CN107323677B - Unmanned aerial vehicle auxiliary landing method, device, equipment and storage medium - Google Patents
Unmanned aerial vehicle auxiliary landing method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention is applicable to the technical field of unmanned aerial vehicles, and provides an unmanned aerial vehicle auxiliary landing method, device, equipment and storage medium, wherein the method comprises the following steps: measuring a current ground clearance by using an infrared sensor; acquiring a current temperature value through a temperature sensor, and determining a safe ground clearance according to the temperature value; and when the safe ground clearance is in the safe ground clearance, acquiring image information, and performing defogging treatment on the image information to obtain restored image information. According to the invention, the ground clearance is measured through the infrared sensor, the safe ground clearance is determined through the temperature sensor, so that the unmanned aerial vehicle is in the safe ground clearance in the landing process, the ground station can observe the ground clearance of the unmanned aerial vehicle through the image information obtained by the unmanned aerial vehicle camera, in order to obtain clear image information, the image information is subjected to real-time and rapid defogging and processing, and clear image discrimination position information can be obtained, so that the unmanned aerial vehicle can be subjected to investigation monitoring and accurate landing in a field environment.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle auxiliary landing method, device, equipment and storage medium.
Background
The unmanned aerial vehicle is mainly applied to the military field, has the characteristics of zero damage, low cost, good concealment and the like, and performs investigation and monitoring, military striking, firepower guiding and communication relay. In recent years, flexibility, high efficiency and reliability of unmanned aerial vehicles in the process of executing tasks are widely focused on civil markets, and the unmanned aerial vehicles are widely applied to the fields of electric power, agriculture, weather, geology and the like. The outdoor mountain forest has complex terrain, wide area and unusual climate, forest fire prevention is particularly important, the position of a fire point and the observation of the fire condition can be very clear at the monitoring point of a ground station by using the aerial image information of the unmanned aerial vehicle, an effective scheme is formulated according to the observation condition, and a firefighter can quickly reach the fire point to control the fire condition, so that the firefighting efficiency is improved. In the process of unmanned aerial vehicle's execution task, the accurate degree in landing place plays crucial effect. Usually unmanned aerial vehicle is accomplished through auxiliary device when independently descending, especially under the circumstances of the complicated topography of open-air mountain forest, has put forward higher requirement to the landing precision more. The current auxiliary device mainly obtains information through an onboard camera device:
the method is characterized in that a landing area formed by laser beams is projected before the unmanned aerial vehicle lands, so that ground personnel can be warned to avoid the landing area, and the method effectively avoids the casualties of personnel and the loss of the unmanned aerial vehicle, but has limited application scenes, and can not accurately guide the suspicious targets to land in a field environment;
the other is to convert the shot image into a gray level image, obtain the optical flow field direction and speed according to the gray level image by using SAD (Sum of absolute differences) algorithm, determine the movement direction of the unmanned aerial vehicle according to the optical flow field direction and speed, guide the unmanned aerial vehicle to the position above the landing place according to the optical flow principle, obtain an edge distribution map by using a Canny operator (edge detection calculation theory), extract the edge distribution map and contour tree information, determine the relative position of the marker and the attitude information of the unmanned aerial vehicle, and finally determine the landing target to realize autonomous landing. The method can assist in positioning under the condition that no GPS fails, so that the accuracy of unmanned aerial vehicle landing is improved, and the problems that an optical flow method is sensitive to a light environment, an optical flow algorithm is sensitive to illumination, optical flow calculation accuracy and the like are to be solved.
The method is characterized in that a camera is used for shooting a picture on the ground vertically downwards, a landing navigation mark is recognized as a circular area, the circle center of the landing navigation mark is found to serve as a landing position by adopting an image processing method, a yaw angle is corrected by moving the unmanned aerial vehicle in real time, a parameter for controlling the movement of the unmanned aerial vehicle is obtained by adopting a fuzzy control method according to two included angles of the circle center on space coordinates, the altitude of the unmanned aerial vehicle is monitored in real time by utilizing an air pressure altimeter in combination with an ultrasonic radar, a landing signal is sent by a ground control station for slow landing, and although the cost is reduced, the method only carries out fixed-point landing on the unmanned aerial vehicle, and detection and landing of an unknown place cannot be carried out.
When the unmanned plane performs information reconnaissance, the unmanned plane is easily affected by bad weather conditions, so that reconnaissance images are blurred, the contrast ratio is reduced, but the instantaneity of solving the problems by the existing more algorithms is poor. At present, most unmanned aerial vehicles adopt a GPS (global positioning system), an INS (inertial navigation system), a combined guidance system of the GPS and the INS to navigate, however, the GPS signals can be influenced and even are lost under the environment of complex geographical features of wild mountain forests, the positioning precision of the common civil GPS is only in the range of 10 meters, certain errors can be generated for landing in remote areas, even the landing cannot be realized, and the high-precision GPS of a professional level is expensive. In the landing process, the unmanned aerial vehicle imaging system is affected by relative motion, attitude change and other factors to blur the shooting image quality of the shooting system, clear image information cannot be provided, and the landing process of the unmanned aerial vehicle is greatly affected. The GPS signal can be influenced even the signal is lost in the environment with complex geographical topography of the wild mountain forest, the common civil GPS positioning precision is only in the range of 10 meters, which leads to certain errors and even incapability of landing in remote areas, and the professional-grade high-precision GPS is expensive, in addition, the influence of the unmanned aerial vehicle environment temperature on the battery is not considered in the prior art.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle auxiliary landing method, device, equipment and storage medium, and aims to solve the problems that an unmanned aerial vehicle is limited by low GPS signal precision in a special environment, and an accurate fixed-point landing scheme cannot be provided for the unmanned aerial vehicle, so that the unmanned aerial vehicle drops inaccurately and even drops in a dangerous area.
In one aspect, the invention provides an unmanned aerial vehicle assisted landing method, which comprises the following steps:
measuring a current ground clearance by using an infrared sensor;
acquiring a current temperature value through a temperature sensor, and determining a safe ground clearance according to the temperature value;
and when the safe ground clearance is in the safe ground clearance, acquiring image information, and performing defogging treatment on the image information to obtain restored image information.
In another aspect, the present invention provides an unmanned aerial vehicle landing assisting apparatus, the apparatus comprising:
the ground clearance measuring unit is used for measuring the current ground clearance by utilizing the infrared sensor;
the safety ground clearance determining unit is used for acquiring a current temperature value through the temperature sensor and determining the safety ground clearance according to the temperature value; and
and the defogging processing unit is used for acquiring image information when the safe ground clearance exists, and defogging the image information to obtain restored image information.
On the other hand, the invention also provides unmanned aerial vehicle auxiliary landing equipment, which comprises an infrared sensor for measuring the distance to the ground, a temperature sensor for acquiring the current temperature value, a camera for acquiring image information, a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the infrared sensor, the temperature sensor and the camera are electrically connected with the processor, and the processor realizes the steps of an unmanned aerial vehicle auxiliary landing method when executing the computer program.
In another aspect, the present invention also provides a computer readable storage medium storing a computer program which when executed by a processor performs steps such as a unmanned aerial vehicle assisted descent method.
According to the invention, the ground clearance is measured through the infrared sensor, and the safe ground clearance is determined through the temperature sensor, so that the unmanned aerial vehicle is in the safe ground clearance in the landing process, when the unmanned aerial vehicle lands in a complex field environment, the ground station can observe the ground clearance of the unmanned aerial vehicle through the image information acquired by the camera of the unmanned aerial vehicle, in order to acquire clear image information, the image information is subjected to real-time rapid defogging and processing, and clear image discrimination position information can be obtained, so that the unmanned aerial vehicle can be monitored and land accurately in the field environment.
Drawings
Fig. 1 is a flowchart of an implementation of an auxiliary landing method of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an infrared sensor according to an embodiment of the present invention for measuring a distance from the ground;
fig. 3 is a flowchart of an implementation of an auxiliary landing method of an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of an auxiliary landing device for an unmanned aerial vehicle according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an auxiliary landing device for an unmanned aerial vehicle according to a fourth embodiment of the present invention;
fig. 6 is a schematic structural diagram of an auxiliary landing device for an unmanned aerial vehicle according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The following describes in detail the implementation of the present invention in connection with specific embodiments:
embodiment one:
fig. 1 shows a flow of implementation of the unmanned aerial vehicle auxiliary landing method according to the first embodiment of the present invention, and for convenience of explanation, only the parts related to the embodiment of the present invention are shown, and the details are as follows:
in step S101, the current ground clearance is measured using an infrared sensor.
In the embodiment of the invention, GPS signals are influenced in the environment with complex geographical topography of the wild mountain forest, so that the current ground clearance of the unmanned aerial vehicle is required to be measured through the infrared sensor, and the ground clearance is the vertical distance between the unmanned aerial vehicle and the ground, and the infrared sensor is used for guiding the unmanned aerial vehicle to land. The infrared sensor includes: infrared emitter, filter and charge coupled detector.
As shown in fig. 2, which is a schematic diagram of an infrared sensor measuring a distance from the ground, the infrared sensor 1 includes: the infrared emitter 11 emits an infrared beam at an emission angle α, the infrared emitter 11 reflects after encountering the ground or an object, the reflected beam passes through the filter 12 and reaches the Charge Coupled detector 13, the offset distance L is obtained after detection by the Charge Coupled detector 13, and the ground clearance H is calculated by using a triangle principle at a known emission angle α, a center distance X, an offset distance L and a focal distance f, wherein the emission angle α is an angle of the beam emitted by the infrared emitter 11, the center distance X is a distance between the infrared emitter 11 and the Charge Coupled detector 13, the offset distance L is an offset value of the beam after reflection and reaching the Charge Coupled detector 13 via the filter 12, the focal distance f is a focal distance of the filter, and the ground clearance H is a distance between the infrared sensor 11 and the ground clearance perpendicular to the ground.
In step S102, a current temperature value is obtained by a temperature sensor, and a safe ground clearance is determined according to the temperature value.
In the embodiment of the invention, the temperature value received by the unmanned aerial vehicle battery is between minus 10 ℃ and 40 ℃, when the temperature is higher than 50 ℃, the battery is easy to explode, and in the operation process, when the unmanned aerial vehicle descends to the vicinity of a fire source for detection, the current temperature value needs to be acquired through a temperature sensor, and the safe ground clearance is determined according to the temperature value, so that the unmanned aerial vehicle battery is ensured to be in a safe temperature range, and the accident that the battery explodes is prevented.
Further, a current temperature value is obtained through a temperature sensor, and the temperature value is compared with a preset safe temperature interval;
and when the temperature value is in a preset safe temperature interval, determining that the current ground clearance is a safe ground clearance.
Specifically, after the current ground clearance is measured by using the infrared sensor, the current temperature value is obtained through the temperature sensor, in order to ensure that the unmanned aerial vehicle battery is in a safe temperature range, the temperature value is required to be compared with a preset safe temperature range, and because the temperature value range accepted by the unmanned aerial vehicle battery is from minus 10 ℃ to 40 ℃, the preset safe temperature range can be set to minus 10 ℃ to 40 ℃, or from minus 10 ℃ to 50 ℃, the current temperature value is in the preset safe temperature range, and at the moment, the current ground clearance is determined to be the safe ground clearance.
In addition, when the current temperature value is higher than the upper limit value of the preset safe temperature interval, that is, higher than 50 ℃, the situation that the battery explodes is very easy to happen, and at this time, an alarm needs to be sent to the ground station to stop continuously lowering the landing height of the unmanned aerial vehicle.
In the embodiment of the invention, the influence of the environmental temperature of the unmanned aerial vehicle on the battery is considered, and when the unmanned aerial vehicle approaches a fire source, the temperature sensor senses the safe ground clearance, so that the safety of the unmanned aerial vehicle is effectively ensured.
In step S103, when the safe distance from the ground is set, image information is acquired, defogging processing is performed on the image information, and restored image information is obtained.
In the embodiment of the invention, after the safe ground clearance is reached, the unmanned aerial vehicle camera can be opened to observe the ground clearance through the ground station, at the moment, the on-site environment is shot through the camera to acquire the image information, and as the unmanned aerial vehicle is located at high altitude, especially in a wild mountain forest, the types of topography and landform are complex, the image information acquired by the camera needs to be processed, and clear restored image information is acquired through quick defogging processing, so that the ground station can judge the position information to perform accurate operation.
In the embodiment of the invention, the imaging reason of the target under the atmospheric illumination condition is revealed according to the atmospheric illumination model theory, and the degradation process of the degraded image in foggy days is physically described. Defogging treatment is carried out on the image information, specifically:
I(x)＝J(x)t(x)+A(1-t(x))
in the above equation, I is the observed hazy image information, J is the intensity of light reflected from the scene, t is the transmittance, and a is the global atmospheric illumination intensity, which is used to describe the portion of light transmitted through the medium to the imaging device that is not scattered. The object of the defogging process is to recover the image information J from I, i.e. to find a and t by I.
The above is transformed to obtain:
and carrying out minimum value filtering on two sides of the formula to obtain: />
The rough value of the transmissivity is obtained by the above formula, wherein omega is an introduced constant, the introduced constant omega plays a role in adjusting the overall brightness of the image after defogging treatment, in addition, a certain amount of fog needs to be properly reserved to prevent the restoration effect of the whole image from lacking hierarchy, the upper limit of omega needs to be set to be 0.95, and I c For foggy image information, Ω (x) is a window centered on x, r, g, b are three color channels of the RGB image.
Selecting the gray value of the point with the maximum brightness in the image information as the global atmospheric illumination intensity A, and correcting t (x) by adopting a local multi-point filter based on a cross star, wherein the kernel function of the filter is as follows:
wherein W is ij (I) For the kernel function of the filter, i and j are pixel labels, k: (I, j) is the pixel point, U (k) is the central pixel I k Is the number of pixels in U (k), σ k Sum mu k The variance and the mean value of the pixel values in the region are respectively, epsilon is a regular parameter, the similarity of the pixels in the neighborhood of the central pixel is considered, and the constructed self-adaptive support region can reflect the change of image information, so that the self-adaptive support region has stronger edge and structure holding capability and better denoising performance.
Obtaining restored image information ρ (x):
wherein S (x) is compensation light.
In the embodiment of the invention, the ground clearance is measured through the infrared sensor, and the safe ground clearance is determined through the temperature sensor, so that the unmanned aerial vehicle is in the safe ground clearance in the landing process, when the unmanned aerial vehicle lands in a complex field environment, the ground station can observe the ground clearance of the unmanned aerial vehicle through the image information acquired by the unmanned aerial vehicle camera, and in order to acquire clear image information, the image information is subjected to real-time and rapid defogging and processing, so that clear image discrimination position information can be obtained, and further, the investigation monitoring and the accurate landing of the unmanned aerial vehicle under the field environment are realized.
Embodiment two:
fig. 3 shows a flow of implementation of the unmanned aerial vehicle auxiliary landing method according to the second embodiment of the present invention, and for convenience of explanation, only the parts related to the embodiment of the present invention are shown, and the details are as follows:
in step S201, the current ground clearance is measured using an infrared sensor.
In step S202, a current temperature value is obtained by a temperature sensor, and a safe ground clearance is determined according to the temperature value.
In step S203, when the safe distance from the ground is set, image information is acquired, defogging processing is performed on the image information, and restored image information is obtained.
In step S204, color correction is performed on the restored image information, and restored image information after the color correction is obtained.
In the embodiment of the invention, as the color of the foggy-day image is distorted, the color distortion of the restored image information also occurs, the color correction of the restored image information can be carried out, and the component algorithm frame is as follows:
wherein,,
representing restored image information f and Gaussian filter G σ Convolution of->
Representing the derivative, ke, of the process of N-order derivation of the restored image information n，p，σ The parameters n, p and sigma are different values for the light source color, and represent different color constancy assumption algorithms.
In the embodiment of the invention, the ground clearance is measured through the infrared sensor, and the safe ground clearance is determined through the temperature sensor, so that the unmanned aerial vehicle is positioned at the safe ground clearance in the landing process, in order to acquire clear image information, the image information is subjected to real-time rapid defogging and defogging treatment, and the defogging-treated restored image information is subjected to color correction, so that the color-corrected restored image information is obtained, and the unmanned aerial vehicle can be subjected to investigation monitoring and accurate landing in a field environment.
Embodiment III:
fig. 4 is a schematic structural diagram of an auxiliary landing device for an unmanned aerial vehicle according to a third embodiment of the present invention, and for convenience of explanation, only a portion related to the embodiment of the present invention is shown, where the auxiliary landing device for an unmanned aerial vehicle includes:
the ground clearance measuring unit 31 measures the current ground clearance using an infrared sensor.
In the embodiment of the invention, GPS signals are influenced in the environment with complex geographical topography of the wild mountain forest, so that the current ground clearance of the unmanned aerial vehicle is required to be measured through the infrared sensor, and the ground clearance is the vertical distance between the unmanned aerial vehicle and the ground, and the infrared sensor is used for guiding the unmanned aerial vehicle to land. The infrared sensor includes: infrared emitter, filter and charge coupled detector.
Further, the ground clearance measuring unit 31 includes: the ground distance calculating unit 311 is configured to calculate a ground distance according to an emission angle, a center distance, an offset distance and a focal length, where the emission angle is an angle of a light beam emitted by the infrared emitter, the center distance is a distance between the infrared emitter and the charge coupled detector, the offset distance is an offset value that the light beam reaches the charge coupled detector through the filter after being reflected, the focal length is a focal length of the filter, and the ground distance is a distance perpendicular to the ground of the infrared sensor.
Specifically, as shown in fig. 2, which is a schematic diagram of an infrared sensor measuring a ground distance, the infrared sensor 1 includes: the infrared emitter 11 emits an infrared beam at an emission angle α, the infrared emitter 11 reflects after encountering the ground or an object, the reflected beam passes through the filter 12 and reaches the Charge Coupled detector 13, the offset distance L is obtained after detection by the Charge Coupled detector 13, and the ground clearance H is calculated by using a triangle principle at a known emission angle α, a center distance X, an offset distance L and a focal distance f, wherein the emission angle α is an angle of the beam emitted by the infrared emitter 11, the center distance X is a distance between the infrared emitter 11 and the Charge Coupled detector 13, the offset distance L is an offset value of the beam after reflection and reaching the Charge Coupled detector 13 via the filter 12, the focal distance f is a focal distance of the filter, and the ground clearance H is a distance between the infrared sensor 11 and the ground clearance perpendicular to the ground.
The safe ground clearance determining unit 32 is configured to obtain a current temperature value through the temperature sensor, and determine the safe ground clearance according to the temperature value.
In the embodiment of the invention, the temperature value received by the unmanned aerial vehicle battery is between minus 10 ℃ and 40 ℃, when the temperature is higher than 50 ℃, the battery is easy to explode, and in the operation process, when the unmanned aerial vehicle descends to the vicinity of a fire source for detection, the current temperature value needs to be acquired through a temperature sensor, and the safe ground clearance is determined according to the temperature value, so that the unmanned aerial vehicle battery is ensured to be in a safe temperature range, and the accident that the battery explodes is prevented.
Further, the safe ground clearance determination unit 32 includes:
the comparison unit 321 is configured to obtain a current temperature value through a temperature sensor, and compare the temperature value with a preset safe temperature interval;
and the determining unit 322 is configured to determine that the current ground clearance is a safe ground clearance when the temperature value is within a preset safe temperature range.
Specifically, after the current ground clearance is measured by using the infrared sensor, the current temperature value is obtained through the temperature sensor, in order to ensure that the unmanned aerial vehicle battery is in a safe temperature range, the temperature value is required to be compared with a preset safe temperature range, and because the temperature value range accepted by the unmanned aerial vehicle battery is from minus 10 ℃ to 40 ℃, the preset safe temperature range can be set to minus 10 ℃ to 40 ℃, or from minus 10 ℃ to 50 ℃, the current temperature value is in the preset safe temperature range, and at the moment, the current ground clearance is determined to be the safe ground clearance.
Further, the safe ground clearance determination unit 32 includes:
an alarm transmitting unit 323 for transmitting an alarm when the temperature value exceeds a preset safe temperature interval.
Specifically, when the current temperature value is higher than the preset upper limit value of the safe temperature interval, that is, higher than 50 degrees celsius, the situation of battery explosion is extremely easy to occur, and at this time, an alarm needs to be sent to the ground station to stop continuing to lower the landing height of the unmanned aerial vehicle.
In the embodiment of the invention, the influence of the environmental temperature of the unmanned aerial vehicle on the battery is considered, and when the unmanned aerial vehicle approaches a fire source, the temperature sensor senses the safe ground clearance, so that the safety of the unmanned aerial vehicle is effectively ensured.
And a defogging processing unit 33, configured to acquire image information when the image information is at a safe ground clearance, and perform defogging processing on the image information to obtain restored image information.
In the embodiment of the invention, after the safe ground clearance is reached, the unmanned aerial vehicle camera can be opened to observe the ground clearance through the ground station, at the moment, the on-site environment is shot through the camera to acquire the image information, and as the unmanned aerial vehicle is located at high altitude, especially in a wild mountain forest, the types of topography and landform are complex, the image information acquired by the camera needs to be processed, and clear restored image information is acquired through quick defogging processing, so that the ground station can judge the position information to perform accurate operation.
In the embodiment of the invention, the imaging reason of the target under the atmospheric illumination condition is revealed according to the atmospheric illumination model theory, and the degradation process of the degraded image in foggy days is physically described. Defogging treatment is carried out on the image information, specifically:
I(x)＝J(x)t(x)+A(1-t(x))
in the above equation, I is the observed hazy image information, J is the intensity of light reflected from the scene, t is the transmittance, and a is the global atmospheric illumination intensity, which is used to describe the portion of light transmitted through the medium to the imaging device that is not scattered. The object of the defogging process is to recover the image information J from I, i.e. to find a and t by I.
The above is transformed to obtain:
and carrying out minimum value filtering on two sides of the formula to obtain: />
The rough value of the transmissivity is obtained by the above formula, wherein omega is an introduced constant, the introduced constant omega plays a role in adjusting the overall brightness of the image after defogging treatment, in addition, a certain amount of fog needs to be properly reserved to prevent the restoration effect of the whole image from lacking hierarchy, the upper limit of omega needs to be set to be 0.95, and I c For foggy image information, Ω (x) is a window centered on x, r, g, b are three color channels of the RGB image.
Selecting the gray value of the point with the maximum brightness in the image information as the global atmospheric illumination intensity A, and correcting t (x) by adopting a local multi-point filter based on a cross star, wherein the kernel function of the filter is as follows:
wherein W is ij (I) For the kernel function of the filter, i and j are pixel labels, k: (I, j) is the pixel point, U (k) is the central pixel I k Is the number of pixels in U (k), σ k Sum mu k The variance and the mean value of the pixel values in the region are respectively, epsilon is a regular parameter, the similarity of the pixels in the neighborhood of the central pixel is considered, and the constructed self-adaptive support region can reflect the change of image information, so that the self-adaptive support region has stronger edge and structure holding capability and better denoising performance.
Obtaining restored image information ρ (x):
wherein S (x) is compensation light.
In the embodiment of the invention, the ground clearance is measured through the infrared sensor, and the safe ground clearance is determined through the temperature sensor, so that the unmanned aerial vehicle is in the safe ground clearance in the landing process, when the unmanned aerial vehicle lands in a complex field environment, the ground station can observe the ground clearance of the unmanned aerial vehicle through the image information acquired by the unmanned aerial vehicle camera, and in order to acquire clear image information, the image information is subjected to real-time and rapid defogging and processing, so that clear image discrimination position information can be obtained, and further, the investigation monitoring and the accurate landing of the unmanned aerial vehicle under the field environment are realized.
In the embodiment of the invention, each unit of the unmanned aerial vehicle auxiliary landing device can be realized by corresponding hardware or software units, each unit can be an independent software and hardware unit, and can also be integrated into one software and hardware unit, and the invention is not limited herein.
Embodiment four:
fig. 5 is a schematic structural diagram of an auxiliary landing device for an unmanned aerial vehicle according to a fourth embodiment of the present invention, and for convenience of explanation, only a portion related to the embodiment of the present invention is shown, where the auxiliary landing device for an unmanned aerial vehicle includes:
a ground clearance measuring unit 31 for measuring a current ground clearance using an infrared sensor;
a safe ground clearance determining unit 32, configured to obtain a current temperature value through the temperature sensor, and determine a safe ground clearance according to the temperature value;
a defogging processing unit 33, configured to acquire image information when the image information is at a safe ground clearance, and perform defogging processing on the image information to obtain restored image information; and
the color correction unit 34 is configured to perform color correction on the restored image information, and obtain color-corrected restored image information.
In the embodiment of the invention, as the color of the foggy-day image is distorted, the color distortion of the restored image information also occurs, the color correction of the restored image information can be carried out, and the component algorithm frame is as follows:
wherein,,
representing restored image information f and Gaussian filter G σ Convolution of->
Representing the derivative, ke, of the process of N-order derivation of the restored image information n，p，σ The parameters n, p and sigma are different values for the light source color, and represent different color constancy assumption algorithms.
In the embodiment of the invention, the ground clearance is measured through the infrared sensor, and the safe ground clearance is determined through the temperature sensor, so that the unmanned aerial vehicle is positioned at the safe ground clearance in the landing process, in order to acquire clear image information, the image information is subjected to real-time rapid defogging and defogging treatment, and the defogging-treated restored image information is subjected to color correction, so that the color-corrected restored image information is obtained, and the unmanned aerial vehicle can be subjected to investigation monitoring and accurate landing in a field environment.
Fifth embodiment:
fig. 6 is a schematic structural diagram of an auxiliary landing device for an unmanned aerial vehicle according to a fifth embodiment of the present invention, and for convenience of explanation, only a portion related to the embodiment of the present invention is shown.
The unmanned aerial vehicle auxiliary landing device 0 of the embodiment of the invention comprises: the infrared sensor 1 for measuring the distance to ground, the temperature sensor 2 for acquiring the current temperature value, the camera 3 for acquiring the image information, the memory 4, the processor 5 and the computer program 6 stored in the memory 4 and executable on the processor 5, the infrared sensor 1, the temperature sensor 2 and the camera 3 are electrically connected with the processor 5, the steps in the above-mentioned various unmanned aerial vehicle auxiliary landing method embodiments are realized when the processor 5 executes the computer program, for example, steps S101 to S103 shown in fig. 1, or the functions of the various modules/units in the above-mentioned various device embodiments are realized when the processor 5 executes the computer program 6, for example, the functions of the modules 31 to 33 shown in fig. 4.
In which, as shown in fig. 2, a schematic diagram of an infrared sensor measuring a distance from the ground is shown, the infrared sensor 1 includes: the infrared emitter 11 emits an infrared beam at an emission angle α, the infrared emitter 11 reflects after encountering the ground or an object, the reflected beam passes through the filter 12 and reaches the Charge Coupled detector 13, the offset distance L is obtained after detection by the Charge Coupled detector 13, and the ground clearance H is calculated by using a triangle principle at a known emission angle α, a center distance X, an offset distance L and a focal distance f, wherein the emission angle α is an angle of the beam emitted by the infrared emitter 11, the center distance X is a distance between the infrared emitter 11 and the Charge Coupled detector 13, the offset distance L is an offset value of the beam after reflection and reaching the Charge Coupled detector 13 via the filter 12, the focal distance f is a focal distance of the filter, and the ground clearance H is a distance between the infrared sensor 11 and the ground clearance perpendicular to the ground.
The temperature sensor 2 can be a digital temperature sensor DS18B20, the digital temperature sensor DS18B20 is provided with a single-wire interface mode, when the digital temperature sensor DS18B20 is connected with the processor 5, two-way communication between the processor 5 and the DS18B20 can be realized by only one wire, the temperature measuring range of the digital temperature sensor DS18B20 is-55 ℃ to +125 ℃, multi-point networking is supported, a plurality of DS18B20 can be connected on a single three wire in parallel, at most, 8 DS18B20 DS can be connected in parallel, multi-point temperature measurement is realized, a measuring result is transmitted in a serial mode of 9-12 digits, and the working power supply is 3.0-5.5V.
The processor 5 can select Intel (R) Core (TM) -i 5-3.20GHz, the memory size is 8.00GB, the programming tool is MATLAB 2014 for carrying out simulation experiments, and real-time quick defogging and defogging processing are carried out on image information, so that clear image discrimination position information can be obtained, and further, investigation monitoring and accurate landing of an unmanned aerial vehicle in a field environment are realized.
Example six:
in an embodiment of the present invention, a computer readable storage medium is provided, where a computer program is stored, where the computer program, when executed by a processor, implements the steps in the embodiments of the unmanned aerial vehicle landing method described above, for example, steps S101 to S103 shown in fig. 1, or where the computer program, when executed by a processor, implements the functions of the modules/units in the embodiments of the apparatus described above, for example, the functions of the modules 31 to 33 shown in fig. 4.
In the embodiment of the invention, GPS signals are influenced in the environment with complex geographical topography of the wild mountain forest, so that the current ground clearance of the unmanned aerial vehicle is required to be measured through the infrared sensor, and the ground clearance is the vertical distance between the unmanned aerial vehicle and the ground, and the infrared sensor is used for guiding the unmanned aerial vehicle to land. The infrared sensor includes: infrared emitter, filter and charge coupled detector.
In the embodiment of the invention, the temperature value received by the unmanned aerial vehicle battery is between minus 10 ℃ and 40 ℃, when the temperature is higher than 50 ℃, the battery is easy to explode, and in the operation process, when the unmanned aerial vehicle descends to the vicinity of a fire source for detection, the current temperature value needs to be acquired through a temperature sensor, and the safe ground clearance is determined according to the temperature value, so that the unmanned aerial vehicle battery is ensured to be in a safe temperature range, and the accident that the battery explodes is prevented.
In the embodiment of the invention, after the safe ground clearance is reached, the unmanned aerial vehicle camera can be opened to observe the ground clearance through the ground station, at the moment, the on-site environment is shot through the camera to acquire the image information, and as the unmanned aerial vehicle is located at high altitude, especially in a wild mountain forest, the types of topography and landform are complex, the image information acquired by the camera needs to be processed, and clear restored image information is acquired through quick defogging processing, so that the ground station can judge the position information to perform accurate operation.
The computer readable storage medium of embodiments of the present invention may include any entity or device capable of carrying computer program code, recording medium, such as ROM/RAM, magnetic disk, optical disk, flash memory, and so on.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (7)
1. A method of unmanned aerial vehicle assisted landing, the method comprising the steps of: measuring a current ground clearance by using an infrared sensor;
acquiring a current temperature value through a temperature sensor, and determining a safe ground clearance according to the temperature value;
when the safe ground clearance is in the safe ground clearance, acquiring image information, and performing defogging treatment on the image information to obtain restored image information;
the step of obtaining a current temperature value through a temperature sensor and determining a safe ground clearance according to the temperature value comprises the following steps:
acquiring a current temperature value through a temperature sensor, and comparing the temperature value with a preset safe temperature interval;
when the temperature value is in the preset safe temperature interval, determining that the current ground clearance is the safe ground clearance;
the infrared sensor includes: infrared emitter, filter and charge coupled detector.
2. The method of claim 1, wherein the step of measuring the current ground clearance using an infrared sensor comprises:
and calculating the ground clearance according to an emission angle, a center distance, an offset distance and a focal length, wherein the emission angle is an angle of a light beam emitted by the infrared emitter, the center distance is a distance between the infrared emitter and the charge coupled detector, the offset distance is an offset value that the light beam reaches the charge coupled detector through the filter after being reflected, the focal length is a focal length of the filter, and the ground clearance is a distance perpendicular to the ground of the infrared sensor.
3. The method of claim 1, wherein the step of obtaining image information while at the safe ground clearance and defogging the image information to obtain restored image information comprises:
and performing color correction on the restored image information to obtain color-corrected restored image information.
4. An unmanned aerial vehicle auxiliary landing device, the device comprising:
the ground clearance measuring unit is used for measuring the current ground clearance by utilizing the infrared sensor;
the safety ground clearance determining unit is used for acquiring a current temperature value through the temperature sensor and determining the safety ground clearance according to the temperature value; and
the defogging processing unit is used for acquiring image information when the safe ground clearance exists, and defogging the image information to obtain restored image information; wherein,,
the method for determining the safe ground clearance comprises the steps of obtaining a current temperature value through a temperature sensor, and determining the safe ground clearance according to the temperature value, wherein the method comprises the following steps: acquiring a current temperature value through a temperature sensor, and comparing the temperature value with a preset safe temperature interval; when the temperature value is in the preset safe temperature interval, determining that the current ground clearance is the safe ground clearance;
the infrared sensor includes: infrared emitter, filter and charge coupled detector.
5. The apparatus of claim 4, wherein the ground clearance measurement unit comprises:
the ground clearance calculation unit is used for calculating the ground clearance according to an emission angle, a center distance, an offset distance and a focal length, wherein the emission angle is an angle of a light beam emitted by the infrared emitter, the center distance is a distance between the infrared emitter and the charge coupled detector, the offset distance is an offset value that the light beam reaches the charge coupled detector through the filter after being reflected, the focal length is a focal length of the filter, and the ground clearance is a distance of the infrared sensor perpendicular to the ground.
6. An unmanned aerial vehicle assisted landing device, characterized in that it comprises an infrared sensor for measuring the distance to ground, a temperature sensor for obtaining the current temperature value, a camera for obtaining image information, a memory, a processor and a computer program stored in the memory and executable on the processor, the infrared sensor, the temperature sensor and the camera being electrically connected to the processor, the processor executing the computer program implementing the steps of the method according to any one of claims 1 to 3;
the infrared sensor includes: infrared emitter, filter and charge coupled detector.
7. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 3.
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