CN107323677A - Unmanned plane auxiliary landing method, device, equipment and storage medium - Google Patents
Unmanned plane auxiliary landing method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN107323677A CN107323677A CN201710613180.4A CN201710613180A CN107323677A CN 107323677 A CN107323677 A CN 107323677A CN 201710613180 A CN201710613180 A CN 201710613180A CN 107323677 A CN107323677 A CN 107323677A
- Authority
- CN
- China
- Prior art keywords
- ground clearance
- image information
- unmanned plane
- temperature value
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The applicable unmanned air vehicle technique field of the present invention is there is provided a kind of unmanned plane auxiliary landing method, device, equipment and storage medium, and this method includes：Current ground clearance is measured using infrared sensor；Current temperature value is obtained by temperature sensor, according to the temperature value, safe ground clearance is determined；When in the safe ground clearance, image information is obtained, and defogging processing is carried out to described image information, restored image information is obtained.The present invention measures ground clearance by infrared sensor, and safe ground clearance is determined by temperature sensor, so that unmanned plane is in safe ground clearance in descent, the image information that earth station can be got by unmanned plane camera observes the liftoff situation of unmanned plane, in order to obtain clearly image information, real-time defogging is carried out to image information and goes processing, it can obtain picture rich in detail and differentiate positional information, so as to realize the prospecting monitoring and precisely landing that unmanned plane can be in the field environment.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, more particularly to a kind of unmanned plane auxiliary landing method, device, equipment and deposit
Storage media.
Background technology
Unmanned plane is mainly used in military field, with zero damage, low cost, good concealment the features such as, carry out investigations prison
Control, military attack, firepower guiding and communication relay.In recent years, what unmanned plane was showed during execution task is flexible
Property, high efficiency, reliability receive the extensive concern of commercial market, are widely used in the fields such as electric power, agricultural, meteorology, geology.
Mountain forest is with a varied topography in field, vast area, and weather is variable, and forest fire protection is particularly important, can using unmanned plane image information
So that in earth station control point, by being perfectly clear that the position of point of origin and intensity of a fire situation are observed, situation is formulated effective according to the observation
Scheme, fireman can reach the point of origin control condition of a fire rapidly, improve fire-fighting efficiency.In the process of the execution task of unmanned plane
In, the precise degrees in landing site play vital effect.By servicing unit come complete during usual unmanned plane Autonomous landing
Into especially in the wild in the case of the complicated landform of mountain forest, for landing, precision is even more to propose higher requirement.Current is auxiliary
Information is obtained by airborne picture pick-up device when helping device main：
A kind of is that the drop zone formed by laser beam is projected before unmanned plane landing, to warn ground staff to keep away
Drop zone is opened, although the method effectively avoids the situation that the injures and deaths and unmanned plane of personnel are lost, this method application
Scene is limited, for finding that suspicious object can not accurately guide landing under wild environment；
Another is that the image of shooting is converted into gray-scale map, and SAD (Sum of absolute are utilized according to gray level image
Differences, images match) algorithm, light stream field direction and speed are obtained, unmanned plane is determined by light stream field direction and speed
The direction of motion, leads to unmanned plane above landing place according to light stream principle, and (edge detection calculation is managed using Canny operators
By) edge distribution figure is obtained, edge distribution figure and profile tree information are extracted, the relative position and UAV Attitude of mark is determined
Information, it is final to determine that drop target realizes Autonomous landing.This method can carry out auxiliary positioning in the case where no GPS fails
So as to improve the accuracy of unmanned plane landing, the method for being disadvantageous in that light stream is more sensitive for light environment, light stream
Algorithm has to be solved for light sensitive, the problems such as optical flow computation accuracy.
Also one kind is to shoot photo to ground vertically downward using video camera, and it is border circular areas to identify landing navigation mark,
Its center of circle is found as landing place using image processing method, yaw angle is corrected by the way that unmanned plane is mobile in real time, according to the center of circle
Two angles in space coordinate obtain the parameter of control unmanned plane motion using fuzzy control method, utilize the fixed high meter of air pressure
With reference to ultrasonic radar, terrain clearance is monitored in real time, and ground control station sends approaching signal and carries out slow drop, although reduce cost,
But this method simply carries out accuracy to unmanned plane, it is impossible to carry out the detection and landing in unknown place.
Unmanned plane is easily influenceed when carrying out intelligence reconnaissance by bird-walking weather condition so that reconnaissance image is fuzzy not
Clearly, contrast declines, but the real-time that existing more algorithm solves problems is poor.Current most of unmanned planes are taken
GPS (global positioning system), INS (inertial navigation system), GPS and INS combined guidance system are navigated, but out of office
Influence can be produced under outer mountain forest geographical relief complex environment on gps signal, or even causes the missing of signal, common is civilian
GPS location precision is only in the range of 10 meters, and this causes the landing for remote districts to produce certain error, even can not
Landing is right, and professional high-precision GPS is expensive.In descent, unmanned plane imaging system can by relative motion,
The factors such as attitudes vibration influence to have obscured the shooting image quality of camera system, it is impossible to provide clearly image information, this is to unmanned plane
Descent generate very big influence.Influence can be produced on gps signal under mountain forest geographical relief complex environment in the wild,
The missing of signal is even caused, common civilian GPS location precision is only in the range of 10 meters, and this causes the drop for remote districts
Certain error can be produced by falling, and can not even be landed so, and professional high-precision GPS is expensive, in addition, existing at present
Technology do not account for influence of the unmanned plane environment temperature to battery.
The content of the invention
It is an object of the invention to provide a kind of unmanned plane auxiliary landing method, device, equipment and storage medium, it is intended to solves
Certainly to be limited to gps signal precision in particular circumstances relatively low for unmanned plane, it is impossible to provides accurately pinpoint landing scheme for unmanned plane,
The problem of causing unmanned plane landing inaccurate, or even drop to danger zone.
On the one hand, the invention provides a kind of unmanned plane auxiliary landing method, methods described comprises the steps：
Current ground clearance is measured using infrared sensor；
Current temperature value is obtained by temperature sensor, according to the temperature value, safe ground clearance is determined；
When in the safe ground clearance, image information is obtained, and defogging processing is carried out to described image information, is obtained
To restored image information.
On the other hand, the invention provides a kind of unmanned plane auxiliary landing device, described device includes：
Ground clearance measuring unit, for measuring current ground clearance using infrared sensor；
Safe ground clearance determining unit, for obtaining current temperature value by temperature sensor, according to the temperature
Value, determines safe ground clearance；And
Defogging processing unit, believes for when in the safe ground clearance, obtaining image information, and to described image
Breath carries out defogging processing, obtains restored image information.
On the other hand, present invention also offers a kind of unmanned plane auxiliary landing equipment, the unmanned plane auxiliary landing equipment
Temperature sensor including the infrared sensor for measuring ground clearance, for obtaining current temperature value, for acquisition figure
As the camera of information, memory, processor and it is stored in the meter that can be run in the memory and on the processor
Calculation machine program, the infrared sensor, temperature sensor and camera are electrically connected with the processor, the computing device institute
Realized when stating computer program such as the step of unmanned plane auxiliary landing method.
On the other hand, present invention also offers a kind of computer-readable recording medium, the computer-readable recording medium
Be stored with computer program, is realized when the computer program is executed by processor such as the step of unmanned plane auxiliary landing method.
The present invention measures ground clearance by infrared sensor, and determines safe ground clearance by temperature sensor, makes
Unmanned plane is in safe ground clearance in descent, when unmanned plane lands in complex environment in the wild, earth station can be with
The image information got by unmanned plane camera observes the liftoff situation of unmanned plane, in order to obtain clearly image information,
Real-time defogging is carried out to image information and goes processing, picture rich in detail is can obtain and differentiates positional information, so as to realize unmanned function
Enough prospecting monitorings and precisely landing in the field environment.
Brief description of the drawings
Fig. 1 is the implementation process figure for the unmanned plane auxiliary landing method that the embodiment of the present invention one is provided；
Fig. 2 is the schematic diagram that infrared sensor provided in an embodiment of the present invention measures ground clearance；
Fig. 3 is the implementation process figure for the unmanned plane auxiliary landing method that the embodiment of the present invention two is provided；
Fig. 4 is the structural representation for the unmanned plane auxiliary landing device that the embodiment of the present invention three is provided；
Fig. 5 is the structural representation for the unmanned plane auxiliary landing device that the embodiment of the present invention four is provided；
Fig. 6 is the structural representation for the unmanned plane auxiliary landing equipment that the embodiment of the present invention five is provided.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Implementing for the present invention is described in detail below in conjunction with specific embodiment：
Embodiment one：
Fig. 1 shows the implementation process for the unmanned plane auxiliary landing method that the embodiment of the present invention one is provided, for the ease of saying
It is bright, the part related to the embodiment of the present invention is illustrate only, details are as follows：
In step S101, current ground clearance is measured using infrared sensor.
In embodiments of the present invention, influence can be produced on gps signal under mountain forest geographical relief complex environment in the wild, because
This needs to measure the current ground clearance of unmanned plane by infrared sensor, and the ground clearance is unmanned plane apart from the vertical of ground
Distance, utilizes infrared sensor guiding unmanned plane landing.The infrared sensor includes：Infrared transmitter, filter and Charged Couple
Detector.
Infrared sensor measures the schematic diagram of ground clearance as shown in Figure 2, and infrared sensor 1 includes：Infrared transmitter
11, filter 12 and charge-coupled detector(CCD) (Charge-Coupled Devices, CCD) 13, infrared transmitter 11 is with angle of departure α
Launch infrared beam, reflected after running into ground or object, the light beam after reflection reaches Charged Couple by filter 12
Detector 13, after being detected via charge-coupled detector(CCD) 13, gets offset distance L, using triangle principle, in the known angle of departure
α, centre-to-centre spacing X, offset distance L and focal length f, calculating obtain ground clearance H, wherein, angle of departure α is that infrared transmitter 11 is launched
Light beam angle, centre-to-centre spacing X be infrared transmitter 11 apart from charge-coupled detector(CCD) 13 distance, offset distance L be light beam
Through reaching the deviant of charge-coupled detector(CCD) 13 by filter 12 after reflection, focal length f is the focal length of filter, and ground clearance H is
Distance of the infrared sensor 11 perpendicular to ground.
In step s 102, current temperature value is obtained by temperature sensor, according to temperature value, it is determined that safety it is liftoff away from
From.
In embodiments of the present invention, the temperature values that unmanned machine battery receives are subzero 10 degrees Celsius to 40 degrees Celsius,
When temperature is higher than 50 degree, battery easily explodes, in operation process, when unmanned plane is detected to declining near burning things which may cause a fire disaster
When, it is necessary to obtain current temperature value by temperature sensor, according to temperature value, safe ground clearance is determined, to ensure nobody
Machine battery prevents the fortuitous event of battery explosion from occurring within the scope of the temperature of safety.
Further, current temperature value is obtained by temperature sensor, temperature value is entered with preset security temperature range
Row is compared；
When temperature value is in preset security temperature range, it is determined that current ground clearance is safe ground clearance.
Specifically, measured using infrared sensor after current ground clearance, while obtaining current by temperature sensor
Temperature value, in order to ensure unmanned machine battery within the scope of the temperature of safety, it is necessary to by temperature value and preset security temperature range
Utilization is compared, because the temperature values that unmanned machine battery receives are subzero 10 degrees Celsius to 40 degrees Celsius, therefore, it can
Preset security temperature range is set as subzero 10 degrees Celsius to 40 degrees Celsius, or, subzero 10 degrees Celsius to 50 degrees Celsius, when
Preceding temperature value is in preset security temperature range, now, and unmanned machine battery is within the scope of the temperature of safety, it is determined that when
Preceding ground clearance is safe ground clearance.
In addition, when current temperature value is higher than preset security temperature range higher limit, that is, during higher than 50 degrees Celsius, pole
It easily occurs the situation of battery explosion, at this time, it may be necessary to ground station sends alarm, it is high to stop continuing reduction unmanned plane landing
Degree.
In embodiments of the present invention, it is contemplated that influence of the unmanned plane environment temperature to battery, when unmanned plane is close to burning things which may cause a fire disaster,
Temperature sensor senses safe ground clearance, the effective guarantee safety of unmanned plane.
In step s 103, when in safe ground clearance, image information is obtained, and image information is carried out at defogging
Reason, obtains restored image information.
In embodiments of the present invention, after safe ground clearance is reached, unmanned plane camera can be opened and pass through earth station
Liftoff situation is observed, now, site environment is shot by camera, image information is obtained, because unmanned plane is in height
Sky, especially in the wild in mountain forest, landform is complicated with geomorphic type, and the image information that camera is got needs to be handled,
Handled by Quick demisting, obtaining clearly restored image information contributes to earth station to differentiate that positional information carries out accurate operation.
In embodiments of the present invention, the target imaging disclosed according to atmosphere light according to model theory under the conditions of atmosphere light is shone is former
Cause, physically describes the process that degrades of fog-degraded image.Defogging processing is carried out to image information, is specially：
I (x)=J (x) t (x)+A (1-t (x))
In above formula, I is that what is observed have the image information of mist, and J is the luminous intensity of scene reflections, and t is transmissivity, and A is complete
Office's atmosphere illumination intensity, the part not scattered during imaging device is transmitted to for describing light by medium.Defogging
The target of processing is exactly the restored image information J from I, that is, to ask A and t by I.
Enter line translation to above formula to obtain：Minimum value filter is carried out to the formula both sides
Ripple, is obtained：The coarse value of transmissivity has been obtained by above formula, its
In, ω is the constant introduced, introduces the overall brightness that constant ω plays a part of adjusting image after defogging processing, in addition, it is necessary to
Appropriateness retains some fogs, to prevent the recovery effect of entire image to lack stereovision, it is necessary to which the upper limit to ω is configured, on
Limit is set as 0.95, IcTo there is an image information of mist, Ω (x) is a window centered on x, r, and g, b is the three of RGB image
Individual Color Channel.
The gray value of the maximum point of brightness in image information is chosen as global atmosphere illumination intensity A, using based on cross
The Local Multipoint wave filter of star carries out t (x) and is modified, and the kernel function of the wave filter is：
Wherein, Wij(I) it is the kernel function of wave filter, i and j are pixel tag, k：(i, j) is pixel, centered on U (k)
Pixel IkAdaptive supporting zone, | U (k) | be U (k) in number of pixels, σkAnd μkThe respectively variance of the pixel values in regions
And average, ε is regular parameter, it is contemplated that center pixel has the similitude of neighborhood territory pixel, the adaptive supporting zone energy constructed
Enough reflect the change of image information, therefore, with stronger edge and structure holding capacity, while having more preferable denoising
Energy.
Obtain restored image information ρ (x)：Wherein, S (x) is compensation light.
In embodiments of the present invention, ground clearance is measured by infrared sensor, and safety is determined by temperature sensor
Ground clearance so that unmanned plane is in safe ground clearance in descent, when unmanned plane lands in complex environment in the wild,
The image information that earth station can be got by unmanned plane camera observes the liftoff situation of unmanned plane, in order to obtain clearly
Image information, carries out real-time defogging to image information and goes processing, can obtain picture rich in detail and differentiate positional information, so as to realize
Unmanned plane can be in the field environment prospecting monitoring and precisely landing.
Embodiment two：
Fig. 3 shows the implementation process for the unmanned plane auxiliary landing method that the embodiment of the present invention two is provided, for the ease of saying
It is bright, the part related to the embodiment of the present invention is illustrate only, details are as follows：
In step s 201, current ground clearance is measured using infrared sensor.
In step S202, current temperature value is obtained by temperature sensor, according to temperature value, it is determined that safety it is liftoff away from
From.
In step S203, when in safe ground clearance, image information is obtained, and image information is carried out at defogging
Reason, obtains restored image information.
In step S204, color correct is carried out to restored image information, the restored image information after color correct is obtained.
In embodiments of the present invention, because Misty Image color has distortion, restored image information also occurs that color is lost
Very, color correct can be carried out to restored image information, component algorithm framework is：
Wherein,Represent restored image information f and Gaussian filter GσConvolution,Represent to restoring
Image information carries out the Process Derivative of N rank derivations, keN, p, σFor light source colour, parameter n, p, σ value difference represent different face
Color shape constancy assumes algorithm.
In embodiments of the present invention, ground clearance is measured by infrared sensor, and safety is determined by temperature sensor
Ground clearance so that unmanned plane is in safe ground clearance in descent, in order to obtain clearly image information, to image
Information carries out real-time defogging and goes processing, and carries out color correct to the restored image information after defogging processing, obtains face
Restored image information after colour correction, so as to realize prospecting monitoring and precisely landing that unmanned plane can be in the field environment.
Embodiment three：
Fig. 4 shows the structural representation for the unmanned plane auxiliary landing device that the embodiment of the present invention three is provided, for the ease of
Illustrate, illustrate only the part related to the embodiment of the present invention, unmanned plane auxiliary landing device includes：
Ground clearance measuring unit 31, for measuring current ground clearance using infrared sensor.
In embodiments of the present invention, influence can be produced on gps signal under mountain forest geographical relief complex environment in the wild, because
This needs to measure the current ground clearance of unmanned plane by infrared sensor, and the ground clearance is unmanned plane apart from the vertical of ground
Distance, utilizes infrared sensor guiding unmanned plane landing.The infrared sensor includes：Infrared transmitter, filter and Charged Couple
Detector.
Further, ground clearance measuring unit 31, including：Ground clearance computing unit 311, for according to the angle of departure,
Centre-to-centre spacing, offset distance and focal length, calculating obtain ground clearance, wherein, the angle of departure is the light beam that infrared transmitter is launched
Angle, centre-to-centre spacing be infrared transmitter apart from the charge-coupled detector(CCD) distance, offset distance be light beam reflection after pass through by
Filter reach charge-coupled detector(CCD) deviant, focal length be filter focal length, and ground clearance be infrared sensor perpendicular to
The distance on ground.
Specifically, infrared sensor measures the schematic diagram of ground clearance as shown in Figure 2, and infrared sensor 1 includes：It is infrared
Transmitter 11, filter 12 and charge-coupled detector(CCD) (Charge-Coupled Devices, CCD) 13, infrared transmitter 11 with
Angle of departure α launches infrared beam, is reflected after running into ground or object, and the light beam after reflection reaches electricity by filter 12
Lotus coupled detector 13, after being detected via charge-coupled detector(CCD) 13, gets offset distance L, using triangle principle, known
Angle of departure α, centre-to-centre spacing X, offset distance L and focal length f, calculating obtain ground clearance H, wherein, angle of departure α is infrared transmitter 11
The angle for the light beam launched, centre-to-centre spacing X is infrared transmitter 11 apart from the distance of charge-coupled detector(CCD) 13, offset distance L
Through reaching the deviant of charge-coupled detector(CCD) 13 by filter 12 after being reflected for light beam, focal length f is the focal length of filter, and it is liftoff away from
From H be infrared sensor 11 with a distance from ground.
Safe ground clearance determining unit 32, for obtaining current temperature value by temperature sensor, according to temperature value,
Determine safe ground clearance.
In embodiments of the present invention, the temperature values that unmanned machine battery receives are subzero 10 degrees Celsius to 40 degrees Celsius,
When temperature is higher than 50 degree, battery easily explodes, in operation process, when unmanned plane is detected to declining near burning things which may cause a fire disaster
When, it is necessary to obtain current temperature value by temperature sensor, according to temperature value, safe ground clearance is determined, to ensure nobody
Machine battery prevents the fortuitous event of battery explosion from occurring within the scope of the temperature of safety.
Further, safe ground clearance determining unit 32, including：
Comparing unit 321, for obtaining current temperature value by temperature sensor, by temperature value and preset security temperature
Interval is compared；
Determining unit 322, for being in when temperature value in preset security temperature range, it is determined that current ground clearance is
Safe ground clearance.
Specifically, measured using infrared sensor after current ground clearance, while obtaining current by temperature sensor
Temperature value, in order to ensure unmanned machine battery within the scope of the temperature of safety, it is necessary to by temperature value and preset security temperature range
Utilization is compared, because the temperature values that unmanned machine battery receives are subzero 10 degrees Celsius to 40 degrees Celsius, therefore, it can
Preset security temperature range is set as subzero 10 degrees Celsius to 40 degrees Celsius, or, subzero 10 degrees Celsius to 50 degrees Celsius, when
Preceding temperature value is in preset security temperature range, now, and unmanned machine battery is within the scope of the temperature of safety, it is determined that when
Preceding ground clearance is safe ground clearance.
Further, safe ground clearance determining unit 32, including：
Alarm transmitting element 323, for exceeding preset security temperature range when temperature value, then sends alarm.
Specifically, when current temperature value is higher than preset security temperature range higher limit, that is, during higher than 50 degrees Celsius,
Extremely easily occurs the situation of battery explosion, at this time, it may be necessary to which ground station sends alarm, to stop continuing reducing unmanned plane landing
Highly.
In embodiments of the present invention, it is contemplated that influence of the unmanned plane environment temperature to battery, when unmanned plane is close to burning things which may cause a fire disaster,
Temperature sensor senses safe ground clearance, the effective guarantee safety of unmanned plane.
Defogging processing unit 33, is carried out for when in safe ground clearance, obtaining image information, and to image information
Defogging processing, obtains restored image information.
In embodiments of the present invention, after safe ground clearance is reached, unmanned plane camera can be opened and pass through earth station
Liftoff situation is observed, now, site environment is shot by camera, image information is obtained, because unmanned plane is in height
Sky, especially in the wild in mountain forest, landform is complicated with geomorphic type, and the image information that camera is got needs to be handled,
Handled by Quick demisting, obtaining clearly restored image information contributes to earth station to differentiate that positional information carries out accurate operation.
In embodiments of the present invention, the target imaging disclosed according to atmosphere light according to model theory under the conditions of atmosphere light is shone is former
Cause, physically describes the process that degrades of fog-degraded image.Defogging processing is carried out to image information, is specially：
I (x)=J (x) t (x)+A (1-t (x))
In above formula, I is that what is observed have the image information of mist, and J is the luminous intensity of scene reflections, and t is transmissivity, and A is complete
Office's atmosphere illumination intensity, the part not scattered during imaging device is transmitted to for describing light by medium.Defogging
The target of processing is exactly the restored image information J from I, that is, to ask A and t by I.
Enter line translation to above formula to obtain：Minimum value filter is carried out to the formula both sides
Ripple, is obtained：The coarse value of transmissivity has been obtained by above formula, its
In, ω is the constant introduced, introduces the overall brightness that constant ω plays a part of adjusting image after defogging processing, in addition, it is necessary to
Appropriateness retains some fogs, to prevent the recovery effect of entire image to lack stereovision, it is necessary to which the upper limit to ω is configured, on
Limit is set as 0.95, IcTo there is an image information of mist, Ω (x) is a window centered on x, r, and g, b is the three of RGB image
Individual Color Channel.
The gray value of the maximum point of brightness in image information is chosen as global atmosphere illumination intensity A, using based on cross
The Local Multipoint wave filter of star carries out t (x) and is modified, and the kernel function of the wave filter is：
Wherein, Wij(I) it is the kernel function of wave filter, i and j are pixel tag, k：(i, j) is pixel, centered on U (k)
Pixel IkAdaptive supporting zone, | U (k) | be U (k) in number of pixels, σkAnd μkThe respectively variance of the pixel values in regions
And average, ε is regular parameter, it is contemplated that center pixel has the similitude of neighborhood territory pixel, the adaptive supporting zone energy constructed
Enough reflect the change of image information, therefore, with stronger edge and structure holding capacity, while having more preferable denoising
Energy.
Obtain restored image information ρ (x)：Wherein, S (x) is compensation light.
In embodiments of the present invention, ground clearance is measured by infrared sensor, and safety is determined by temperature sensor
Ground clearance so that unmanned plane is in safe ground clearance in descent, when unmanned plane lands in complex environment in the wild,
The image information that earth station can be got by unmanned plane camera observes the liftoff situation of unmanned plane, in order to obtain clearly
Image information, carries out real-time defogging to image information and goes processing, can obtain picture rich in detail and differentiate positional information, so as to realize
Unmanned plane can be in the field environment prospecting monitoring and precisely landing.
In embodiments of the present invention, each unit of unmanned plane auxiliary landing device can be real by corresponding hardware or software unit
Existing, each unit can be independent soft and hardware unit, can also be integrated into a soft and hardware unit, herein not to limit this
Invention.
Example IV：
Fig. 5 shows the structural representation for the unmanned plane auxiliary landing device that the embodiment of the present invention four is provided, for the ease of
Illustrate, illustrate only the part related to the embodiment of the present invention, unmanned plane auxiliary landing device includes：
Ground clearance measuring unit 31, for measuring current ground clearance using infrared sensor；
Safe ground clearance determining unit 32, for obtaining current temperature value by temperature sensor, according to temperature value,
Determine safe ground clearance；
Defogging processing unit 33, is carried out for when in safe ground clearance, obtaining image information, and to image information
Defogging processing, obtains restored image information；And
Color correct unit 34, for carrying out color correct to restored image information, obtains the restored map after color correct
As information.
In embodiments of the present invention, because Misty Image color has distortion, restored image information also occurs that color is lost
Very, color correct can be carried out to restored image information, component algorithm framework is：
Wherein,Represent restored image information f and Gaussian filter GσConvolution,Represent to restoring
Image information carries out the Process Derivative of N rank derivations, keN, p, σFor light source colour, parameter n, p, σ value difference represent different face
Color shape constancy assumes algorithm.
In embodiments of the present invention, ground clearance is measured by infrared sensor, and safety is determined by temperature sensor
Ground clearance so that unmanned plane is in safe ground clearance in descent, in order to obtain clearly image information, to image
Information carries out real-time defogging and goes processing, and carries out color correct to the restored image information after defogging processing, obtains face
Restored image information after colour correction, so as to realize prospecting monitoring and precisely landing that unmanned plane can be in the field environment.
Embodiment five：
Fig. 6 shows the structural representation for the unmanned plane auxiliary landing equipment that the embodiment of the present invention five is provided, for the ease of
Illustrate, illustrate only the part related to the embodiment of the present invention.
The unmanned plane auxiliary landing equipment 0 of the embodiment of the present invention includes：For measure ground clearance infrared sensor 1,
For obtaining the temperature sensor 2 of current temperature value, the camera 3 for obtaining image information, memory 4, processor 5 with
And it is stored in the computer program 6 that can be run in memory 4 and on processor 5, infrared sensor 1, temperature sensor 2 and take the photograph
As first 3 electrically connect with processor 5, realize that each above-mentioned unmanned plane auxiliary landing method is real during the execution computer program of processor 5
Apply the step in example, such as the step S101 shown in Fig. 1 to S103, or, processor 5 perform computer program 6 when realize on
The function of each module/unit in each device embodiment is stated, such as the function of module 31 to 33 shown in Fig. 4.
Wherein, infrared sensor measures the schematic diagram of ground clearance as shown in Figure 2, and infrared sensor 1 includes：Infrared hair
Emitter 11, filter 12 and charge-coupled detector(CCD) (Charge-Coupled Devices, CCD) 13, infrared transmitter 11 is with hair
Firing angle α launches infrared beam, is reflected after running into ground or object, and the light beam after reflection reaches electric charge by filter 12
Coupled detector 13, after being detected via charge-coupled detector(CCD) 13, gets offset distance L, using triangle principle, in known hair
Firing angle α, centre-to-centre spacing X, offset distance L and focal length f, calculating obtain ground clearance H, wherein, angle of departure α is that infrared transmitter 11 is sent out
The angle of the light beam of injection, centre-to-centre spacing X is distance of the infrared transmitter 11 apart from charge-coupled detector(CCD) 13, and offset distance L is
Through reaching the deviant of charge-coupled detector(CCD) 13 by filter 12 after light beam reflection, focal length f is the focal length of filter, and ground clearance
H is distance of the infrared sensor 11 perpendicular to ground.
Wherein, temperature sensor 2 can select digital temperature sensor DS18B20, digital temperature sensor DS18B20 tool
There is one-wire interface mode, only need a mouth line that the two-way of processor 5 and DS18B20 can be achieved when being connected with processor 5
Communication, the temperature-measuring range of digital temperature sensor DS18B20 is -55 DEG C~+125 DEG C, supports multiple spot networking, multiple DS18B20
It can be connected in parallel on unique three line, at most can only be in parallel 8, multi-point temperature measurement is realized, measurement result is with 9~12 bit digital quantity sides
Formula is serially transferred, and working power is 3.0~5.5V.
Wherein, processor 5 can select Intel (R) Core (TM)-i5-3.20GHz, and memory size is 8.00GB, compile
Journey instrument is that MATLAB 2014 carries out emulation experiment, and carrying out real-time defogging to image information goes processing, can obtain clear figure
As differentiating positional information, so as to realize the prospecting monitoring and precisely landing that unmanned plane can be in the field environment.
Embodiment six：
In embodiments of the present invention there is provided a kind of computer-readable recording medium, the computer-readable recording medium is deposited
Computer program is contained, the computer program realizes each above-mentioned unmanned plane auxiliary landing embodiment of the method when being executed by processor
In step, for example, the step S101 shown in Fig. 1 is to S103, or, the computer program is realized above-mentioned when being executed by processor
The function of each module/unit in each device embodiment, such as function of module 31 to 33 shown in Fig. 4.
In embodiments of the present invention, influence can be produced on gps signal under mountain forest geographical relief complex environment in the wild, because
This needs to measure the current ground clearance of unmanned plane by infrared sensor, and the ground clearance is unmanned plane apart from the vertical of ground
Distance, utilizes infrared sensor guiding unmanned plane landing.The infrared sensor includes：Infrared transmitter, filter and Charged Couple
Detector.
In embodiments of the present invention, the temperature values that unmanned machine battery receives are subzero 10 degrees Celsius to 40 degrees Celsius,
When temperature is higher than 50 degree, battery easily explodes, in operation process, when unmanned plane is detected to declining near burning things which may cause a fire disaster
When, it is necessary to obtain current temperature value by temperature sensor, according to temperature value, safe ground clearance is determined, to ensure nobody
Machine battery prevents the fortuitous event of battery explosion from occurring within the scope of the temperature of safety.
In embodiments of the present invention, after safe ground clearance is reached, unmanned plane camera can be opened and pass through earth station
Liftoff situation is observed, now, site environment is shot by camera, image information is obtained, because unmanned plane is in height
Sky, especially in the wild in mountain forest, landform is complicated with geomorphic type, and the image information that camera is got needs to be handled,
Handled by Quick demisting, obtaining clearly restored image information contributes to earth station to differentiate that positional information carries out accurate operation.
The computer-readable recording medium of the embodiment of the present invention can include that any of computer program code can be carried
Entity or device, recording medium, for example, the memory such as ROM/RAM, disk, CD, flash memory.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of unmanned plane auxiliary landing method, it is characterised in that methods described comprises the steps：
Current ground clearance is measured using infrared sensor；
Current temperature value is obtained by temperature sensor, according to the temperature value, safe ground clearance is determined；
When in the safe ground clearance, image information is obtained, and defogging processing is carried out to described image information, is answered
Original image information.
2. the method as described in claim 1, it is characterised in that the infrared sensor includes：Infrared transmitter, filter and electricity
Lotus coupled detector.
3. method as claimed in claim 2, it is characterised in that the utilization infrared sensor measures current ground clearance
Step, including：
According to the angle of departure, centre-to-centre spacing, offset distance and focal length, calculating obtains the ground clearance, wherein, the angle of departure is institute
The angle for the light beam that infrared transmitter is launched is stated, the centre-to-centre spacing is that the infrared transmitter is detected apart from the Charged Couple
The distance of device, the offset distance is to pass through the skew that the charge-coupled detector(CCD) is reached by the filter after the light beam reflects
Value, the focal length is the focal length of the filter, and the ground clearance is distance of the infrared sensor perpendicular to ground.
4. the method as described in claim 1, it is characterised in that described that current temperature value, root are obtained by temperature sensor
According to the temperature value, the step of determining safe ground clearance, including：
Current temperature value is obtained by temperature sensor, the temperature value is compared with preset security temperature range；
When the temperature value is in the preset security temperature range, it is determined that current ground clearance is that the safety is liftoff
Distance.
5. the method as described in claim 1, it is characterised in that described when in the safe ground clearance, obtains image
Information, and to the progress defogging processing of described image information, after the step of obtaining restored image information, including：
Color correct is carried out to the restored image information, the restored image information after color correct is obtained.
6. a kind of unmanned plane auxiliary landing device, it is characterised in that described device includes：
Ground clearance measuring unit, for measuring current ground clearance using infrared sensor；
Safe ground clearance determining unit, for obtaining current temperature value by temperature sensor, according to the temperature value, really
The full ground clearance in Dingan County；And
Defogging processing unit, for when in the safe ground clearance, obtaining image information, and enter to described image information
The processing of row defogging, obtains restored image information.
7. device as claimed in claim 6, it is characterised in that the ground clearance measuring unit, including：
Ground clearance computing unit, for according to the angle of departure, centre-to-centre spacing, offset distance and focal length, calculating obtain it is described it is liftoff away from
From, wherein, the angle of departure is the angle for the light beam that the infrared transmitter is launched, and the centre-to-centre spacing is the infrared emission
Device apart from the charge-coupled detector(CCD) distance, the offset distance for the light beam reflect after pass through by the filter reach institute
The deviant of charge-coupled detector(CCD) is stated, the focal length is the focal length of the filter, and the ground clearance is the infrared biography
Distance of the sensor perpendicular to ground.
8. a kind of unmanned plane auxiliary landing equipment, it is characterised in that the unmanned plane auxiliary landing equipment include being used for measuring from
The infrared sensor of ground distance, the temperature sensor for obtaining current temperature value, the camera for obtaining image information,
Memory, processor and the computer program that can be run in the memory and on the processor is stored in, it is described red
Outer sensor, temperature sensor and camera are electrically connected with the processor, described in the computing device during computer program
Realize such as the step of any one of claim 1 to 5 methods described.
9. equipment as claimed in claim 8, it is characterised in that the infrared transmitter, filter and charge-coupled detector(CCD).
10. a kind of computer-readable recording medium, the computer-readable recording medium storage has computer program, its feature exists
In the step of realizing such as any one of claim 1 to 5 methods described when the computer program is executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710613180.4A CN107323677B (en) | 2017-07-25 | 2017-07-25 | Unmanned aerial vehicle auxiliary landing method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710613180.4A CN107323677B (en) | 2017-07-25 | 2017-07-25 | Unmanned aerial vehicle auxiliary landing method, device, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107323677A true CN107323677A (en) | 2017-11-07 |
| CN107323677B CN107323677B (en) | 2023-06-27 |
Family
ID=60227215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710613180.4A Active CN107323677B (en) | 2017-07-25 | 2017-07-25 | Unmanned aerial vehicle auxiliary landing method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107323677B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108710381A (en) * | 2018-04-01 | 2018-10-26 | 成都远致科技有限公司 | A kind of servo-actuated landing method of unmanned plane |
| CN113109852A (en) * | 2021-03-11 | 2021-07-13 | 国网江西省电力有限公司电力科学研究院 | Path planning method and device for unmanned aerial vehicle to enter narrow space |
| CN113917948A (en) * | 2021-12-15 | 2022-01-11 | 北京航空航天大学 | Low-visual-environment unmanned aerial vehicle foundation auxiliary landing method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104166854A (en) * | 2014-08-03 | 2014-11-26 | 浙江大学 | Vision grading landmark locating and identifying method for autonomous landing of small unmanned aerial vehicle |
| CN105517664A (en) * | 2014-05-30 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Systems and methods for uav docking |
| US20160376031A1 (en) * | 2014-07-16 | 2016-12-29 | Airogistic, L.L.C. | Methods and apparatus for unmanned aerial vehicle landing and launch |
| CN106708065A (en) * | 2017-01-17 | 2017-05-24 | 览意科技（上海）有限公司 | Unmanned aerial vehicle landing control method, device and unmanned aerial vehicle |
-
2017
- 2017-07-25 CN CN201710613180.4A patent/CN107323677B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105517664A (en) * | 2014-05-30 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Systems and methods for uav docking |
| US20160376031A1 (en) * | 2014-07-16 | 2016-12-29 | Airogistic, L.L.C. | Methods and apparatus for unmanned aerial vehicle landing and launch |
| CN104166854A (en) * | 2014-08-03 | 2014-11-26 | 浙江大学 | Vision grading landmark locating and identifying method for autonomous landing of small unmanned aerial vehicle |
| CN106708065A (en) * | 2017-01-17 | 2017-05-24 | 览意科技（上海）有限公司 | Unmanned aerial vehicle landing control method, device and unmanned aerial vehicle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108710381A (en) * | 2018-04-01 | 2018-10-26 | 成都远致科技有限公司 | A kind of servo-actuated landing method of unmanned plane |
| CN113109852A (en) * | 2021-03-11 | 2021-07-13 | 国网江西省电力有限公司电力科学研究院 | Path planning method and device for unmanned aerial vehicle to enter narrow space |
| CN113109852B (en) * | 2021-03-11 | 2024-03-12 | 国网江西省电力有限公司电力科学研究院 | Path planning method and device for entering narrow space of unmanned aerial vehicle |
| CN113917948A (en) * | 2021-12-15 | 2022-01-11 | 北京航空航天大学 | Low-visual-environment unmanned aerial vehicle foundation auxiliary landing method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107323677B (en) | 2023-06-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10191486B2 (en) | Unmanned surveyor | |
| CN110418957B (en) | Method and device for monitoring the condition of a facility having an operating means | |
| CN107589758A (en) | A kind of intelligent field unmanned plane rescue method and system based on double source video analysis | |
| CN107357286A (en) | Vision positioning guider and its method | |
| CN111982291B (en) | Fire point positioning method, device and system based on unmanned aerial vehicle | |
| CN109613934A (en) | A kind of method that unmanned plane captures black winged unmanned plane | |
| US11036240B1 (en) | Safe landing of aerial vehicles upon loss of navigation | |
| Hrabar | An evaluation of stereo and laser‐based range sensing for rotorcraft unmanned aerial vehicle obstacle avoidance | |
| CN109063532B (en) | Unmanned aerial vehicle-based method for searching field offline personnel | |
| CN107316012A (en) | The fire detection and tracking of small-sized depopulated helicopter | |
| CN103852077A (en) | Automatic anti-cheating judgment method for unmanned aerial vehicle positioning information in link failure process | |
| CN105637322A (en) | A method of determining the location of a point of interest and the system thereof | |
| CN107323677A (en) | Unmanned plane auxiliary landing method, device, equipment and storage medium | |
| CN111679695A (en) | Unmanned aerial vehicle cruising and tracking system and method based on deep learning technology | |
| CN107783119A (en) | Apply the Decision fusion method in obstacle avoidance system | |
| US20210221502A1 (en) | Method and a system for real-time data processing, tracking, and monitoring of an asset using uav | |
| CN107065027A (en) | Detection system, method, device and the equipment of source of leaks | |
| Claro et al. | Artuga: A novel multimodal fiducial marker for aerial robotics | |
| US11341673B2 (en) | Infrared image processing method, infrared image processing device, and infrared image processing program | |
| Liu et al. | Manhole cover detection from natural scene based on imaging environment perception | |
| González et al. | Vision-based UAV detection for air-to-air neutralization | |
| CN111402324A (en) | Target measuring method, electronic equipment and computer storage medium | |
| US10257472B2 (en) | Detecting and locating bright light sources from moving aircraft | |
| CN207458359U (en) | Unmanned plane auxiliary landing equipment | |
| Nguyen et al. | Characteristics of optical flow from aerial thermal imaging,“thermal flow” |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |