CN111506091A - Unmanned aerial vehicle accurate landing control system and method based on dynamic two-dimensional code - Google Patents
Unmanned aerial vehicle accurate landing control system and method based on dynamic two-dimensional code Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle interactive accurate landing system and method based on dynamic two-dimensional codes, and the system comprises the following steps: an unmanned aerial vehicle and a base station; unmanned aerial vehicle's the current positional information of unmanned aerial vehicle is gathered to unmanned aerial vehicle's first GPS module, and give unmanned aerial vehicle's first controller with the current positional information of unmanned aerial vehicle, first controller passes through unmanned aerial vehicle's first communication module with the current positional information of unmanned aerial vehicle, give the second communication module of basic station, give the second controller of basic station with the current positional information of received unmanned aerial vehicle, the second controller of basic station is according to the display quantity and the display size of the current positional information adjustment two-dimensional code of unmanned aerial vehicle of receipt, guide unmanned aerial vehicle steady landing on the parking apron.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle independently accurate landing technical field, especially relate to the accurate landing control system of unmanned aerial vehicle and method based on developments two-dimensional code.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
The unmanned aerial vehicle autonomous take-off and landing technology is an important ring for realizing outdoor deployment and automatic flight of multi-rotor unmanned aerial vehicles. Multi-rotor drones need to take off and land on tarmac with a diameter of 1 meter or even less. Therefore, the precision landing technology is a technology which has high requirements on precision in the flight control technology.
Before the image identification based on deep learning is popular, the conventional landing method is assisted to land by means of GPS positioning, the civil-grade GPS positioning accuracy can reach about 10m, the error is large, and the error is increased or even the signal is lost when a GPS signal is in an area with more shelters, such as dense buildings or forests; and may even be disturbed by malicious satellite positioning signals to fall to the wrong location. The positioning accuracy of professional high-precision GPS RTK equipment reaches centimeter level, but the cost is high. After the deep learning technology is mature, the unmanned aerial vehicle landing technology starts to land by using an image recognition method.
Unmanned aerial vehicle independently descends the in-process through incessant discernment air park position, and dynamic adjustment unmanned aerial vehicle's horizontal position and height keep the air park to be located the camera lens intermediate position, realize that unmanned aerial vehicle descends the process by height to low. In the process, the patterns of the apron in the lens of the unmanned aerial vehicle are changed from small to large, which causes certain difficulty for a detection method based on the patterns of the apron with fixed size. If the pattern of the parking apron is large, the unmanned aerial vehicle can see clearly when hovering at a high place, but can not see the complete pattern but only see one part of the pattern at a low place; if the apron pattern is small, the drone can see the complete pattern when hovering low, but the drone is likely to be out of sight when hovering high.
In addition, how to prevent the multi-rotor drone from landing on the wrong apron is also a problem faced by large-scale deployment of drones. If the distance between the two air parks is very close, the unmanned aerial vehicle can see the two air parks when hovering at a high altitude, and how to select one of the air parks for landing; how to prevent the malicious and counterfeit apron from luring the unmanned aerial vehicle to land; therefore, bidirectional identity authentication between the unmanned aerial vehicle and the parking apron must be carried out in the landing process, on one hand, the unmanned aerial vehicle is guaranteed to land on the parking apron passing through the identity authentication, and on the other hand, the unmanned aerial vehicle passing through the identity authentication can only be allowed to land on the parking apron.
When the unmanned aerial vehicle of rotor descends at night, set up L ED lamp of H shape on the parking apron usually, guide unmanned aerial vehicle manual landing.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an unmanned aerial vehicle interactive accurate landing system and method based on a dynamic two-dimensional code; according to unmanned aerial vehicle apart from ground height dynamic adjustment two-dimensional code label size realize descending by the accurate guide of the interactive of height to end to unmanned aerial vehicle, realize the identity authentication of unmanned aerial vehicle to the air park through the two-dimensional code content of taking identity authentication, prevent that unmanned aerial vehicle from descending at the wrong position.
In a first aspect, the present disclosure provides an unmanned aerial vehicle interactive precision landing system based on a dynamic two-dimensional code;
unmanned aerial vehicle interactive accurate landing system based on developments two-dimensional code includes: an unmanned aerial vehicle and a base station;
the unmanned aerial vehicle comprises: the first controller is respectively connected with the camera, the first GPS module, the first communication module and the first power supply module;
the base station comprises a parking case, wherein a second controller is distributed in the parking case, the second controller is respectively connected with an L ED display screen, a second GPS module, a second communication module, a second power module, an electromagnetic lock and a driver, the driver is connected with two push-pull rods, and the driver is used for opening or closing the parking case for the unmanned aerial vehicle;
the first GPS module collects the current position information of the unmanned aerial vehicle, and transmits the current position information of the unmanned aerial vehicle to the first controller, the first controller transmits the current position information of the unmanned aerial vehicle to the first communication module, the second communication module of the base station is transmitted, the second controller is transmitted with the received current position information of the unmanned aerial vehicle, the second controller adjusts the display quantity and the display size of the two-dimensional code according to the received current position information of the unmanned aerial vehicle, and the unmanned aerial vehicle is guided to land stably on the parking apron.
In a second aspect, the present disclosure provides an unmanned aerial vehicle interactive accurate landing method based on a dynamic two-dimensional code;
an unmanned aerial vehicle interactive accurate landing method based on dynamic two-dimensional codes comprises the following steps:
the base station adjusts the display quantity and the display size of the two-dimensional code according to the received current position information of the unmanned aerial vehicle, and the unmanned aerial vehicle is guided to stably land on the parking apron.
An unmanned aerial vehicle interactive accurate landing method based on dynamic two-dimensional codes comprises the following specific steps:
s100: the unmanned aerial vehicle sets a self route according to GPS position information provided by the base station, and flies to the upper part of the parking box according to the set route;
s200: the unmanned aerial vehicle judges whether the unmanned aerial vehicle is positioned right above the parking case according to the GPS position information provided by the base station and the GPS position information acquired by the unmanned aerial vehicle, if so, S300 is executed, and if not, S100 is returned;
s300, the unmanned aerial vehicle sends a landing request instruction to the base station, the base station identifies the identity of the unmanned aerial vehicle, judges whether the identity check is passed or not, and if not, the base station sends landing refusing information to the unmanned aerial vehicle, if so, the base station controls the shutdown box to be opened, and an L ED display screen of the base station controls the parking apron to display a large two-dimensional code;
s400, the unmanned aerial vehicle acquires L ED display screen display large two-dimensional code images, calculates the relative offset between the position of the unmanned aerial vehicle and the parking apron, adjusts the position of the unmanned aerial vehicle according to the relative offset, and continues descending after the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle;
s500: the unmanned aerial vehicle judges whether the height of the unmanned aerial vehicle is larger than a first set threshold value, if so, the unmanned aerial vehicle returns to S400; if not, the unmanned aerial vehicle sends an instruction that the current height of the unmanned aerial vehicle is smaller than a first set threshold value to the base station;
s600, after the base station receives an instruction that the height of the current unmanned aerial vehicle is smaller than a first set threshold value, the base station controls an L ED display screen of the air park to display five small two-dimensional codes, wherein one of the five small two-dimensional codes is positioned at the center of the air park of the base station, and the other four small two-dimensional codes are positioned at four corners of the air park of the base station;
s700, the unmanned aerial vehicle acquires L one of two-dimensional code images on four corners displayed by an ED display screen, the unmanned aerial vehicle calculates the relative offset between the position of the unmanned aerial vehicle and an air park according to the two-dimensional code on the corners of the air park of the base station, the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle according to the relative offset, and the unmanned aerial vehicle continues to descend after adjusting the position of the unmanned aerial vehicle;
s800: the unmanned aerial vehicle judges whether the unmanned aerial vehicle falls onto the parking apron, and if so, the unmanned aerial vehicle stops the propeller; if not, the process returns to S700.
Compared with the prior art, the beneficial effect of this disclosure is:
carry out the descending of position accurate, safe and reliable, increase the descending degree of accuracy and the security of rotor unmanned aerial vehicle, can realize that unmanned aerial vehicle from apart from ground 100 meters height descend to the parking apron of ground 0.5m × 0.5.5 m or even littleer, realize the authentication of unmanned aerial vehicle to the parking apron through the two-dimensional code content of taking the identity authentication, prevent that unmanned aerial vehicle from descending on wrong position or counterfeit parking apron.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is an internal electrical structure diagram of the unmanned aerial vehicle of the first embodiment;
FIG. 2 is an electrical structural view of the inside of the shutdown box of the first embodiment;
FIG. 3 is a schematic structural view of a shutdown box of the first embodiment;
FIG. 4 is a schematic view of the shut down tank top cover of the first embodiment in a closed condition;
fig. 5 is a schematic view of the drone of the first embodiment positioned above the parking box by a distance of more than 3 meters;
fig. 6 is a schematic diagram of the drone of the first embodiment located within 3 meters of the parking space;
fig. 7 is a control flow diagram of the landing process of the unmanned aerial vehicle according to the first embodiment;
the parking apron comprises a rectangular shell 1, a rectangular shell 2, an apron body 3, a second controller 4 and a supporting rod.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The first embodiment provides an unmanned aerial vehicle interactive accurate landing system based on a dynamic two-dimensional code;
unmanned aerial vehicle interactive accurate landing system based on developments two-dimensional code includes: an unmanned aerial vehicle and a base station;
the unmanned aerial vehicle comprises: the first controller is respectively connected with the camera, the first GPS module, the first communication module and the first power supply module;
the base station comprises a parking case, wherein a second controller is distributed in the parking case, the second controller is respectively connected with an L ED display screen, a second GPS module, a second communication module, a second power module, an electromagnetic lock and a driver, the driver is connected with two push-pull rods, and the driver is used for opening or closing the parking case for the unmanned aerial vehicle;
the first GPS module collects the current position information of the unmanned aerial vehicle, and transmits the current position information of the unmanned aerial vehicle to the first controller, the first controller transmits the current position information of the unmanned aerial vehicle to the first communication module, the second communication module of the base station is transmitted, the second controller is transmitted with the received current position information of the unmanned aerial vehicle, the second controller adjusts the display quantity and the display size of the two-dimensional code according to the received current position information of the unmanned aerial vehicle, and the unmanned aerial vehicle is guided to land stably on the parking apron.
Further, a multi-axis mechanical arm is installed right below the unmanned aerial vehicle, a cloud platform is installed at the tail end of the multi-axis mechanical arm, and a camera is installed on the cloud platform.
Furthermore, the parking machine box is installed on the parking frame, the parking frame comprises a parking apron, the parking apron is connected with four supporting rods, and the supporting rods are used for supporting the parking apron.
Further, a parking case is installed on the parking apron and comprises two cuboid shells which are respectively a first cuboid shell and a second cuboid shell;
the first cuboid shell and the second cuboid shell are consistent in shape;
the first rectangular parallelepiped housing includes: the first top surface and the three side surfaces are connected to form a semi-closed shell, and the unclosed surface faces to the center of the apron;
the second rectangular parallelepiped housing also includes: the second top surface and the three side surfaces are connected to form a semi-closed shell, and the unclosed surface faces to the center of the apron;
the two push-pull rods are respectively a first push-pull rod and a second push-pull rod;
one end of the first push-pull rod is fixed on the first cuboid shell, and the other end of the first push-pull rod is fixed on the driver;
one end of the second push-pull rod is fixed on the second cuboid shell, and the other end of the second push-pull rod is fixed on the driver;
the driver is arranged on the surface of the parking apron.
The driver is used for driving the first push-pull rod and the second push-pull rod to move so as to drive the first cuboid shell and the second cuboid object to be closed and opened; the protection and the work cooperation of the case to the unmanned aerial vehicle are stopped.
The L ED display screen is arranged in the central area of the parking apron, and the L ED display screen guides the unmanned aerial vehicle to stably land on the parking apron by displaying one two-dimensional code or five two-dimensional codes.
The L ED display screen is waterproof high resolution display, can show the two-dimensional code dynamically.
It should be understood that the dynamic display here means that the update is performed every set time.
The camera is used for acquiring image information right below the unmanned aerial vehicle and transmitting the acquired image information to the first controller for analysis and processing;
the first power module is used for supplying power to all electrical components of the unmanned aerial vehicle parking box.
The second GPS module is used for collecting the position of the base station, transmitting the position of the base station to the first communication module of the unmanned aerial vehicle through the second communication module, transmitting the position of the base station to the first controller through the first communication module, and adjusting the flight path of the unmanned aerial vehicle by the first controller according to the position of the base station to guide the unmanned aerial vehicle to find the base station to which the unmanned aerial vehicle belongs.
The electromagnetic lock is installed at the edge of two cuboid casings, and when first cuboid casing and second cuboid casing were closed, the second controller controlled electromagnetic lock was closed, realized protection unmanned aerial vehicle's purpose.
Secondly, the embodiment provides an unmanned aerial vehicle interactive accurate landing method based on a dynamic two-dimensional code;
as shown in fig. 7, the method for interactive accurate unmanned aerial vehicle landing based on dynamic two-dimensional codes includes:
the base station adjusts the display quantity and the display size of the two-dimensional code according to the received current position information of the unmanned aerial vehicle, and the unmanned aerial vehicle is guided to stably land on the parking apron.
An unmanned aerial vehicle interactive accurate landing method based on dynamic two-dimensional codes comprises the following specific steps:
s100: the unmanned aerial vehicle sets a self route according to GPS position information provided by the base station, and flies to the upper part of the parking box according to the set route;
s200: the unmanned aerial vehicle judges whether the unmanned aerial vehicle is positioned right above the parking case according to the GPS position information provided by the base station and the GPS position information acquired by the unmanned aerial vehicle, if so, S300 is executed, and if not, S100 is returned;
s300, the unmanned aerial vehicle sends a landing request instruction to the base station, the base station identifies the identity of the unmanned aerial vehicle, judges whether the identity check is passed or not, and if not, the base station sends landing refusing information to the unmanned aerial vehicle, if so, the base station controls the shutdown box to be opened, and an L ED display screen of the base station controls the parking apron to display a large two-dimensional code;
s400, the unmanned aerial vehicle acquires L ED display screen display large two-dimensional code images, calculates the relative offset between the position of the unmanned aerial vehicle and the parking apron, adjusts the position of the unmanned aerial vehicle according to the relative offset, and continues descending after the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle;
s500: the unmanned aerial vehicle judges whether the height of the unmanned aerial vehicle is larger than a first set threshold value, if so, the unmanned aerial vehicle returns to S400; if not, the unmanned aerial vehicle sends an instruction that the current height of the unmanned aerial vehicle is smaller than a first set threshold value to the base station;
s600, after the base station receives an instruction that the height of the current unmanned aerial vehicle is smaller than a first set threshold value, the base station controls an L ED display screen of the air park to display five small two-dimensional codes, wherein one of the five small two-dimensional codes is positioned at the center of the air park of the base station, and the other four small two-dimensional codes are positioned at four corners of the air park of the base station;
s700, the unmanned aerial vehicle acquires L one of two-dimensional code images on four corners displayed by an ED display screen, the unmanned aerial vehicle calculates the relative offset between the position of the unmanned aerial vehicle and an air park according to the two-dimensional code on the corners of the air park of the base station, the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle according to the relative offset, and the unmanned aerial vehicle continues to descend after adjusting the position of the unmanned aerial vehicle;
s800: the unmanned aerial vehicle judges whether the unmanned aerial vehicle falls onto the parking apron, and if so, the unmanned aerial vehicle stops the propeller; if not, the process returns to S700.
The large two-dimensional code and the small two-dimensional code are relative. The area of the large two-dimensional code is equal to the area of the display screen; the area of the small two-dimensional code is smaller than one fifth of the area of the display screen.
As one or more embodiments, S100: the unmanned aerial vehicle sets a self route according to GPS position information provided by the base station, and flies to the upper part of the parking box according to the set route; the method comprises the following specific steps:
unmanned aerial vehicle acquires the base station position information uploaded by the second GPS module of the base station, unmanned aerial vehicle acquires the self position information acquired by the first GPS module of the unmanned aerial vehicle, and according to the base station position information and the self position information, a horizontal direction air route of the unmanned aerial vehicle is set, and the unmanned aerial vehicle flies to the air of the parking box according to the set horizontal direction air route.
As one or more embodiments, S300: unmanned aerial vehicle sends the request to the basic station and descends the instruction, and the basic station carries out identification to unmanned aerial vehicle, judges whether identity is examined and approved, and concrete step includes:
a first communication module of the unmanned aerial vehicle sends a landing request instruction and an ID number of the unmanned aerial vehicle to a second communication module of the base station;
the second communication module of the base station sends the landing request instruction and the ID number of the unmanned aerial vehicle to a second controller of the base station;
the second controller of the base station matches the ID number of the unmanned aerial vehicle with a pre-stored ID number of the unmanned aerial vehicle, and if the matching is successful, the identity of the current unmanned aerial vehicle is qualified; otherwise, the unmanned aerial vehicle identity is unqualified.
As one or more embodiments, the base station controls the parking case to be opened, and an L ED display screen of the base station controls the parking apron to display a large two-dimensional code, and the method comprises the following specific steps:
a second controller of the base station controls the driver to drive a second push-pull rod of the first push-pull rod to separate the first cuboid shell and the second cuboid object by a set distance, so that the opening of the stopped case is realized;
the base station controls an L ED display screen of the parking apron to display a large two-dimensional code, and the area of the large two-dimensional code is larger than or equal to the set area.
As one or more embodiments, S400, the unmanned aerial vehicle acquires L an image of a large two-dimensional code displayed on an ED display screen, and the specific steps include:
after the unmanned aerial vehicle collects L ED display screen display large two-dimensional code image, the unmanned aerial vehicle identifies the large two-dimensional code image, identifies current apron ID, matches the current apron ID with the degradable apron ID pre-stored in the first controller of the unmanned aerial vehicle, if the matching is successful, the current apron is qualified, otherwise, the current apron is unqualified, the unmanned aerial vehicle flies away from the apron unqualified in current identity, and the unmanned aerial vehicle is prevented from being maliciously stolen.
As one or more embodiments, S500: the unmanned aerial vehicle judges whether the height of the unmanned aerial vehicle is larger than a first set threshold value, if so, the unmanned aerial vehicle returns to S400; if not, the unmanned aerial vehicle sends an instruction that the current height of the unmanned aerial vehicle is smaller than a first set threshold value to the base station; it should be understood that the first setting threshold value can be selected by one skilled in the art according to the actual situation, for example, 3 meters, 4 meters or 5 meters.
As one or more embodiments, S600, after receiving an instruction that the current height of an unmanned aerial vehicle is smaller than a first set threshold value, a base station controls an L ED display screen of an apron to display five small two-dimensional codes, and the method specifically comprises the steps that the areas of all the small two-dimensional codes in the five small two-dimensional codes are the same, the areas of all the small two-dimensional codes are smaller than the set area threshold value, four small two-dimensional codes are arranged at four corners of the display screen, and the remaining small two-dimensional code is arranged at the center of the display screen.
As one or more embodiments, S700, the unmanned aerial vehicle acquires L ED five small two-dimensional code images displayed on a display screen, calculates the relative offset between the position of the unmanned aerial vehicle and an air park, adjusts the position of the unmanned aerial vehicle according to the relative offset, and continues to descend after adjusting the position of the unmanned aerial vehicle, the specific steps include:
after the unmanned aerial vehicle collects L ED five small two-dimensional code images displayed on a display screen, the unmanned aerial vehicle identifies a center image in the five small two-dimensional code images, identifies a current apron ID, matches the current apron ID with a degradable apron ID pre-stored in a first controller of the unmanned aerial vehicle, if the matching is successful, the current apron is a qualified apron, otherwise, the current apron is a unqualified apron, the unmanned aerial vehicle flies away from the unqualified apron, and the unmanned aerial vehicle is prevented from being stolen maliciously;
four images except the central image in the five small two-dimensional code images are respectively arranged at four corners of the display screen, the four small two-dimensional code images at the four corners respectively represent different digital labels, after the unmanned aerial vehicle collects one of the four images of the different digital labels, the relative translation amount of the self horizontal position and the horizontal position of the parking apron is calculated, the unmanned aerial vehicle is guided to adjust the horizontal position of the unmanned aerial vehicle according to the horizontal relative offset, and after the adjustment, the unmanned aerial vehicle continues to descend.
The unmanned aerial vehicle is used for protecting the unmanned aerial vehicle parked inside before taking off or after landing, as shown in fig. 2, after the unmanned aerial vehicle takes off, the unmanned aerial vehicle is closed, when the unmanned aerial vehicle executes a task and returns to the position above the apron, a request landing notification is sent to the second controller of the base station in a wireless mode, after the second controller of the base station checks the identity of the unmanned aerial vehicle, if the identity passes authentication, the unmanned aerial vehicle is opened, an L ED display screen of the apron is exposed, a L ED display screen is powered on, and a two-dimensional code label containing the apron ID is displayed.
As shown in figure 3, when the distance between the unmanned aerial vehicle and the ground is larger than a certain threshold (for example, 3 meters), the whole area of an L ED screen is used for displaying a two-dimensional code containing an apron ID, and the displayed pixel granularity is larger, so that the remote image recognition of the unmanned aerial vehicle is facilitated.
When the unmanned aerial vehicle is about 3 meters away from the ground, the current height information is sent to the second controller of the base station, and the second controller of the base station modifies L ED screen patterns and displays five smaller two-dimensional codes, so that the lens of the unmanned aerial vehicle can still see at least one complete two-dimensional code.
As shown in fig. 4, four of the five small two-dimensional codes are located at four corners of the apron, and one is located at the middle position. The two-dimensional code label in the middle of the air park is a main identification label, the encrypted air park ID is displayed, the labels of the two-dimensional code labels on the four corners are different, the main function is that when the problem that the unmanned aerial vehicle hovers when the anemometry is large is solved, the horizontal offset can occur, after the unmanned aerial vehicle detects the label on a certain corner, the offset angle and the offset distance relative to the central point of the air park are obtained according to the label number, then the two-dimensional code label reversely moves to return to the center of the air park, and then the landing is continued.
All two-dimensional codes can use the positioning labels similar to AprilTags, help unmanned aerial vehicle obtain the three-dimensional space distance and angle apart from the label, this is the key that improves the landing accuracy, the main process is the color image that contains the two-dimensional code label that the camera shot, filter the image, remove noise, calculate the gradient of pixel and draw the edge with the cluster, the fitting edge line, add the vector from dark area directional bright area for the edge line, connect the edge line and obtain the quad return circuit, judge the quad return circuit and decode, acquire the camera parameter, discern the two-dimensional code ID, construct the equation of gesture data, solve and obtain unmanned aerial vehicle and use the three-dimensional space position and the angle that the two-dimensional code center point was the origin, the two-dimensional code plane is the reference plane.
As shown in figure 1, the parking box comprises a cuboid shell, a parking apron, a second controller and a supporting rod, wherein the cuboid shell is in an electrically-controlled triggering bidirectional opening and centered closing mode, when an unmanned aerial vehicle is parked in the parking box, the cuboid shell is closed to prevent theft or rain, when the unmanned aerial vehicle flies, the cuboid shell is opened, the unmanned aerial vehicle flies out of the parking box to execute a flight task, the parking apron mainly comprises a high-resolution L ED display screen which can display two-dimensional codes output by the controller, the controller is developed by an ARM low-power-consumption embedded system and is in wireless communication with a background management system and the unmanned aerial vehicle, and the supporting rod plays a role in supporting the parking box.
The cuboid shell is used for protecting an unmanned aerial vehicle parked inside before taking off or after landing. As shown in FIG. 2, when unmanned aerial vehicle does not execute the flight mission, place on the inside parking apron of parking box, the cuboid casing is closed, adds the electric control lock, prevents that wind from blowing rain and drenching, the action of stealing. After the unmanned aerial vehicle carries out the task and takes off, the cuboid casing is closed.
AprilTags form red patterns, which are more easily recognized in the case of fog, night and the like, and black backgrounds, which show the labels of different sizes in FIG. 1 according to the height of the UAV.
The sizes of the two-dimensional codes at the four corners are 4cm by 4cm, the size of the two-dimensional code at the largest middle position is 30cm by 30cm, and the sizes of the two-dimensional codes at the edges are 8cm by 8 cm;
the reason for the label distribution will be described next in connection with the drop flow.
As shown in fig. 5, it is a schematic flow diagram of the precise landing of the unmanned aerial vehicle of the present invention.
During the experiment, when unmanned aerial vehicle to the sky of air park, adjust the camera to the downward direction for the air park appears in camera field of vision scope, and the recognition begins next.
Before that, a checkerboard method is used for calibrating a high-definition video camera, internal parameters including the focal length and distortion parameters of the video camera are acquired, a video stream is acquired through an unmanned aerial vehicle holder, an April Tags mark in an image is detected and identified through an image processing algorithm, the calibrated camera parameters are used for carrying out relative positioning on an apron in combination with the April Tags mark, and a rotation angle relative to the camera is calculated according to a returned pose and an Eigen library.
If the height of the unmanned aerial vehicle is larger than 3m, the unmanned aerial vehicle recognizes the two-dimensional code label of the pattern shown in fig. 3. When the recognition result is returned, the unmanned aerial vehicle hovers at the current height, the result is compared with the preset error value, and the position adjustment in the horizontal direction is carried out through a control algorithm until the error range is met.
The unmanned aerial vehicle height is less than or equal to 3m, current height information is sent to the second controller, the second controller modifies L ED screen pattern, shows five little two-dimensional codes, and unmanned aerial vehicle discerns a label in the middle or a certain label on four angles, calculates the positive direction of the air park positive direction arrow image that unmanned aerial vehicle actually gathered and calculates the deviation of unmanned aerial vehicle's actual direction through the label, carries out the angular adjustment in unmanned aerial vehicle positive direction.
As indicated by the arrow in fig. 6, the positive direction of the apron, i.e. the direction the lens should face after the unmanned aerial vehicle has descended, is convenient for the next operation such as replacing the battery or charging. The minimum error of the angle in the positive direction is 10-30 degrees, whether the horizontal distance acquired by current image recognition meets the error range is compared, and if the horizontal distance meets the set value, the landing operation is executed; if not, hovering the current position, and correcting the horizontal distance until the error range is met.
As shown in fig. 4, four of the five small two-dimensional codes are located at four corners of the apron, and one is located at the middle position. The two-dimensional code label in the middle of the apron is a main identification label, and the encrypted apron ID is displayed; the two-dimensional code label on the four corners is different, and the main effect is hovering the problem that can take place horizontal offset when solving the anemometry great.
As shown in fig. 6, recalculating the adjustment amount according to the difference between the coordinates of the two-dimensional code tag in the field of view and the coordinates of the center of the screen; especially, the aprilTags label in the middle of the parking apron does not exist in the visual field range of the camera, a certain label on four corners appears, the unmanned aerial vehicle hovers to obtain the current horizontal displacement and adjust the position in the horizontal direction until the unmanned aerial vehicle is moved to the center of the aprilTags label in the middle of the parking apron, and then the flying height is reduced until the unmanned aerial vehicle lands on the parking apron.
The method comprises the following steps that the position of an air park in a screen is recorded all the time when the unmanned aerial vehicle lands, if the air speed is too high, the unmanned aerial vehicle can move towards the last recorded position and gradually rises in height at the same time when the unmanned aerial vehicle loses the position of the air park, and in the process, an adjustment value is recalculated; if the apron has not been found, the drone will be guided to adjust by means of GPS.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (10)
1. Interactive accurate descending system of unmanned aerial vehicle based on developments two-dimensional code, characterized by includes: an unmanned aerial vehicle and a base station;
the unmanned aerial vehicle comprises: the first controller is respectively connected with the camera, the first GPS module, the first communication module and the first power supply module;
the base station comprises a parking case, wherein a second controller is distributed in the parking case, the second controller is respectively connected with an L ED display screen, a second GPS module, a second communication module, a second power module, an electromagnetic lock and a driver, the driver is connected with two push-pull rods, and the driver is used for opening or closing the parking case for the unmanned aerial vehicle;
the first GPS module collects the current position information of the unmanned aerial vehicle, and transmits the current position information of the unmanned aerial vehicle to the first controller, the first controller transmits the current position information of the unmanned aerial vehicle to the first communication module, the second communication module of the base station is transmitted, the second controller is transmitted with the received current position information of the unmanned aerial vehicle, the second controller adjusts the display quantity and the display size of the two-dimensional code according to the received current position information of the unmanned aerial vehicle, and the unmanned aerial vehicle is guided to land stably on the parking apron.
2. The system of claim 1, wherein a multi-axis mechanical arm is installed right below the unmanned aerial vehicle, a tripod head is installed at the tail end of the multi-axis mechanical arm, and a camera is installed on the tripod head;
the parking machine box is installed on a parking rack, the parking rack comprises a parking apron, the parking apron is connected with four support rods, and the support rods are used for supporting the parking apron;
a parking case is installed on the parking apron and comprises two cuboid shells which are respectively a first cuboid shell and a second cuboid shell;
the first cuboid shell and the second cuboid shell are consistent in shape;
the first rectangular parallelepiped housing includes: the first top surface and the three side surfaces are connected to form a semi-closed shell, and the unclosed surface faces to the center of the apron;
the second rectangular parallelepiped housing also includes: the second top surface and the three side surfaces are connected to form a semi-closed shell, and the unclosed surface faces to the center of the apron;
the two push-pull rods are respectively a first push-pull rod and a second push-pull rod;
one end of the first push-pull rod is fixed on the first cuboid shell, and the other end of the first push-pull rod is fixed on the driver;
one end of the second push-pull rod is fixed on the second cuboid shell, and the other end of the second push-pull rod is fixed on the driver;
the driver is arranged on the surface of the parking apron;
the driver is used for driving the first push-pull rod and the second push-pull rod to move so as to drive the first cuboid shell and the second cuboid object to be closed and opened; the protection and the work cooperation of the case to the unmanned aerial vehicle are stopped.
3. The system as claimed in claim 1, wherein the L ED display screen is arranged in the central area of the parking apron, and the L ED display screen guides the unmanned aerial vehicle to land on the parking apron smoothly by displaying one two-dimensional code or five two-dimensional codes;
the L ED display screen is a waterproof high-resolution display and can dynamically display the two-dimensional code;
the camera is used for acquiring image information right below the unmanned aerial vehicle and transmitting the acquired image information to the first controller for analysis and processing;
the first power supply module is used for supplying power to all electrical components of the unmanned aerial vehicle parking box;
the second GPS module is used for acquiring the position of the base station, transmitting the position of the base station to the first communication module of the unmanned aerial vehicle through the second communication module, transmitting the position of the base station to the first controller through the first communication module, and adjusting the flight route of the unmanned aerial vehicle by the first controller according to the position of the base station to guide the unmanned aerial vehicle to find the base station to which the unmanned aerial vehicle belongs;
the electromagnetic lock is installed at the edge of two cuboid casings, and when first cuboid casing and second cuboid casing were closed, the second controller controlled electromagnetic lock was closed, realized protection unmanned aerial vehicle's purpose.
4. Unmanned aerial vehicle interactive accurate landing method based on dynamic two-dimensional code is characterized by comprising the following steps:
the base station adjusts the display quantity and the display size of the two-dimensional code according to the received current position information of the unmanned aerial vehicle, and the unmanned aerial vehicle is guided to stably land on the parking apron.
5. The method as claimed in claim 4, wherein the base station adjusts the display number and the display size of the two-dimensional code according to the received current position information of the unmanned aerial vehicle, so as to guide the unmanned aerial vehicle to land on the parking apron stably; the method comprises the following specific steps:
the method comprises the steps that an unmanned aerial vehicle acquires L ED display screen displaying a large two-dimensional code image, the unmanned aerial vehicle calculates the relative offset between the position of the unmanned aerial vehicle and an air park, the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle according to the relative offset, and the unmanned aerial vehicle continues to descend after adjusting the position of the unmanned aerial vehicle;
the unmanned aerial vehicle judges whether the height of the unmanned aerial vehicle is larger than a first set threshold value, and if so, the unmanned aerial vehicle returns to the previous step; if not, the unmanned aerial vehicle sends an instruction that the current height of the unmanned aerial vehicle is smaller than a first set threshold value to the base station;
after the base station receives the instruction that the height of the current unmanned aerial vehicle is smaller than the first set threshold value, the L ED display screen of the base station for controlling the air park displays five small two-dimensional codes, wherein one of the five small two-dimensional codes is positioned at the center of the air park of the base station, and the other four small two-dimensional codes are positioned at four corners of the air park of the base station;
the unmanned aerial vehicle acquires L ED display screen, calculates the relative offset between the position of the unmanned aerial vehicle and an air park according to the two-dimensional codes on the corners of the air park of the base station, adjusts the position of the unmanned aerial vehicle according to the relative offset, and continues to descend after the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle;
the unmanned aerial vehicle judges whether the unmanned aerial vehicle falls onto the parking apron, and if so, the unmanned aerial vehicle stops the propeller; if not, returning to the previous step.
6. The method of claim 5, wherein the step of collecting of the method is preceded by the step of:
a route setting step: the unmanned aerial vehicle sets a self route according to GPS position information provided by the base station, and flies to the upper part of the parking box according to the set route;
the unmanned aerial vehicle judges whether the unmanned aerial vehicle is positioned right above the parking case according to the GPS position information provided by the base station and the GPS position information acquired by the unmanned aerial vehicle, if so, the next step is executed, and if not, the next step is returned to the air route setting step;
the unmanned aerial vehicle sends a landing request instruction to the base station, the base station identifies the identity of the unmanned aerial vehicle, judges whether the identity check is passed or not, if not, the base station sends landing refusal information to the unmanned aerial vehicle, if so, the base station controls the shutdown box to be opened, and an L ED display screen of the base station controls the parking apron to display a large two-dimensional code.
7. The method as claimed in claim 6, wherein the unmanned aerial vehicle sets its own route according to the GPS position information provided by the base station, and the unmanned aerial vehicle flies above the parking box according to the set route; the method comprises the following specific steps:
unmanned aerial vehicle acquires the base station position information uploaded by the second GPS module of the base station, unmanned aerial vehicle acquires the self position information acquired by the first GPS module of the unmanned aerial vehicle, and according to the base station position information and the self position information, a horizontal direction air route of the unmanned aerial vehicle is set, and the unmanned aerial vehicle flies to the air of the parking box according to the set horizontal direction air route.
8. The method as claimed in claim 6, wherein the unmanned aerial vehicle sends a landing request command to the base station, and the base station identifies the identity of the unmanned aerial vehicle and determines whether the identity audit is passed, and the specific steps include:
a first communication module of the unmanned aerial vehicle sends a landing request instruction and an ID number of the unmanned aerial vehicle to a second communication module of the base station;
the second communication module of the base station sends the landing request instruction and the ID number of the unmanned aerial vehicle to a second controller of the base station;
the second controller of the base station matches the ID number of the unmanned aerial vehicle with a pre-stored ID number of the unmanned aerial vehicle, and if the matching is successful, the identity of the current unmanned aerial vehicle is qualified; otherwise, the unmanned aerial vehicle identity is unqualified.
9. The method as claimed in claim 6, wherein the base station controls the shutdown box to be opened, and the L ED display screen of the base station controls the parking apron to display a large two-dimensional code, and the method comprises the following specific steps:
a second controller of the base station controls the driver to drive a second push-pull rod of the first push-pull rod to separate the first cuboid shell and the second cuboid object by a set distance, so that the opening of the stopped case is realized;
the base station controls an L ED display screen of the parking apron to display a large two-dimensional code, and the area of the large two-dimensional code is larger than or equal to the set area.
10. The method as claimed in claim 5, wherein the unmanned aerial vehicle acquires L a large two-dimensional code image displayed on the ED display screen, and the specific steps include:
after the unmanned aerial vehicle collects L ED display screen display large two-dimensional code image, the unmanned aerial vehicle identifies the large two-dimensional code image, identifies current parking apron ID, matches the current parking apron ID with the degradable parking apron ID pre-stored in the first controller of the unmanned aerial vehicle, if the matching is successful, the current parking apron is identified as qualified parking apron, otherwise, the current parking apron is identified as unqualified parking apron, the unmanned aerial vehicle flies away from the unqualified parking apron, and the unmanned aerial vehicle is prevented from being maliciously stolen;
alternatively, the first and second electrodes may be,
the method comprises the following steps that after a base station receives an instruction that the height of a current unmanned aerial vehicle is smaller than a first set threshold value, the base station controls an L ED display screen of an air park to display five small two-dimensional codes, wherein the areas of all the small two-dimensional codes are the same in the five small two-dimensional codes, and the areas of all the small two-dimensional codes are smaller than the set area threshold value;
alternatively, the first and second electrodes may be,
the unmanned aerial vehicle acquires L ED display screen to display one of two-dimensional code images on four corners, the unmanned aerial vehicle calculates the relative offset between the position of the unmanned aerial vehicle and an air park according to two-dimensional codes on the corners of the air park of the base station, the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle according to the relative offset, and the unmanned aerial vehicle continues to descend after adjusting the position of the unmanned aerial vehicle, wherein the specific steps comprise:
after the unmanned aerial vehicle collects L ED five small two-dimensional code images displayed on a display screen, the unmanned aerial vehicle identifies a center image in the five small two-dimensional code images, identifies a current apron ID, matches the current apron ID with a degradable apron ID pre-stored in a first controller of the unmanned aerial vehicle, if the matching is successful, the current apron is a qualified apron, otherwise, the current apron is a unqualified apron, the unmanned aerial vehicle flies away from the unqualified apron, and the unmanned aerial vehicle is prevented from being stolen maliciously;
four images except the central image in the five small two-dimensional code images are respectively arranged at four corners of the display screen, the four small two-dimensional code images at the four corners respectively represent different digital labels, after the unmanned aerial vehicle collects one of the four images of the different digital labels, the relative translation amount of the self horizontal position and the horizontal position of the parking apron is calculated, the unmanned aerial vehicle is guided to adjust the horizontal position of the unmanned aerial vehicle according to the horizontal relative offset, and after the adjustment, the unmanned aerial vehicle continues to descend.
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