CN105278541A - Aircraft auxiliary landing control method and system - Google Patents
Aircraft auxiliary landing control method and system Download PDFInfo
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Abstract
The invention provides an aircraft auxiliary landing control system. The landing control method and system comprises a vision image monitoring module, a central control module and a monitoring holder. The vision image monitoring module shoots vision image information of an aircraft and judges whether the aircraft enters a set landing range according to the vision image information. The central control module identifies a color block pre-marked on the aircraft, reads the counter of the color block, calculates center coordinates of the color block and a color block shot area and calculates the distance from the aircraft to an aircraft transmit-receive platform according to comparison between a color block practical area and the color block shot area. The monitoring holder receives a trigger command and rotates. The aircraft auxiliary landing control method and system have the advantages that an aircraft operator is enabled to grasp the position and the flight state of an unmanned plane in time, the defect that the aircraft fails to land in the landing process due to the interference of external factors such as air flows is overcome, and accurate three-dimensional position information is provided to the aircraft operator for realizing precise landing.
Description
Technical field
The present invention relates to flying vehicles control technical field, more specifically, relate to a kind of aircraft auxiliary landing control method and system.
Background technology
In the process of investigation, rescue, can the unmanned plane of movement fast due to self stability, cannot the narrow spaces such as wall seam be passed.And it is excessively slow to have the adaptive creeper truck translational speed of face strongly, and be difficult to arrive higher district as places such as high buildings.Crawler-type wall climbing robot can be stable move to floor eminence, and a large amount of load can be carried, but its translational speed slowly always disabled person denounce.Unmanned plane is combined with crawler-type wall climbing robot, fully can combine the two advantage, and both deficiencies can be made up.So " the SUAV (small unmanned aerial vehicle) wall ambulatory transceiver base station " of our design is by track drive, overall flat, metope has good stability and functional reliability, is extremely adapted at the wall mobile working of narrow and small mobile space.By adopting the mode of vertically carrying unmanned plane, making entire system height be less than the width of unmanned plane itself, in the discovery of the good ball cage type aircraft of contrast adaptability, more effectively can pass through the obstacles such as narrow and small wall seam.While delivery unmanned plane, also shorten the flying distance of unmanned plane to objective, saved unmanned plane finite energy, improve the utilization ratio of its energy.In addition, the prior effect in this base station is exactly the signal relay function utilized on vehicular platform, set up the signal transmission bridge inside and outside building, the ability of signal " through walls " is strengthened greatly, obtain larger scope of reconnaissance, this mode also makes unmanned plane can carry lighter signal transmitting apparatus, thus makes its more how useful quality of can unloading.
But the major defect of this mode is in the process of unmanned plane landing, because unmanned plane volume is little, lightweight, is very easily subject to the interference of air-flow.In addition, the operator controlling unmanned plane is away from unmanned plane, and the camera that can only be carried by unmanned plane observes surrounding environment (being called the first visual angle), and due to pixel, the visual angle of camera, operating personnel are difficult to the position judging unmanned plane opposed platforms.
Summary of the invention
The present invention is to solve the above-mentioned technical matters that exists in prior art and make, its object is to provide a kind of aircraft auxiliary landing control method and system.
To achieve these goals, concrete technical scheme of the present invention is as follows:
According to an aspect of of the present present invention, provide a kind of aircraft receiving and sending control method, comprising:
Step S01: the visual image information of shooting aircraft;
Step S02: judge whether aircraft enters the landing scope of setting, if so, then enters step S03, otherwise returns step S01 according to visual image information;
Step S03: identify the color lump that aircraft marks in advance, reads the profile of color lump and calculates centre coordinate and the color lump shooting area of color lump;
Step S04: according to color lump real area and color lump take area ratio to and the distance of calculating aircraft distance aircraft transmit-receive platform;
Step S05: judge whether the centre coordinate of color lump equals screen center's coordinate of visual pattern monitoring module, if so, then directly generates the azimuth information of aircraft, enters step S09, otherwise enter step S06 according to aircraft transmit-receive platform position;
Step S06: control monitoring head and rotate;
Step S07: judge whether the centre coordinate of color lump equals screen center's coordinate of visual pattern monitoring module, if so, then enters step S08, otherwise returns step S06;
Step S08: the rotational angle of record monitoring head, and the azimuth information of rotational angle calculating aircraft according to monitoring head;
Step S09: generate the three-dimensional supplemental location information of aircraft according to the azimuth information of aircraft and the distance of aircraft distance aircraft transmit-receive platform and feed back to manipulation center, backstage for aircraft operation personnel reference.
According to another aspect of the present invention, provide a kind of aircraft auxiliary landing control system, comprise visual pattern monitoring module, central control module and monitoring head;
Visual pattern monitoring module, for taking the visual image information of aircraft and judging whether aircraft enters the landing scope of setting according to visual image information, if so, then sends recognition command to central control module, otherwise continues next round shooting;
Central control module comprises color lump recognition unit, a MCU and supplementary unit;
Color lump recognition unit, for receiving recognition command and identifying the color lump that aircraft marks in advance, reads the profile of color lump and calculates the centre coordinate of color lump and color lump shooting area;
One MCU is used for take area ratio to also calculating aircraft apart from the distance of aircraft transmit-receive platform according to color lump real area and color lump, also for judging whether the centre coordinate of color lump equals screen center's coordinate of visual pattern monitoring module, if, the azimuth information of aircraft is then directly generated according to aircraft transmit-receive platform position, otherwise send trigger command to monitoring head, also for the azimuth information of the rotational angle calculating aircraft that receive monitoring head;
Supplementary unit is used for generating the three-dimensional supplemental location information of aircraft according to the azimuth information of aircraft and the distance of aircraft distance aircraft transmit-receive platform and feeding back to visual pattern monitoring module for aircraft operation personnel reference.
Monitoring head is for receiving trigger command and rotating until the centre coordinate of color lump equals screen center's coordinate of visual pattern monitoring module, and record rotational angle is also sent to a MCU.
A kind of aircraft auxiliary landing control method of the present invention and system, by detecting the three-dimensional position supplementary of unmanned plane and feeding back to the display of visual pattern monitoring module, aircraft operation personnel are facilitated what time to grasp position and the state of flight of unmanned plane, the interference being subject to the external factor such as air-flow overcomes aircraft in descent owing to cannot prepare the defect of landing, by providing three dimensional local information thus realize precision approach accurately for aircraft operation personnel.
Accompanying drawing explanation
By reference to following embodiment and claims content and by reference to the accompanying drawings, other object of the present invention and result will be understood and easy to understand more.In the accompanying drawings:
Fig. 1 is a kind of aircraft auxiliary landing control method process flow diagram of the present invention;
Fig. 2 is a kind of aircraft auxiliary landing Control system architecture schematic diagram of the present invention.
Embodiment
In the following description, for purposes of illustration, in order to provide the complete understanding to one or more embodiment, many details have been set forth.But, clearly, also these embodiments can be realized when there is no these details.In other example, one or more embodiment for convenience of description, known structure and equipment illustrate in block form an.
Come below with reference to accompanying drawings to be described in detail each embodiment according to the present invention.
As shown in Figure 1, a kind of aircraft auxiliary landing control method, comprising:
Step S01: the visual image information of shooting aircraft;
Step S02: judge whether aircraft enters the landing scope of setting, if so, then enters step S03, otherwise returns step S01 according to visual image information;
Step S03: identify the color lump that aircraft marks in advance, reads the profile of color lump and calculates centre coordinate and the color lump shooting area of color lump;
Step S04: according to color lump real area and color lump take area ratio to and the distance of calculating aircraft distance aircraft transmit-receive platform;
Step S05: judge whether the centre coordinate of color lump equals screen center's coordinate of visual pattern monitoring module, if so, then directly generates the azimuth information of aircraft, enters step S09, otherwise enter step S06 according to aircraft transmit-receive platform position;
Step S06: control monitoring head and rotate;
Step S07: judge whether the centre coordinate of color lump equals screen center's coordinate of visual pattern monitoring module, if so, then enters step S08, otherwise returns step S06;
Step S08: the rotational angle of record monitoring head, and the azimuth information of rotational angle calculating aircraft according to monitoring head;
Step S09: generate the three-dimensional supplemental location information of aircraft according to the azimuth information of aircraft and the distance of aircraft distance aircraft transmit-receive platform and feed back to manipulation center, backstage for aircraft operation personnel reference.
In the present embodiment, in step S02, judge whether aircraft enters being implemented as of the landing scope of setting according to visual image information: image procossing is carried out to visual image information, extract image feature information, judge whether aircraft enters the landing scope of setting according to image feature information.
Preferably, also Image semantic classification was carried out before image procossing is carried out to visual image information, filtering, error checking process is also carried out after image procossing is carried out to visual image information, make the image feature information of acquisition more accurate, thus three-dimensional supplementary more accurately can be provided for aircraft operation personnel follow-up.
In the present embodiment, in step S02, the preset coordinate scope whether entering visual pattern monitoring module screen by detecting aircraft in visual image information judges whether aircraft enters landing scope.Certainly, it should be noted that, preset coordinate scope is here two-dimentional, comprises horizontal ordinate scope and ordinate scope.Define aircraft whether enter landing scope by presetting a coordinate range.Generalized case, during setting coordinate range, the scope of horizontal ordinate is equal with the scope of ordinate.Such as, (-50-50 ,-50-50) is set, unit is mm, so in visual image information, as long as capture aircraft to enter into (-50-50,-50-50) coordinate range in, then can judge that aircraft enters landing scope, can start follow-up identification maneuver.
In the present embodiment, what control in step S06 that monitoring head rotates is implemented as: by the horizontal ordinate comparison of the horizontal ordinate at color lump center in visual image information and the screen center of visual pattern monitoring module, generation horizontally rotates trigger command and controls monitoring head and horizontally rotates, by the ordinate comparison of the ordinate at color lump center in visual image information and the screen center of visual pattern monitoring module, generate vertical rotation trigger command and also control monitoring head vertical rotation.By controlling respectively with vertical direction in the horizontal direction monitoring head, monitoring head can be controlled and rotate and within the shortest time, make the centre coordinate of color lump equal screen center's coordinate of visual pattern monitoring module.The operational efficiency of raising system, also improves the response speed of system.
Preferably, in step S09, also the target flight path between aircraft position and aircraft transmit-receive platform is fed back to manipulation center, backstage for aircraft operation personnel reference.Aircraft operation human users unmanned plane can be facilitated along the flight of target flight path by target flight path, improve landing efficiency, landing required time can be reduced simultaneously.
As shown in Figure 2, a kind of aircraft auxiliary landing control system, comprises visual pattern monitoring module, central control module and monitoring head.In the present embodiment, we rotate the rotation of drive visual pattern monitoring module by controlling monitor supervision platform, thus the coordinate position of adjustment aircraft in visual image information, there is the anti-azimuth information pushing away aircraft of the rotational angle of monitor supervision platform, also calculate the distance of aircraft distance aircraft transmit-receive platform by detecting the real area being marked at carry-on color lump area and color lump in visual image information in advance, thus realize the acquisition of aircraft real-time three-dimensional positional information.
Visual pattern monitoring module, for taking the visual image information of aircraft and judging whether aircraft enters the landing scope of setting according to visual image information, if so, then sends recognition command to central control module, otherwise continues next round shooting.
In the present embodiment, visual pattern monitoring module comprises video camera, graphics processing unit, object-recognition unit and display unit.Wherein, video camera is for taking the visual image information of aircraft; Graphics processing unit is used for carrying out image procossing to visual image information, extracts image feature information; Object-recognition unit is used for judging whether aircraft enters the landing scope of setting according to image feature information, if so, then sends recognition command to central control module, otherwise continues next round shooting; Display unit is for showing visual image information.
Preferably, the preset coordinate scope that whether object-recognition unit enters display unit screen by aircraft in detection visual image information judges whether aircraft enters landing scope.It should be noted that, preset coordinate scope is here two-dimentional, comprises horizontal ordinate scope and ordinate scope.Define aircraft whether enter landing scope by presetting a coordinate range., generalized case, during setting coordinate range, the scope of horizontal ordinate is equal with the scope of ordinate.Such as, (-50-50 ,-50-50) is set, unit is mm, so in visual image information, as long as capture aircraft to enter into (-50-50,-50-50) coordinate range in, then can judge that aircraft enters landing scope, can start follow-up identification maneuver.
In the present embodiment, visual pattern monitoring module adopts CMUCam5 series, clear picture, and corresponding speed is fast, and image procossing is that 26 frames are per second, and itself and central control module provide RS232 serial ports be connected and complete data information transfer.
Central control module comprises color lump recognition unit, a MCU and supplementary unit; Color lump recognition unit, for receiving recognition command and identifying the color lump that aircraft marks in advance, reads the profile of color lump and calculates the centre coordinate of color lump and color lump shooting area; One MCU is used for take area ratio to also calculating aircraft apart from the distance of aircraft transmit-receive platform according to color lump real area and color lump, also for judging whether the centre coordinate of color lump equals screen center's coordinate of visual pattern monitoring module, if, the azimuth information of aircraft is then directly generated according to aircraft transmit-receive platform position, otherwise send trigger command to monitoring head, also for the azimuth information of the rotational angle calculating aircraft that receive monitoring head; Supplementary unit is used for generating the three-dimensional supplemental location information of aircraft according to the azimuth information of aircraft and the distance of aircraft distance aircraft transmit-receive platform and feeding back to manipulation center, backstage for aircraft operation personnel reference.
Preferably, central control module also comprises destination path unit, for according to the destination path of the real time position of aircraft and the position calculation aircraft of aircraft transmit-receive platform and feed back to manipulation center, backstage for aircraft operation personnel with reference to.Aircraft operation human users unmanned plane can be facilitated along the flight of target flight path by destination path unit, submit landing efficiency to, save time.
In the present embodiment, central control module we adopt arduinomega2560 development board, it has 54 railway digital I/O ports (wherein 16 tunnels can be used as PWM output), 16 tunnel analog inputs, 4 tunnel UART interface, a 16MHz crystal oscillator, a USB port, a supply socket, ICSPheader and one reset button, operating voltage is 5V, input voltage range is 7-12V, output voltage is 6-20V, can be powered by 3 kinds of modes: external dc power is powered by supply socket, GND and VIN pin and the USB interface of battery connection power connector are directly powered, very convenient.
Monitoring head is for receiving trigger command and rotating until the centre coordinate of color lump equals screen center's coordinate of visual pattern monitoring module, and record rotational angle is also sent to a MCU.
In the present embodiment, monitoring head comprises horizontal motor, motor vertical and the 2nd MCU, and the 2nd MCU receives trigger command and read level rotates trigger command and vertical rotation trigger command, and corresponding horizontal motor and the motor vertical of driving rotates respectively.By controlling respectively with vertical direction in the horizontal direction monitoring head, monitoring head can be controlled and rotate and within the shortest time, make the centre coordinate of color lump equal screen center's coordinate of visual pattern monitoring module.The operational efficiency of raising system, also improves the response speed of system.
In the present embodiment, horizontal motor and motor vertical all adopt rotary vane type steering gear, and it directly acts on rotor by height force feed, has small volume, efficiency is higher, lighter in weight, structure are simple, easy to manufacture and maintaining advantage easily.
Aircraft auxiliary landing control method of the present invention and system, by detecting the three-dimensional position supplementary of unmanned plane and feeding back to the display of visual pattern monitoring module, aircraft operation personnel are facilitated what time to grasp position and the state of flight of unmanned plane, the interference being subject to the external factor such as air-flow overcomes aircraft in descent owing to cannot prepare the defect of landing, by providing three dimensional local information thus realize precision approach accurately for aircraft operation personnel.
Although disclosed content shows exemplary embodiment of the present invention above, it should be noted that under the prerequisite not deviating from the scope that claim limits, can multiple change and amendment be carried out.Need not perform with any particular order according to the function of the claim to a method of inventive embodiments described herein, step and/or action.In addition, although element of the present invention can describe or requirement with individual form, also it is contemplated that to have multiple element, is individual element unless explicitly limited.
Claims (10)
1. an aircraft auxiliary landing control method, is characterized in that, comprising:
Step S01: the visual image information of shooting aircraft;
Step S02: judge whether aircraft enters the landing scope of setting, if so, then enters step S03, otherwise returns step S01 according to described visual image information;
Step S03: identify the color lump that aircraft marks in advance, reads the profile of described color lump and calculates centre coordinate and the color lump shooting area of described color lump;
Step S04: according to described color lump real area and color lump take area ratio to and the distance of calculating aircraft distance aircraft transmit-receive platform;
Step S05: judge whether the centre coordinate of described color lump equals screen center's coordinate of visual pattern monitoring module, if, then directly generate the azimuth information of aircraft according to described aircraft transmit-receive platform position, enter step S09, otherwise enter step S06;
Step S06: control monitoring head and rotate;
Step S07: judge whether the centre coordinate of described color lump equals screen center's coordinate of described visual pattern monitoring module, if so, then enters step S08, otherwise returns step S06;
Step S08: the rotational angle recording described monitoring head, and the azimuth information of rotational angle calculating aircraft according to described monitoring head;
Step S09: generate the three-dimensional supplemental location information of aircraft according to the azimuth information of aircraft and the distance of aircraft distance aircraft transmit-receive platform and feed back to manipulation center, backstage for aircraft operation personnel reference.
2. a kind of aircraft auxiliary landing control method according to claim 1, it is characterized in that: in described step S02, judge whether aircraft enters being implemented as of the landing scope of setting: image procossing is carried out to described visual image information, extract image feature information, judge whether aircraft enters the landing scope of setting according to described image feature information.
3. a kind of aircraft auxiliary landing control method according to claim 2, it is characterized in that: in described step S02, the preset coordinate scope whether entering described visual pattern monitoring module screen by detecting aircraft in visual image information judges whether aircraft enters landing scope.
4. a kind of aircraft auxiliary landing control method according to claim 1, it is characterized in that: what control in described step S06 that monitoring head rotates is implemented as: by the horizontal ordinate comparison of the screen center of the horizontal ordinate at color lump center in described visual image information and described visual pattern monitoring module, generation horizontally rotates trigger command and controls monitoring head and horizontally rotates, by the ordinate comparison of the screen center of the ordinate at color lump center in described visual image information and described visual pattern monitoring module, generate vertical rotation trigger command and control monitoring head vertical rotation.
5. a kind of aircraft auxiliary landing control method according to any one of Claims 1-4, it is characterized in that: in described step S09, also the target flight path between aircraft position and described aircraft transmit-receive platform is fed back to manipulation center, backstage for aircraft operation personnel reference.
6. an aircraft auxiliary landing control system, is characterized in that: comprise visual pattern monitoring module, central control module and monitoring head;
Described visual pattern monitoring module is for taking the visual image information of aircraft and judging whether aircraft enters the landing scope of setting according to described visual image information, if, then send recognition command to described central control module, otherwise continue next round shooting;
Described central control module comprises color lump recognition unit, a MCU and supplementary unit;
Described color lump recognition unit, for receiving recognition command and identifying the color lump that aircraft marks in advance, reads the profile of described color lump and calculates the centre coordinate of described color lump and color lump shooting area;
A described MCU is used for take area ratio to also calculating aircraft apart from the distance of aircraft transmit-receive platform according to described color lump real area and color lump, also for judging whether the centre coordinate of described color lump equals screen center's coordinate of described visual pattern monitoring module, if, the azimuth information of aircraft is then directly generated according to described aircraft transmit-receive platform position, otherwise send trigger command to described monitoring head, also for the azimuth information of the rotational angle calculating aircraft that receive described monitoring head;
Described supplementary unit is used for generating the three-dimensional supplemental location information of aircraft according to the azimuth information of aircraft and the distance of aircraft distance aircraft transmit-receive platform and feeding back to manipulation center, backstage for aircraft operation personnel reference.
Described monitoring head is for receiving trigger command and rotating until the centre coordinate of described color lump equals screen center's coordinate of described visual pattern monitoring module, and record rotational angle is also sent to a described MCU.
7. a kind of aircraft auxiliary landing control system according to claim 6, is characterized in that: described visual pattern monitoring module comprises video camera, graphics processing unit, object-recognition unit and display unit;
Described video camera is for taking the visual image information of aircraft;
Described graphics processing unit is used for carrying out image procossing to described visual image information, extracts image feature information;
Described object-recognition unit is used for judging whether aircraft enters the landing scope of setting according to described image feature information, if so, then sends recognition command to described central control module, otherwise continues next round shooting;
Described display unit is for showing described visual image information.
8. a kind of aircraft auxiliary landing control system according to claim 7, is characterized in that: whether described object-recognition unit enters described display unit screen preset coordinate scope by detecting aircraft in visual image information judges whether aircraft enters landing scope.
9. a kind of aircraft auxiliary landing control system according to claim 6, it is characterized in that: described monitoring head comprises horizontal motor, motor vertical and the 2nd MCU, described 2nd MCU receives trigger command and read level rotates trigger command and vertical rotation trigger command, and corresponding described horizontal motor and the motor vertical of driving rotates respectively.
10. a kind of aircraft auxiliary landing control system according to claim 69 any one, it is characterized in that: described central control module also comprises destination path unit, for according to the destination path of the real time position of aircraft and the position calculation aircraft of described aircraft transmit-receive platform and feed back to manipulation center, backstage for aircraft operation personnel with reference to.
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