CN110703807A - Landmark design method for large and small two-dimensional code mixed image and landmark identification method for unmanned aerial vehicle - Google Patents
Landmark design method for large and small two-dimensional code mixed image and landmark identification method for unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a landmark design method for a size two-dimensional code mixed image and a landmark identification method for an unmanned aerial vehicle, wherein the landmark design method for the size two-dimensional code mixed image comprises the following steps: creating a large two-dimension code unit and a small two-dimension code unit which form a landmark, wherein the large two-dimension code unit and the small two-dimension code unit are both provided with only one corner as a white subunit; setting the size of a landmark, and selecting 4 large two-dimensional code units and 4 small two-dimensional code units to form a landmark image; the large two-dimension code units and the small two-dimension code units are arranged in a 2X 2 rectangular array mode; arranging the white subunits of the large two-dimensional code units on the right lower corner; a plurality of size of a dimension two-dimensional code cooperation are used, under the less landmark area, can realize comparatively accurate unmanned aerial vehicle discernment location in the identification range of 0.5 meter-5 meters, and the visual information of the whole landing process's of unmanned aerial vehicle positioning process loses the problem and the too big problem of landmark has directly been solved to this scheme of adoption.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle navigation and positioning, in particular to a landmark design method for a large and small two-dimensional code mixed image and a landmark identification method for an unmanned aerial vehicle.
Background
When the unmanned aerial vehicle is landed by using visual guidance, the unmanned aerial vehicle is landed from high altitude to underground, and the positioning precision requirement is higher, while the positioning precision of the conventional GPS can not meet the requirement, and the visual positioning technology can meet the requirements of precision and cost. The initial height of the unmanned aerial vehicle for landing is higher, generally 5-10 meters, and the height of the landing tail end is only less than 1 meter, so that the visual field of the camera is required to be smaller and smaller, and certain requirements are required on the resolution of the camera and the design of landmarks.
In current unmanned aerial vehicle application, because reasons such as purchasing power, price/performance ratio restrict, the unmanned aerial vehicle that many users used is the camera of fixed focus. Because the camera is the fixed focus, at the in-process that unmanned aerial vehicle descends, unmanned aerial vehicle's the field of vision can dwindle gradually, and current discernment landmark image only has a two-dimensional code or a small amount of traditional complicated two-dimensional code, and the range of height of discernment is smaller, can not cover unmanned aerial vehicle's whole descending height range, consequently can lead to the visual positioning failure when the field of vision is little to a certain extent. The failure of visual positioning can also directly affect the operation of the user, and brings bad experience to the user.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Based on the reasons, the applicant provides a landmark design method for a two-dimension code mixed image and a landmark identification method for an unmanned aerial vehicle, and aims to solve the problems.
Disclosure of Invention
In order to meet the above requirements, a first object of the present invention is to provide a method for designing a landmark with a mixed image of a large two-dimensional code and a small two-dimensional code, which is intended to enable an unmanned aerial vehicle to effectively recognize the landmark in a range of 0.5 m to 5 m.
The second purpose of the invention is to provide a method for identifying landmarks by unmanned aerial vehicles.
In order to achieve the purpose, the invention adopts the following technical scheme:
on one hand, a size two-dimensional code mixed image landmark design method is provided, and the method comprises the following steps:
creating a large two-dimensional code unit and a small two-dimensional code unit which form an image landmark, wherein the large two-dimensional code unit and the small two-dimensional code unit are both provided with only one corner as a white subunit;
setting the size of an image landmark, and selecting 4 large two-dimension code units and 4 small two-dimension code units to form the image landmark;
the large two-dimension code units are arranged in a 2X 2 rectangular array mode, the small two-dimension code units are also arranged in a 2X 2 rectangular array mode, the large two-dimension code units are arranged at intervals for arranging the small two-dimension code units, and the small two-dimension code units are arranged at the intersection of four connecting lines of the large two-dimension code units;
arranging the white subunits of the large two-dimensional code units on the right lower corner;
and arranging the small two-dimension code units at an angle of 45 degrees with the vertical plane, wherein the white sub-units of the small two-dimension code units are arranged at the corner at the lowest part.
In one possible embodiment, the large two-dimensional code unit and the small two-dimensional code unit are both composed of nine subunits arranged in a 3X3 rectangle, and the subunits are white subunits or black subunits.
In one possible embodiment, the sizes of the large two-dimensional code unit and the small two-dimensional code unit are 200mm X200 mm and 60mm X60 mm respectively.
In one possible embodiment, a gap is arranged between each small two-dimensional code unit and each large two-dimensional code unit.
In one possible embodiment, in the array combination of the small two-dimensional code units, the small two-dimensional code units positioned at the upper and the right sides and the small two-dimensional code units positioned at the lower and the left sides have spacing lines; the spacing line is superposed with the connecting lines of the large two-dimensional code subunits positioned at the upper left and lower right in the array combination of the large two-dimensional code units.
In one possible embodiment, in the array combination of the small two-dimensional code units, the small two-dimensional code units positioned at the upper and the left sides and the small two-dimensional code units positioned at the lower and the right sides have spacing lines; the spacing lines are superposed with the connecting lines of the large two-dimensional code subunits positioned at the upper right and the lower left in the array combination of the large two-dimensional code units.
On the other hand, the scheme also provides a method for identifying the landmark by the unmanned aerial vehicle, and the method for designing the landmark by the large and small two-dimensional code mixed image based on any one of the above is applied to the unmanned aerial vehicle of the fixed-focus camera, and comprises the following steps:
detecting and acquiring a landmark image comprising a large two-dimensional code unit and a small two-dimensional code unit in real time in the landing process of the unmanned aerial vehicle;
the unmanned aerial vehicle identifies and positions the large two-dimension code unit;
when the visual field of the unmanned aerial vehicle is reduced and the visual recognition of the large two-dimension code unit fails, the unmanned aerial vehicle carries out recognition positioning processing through the small two-dimension code unit.
In one possible implementation mode, the unmanned aerial vehicle simultaneously starts the large two-dimension code unit for identification and positioning and the small two-dimension code unit for identification and positioning in the identification and positioning process.
Compared with the prior art, the invention has the beneficial effects that: by adopting the scheme, the design method of the landmark with the mixed image of the two-dimension codes in size is adopted, the two-dimension codes in size and size are matched for use, the unmanned aerial vehicle can be accurately identified and positioned in the identification range of 0.5-5 m under the condition of smaller landmark area, and the problems of visual information loss and overlarge landmark during the positioning process of the whole landing process of the unmanned aerial vehicle are directly solved.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic flow chart of a landmark design method for a mixed image of a large and a small two-dimensional codes according to the present invention;
FIG. 2 is a schematic diagram of a two-dimension code unit of a landmark design method for a large and small two-dimension code mixed image according to the present invention;
FIG. 3 is another schematic diagram of a two-dimensional code unit of the landmark design method for a mixed image of large and small two-dimensional codes according to the present invention;
FIG. 4 is another schematic diagram of a two-dimensional code unit of the landmark design method for a mixed image of large and small two-dimensional codes according to the present invention;
FIG. 5 is another schematic diagram of a two-dimensional code unit of the landmark design method for a mixed image of large and small two-dimensional codes according to the present invention;
FIG. 6 is a schematic diagram of a two-dimension code unit mixed image of the landmark design method for large and small two-dimension code mixed images according to the present invention;
fig. 7 is a flowchart illustrating a method for identifying landmarks by an unmanned aerial vehicle according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.
As shown in the schematic method flow diagram of fig. 1, the method for designing a landmark of a two-dimensional code mixed image in size disclosed by the invention comprises the following steps:
step S1, creating a large two-dimensional code unit and a small two-dimensional code unit which form an image landmark, wherein the large two-dimensional code unit and the small two-dimensional code unit are both provided with only one corner as a white subunit;
step S2, setting the size of the image landmark, and selecting 4 large two-dimension code units and 4 small two-dimension code units to form the image landmark;
step S3, the large two-dimension code units are arranged in a 2X 2 rectangular array mode, the small two-dimension code units are also arranged in a 2X 2 rectangular array mode, a space for arranging the small two-dimension code units is arranged between the large two-dimension code units, and the small two-dimension code units are arranged at the intersection of four connecting lines of the large two-dimension code units;
step S4, arranging the white subunits of the large two-dimensional code unit at the corner at the lower right;
and step S5, arranging the small two-dimension code units at an angle of 45 degrees with the vertical plane, wherein the white sub-units of the small two-dimension code units are arranged at the lowermost corners.
The size of the landmark is the size of a mixed image landmark formed by combining a large two-dimension code unit and a small two-dimension code unit, and the image landmark aims to enable the unmanned aerial vehicle to perform recognition and positioning.
As a preferred embodiment, the user can adjust the size of the image landmark according to the need of the user, or the user can adjust the interior of the image landmark according to the need, that is, the number of the large two-dimensional code units and the small two-dimensional code units can be changed.
As other embodiments, the two-dimensional code unit includes but is not limited to 2 sizes, and may also select several sizes, and the specific operation is implemented in the same way as the scheme; it should be noted that it is considered that the two-dimensional code units with several sizes fall within the scope of the description of the present embodiment.
In the embodiments shown in fig. 2, 3, 4 and 5, each of the large two-dimensional code unit and the small two-dimensional code unit is composed of nine 3 × 3 rectangularly arranged sub-units, and the sub-units are white sub-units or black sub-units. Specifically, the two-dimensional code unit is composed of a black frame and small squares inside the frame. The small squares inside the frame are in a matrix arrangement of 3x3 and can also be expanded to a larger array, the small squares can be black and white, and the black code is 0 and the white code is 1 in the unmanned aerial vehicle identification program. In order to recognize the two-dimensional code from different angles, small squares at four corners of the two-dimensional code are specified. When the two-dimensional code is viewed, the small square at the lower right corner is white, and the small squares at the other three corners are black.
In one possible embodiment, the sizes of the large two-dimensional code unit and the small two-dimensional code unit are 200mm X200 mm and 60mm X60 mm respectively.
In other embodiments, the sizes of the large two-dimensional code unit and the small two-dimensional code unit may be adjusted according to the needs of the user, and the sizes are only used as an example, and the size of the two-dimensional code unit of the present solution is not shown or suggested to be only the above numerical value.
In one possible embodiment, a gap is arranged between each small two-dimensional code unit and each large two-dimensional code unit. Specifically, in unmanned aerial vehicle identification, in order to prevent image interference, the small two-dimensional code unit and the large two-dimensional code unit should be not only identifiable as a whole but also identifiable respectively, and then positioning information is obtained comprehensively from a plurality of identification results, so that a gap is necessary to be provided between the small two-dimensional code unit and the large two-dimensional code unit.
In the embodiment shown in fig. 6, in the array combination of the small two-dimensional code units, the small two-dimensional code units located above and to the right and the small two-dimensional code units located below and to the left have spacing lines therebetween; the spacing line is superposed with the connecting lines of the large two-dimensional code subunits positioned at the upper left and lower right in the array combination of the large two-dimensional code units.
In the embodiment shown in fig. 6, in the array combination of the small two-dimensional code units, the small two-dimensional code units located above and on the left and the small two-dimensional code units located below and on the right have spacing lines therebetween; the spacing lines are superposed with the connecting lines of the large two-dimensional code subunits positioned at the upper right and the lower left in the array combination of the large two-dimensional code units.
In other embodiments, the angular relationship between the small two-dimensional code unit and the large two-dimensional code unit can be adjusted according to the needs of a user or the setting of an unmanned aerial vehicle identification program, the described positional relationship is only used as an angle embodiment of the setting of the small and medium two-dimensional code units and the large two-dimensional code units in the scheme, and the two-dimensional code unit setting angle in the scheme is not represented or suggested to be only the value.
On the other hand, as shown in the flow diagram of fig. 7, the present solution further provides a method for recognizing a landmark by an unmanned aerial vehicle, and the method for designing a landmark based on a two-dimensional code mixed image in size according to any one of the above descriptions is applied to an unmanned aerial vehicle with a fixed-focus camera, and includes the following steps:
step Q1, detecting in real time to obtain a landmark image comprising a large two-dimensional code unit and a small two-dimensional code unit in the landing process of the unmanned aerial vehicle;
step Q2, the unmanned aerial vehicle identifies and positions the large two-dimension code unit;
and step Q3, when the visual field of the unmanned aerial vehicle is reduced and the visual recognition of the large two-dimension code unit fails, the unmanned aerial vehicle carries out recognition positioning processing through the small two-dimension code unit.
In one possible implementation mode, the unmanned aerial vehicle simultaneously starts the large two-dimension code unit for identification and positioning and the small two-dimension code unit for identification and positioning in the identification and positioning process.
Specifically, by adopting the size two-dimensional code mixed image landmark design method, the fixed-focus unmanned aerial vehicle adopting the method can meet the effective visual positioning of 0.5 to 5 meters in height on a small landmark of 800x800 mm.
In a specific operation, the relationship between the focal length of the industrial lens with an angle of 60 degrees and the size of the two-dimensional code at the identification distance obtains the following data in a plurality of tests, specifically as shown in table 1:
| focal length of camera | Two-dimensional code size | Effective identification of distance |
| 2.8mm | 60mm x 60mm | 30cm～200cm |
| 2.8mm | 200mm x 200mm | 150cm～500cm |
| 3.6mm | 60mm x 60mm | 50cm～250mm |
| 3.6mm | 200mm x 200mm | 200mm～600mm |
TABLE 1
As can be seen from the table, when a 2.8mm lens is used, the two-dimensional code combination mode is utilized, the two-dimensional code combination can be continuously identified in the distance of 30cm-500cm, and the correctness of the beneficial effect of the scheme is also proved to a certain extent.
Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.
Claims (8)
1. A landmark design method for a large and small two-dimensional code mixed image is characterized by comprising the following steps:
creating a large two-dimensional code unit and a small two-dimensional code unit which form an image landmark, wherein the large two-dimensional code unit and the small two-dimensional code unit are both provided with only one corner as a white subunit;
setting the size of an image landmark, and selecting 4 large two-dimension code units and 4 small two-dimension code units to form the image landmark;
the large two-dimension code units are arranged in a 2X 2 rectangular array mode, the small two-dimension code units are also arranged in a 2X 2 rectangular array mode, a space for arranging the small two-dimension code units is arranged between the large two-dimension code units, and the small two-dimension code units are arranged at the intersection of four connecting lines of the large two-dimension code units;
arranging the white subunits of the large two-dimensional code units on the right lower corner;
and arranging the small two-dimension code units at an angle of 45 degrees with the vertical plane, wherein the white sub-units of the small two-dimension code units are arranged at the corner at the lowest part.
2. The landmark design method according to claim 1, wherein the large two-dimensional code unit and the small two-dimensional code unit are each composed of nine 3X3 rectangular sub-units, and each sub-unit is a white sub-unit or a black sub-unit.
3. The landmark design method according to claim 2, wherein the large two-dimensional code unit and the small two-dimensional code unit have dimensions of 200mm X200 mm and 60mm X60 mm, respectively.
4. The landmark design method according to claim 1, wherein a gap is formed between each of the small two-dimensional code unit and the large two-dimensional code unit.
5. The landmark design method according to claim 1, wherein in the array combination of the small two-dimensional code units, the small two-dimensional code units located above and to the right and the small two-dimensional code units located below and to the left have spacing lines; the spacing line is superposed with the connecting lines of the large two-dimensional code subunits positioned at the upper left and lower right in the array combination of the large two-dimensional code units.
6. The landmark design method according to claim 1, wherein in the array combination of the small two-dimensional code units, the small two-dimensional code units located above and to the left and the small two-dimensional code units located below and to the right have spacing lines; the spacing lines are superposed with the connecting lines of the large two-dimensional code subunits positioned at the upper right and the lower left in the array combination of the large two-dimensional code units.
7. A method for identifying landmarks by an unmanned aerial vehicle, which is based on the big and small two-dimensional code mixed image landmark design method of any one of claims 1-6 and is applied to the unmanned aerial vehicle with a fixed-focus camera, and is characterized by comprising the following steps:
detecting and acquiring a landmark image comprising a large two-dimensional code unit and a small two-dimensional code unit in real time in the landing process of the unmanned aerial vehicle;
the unmanned aerial vehicle identifies and positions the large two-dimension code unit;
when the visual field of the unmanned aerial vehicle is reduced and the visual recognition of the large two-dimension code unit fails, the unmanned aerial vehicle carries out recognition positioning processing through the small two-dimension code unit.
8. The method for unmanned aerial vehicle to recognize landmarks according to claim 7, wherein during the unmanned aerial vehicle recognizing and positioning, a large two-dimension code unit is started to recognize and position, and a small two-dimension code unit is started to recognize and position.
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| CN113670307A (en) * | 2021-07-13 | 2021-11-19 | 南京航空航天大学 | Unmanned cluster cooperative navigation method based on angle hybrid positioning precision factor |
| CN113670307B (en) * | 2021-07-13 | 2024-02-13 | 南京航空航天大学 | Unmanned cluster collaborative navigation method based on angle hybrid positioning precision factor |
| CN113741496A (en) * | 2021-08-25 | 2021-12-03 | 中国电子科技集团公司第五十四研究所 | Autonomous accurate landing method and landing box for multi-platform unmanned aerial vehicle |
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