identical, then these suspicious points are marked as impact point, and send fall to this base station
Fall request.
The control method that unmanned plane the most according to claim 5 precisely lands, it is characterised in that described step
In three, the pattern recognition to suspicious points is to judge whether the pattern that multiple suspicious points is constituted flies control system with unmanned plane
In system, preset pattern is identical, judges that whether infrared signal flicker frequency that suspicious points sent is with unmanned simultaneously
The signal flicker frequency preset in machine flight control system is identical:
1), when suspicious points can not constitute pre-set image, then illustrate that this base station is non-landing base station, go to hold
Row step 2；
2) letter preset in the infrared signal flicker frequency sent when suspicious points and system for flight control computer
Number flicker frequency difference, then illustrate that this base station is non-landing base station, goes to perform step 2；
3) pre-set image, and the infrared signal flicker frequency that suspicious points is sent can be constituted when multiple suspicious points
Identical with the signal flicker frequency preset in system for flight control computer, then these suspicious points are labeled
For impact point, and send landing request to this base station.
9. the control method precisely landed according to the unmanned plane according to any one of claim 6-8, it is characterised in that
In described step 4, unmanned aerial vehicle control system controls the flight attitude of unmanned plane according to side-play amount, wherein unmanned
Machine and upper deviation amount S=0.3hn/f in same level in level point, base station；
Wherein, unmanned plane and the upper deviation amount in same level of base station impact point during S is descent；
H be now unmanned plane camera lens to the vertical height of base station impact point；
F is the focal length of camera lens；
N is the pixel quantity on image between impact point and unmanned plane；
Size according to S adjusts the horizontal range between unmanned plane and impact point in real time, ensures as far as possible
S is zero, i.e. unmanned plane is positioned at the surface of base station impact point.
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