CN101975569A - Height measuring method of unmanned helicopter based on laser detection and image recognition - Google Patents
Height measuring method of unmanned helicopter based on laser detection and image recognition Download PDFInfo
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- CN101975569A CN101975569A CN2010102975563A CN201010297556A CN101975569A CN 101975569 A CN101975569 A CN 101975569A CN 2010102975563 A CN2010102975563 A CN 2010102975563A CN 201010297556 A CN201010297556 A CN 201010297556A CN 101975569 A CN101975569 A CN 101975569A
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Abstract
The invention relates to a height measuring method of an unmanned helicopter based on laser detection and image recognition, belonging to the field of flight control of the unmanned helicopter. The method is characterized in that an airborne camera, a laser transmitter and a flight control computer are included, wherein optical axes of the laser transmitter and the airborne camera are coplanar and keep a constant included angle, the airborne camera maintains vertically downward, and the flight control computer can calculate the height of a helicopter to the ground by detecting the positions of laser spots in an image plane of the camera. In the invention, the flight height of the unmanned helicopter to the ground can be accurately measured by only needing to install a laser transmitter on a tripod head of the traditional unmanned helicopter.
Description
Technical field
The present invention is used for the method that depopulated helicopter is measured the Live Flying height, can measure the height of depopulated helicopter apart from ground accurately, and is few for the weightening finish of depopulated helicopter machine simultaneously.Be mainly used in technical fields such as Aero-Space, unmanned plane, robot.
Background technology
Depopulated helicopter is usually in low-latitude flying.Therefore, highly measurement is most important for the safe flight of depopulated helicopter accurately and reliably.Traditional depopulated helicopter height is measured and is mainly adopted four kinds of barometric altimeter, GPS (Global Positioning System) and ultrasonic height meter and laser altimeters.More than four kinds of height measurement methods comparatively commonly used, relative merits are also respectively arranged: barometric altimeter weight is the lightest, but can only measure the sea level elevation of helicopter, and not the energy measurement helicopter apart from the true altitude on ground; GPS weight is lighter, but also can only measure the sea level elevation of helicopter, and the energy measurement helicopter is not apart from the true altitude on ground; Ultrasonic height meter weight is lighter, can measure the true altitude of helicopter apart from ground, but the common not enough 10m of its range is difficult to mainly act in the performance in-flight of helicopter; Laser radar can be measured the Live Flying height of helicopter apart from ground, but its weight is bigger, and costs an arm and a leg, and is not therefore equipped by small-sized depopulated helicopter usually.
The prior reconnaissance strip because the present situation of above four kinds of height measurement methods, depopulated helicopter are had to usually, the flying height that guarantees depopulated helicopter are on the height of whole barriers, thus the assurance flight safety.Therefore, but depopulated helicopter presses for a kind of can effectively the measurement apart from the implementation method of ground Live Flying height.
The present invention is by fixedly mounting a generating laser on airborne video camera side, make generating laser, airborne video camera and flight-control computer three primordial in the depopulated helicopter altitude measurement system of laser acquisition and image recognition, thereby can effectively measure the Live Flying height of depopulated helicopter apart from ground.Through investigation, similar invention is not arranged at present as yet, promptly adopt depopulated helicopter Live Flying height measurement method to occur based on laser acquisition and image recognition.
The present invention can measure the Live Flying height of depopulated helicopter in real time, and depopulated helicopter can be measured apart from ground Live Flying height in flight course in real time, exactly.Altitude information in view of the above, depopulated helicopter real time altering flying height is avoided bumping with ground obstacle.In addition, the present invention simultaneously can also with the ultrasonic height meter, barometric altimeter or GPS (Global Positioning System) form the remaining height-finding system, increasing helicopter height measuring reliability, and then the security that improves unmanned helicopter flight.In addition, the present invention is simple and reliable for structure, only needs to add a generating laser and can realize range finding on the depopulated helicopter of routine.Its advantage is to survey high precision, and it is big to survey high scope, simple and reliable, repacking easily, and for the depopulated helicopter weightening finish seldom.
Summary of the invention
The object of the present invention is to provide a kind of method that depopulated helicopter is found range to object on every side that is used for awing.
It is characterized in that, contain: airborne video camera, generating laser and flight-control computer, wherein, generating laser optical axis and airborne camera optical axis coplane also keep constant angle, airborne video camera keeps straight down, flight-control computer can calculate the height of helicopter apart from ground according to following formula by the position of detection laser luminous point in camera review:
H＝(L-x)cotθ
Wherein: H is the height of depopulated helicopter apart from ground, θ is the fixed angle between generating laser and the airborne camera optical axis, L is the distance between generating laser top and the camera optical axis, x is the coordinate of laser spot in the camera review plane (intersection point with laser beam axis and camera plane is an initial point, is positive dirction with place one side of generating laser).
Because conventional depopulated helicopter all is equipped with flight-control computer and airborne video camera usually.Therefore the present invention only needs to add a generating laser and can accurately measure the Live Flying height on the depopulated helicopter of routine.The present invention can measure the Live Flying height of depopulated helicopter in real time, makes depopulated helicopter can measure the Live Flying height apart from ground in real time in flight course.Altitude information in view of the above, depopulated helicopter change of flight in real time height is avoided bumping with ground obstacle.In addition, the present invention can also form the remaining height-finding system with ultrasonic height meter, barometric altimeter or GPS (Global Positioning System) simultaneously, with increase helicopter height measuring reliability, and then the security that improves unmanned helicopter flight.Therefore, major advantage of the present invention is accurately to measure Live Flying height, big, few for the depopulated helicopter weightening finish, the raising Helicopter Safety of measurement range, and simple and reliable, reequips easily and convenient use.
Description of drawings
Fig. 1 is based on the schematic diagram of the depopulated helicopter height measurement method of laser acquisition and image recognition.
1. depopulated helicopters among the figure, 2. flight-control computer, 3. generating laser, 4. airborne video camera, 5. camera review plane, 6. laser spot, 7. ground.
Embodiment
Enforcement based on depopulated helicopter (1) height measurement method of laser acquisition and image recognition needs airborne video camera (4), generating laser (3) and flight-control computer (2) collaborative work.
In the flight course of depopulated helicopter (1), generating laser (3) optical axis and airborne video camera (4) optical axis coplane also keep constant angle theta.Airborne video camera (4) keeps straight down.When shining ground (7), generating laser (3) emitted laser can produce laser spot (6) on its surface.Simultaneously, this laser spot (6) is caught by airborne video camera (4).
Airborne video camera (4) sends the taken image that comprises laser spot (6) to flight-control computer (2).Flight-control computer (2) can calculate the height of depopulated helicopter (1) apart from ground (7) by the position x of detection laser luminous point (6) in camera review plane (5).Computing formula is as follows:
H＝(L-x)cotθ
Wherein: H is the height of depopulated helicopter (1) apart from ground (7), θ is the fixed angle θ between generating laser (3) and airborne video camera (4) optical axis, L is the distance between generating laser (3) top and airborne video camera (4) optical axis, x is the coordinate of laser spot (6) in camera review plane (5) (the intersection point o with laser beam axis and camera plane (5) is an initial point, is positive dirction with place one side of generating laser (3)).
Claims (1)
1. based on the depopulated helicopter height measurement method of laser acquisition and image recognition, it is characterized in that, contain airborne video camera, generating laser and flight-control computer, wherein, generating laser optical axis and airborne camera optical axis coplane also keep constant angle, airborne video camera keeps straight down, and flight-control computer can calculate the height of helicopter apart from ground according to following formula by the position of detection laser luminous point in camera review:
H＝(L-x)cotθ
Wherein: H is the height of helicopter apart from ground, θ is the fixed angle between generating laser and the camera optical axis, L is the distance between generating laser top and the camera optical axis, x is the coordinate of laser spot in the camera review plane (with the optical axis is initial point, is positive dirction with place one side of generating laser).
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010102975563A CN101975569A (en) | 2010-09-29 | 2010-09-29 | Height measuring method of unmanned helicopter based on laser detection and image recognition |
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| CN2010102975563A CN101975569A (en) | 2010-09-29 | 2010-09-29 | Height measuring method of unmanned helicopter based on laser detection and image recognition |
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| CN101975569A true CN101975569A (en) | 2011-02-16 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103492967A (en) * | 2011-04-14 | 2014-01-01 | 赫克斯冈技术中心 | System and method for controlling an unmanned air vehicle |
| CN104269078A (en) * | 2014-09-23 | 2015-01-07 | 苏州天益航空科技有限公司 | Method for collision detection for agricultural plant protection unmanned aerial vehicle |
| CN104443410A (en) * | 2014-10-23 | 2015-03-25 | 黄守瑜 | Sensing device of agricultural unmanned helicopter |
| CN105824322A (en) * | 2016-05-11 | 2016-08-03 | 飞智控（天津）科技有限公司 | Unmanned plane terrain following system and method based on laser radar |
| US9758239B2 (en) | 2011-04-14 | 2017-09-12 | Hexagon Technology Center Gmbh | System and method for controlling an unmanned air vehicle |
| CN107356231A (en) * | 2017-07-13 | 2017-11-17 | 哈尔滨市舍科技有限公司 | A kind of deep hole geological observation system and observation procedure based on unmanned plane |
| CN107367262A (en) * | 2017-06-17 | 2017-11-21 | 周超 | Positioning mapping in real time shows interconnection type control method to a kind of unmanned plane at a distance |
| WO2018082184A1 (en) * | 2016-11-01 | 2018-05-11 | 广州视源电子科技股份有限公司 | Distance measurement method and device, camera, and mobile terminal |
| WO2018094576A1 (en) * | 2016-11-22 | 2018-05-31 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, flight controller, and unmanned aerial vehicle |
| CN108759792A (en) * | 2018-08-24 | 2018-11-06 | 张洋 | The measurement method and device of UAV Attitude and flying height based on cross laser |
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2010
- 2010-09-29 CN CN2010102975563A patent/CN101975569A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103492967A (en) * | 2011-04-14 | 2014-01-01 | 赫克斯冈技术中心 | System and method for controlling an unmanned air vehicle |
| US9758239B2 (en) | 2011-04-14 | 2017-09-12 | Hexagon Technology Center Gmbh | System and method for controlling an unmanned air vehicle |
| CN104269078A (en) * | 2014-09-23 | 2015-01-07 | 苏州天益航空科技有限公司 | Method for collision detection for agricultural plant protection unmanned aerial vehicle |
| CN104443410A (en) * | 2014-10-23 | 2015-03-25 | 黄守瑜 | Sensing device of agricultural unmanned helicopter |
| CN105824322A (en) * | 2016-05-11 | 2016-08-03 | 飞智控（天津）科技有限公司 | Unmanned plane terrain following system and method based on laser radar |
| WO2018082184A1 (en) * | 2016-11-01 | 2018-05-11 | 广州视源电子科技股份有限公司 | Distance measurement method and device, camera, and mobile terminal |
| WO2018094576A1 (en) * | 2016-11-22 | 2018-05-31 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, flight controller, and unmanned aerial vehicle |
| CN107367262A (en) * | 2017-06-17 | 2017-11-21 | 周超 | Positioning mapping in real time shows interconnection type control method to a kind of unmanned plane at a distance |
| CN107356231A (en) * | 2017-07-13 | 2017-11-17 | 哈尔滨市舍科技有限公司 | A kind of deep hole geological observation system and observation procedure based on unmanned plane |
| CN108759792A (en) * | 2018-08-24 | 2018-11-06 | 张洋 | The measurement method and device of UAV Attitude and flying height based on cross laser |
| CN108759792B (en) * | 2018-08-24 | 2023-08-25 | 张洋 | Unmanned aerial vehicle attitude and flying height measuring method based on cross laser |
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Application publication date: 20110216 |