CN105652887A - Unmanned aerial vehicle landing method adopting two-level graph recognition - Google Patents
Unmanned aerial vehicle landing method adopting two-level graph recognition Download PDFInfo
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- CN105652887A CN105652887A CN201610163578.8A CN201610163578A CN105652887A CN 105652887 A CN105652887 A CN 105652887A CN 201610163578 A CN201610163578 A CN 201610163578A CN 105652887 A CN105652887 A CN 105652887A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention relates to an unmanned aerial vehicle landing method adopting two-level graph recognition. The method comprises the steps that 1, an unmanned aerial vehicle flies to an area for landing; 2, a first level graph is started; 3, the graph is recognized, landing is carried out, and the unmanned aerial vehicle carries out landing along the center of the unmanned aerial vehicle in the direction aiming at the center of the first level graph; 4, the landing height is judged; 5, a second level graph is started; 6, the graph is recognized, landing is carried out, and the unmanned aerial vehicle carries out landing along the center of the unmanned aerial vehicle in the direction aiming at the center of the second level graph till the unmanned aerial vehicle lands on the central position of the second level graph. According to the unmanned aerial vehicle landing method adopting two-level graph recognition, the unmanned aerial vehicle continuously lands on the larger first level graph by means of a recognized base station, when the unmanned aerial vehicle lands to a certain height or cannot obtain a complete image of the first level image, the smaller second level image is started, the unmanned aerial vehicle carries out landing according to the smaller second level image, the purpose of accurately landing in a smaller area is achieved, and the problem that landing through GPS positioning is larger in error is solved.
Description
Present disclosure relate to a kind of employing two grades of figure identifications without man-machine landing method, say more specifically, particularly relate to a kind of make without man-machine accurately drop in territory, specific cell adopt two grades of figure identifications without man-machine landing method.
Background technology without man-machine being widely used in military affairs, agricultural, take photo by plane, the industry such as crime is arrested, owing to performing and completing specific task. By the path of setting or real-time its flight path of remote control, when without man-machine landing, GPS or Beidou navigation can be relied on can to drop to comparatively wide region without man-machine taking off and fly. But it is limited to the impact that GPS navigation has bigger error (about 3m), when less without man-machine landing platform (such as vehicle-mounted unmanned aerial vehicle platform), if adopting conventional landing technology again, then do not reach without the man-machine object droping on vehicle-mounted unmanned aerial vehicle platform.
Present invention is in order to overcome the shortcoming of above-mentioned technical problem, it provides a kind of make without man-machine accurately drop in territory, specific cell adopt two grades of figure identifications without man-machine landing method.
The present invention adopt two grades of figure identifications without man-machine landing method, its special part is, is realized by following step:
A). fly to Dai Jiang district, without the base station GPS location signal that base station, face, man-machine base area sends, the Dai Jiang district of flight vertical overhead relative height h1 to base station; B). open first step figure, when without man-machine be in Dai Jiang district after, ground base station opens on it first step figure being made up of LED, and first step figure is special symbol; C). figure identification and decline, utilize camera system to gather first step figure and identified by figure without man-machine, make to decline without the man-machine direction that is directed at along the center at its center with first step figure; D). decline highly judges, when without man-machine the complete image of first step figure cannot be obtained by camera system, fall without the man-machine distance recording distance ground base station by ultrasonic wave occur for h2 height one of two kinds of situations time, then stop landing, keep existing height constant, perform step e);E). opening second stage figure, ground base station is closed first step figure and is opened second stage figure, and second stage figure is less than first step figure but shape is consistent, and second stage figure is positioned at the center of first step figure; F). figure identification and decline, utilize camera system to gather second stage figure and identified by figure without man-machine, make to decline without the man-machine direction that is directed at along the center at its center with second stage figure, until without the man-machine central position droping to second stage figure.
The present invention adopt two grades of figure identifications without man-machine landing method, if being positioned at without man-machine center without the camera system on man-machine, and shooting direction is straight down, step c) and step f) described in pattern recognition and decline process in, without man-machine by make the first of shooting or second stage figure be positioned at the method for central position of image, reach the object made without the man-machine direction decline being directed at along its center with the center of first or second stage figure.
The present invention adopt two grades of figure identifications without man-machine landing method, step a) described in height h1 be 100m, steps d) described in height h2 be 10m.
The invention has the beneficial effects as follows: the present invention without man-machine landing method, first GPS location is utilized to make unmanned plane during flying to the top of ground base station, then first step figure bigger on the base station without man-machine identification is utilized to continue landing, when droping to the complete image that certain altitude maybe cannot obtain first step figure, then open less second stage figure, make without man-machine according to less second stage figure landing, to reach the object accurately droping in relatively zonule so that drop on vehicle-mounted base station without man-machine. Solve the problem utilizing GPS positioning landing error bigger, there is advantage accurately of landing, be suitable for application.
Accompanying drawing explanation
Fig. 1 is the schematic diagram without man-machine landing method adopting two grades of figure identifications of the present invention.
In figure: 1 mobile base station, 2 without man-machine, 3 first step figures, 4 second stage figures.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As shown in Figure 1, give the schematic diagram without man-machine landing method adopting two grades of figure identifications of the present invention, landing platform on shown mobile base station 1 is less, if adopting conventional GPS positioning landing method without man-machine 2, owing to there is the error of about 3m, then cannot successfully drop on mobile base station 1. Shown first step figure 3, second stage figure 4 are all arranged on the central position of mobile base station, second stage figure 4 is less than first step figure 3 but shape is consistent, the LED that first step figure 3, second stage figure 4 also can be identified by night forms, normally to take pictures without man-machine 2 and to identify.
The present invention adopt two grades of figure identifications without man-machine landing method, realized by following step:
A). fly to Dai Jiang district, without the base station GPS location signal that base station, face, man-machine base area sends, the Dai Jiang district of flight vertical overhead relative height h1 to base station;
In this step, height h1 can be chosen for 100m.
B). open first step figure, when without man-machine be in Dai Jiang district after, ground base station opens on it first step figure being made up of LED, and first step figure is special symbol;
C). figure identification and decline, utilize camera system to gather first step figure and identified by figure without man-machine, make to decline without the man-machine direction that is directed at along the center at its center with first step figure;
D). decline highly judges, when without man-machine the complete image of first step figure cannot be obtained by camera system, fall without the man-machine distance recording distance ground base station by ultrasonic wave occur for h2 height one of two kinds of situations time, then stop landing, keep existing height constant, perform step e);
In this step, height h2 can be chosen for 10m.
E). opening second stage figure, ground base station is closed first step figure and is opened second stage figure, and second stage figure is less than first step figure but shape is consistent, and second stage figure is positioned at the center of first step figure;
F). figure identification and decline, utilize camera system to gather second stage figure and identified by figure without man-machine, make to decline without the man-machine direction that is directed at along the center at its center with second stage figure, until without the man-machine central position droping to second stage figure.
Wherein, if being positioned at without man-machine center without the camera system on man-machine, and shooting direction is straight down, step c) and step f) described in pattern recognition and decline process in, without man-machine by make the first of shooting or second stage figure be positioned at the method for central position of image, reach the object made without the man-machine direction decline being directed at along its center with the center of first or second stage figure.
The present invention without man-machine landing method, first first step figure bigger on the base station without man-machine identification is utilized to continue landing, when droping to the complete image that certain altitude maybe cannot obtain first step figure, then open less second stage figure, then make without man-machine according to less second stage figure landing, to reach the object accurately droping in relatively zonule, solve the problem utilizing GPS positioning landing error bigger.
Claims (3)
1. one kind adopt two grades of figure identifications without man-machine landing method, it is characterised in that, realized by following step:
A). fly to Dai Jiang district, without the base station GPS location signal that base station, face, man-machine base area sends, the Dai Jiang district of flight vertical overhead relative height h1 to base station;
B). open first step figure, when without man-machine be in Dai Jiang district after, ground base station opens on it first step figure being made up of LED, and first step figure is special symbol;
C). figure identification and decline, utilize camera system to gather first step figure and identified by figure without man-machine, make to decline without the man-machine direction that is directed at along the center at its center with first step figure;
D). decline highly judges, when without man-machine the complete image of first step figure cannot be obtained by camera system, fall without the man-machine distance recording distance ground base station by ultrasonic wave occur for h2 height one of two kinds of situations time, then stop landing, keep existing height constant, perform step e);
E). opening second stage figure, ground base station is closed first step figure and is opened second stage figure, and second stage figure is less than first step figure but shape is consistent, and second stage figure is positioned at the center of first step figure;
F). figure identification and decline, utilize camera system to gather second stage figure and identified by figure without man-machine, make to decline without the man-machine direction that is directed at along the center at its center with second stage figure, until without the man-machine central position droping to second stage figure.
2. employing two grades of figure identifications according to claim 1 without man-machine landing method, it is characterized in that, if being positioned at without man-machine center without the camera system on man-machine, and shooting direction is straight down, step c) and step f) described in pattern recognition and decline process in, without man-machine by make the first of shooting or second stage figure be positioned at the method for central position of image, reach the object made without the man-machine direction decline being directed at along its center with the center of first or second stage figure.
3. employing two grades of figure identifications according to claim 1 and 2 without man-machine landing method, it is characterised in that: step a) described in height h1 be 100m, steps d) described in height h2 be 10m.
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Cited By (8)
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| CN106502257A (en) * | 2016-10-25 | 2017-03-15 | 南京奇蛙智能科技有限公司 | A kind of unmanned plane precisely lands jamproof control method |
| CN106598076A (en) * | 2016-11-24 | 2017-04-26 | 苏州佳世达电通有限公司 | Unmanned carrier control method and unmanned carrier control system |
| CN107765710A (en) * | 2016-08-23 | 2018-03-06 | 比亚迪股份有限公司 | The automatic homing method and system of vehicle-mounted aircraft |
| WO2018053867A1 (en) * | 2016-09-26 | 2018-03-29 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, and control method thereof |
| CN108121360A (en) * | 2017-12-19 | 2018-06-05 | 歌尔科技有限公司 | A kind of unmanned plane position control method and freight transport system |
| CN108828500A (en) * | 2018-06-22 | 2018-11-16 | 深圳草莓创新技术有限公司 | Unmanned plane accurately lands bootstrap technique and Related product |
| CN110991207A (en) * | 2019-11-19 | 2020-04-10 | 山东大学 | Unmanned aerial vehicle accurate landing method integrating H pattern recognition and Apriltag two-dimensional code recognition |
| CN111506091A (en) * | 2020-05-07 | 2020-08-07 | 山东力阳智能科技有限公司 | Unmanned aerial vehicle accurate landing control system and method based on dynamic two-dimensional code |
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| CN108828500A (en) * | 2018-06-22 | 2018-11-16 | 深圳草莓创新技术有限公司 | Unmanned plane accurately lands bootstrap technique and Related product |
| CN110991207A (en) * | 2019-11-19 | 2020-04-10 | 山东大学 | Unmanned aerial vehicle accurate landing method integrating H pattern recognition and Apriltag two-dimensional code recognition |
| CN110991207B (en) * | 2019-11-19 | 2021-04-27 | 山东大学 | Unmanned aerial vehicle accurate landing method integrating H pattern recognition and Apriltag two-dimensional code recognition |
| CN111506091A (en) * | 2020-05-07 | 2020-08-07 | 山东力阳智能科技有限公司 | Unmanned aerial vehicle accurate landing control system and method based on dynamic two-dimensional code |
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Application publication date: 20160608 |