CN110908403A - Automatic fixed-point landing device and method for electric power line patrol unmanned aerial vehicle - Google Patents
Automatic fixed-point landing device and method for electric power line patrol unmanned aerial vehicle Download PDFInfo
- Publication number
- CN110908403A CN110908403A CN201911249123.8A CN201911249123A CN110908403A CN 110908403 A CN110908403 A CN 110908403A CN 201911249123 A CN201911249123 A CN 201911249123A CN 110908403 A CN110908403 A CN 110908403A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- laser
- apron
- center
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 15
- 230000004913 activation Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000002567 autonomic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to an automatic fixed-point landing device for an electric power line inspection unmanned aerial vehicle, which comprises an unmanned aerial vehicle, an air park, a GPS (global positioning system), a computer vision system and a laser positioning system, wherein the unmanned aerial vehicle firstly flies to the position near the air park through the GPS positioning system, finds the air park from an acquired image according to the matching of a standard air park mark template through the computer vision technology, flies to the position above the air park and rotates to a specified direction, then arrives at the position right above a parking position through the laser positioning mode, and finally vertically lands under the assistance of an ultrasonic sensor to finish autonomous accurate landing; the invention has the advantages of high positioning precision and autonomous and accurate landing.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to an automatic fixed-point landing device and method for an electric power line inspection unmanned aerial vehicle.
Background
The aging of electric power transmission line parts, natural environment disasters and external artificial damages form a serious challenge to the safe and stable operation of a power grid transmission line, the efficiency is low when the electric power transmission line is inspected through manpower, the personal safety of inspection personnel can be threatened especially for daily inspection in remote areas, and along with the rapid progress of technologies such as microcomputer, embedded type and image transmission, the unmanned aerial vehicle is gradually applied to power equipment inspection.
Many rotor unmanned aerial vehicle has the flexibility, but VTOL, can fly the advantage in the complex environment, can be used to accomplish the flight task under the outdoor complex environment, unmanned aerial vehicle battery duration is limited simultaneously, can't accomplish remote flight, need in time charge unmanned aerial vehicle, under the prerequisite that wireless charging technology has obtained great development and application, in order to reduce the human cost, consider to place wireless charging device in different places, because wireless charging device rigidity, many rotor unmanned aerial vehicle need accurate location and landing in the charging area, accomplish unmanned aerial vehicle's autonomic fixed point landing promptly.
The computer vision system of the unmanned aerial vehicle has stronger independence and anti-interference performance than a GPS positioning system, but a wireless charging apron provided for the unmanned aerial vehicle in a power transmission line is usually positioned at a higher position, the area of the apron is smaller, and in order to prevent the unmanned aerial vehicle from falling off due to inaccurate positioning and landing to the edge of the apron, and simultaneously, in order to align a receiving coil of the unmanned aerial vehicle and a transmitting coil of the apron to achieve the maximum wireless charging efficiency, the unmanned aerial vehicle is required to be ensured to have very high positioning precision; therefore, it is very necessary to provide an automatic fixed-point landing device and method for an electric power line patrol unmanned aerial vehicle, which have high positioning accuracy and can land autonomously and accurately.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic fixed-point landing device and method for an electric power line patrol unmanned aerial vehicle, which are high in positioning accuracy and capable of landing autonomously and accurately.
The purpose of the invention is realized as follows: an automatic fixed-point landing device for an electric power line patrol unmanned aerial vehicle comprises the unmanned aerial vehicle and an air park, and also comprises a GPS positioning system, a computer vision positioning system and a laser positioning system, the computer vision positioning system comprises a binocular camera, a stop sign and a vision positioning algorithm, the binocular cameras are arranged at two sides of the center of the lower part of the unmanned aerial vehicle, the stop sign is arranged on the stop apron, the visual positioning algorithm is installed in the unmanned aerial vehicle processing chip and comprises a positioning processing algorithm and a rotation direction processing algorithm, the laser positioning system comprises a laser emitting device, a laser receiving device and a laser positioning algorithm, the laser emitting device is installed at the center of the parking position of the parking apron, the laser receiving device is arranged at the center of the lower portion of the unmanned aerial vehicle, and the laser positioning algorithm is installed in a processing chip of the unmanned aerial vehicle.
The positioning processing algorithm can find the position of an apron from a real-time image acquired by the binocular camera according to a stop sign template stored in the unmanned aerial vehicle processing chip, calculate the translational flight direction of the unmanned aerial vehicle and submit the stop sign to the unmanned aerial vehicle processing chip for processing, and the rotation direction processing algorithm can calculate the deflection angle of the unmanned aerial vehicle according to the stop sign template stored in the unmanned aerial vehicle processing chip and the stop sign in the real-time image acquired by the binocular camera and submit the stop sign to the unmanned aerial vehicle processing chip for processing.
The laser emitting device can emit laser beams above the laser emitting device, and the projection shapes of the laser beams in the horizontal plane include but are not limited to a plurality of concentric circles with a circle center.
The laser receiving device is composed of a plurality of laser receivers arranged in a matrix type, the laser receiver at the center is arranged at the center position below the unmanned aerial vehicle, the laser receiving device can receive laser emitted by the laser emitting device, and the laser receiver can send an activation signal to the unmanned aerial vehicle processing chip when receiving a laser signal.
The laser positioning algorithm can calculate the circle center coordinate and the direction according to the laser condition detected by the laser receiving device, and submits the circle center coordinate and the direction to the unmanned aerial vehicle processing chip for processing.
An automatic fixed-point landing method for an electric power line patrol unmanned aerial vehicle comprises the following steps:
step 1: the unmanned aerial vehicle sends a landing request to the server and waits for the server to distribute an apron;
step 2: the unmanned aerial vehicle flies to a specified position under the assistance of a GPS system and keeps a specified flying height according to the received target parking apron information;
and step 3: starting a computer vision positioning system, searching for an air park according to the acquired image information, and enabling the unmanned aerial vehicle to fly above the air park, wherein the method specifically comprises the following substeps:
step 3.1: the unmanned aerial vehicle acquires a real-time image below the unmanned aerial vehicle by using a binocular camera;
step 3.2: after preprocessing the image, matching and searching the parking apron from the image by taking a standard parking apron mark as a template;
step 3.3: detecting whether the center of the parking apron is positioned at the center of the image, if so, executing the step 3.4, otherwise, controlling the unmanned aerial vehicle to fly to the center of the parking apron according to the position of the center of the parking apron in the image, and executing the step 3.1 again;
step 3.4: the unmanned aerial vehicle rotates to a specified direction according to the rotation angle between the standard apron mark template and the stop mark in the image, namely the direction of the stop mark in the image is the same as that of the standard apron mark template;
and 4, step 4: open laser positioning system, unmanned aerial vehicle removes directly over to the parking position, accomplishes accurate location, specifically includes following substep:
step 4.1: a laser emitting device on the parking apron emits laser to the upper part of the parking apron, so that the projection of the laser on a horizontal plane is a plurality of concentric circles and circle centers, and the radius difference of the adjacent concentric circles is the same;
step 4.2: establishing a two-dimensional rectangular coordinate system by taking a laser receiver at the center of the unmanned aerial vehicle laser receiving device as an origin;
step 4.3: the laser receiving device of the unmanned aerial vehicle detects a laser signal and checks whether a single-point signal is received, if the single-point signal is received, whether the single-point signal is located at an original point of a coordinate system is judged, namely the unmanned aerial vehicle is located right above a stop position, if the single-point signal is received, the step 5 is executed, otherwise, the unmanned aerial vehicle moves in the vector direction from the original point to the single-point signal and executes the step 4.3 again, if only an arc-shaped signal is received, after a circle center coordinate is determined according to an arc, the unmanned aerial vehicle moves in the vector direction from the original point to the circle center;
and 5: and starting a vertical landing system of the unmanned aerial vehicle, and landing the unmanned aerial vehicle to the parking apron.
The invention has the beneficial effects that: the unmanned aerial vehicle flies to the position near the parking apron through the GPS, finds the parking apron from the acquired image according to standard parking apron mark template matching through a computer vision technology, flies to the position above the parking apron and rotates to a specified direction, then reaches the position right above the parking position through a laser positioning mode, and finally vertically lands under the assistance of an ultrasonic sensor to finish autonomous accurate landing; the invention has the advantages of high positioning precision and autonomous and accurate landing.
Drawings
Fig. 1 is a flow chart of the unmanned aerial vehicle landing of the invention.
Fig. 2 is a schematic structural diagram of the unmanned aerial vehicle of the invention.
Fig. 3 is a schematic view of the structure of the apron of the present invention.
Fig. 4 is a schematic diagram of a real-time image acquired by the binocular camera of the present invention.
Fig. 5 is a schematic diagram of a laser signal horizontal projection of the laser transmitter of the present invention.
Fig. 6 is a schematic diagram of a received signal of the laser receiver of the present invention.
In the figure, the parking apron comprises an apron 1, a parking mark 3, a laser emitting device 4, a binocular camera 5, a laser receiving device 6, a laser receiver 7, an arc laser signal A8, an arc laser signal B9, an arc laser signal C10 and a single-point laser signal.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
An autonomous fixed-point landing method for an electric line patrol rotor unmanned aerial vehicle is characterized by comprising the following steps of:
step 1: the unmanned aerial vehicle sends a landing request to the server and waits for the server to distribute an apron 1;
step 2: the unmanned aerial vehicle flies to a specified position under the assistance of a GPS (global positioning system) positioning system and keeps a specified flying height according to the received information of the target parking apron 1;
and step 3: starting a visual positioning system, searching for an air park 1 according to acquired image information, enabling the unmanned aerial vehicle to fly above the air park 1, and enabling image schematic diagrams acquired by the unmanned aerial vehicle at different positions to be shown in fig. 4, (a) showing that the unmanned aerial vehicle and the air park 1 have larger horizontal distance, (b) showing that the air park 1 in the image is located at the center of the image, and (c) showing that the unmanned aerial vehicle has reached a specified direction.
The method specifically comprises the following substeps:
step 3.1: the unmanned aerial vehicle uses the binocular camera 4 to collect real-time images below the unmanned aerial vehicle;
step 3.2: after preprocessing the image, matching and searching the apron 1 from the image by taking a standard apron 1 mark as a template;
step 3.3: detecting whether the center of the air park 1 is located at the center of the image, namely executing the step 3.4 when the image is in a figure 4(b), and if the image is in a figure 4(a), controlling the unmanned aerial vehicle to fly to the center of the air park 1 according to the position of the center of the air park 1 in the image, and executing the step 3.1 again;
step 3.4: the unmanned aerial vehicle rotates to a specified direction according to the rotation angle between the standard apron 1 mark template and the apron mark in the image, so that the direction of the apron mark 2 in the image is the same as that of the standard apron mark template, namely the acquired image is the same as that of the image in the step (c) in FIG. 4;
and 4, step 4: open laser positioning system, unmanned aerial vehicle removes directly over to the parking position, accomplishes accurate location, specifically includes following substep:
step 4.1: the laser emitting device 3 on the parking apron 1 emits laser to the upper part of the parking apron, so that the projection of the laser on a horizontal plane is a plurality of concentric circles and circle centers, as shown in fig. 5, the diameters of the concentric circles from inside to outside are respectively 2R, 4R, 6R, 8R and 10R, wherein R is a fixed value;
step 4.2: use laser receiver 6 at unmanned aerial vehicle laser receiver 5 center as the original point
And establishing a two-dimensional rectangular coordinate system
；
Step 4.3: the laser receiving device 5 of the unmanned aerial vehicle detects the laser signal and checks whether the single-point signal is received, and if the single-point signal is received, whether the single-point signal is received by the laser receiver 6 at the center is judged, namely the single-point signal
Whether or not it is located at the origin of the coordinate system
If yes, executing step 5, otherwise, using the vector of the unmanned aerial vehicle
If only the arc-shaped signal is received, then the coordinates of the three points on the arc are selected
，
，
Solving the coordinates of the center of the circle according to the circle formula of the two-dimensional coordinate system
Unmanned plane vector
Moves in the direction of (4.3) and re-executes step;
fig. 6 is a schematic diagram of laser signals received by the laser receiving device, where 5 is the laser receiving device, 7, 8, and 9 are circular arc laser signals, and 10 is a single-point laser signal, (a) shows that no single-point laser signal is detected in step 4.3; (b) indicating that a single point laser signal is detected and located at the center of the image, i.e., the origin of the coordinate system.
And 5: and (5) starting a vertical landing system, and landing the unmanned aerial vehicle to the parking apron 1.
The method provided by the invention has the following advantages: the method has the advantages of autonomous operation, no need of manual participation, combination of image positioning and laser positioning methods, high positioning precision and strong anti-interference capability.
Example 2
As shown in fig. 1-6, an automatic fixed-point landing device for an electric power line inspection unmanned aerial vehicle comprises an unmanned aerial vehicle and an apron 1, and further comprises a GPS positioning system, a computer vision positioning system and a laser positioning system, wherein the computer vision positioning system comprises a binocular camera 4, a stop sign 2 and a vision positioning algorithm, the binocular camera 4 is installed on two sides of the center of the lower part of the unmanned aerial vehicle, the stop sign 2 is arranged on the apron 1, the vision positioning algorithm is installed in a processing chip of the unmanned aerial vehicle, the vision positioning algorithm comprises a positioning processing algorithm and a rotation direction processing algorithm, the laser positioning system comprises a laser emitting device 3, a laser receiving device 5 and a laser positioning algorithm, the laser emitting device 3 is installed at the center of the stop position of the apron 1, the laser receiving device 5 is arranged at the center of the lower part of the unmanned aerial vehicle, the laser positioning algorithm is installed in the unmanned aerial vehicle processing chip.
The positioning processing algorithm can find the position of the apron 1 from the real-time image collected by the binocular camera 4 according to the stop sign 2 template stored in the unmanned aerial vehicle processing chip, calculate the translational flight direction of the unmanned aerial vehicle and submit the translation to the unmanned aerial vehicle processing chip for processing, the rotating direction processing algorithm can calculate the deflection angle of the unmanned aerial vehicle according to the stop sign 2 template stored in the unmanned aerial vehicle processing chip and the stop sign 2 in the real-time image collected by the binocular camera 4 and submit the translation to the unmanned aerial vehicle processing chip for processing, the laser emitting device 3 can emit laser beams to the upper part of the unmanned aerial vehicle, the projection shape of the laser beams on the horizontal plane comprises but is not limited to a plurality of concentric circles with a circle center, the laser receiving device 5 consists of a plurality of laser receivers 6 arranged in a matrix type, and the laser receiver 5 is positioned at the central position of the laser, laser receiver 5 can receive the laser of laser emitter 3 transmission, and laser receiver 6 can send the activation signal to unmanned aerial vehicle processing chip when receiving laser signal, and the laser positioning algorithm can calculate centre of a circle coordinate and direction according to the laser condition that laser receiver 5 detected to submit centre of a circle coordinate and direction to unmanned aerial vehicle processing chip and handle.
The unmanned aerial vehicle flies to the position near the parking apron 1 through the GPS, finds the parking apron 1 from the collected image according to standard parking apron mark template matching through a computer vision technology, flies to the position above the parking apron 1 and rotates to a specified direction, then reaches the position right above the parking position through a laser positioning mode, and finally vertically lands under the assistance of an ultrasonic sensor to finish autonomous accurate landing; the invention has the advantages of high positioning precision and autonomous and accurate landing.
Claims (6)
1. The utility model provides an automatic fixed point descending device for electric power patrols line unmanned aerial vehicle, includes unmanned aerial vehicle and air park, its characterized in that: still include GPS positioning system, computer vision positioning system and laser positioning system, computer vision positioning system includes two mesh cameras, shutdown mark, vision positioning algorithm, two mesh cameras are installed in unmanned aerial vehicle lower part center both sides, the shutdown mark sets up on the parking apron, vision positioning algorithm installs in unmanned aerial vehicle handles the chip, vision positioning algorithm includes location processing algorithm and direction of rotation processing algorithm, laser positioning system includes laser emitter, laser receiver and laser positioning algorithm, laser emitter installs at parking apron parking position center, laser receiver sets up at unmanned aerial vehicle lower part center, and laser positioning algorithm installs in unmanned aerial vehicle handles the chip.
2. The utility model provides an automatic fixed point descending device for electric power patrols line unmanned aerial vehicle which characterized in that: the positioning processing algorithm can find the position of an apron from a real-time image acquired by the binocular camera according to a stop sign template stored in the unmanned aerial vehicle processing chip, calculate the translational flight direction of the unmanned aerial vehicle and submit the stop sign to the unmanned aerial vehicle processing chip for processing, and the rotation direction processing algorithm can calculate the deflection angle of the unmanned aerial vehicle according to the stop sign template stored in the unmanned aerial vehicle processing chip and the stop sign in the real-time image acquired by the binocular camera and submit the stop sign to the unmanned aerial vehicle processing chip for processing.
3. The utility model provides an automatic fixed point descending device for electric power patrols line unmanned aerial vehicle which characterized in that: the laser emitting device can emit laser beams to the upper part of the laser emitting device, and the projection shapes of the laser beams in the horizontal plane include but are not limited to a plurality of concentric circles with a circle center.
4. The utility model provides an automatic fixed point descending device for electric power patrols line unmanned aerial vehicle which characterized in that: the laser receiving device is composed of a plurality of laser receivers arranged in a matrix type, the laser receiver positioned in the center is arranged in the center of the lower portion of the unmanned aerial vehicle, the laser receiving device can receive laser emitted by the laser emitting device, and the laser receiver can send an activation signal to the unmanned aerial vehicle processing chip when receiving a laser signal.
5. The utility model provides an automatic fixed point descending device for electric power patrols line unmanned aerial vehicle which characterized in that: the laser positioning algorithm can calculate the circle center coordinate and the direction according to the laser condition detected by the laser receiving device, and submits the circle center coordinate and the direction to the unmanned aerial vehicle processing chip for processing.
6. An automatic fixed-point landing method for an electric line patrol unmanned aerial vehicle according to claim 1, characterized in that: the method comprises the following steps:
step 1: the unmanned aerial vehicle sends a landing request to the server and waits for the server to distribute an apron;
step 2: the unmanned aerial vehicle flies to a specified position under the assistance of a GPS system and keeps a specified flying height according to the received target parking apron information;
and step 3: starting a computer vision positioning system, searching for an air park according to the acquired image information, and enabling the unmanned aerial vehicle to fly above the air park, wherein the method specifically comprises the following substeps:
step 3.1: the unmanned aerial vehicle acquires a real-time image below the unmanned aerial vehicle by using a binocular camera;
step 3.2: after preprocessing the image, matching and searching the parking apron from the image by taking a standard parking apron mark as a template;
step 3.3: detecting whether the center of the parking apron is positioned at the center of the image, if so, executing the step 3.4, otherwise, controlling the unmanned aerial vehicle to fly to the center of the parking apron according to the position of the center of the parking apron in the image, and executing the step 3.1 again;
step 3.4: the unmanned aerial vehicle rotates to a specified direction according to the rotation angle between the standard apron mark template and the stop mark in the image, namely the direction of the stop mark in the image is the same as that of the standard apron mark template;
and 4, step 4: open laser positioning system, unmanned aerial vehicle removes directly over to the parking position, accomplishes accurate location, specifically includes following substep:
step 4.1: a laser emitting device on the parking apron emits laser to the upper part of the parking apron, so that the projection of the laser on a horizontal plane is a plurality of concentric circles and circle centers, and the radius difference of the adjacent concentric circles is the same;
step 4.2: establishing a two-dimensional rectangular coordinate system by taking a laser receiver at the center of the unmanned aerial vehicle laser receiving device as an origin;
step 4.3: the laser receiving device of the unmanned aerial vehicle detects a laser signal and checks whether a single-point signal is received, if the single-point signal is received, whether the single-point signal is located at an original point of a coordinate system is judged, namely the unmanned aerial vehicle is located right above a stop position, if the single-point signal is received, the step 5 is executed, otherwise, the unmanned aerial vehicle moves in the vector direction from the original point to the single-point signal and executes the step 4.3 again, if only an arc-shaped signal is received, after a circle center coordinate is determined according to an arc, the unmanned aerial vehicle moves in the vector direction from the original point to the circle center;
and 5: and starting a vertical landing system of the unmanned aerial vehicle, and landing the unmanned aerial vehicle to the parking apron.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911249123.8A CN110908403A (en) | 2019-12-09 | 2019-12-09 | Automatic fixed-point landing device and method for electric power line patrol unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911249123.8A CN110908403A (en) | 2019-12-09 | 2019-12-09 | Automatic fixed-point landing device and method for electric power line patrol unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110908403A true CN110908403A (en) | 2020-03-24 |
Family
ID=69823336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911249123.8A Pending CN110908403A (en) | 2019-12-09 | 2019-12-09 | Automatic fixed-point landing device and method for electric power line patrol unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110908403A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112462791A (en) * | 2020-12-02 | 2021-03-09 | 成都时代星光科技有限公司 | Full-automatic high-precision flight landing system and method for airport of vehicle-mounted unmanned aerial vehicle |
| CN112925333A (en) * | 2021-01-29 | 2021-06-08 | 涵涡智航科技(玉溪)有限公司 | High-precision aircraft guided landing system and method |
| CN113110587A (en) * | 2021-04-28 | 2021-07-13 | 天津云圣智能科技有限责任公司 | Landing control method and device for unmanned aerial vehicle and electronic equipment |
| CN113406679A (en) * | 2021-05-14 | 2021-09-17 | 华夏航空股份有限公司 | Airborne equipment positioning device based on ADS-B signal |
| CN113655806A (en) * | 2021-07-01 | 2021-11-16 | 中国人民解放军战略支援部队信息工程大学 | Unmanned aerial vehicle group auxiliary landing method |
| CN113805608A (en) * | 2021-09-22 | 2021-12-17 | 一飞智控(天津)科技有限公司 | Unmanned aerial vehicle formation starry sky landing method, system and medium based on automatic grouping planning |
| CN113867373A (en) * | 2021-09-30 | 2021-12-31 | 广州极飞科技股份有限公司 | Unmanned aerial vehicle landing method and device, parking apron and electronic equipment |
| CN114602083A (en) * | 2022-02-25 | 2022-06-10 | 复旦大学 | Automatic supply docking system based on laser vision fusion and working method thereof |
| CN114911271A (en) * | 2022-06-23 | 2022-08-16 | 深圳市多翼创新科技有限公司 | Wide-area distributed cooperative operation system and method based on cloud unmanned aerial vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106950989A (en) * | 2017-04-18 | 2017-07-14 | 厦门领夏智能科技有限公司 | A kind of unmanned plane fixed point location method and system |
| WO2018122836A1 (en) * | 2016-12-29 | 2018-07-05 | Israel Aerospace Industries Ltd. | Image sensor based autonomous landing |
| CN108357690A (en) * | 2018-03-20 | 2018-08-03 | 金陵科技学院 | A kind of movable unmanned helicopter airplane parking area of laser aiming |
| CN109032169A (en) * | 2018-06-15 | 2018-12-18 | 岭南师范学院 | A kind of unmanned plane landing-gear based on laser conduction |
| CN109298723A (en) * | 2018-11-30 | 2019-02-01 | 山东大学 | A kind of accurate landing method of vehicle-mounted unmanned aerial vehicle and system |
| CN109353535A (en) * | 2018-11-05 | 2019-02-19 | 国网河南省电力公司驻马店供电公司 | A kind of composite wing unmanned plane airplane parking area |
| CN109739257A (en) * | 2018-12-21 | 2019-05-10 | 中科院合肥技术创新工程院 | Merge the patrol unmanned machine closing method and system of satellite navigation and visual perception |
-
2019
- 2019-12-09 CN CN201911249123.8A patent/CN110908403A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018122836A1 (en) * | 2016-12-29 | 2018-07-05 | Israel Aerospace Industries Ltd. | Image sensor based autonomous landing |
| CN106950989A (en) * | 2017-04-18 | 2017-07-14 | 厦门领夏智能科技有限公司 | A kind of unmanned plane fixed point location method and system |
| CN108357690A (en) * | 2018-03-20 | 2018-08-03 | 金陵科技学院 | A kind of movable unmanned helicopter airplane parking area of laser aiming |
| CN109032169A (en) * | 2018-06-15 | 2018-12-18 | 岭南师范学院 | A kind of unmanned plane landing-gear based on laser conduction |
| CN109353535A (en) * | 2018-11-05 | 2019-02-19 | 国网河南省电力公司驻马店供电公司 | A kind of composite wing unmanned plane airplane parking area |
| CN109298723A (en) * | 2018-11-30 | 2019-02-01 | 山东大学 | A kind of accurate landing method of vehicle-mounted unmanned aerial vehicle and system |
| CN109739257A (en) * | 2018-12-21 | 2019-05-10 | 中科院合肥技术创新工程院 | Merge the patrol unmanned machine closing method and system of satellite navigation and visual perception |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112462791A (en) * | 2020-12-02 | 2021-03-09 | 成都时代星光科技有限公司 | Full-automatic high-precision flight landing system and method for airport of vehicle-mounted unmanned aerial vehicle |
| CN112925333A (en) * | 2021-01-29 | 2021-06-08 | 涵涡智航科技(玉溪)有限公司 | High-precision aircraft guided landing system and method |
| CN112925333B (en) * | 2021-01-29 | 2022-04-15 | 涵涡智航科技(玉溪)有限公司 | High-precision aircraft guided landing system and method |
| CN113110587A (en) * | 2021-04-28 | 2021-07-13 | 天津云圣智能科技有限责任公司 | Landing control method and device for unmanned aerial vehicle and electronic equipment |
| CN113406679A (en) * | 2021-05-14 | 2021-09-17 | 华夏航空股份有限公司 | Airborne equipment positioning device based on ADS-B signal |
| CN113655806B (en) * | 2021-07-01 | 2023-08-08 | 中国人民解放军战略支援部队信息工程大学 | Unmanned aerial vehicle group auxiliary landing method |
| CN113655806A (en) * | 2021-07-01 | 2021-11-16 | 中国人民解放军战略支援部队信息工程大学 | Unmanned aerial vehicle group auxiliary landing method |
| CN113805608A (en) * | 2021-09-22 | 2021-12-17 | 一飞智控(天津)科技有限公司 | Unmanned aerial vehicle formation starry sky landing method, system and medium based on automatic grouping planning |
| CN113805608B (en) * | 2021-09-22 | 2024-03-05 | 一飞智控(天津)科技有限公司 | Unmanned aerial vehicle formation sky landing method, system and medium based on automatic grouping planning |
| CN113867373A (en) * | 2021-09-30 | 2021-12-31 | 广州极飞科技股份有限公司 | Unmanned aerial vehicle landing method and device, parking apron and electronic equipment |
| CN114602083B (en) * | 2022-02-25 | 2022-11-11 | 复旦大学 | Automatic supply docking system based on laser vision fusion and working method thereof |
| CN114602083A (en) * | 2022-02-25 | 2022-06-10 | 复旦大学 | Automatic supply docking system based on laser vision fusion and working method thereof |
| CN114911271A (en) * | 2022-06-23 | 2022-08-16 | 深圳市多翼创新科技有限公司 | Wide-area distributed cooperative operation system and method based on cloud unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110908403A (en) | Automatic fixed-point landing device and method for electric power line patrol unmanned aerial vehicle | |
| CN111596297B (en) | Detection device and method for unmanned aerial vehicle in air based on panoramic imaging and ultrasonic rotation | |
| JP5690539B2 (en) | Automatic take-off and landing system | |
| TWI626191B (en) | Unmanned aerial vehicle and target tracking method thereof, unmanned aerial vehicle target tracking device | |
| CN103822635B (en) | The unmanned plane during flying spatial location real-time computing technique of view-based access control model information | |
| CN104015931B (en) | Vision localization, measurement and control method, system and experimental platform for automatic refueling dead zone of unmanned aerial vehicle | |
| CN104298248A (en) | Accurate visual positioning and orienting method for rotor wing unmanned aerial vehicle | |
| CN107664491B (en) | Method, device and system for measuring downward inclination angle of base station antenna | |
| CN107015560A (en) | A kind of method for inspecting of the photovoltaic array based on unmanned plane | |
| CN103941746A (en) | System and method for processing unmanned aerial vehicle polling image | |
| CN110333735B (en) | System and method for realizing unmanned aerial vehicle water and land secondary positioning | |
| US11340615B2 (en) | Concurrent relocation and reinitialization of VSLAM | |
| CN109747824B (en) | Device and method for avoiding obstacle of unmanned aerial vehicle in chimney | |
| CN208027170U (en) | A kind of power-line patrolling unmanned plane and system | |
| KR101808273B1 (en) | The apparatus of smart drone with internet of things and visible light communication module | |
| CN108983809A (en) | The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane | |
| CN106896828A (en) | A kind of unmanned plane automated wireless charging method and system | |
| CN115202376A (en) | Unmanned aerial vehicle patrols and examines electric power grid management and control platform based on individual soldier removes | |
| JP2020170213A (en) | Drone-work support system and drone-work support method | |
| CN110825098B (en) | Unmanned aerial vehicle distribution network intelligent inspection system | |
| CN116421908A (en) | Forest fire prevention and control method and system based on fixed and movable combination | |
| EP3300842A1 (en) | System and method for coordinating terrestrial mobile automated devices | |
| CN106532946B (en) | A kind of robot power station cruising inspection system and method | |
| CN103940823A (en) | Iron tower defect detection system based on aircraft and aircraft positioning method | |
| CN110345390B (en) | Telemetering device with camera shooting function, unmanned aerial vehicle and gas leakage inspection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200324 |
|
| RJ01 | Rejection of invention patent application after publication |