CN107458619B - Method and system for automatically landing and charging full-automatic micro-miniature four-rotor wing - Google Patents
Method and system for automatically landing and charging full-automatic micro-miniature four-rotor wing Download PDFInfo
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Abstract
The invention belongs to the technical field of informatization processing and control, and discloses an automatic micro-miniature four-rotor autonomous landing and charging method and system, wherein the automatic micro-miniature four-rotor autonomous landing and charging method comprises the following steps: the electric quantity of the microminiature four rotors is early warned, and the microminiature four rotors are positioned by a GPS to fly right above the ground relay station; shooting the microminiature quadrotors by the camera, carrying out background difference, positioning, capturing and tracking the microminiature quadrotors; and (3) reading the height of the microminiature quadrotors by combining differential GPS information returned by the microminiature quadrotors and the ground, performing 3D positioning, and guiding the microminiature quadrotors to independently land. The invention can automatically control the taking-off and landing of the microminiature quadrotors, saves manpower, simultaneously, the opening and closing device and the frame can ensure that the microminiature quadrotors are not damaged in special weather, the taking-off and landing of the domestic existing unmanned aerial vehicles are mostly finished on the ground, and a fixed liftable opening and closing structure is not provided to ensure the storage and the stable taking-off of the unmanned aerial vehicles.
Description
Technical Field
The invention belongs to the technical field of informatization processing and control, and particularly relates to an automatic microminiature four-rotor autonomous landing and charging method and system.
Background
At present, the microminiature four-rotor wing has two limitations: the endurance time is too short, the additional labor cost is high, and the scale use and application fields of the microminiature four-rotor wing are fundamentally limited. If the microminiature four rotors can autonomously search the ground relay station nearby for wireless charging when electric quantity early warning is carried out, and automatically return to a route after charging is finished, and unattended operation is continued, so that full automation of the whole process can be realized. In order to enable the miniature four rotors to independently complete wireless charging, outdoor independent landing of the miniature four rotors needs to be completed. Most commercial unmanned aerial vehicles on the market adopt the GPS to carry out positioning landing, however, when the GPS signal is transmitted to the ground from the space, delay and errors often occur, and errors of tens of centimeters or even meters occur in the positioning of the unmanned aerial vehicle. Such errors are fatal to the precise landing; make unmanned aerial vehicle skew placement and can't carry out wireless charging and damage unmanned aerial vehicle even, and then make whole task ring fracture, can't satisfy the scheme demand. The existing auxiliary positioning mode has different degrees of limitation. To the light stream location, can control unmanned aerial vehicle's the float to centimetre level, but have extremely strong dependence to illumination, direct irradiation at sunshine, all can not normally operate under the circumstances such as shine inadequately. For binocular vision positioning adopted by most laboratories, extremely high requirements are provided for hardware equipment, and the binocular vision positioning system is suitable for positioning in indoor environment and is not suitable for outdoor environment. The binocular vision assists the unmanned aerial vehicle to land autonomously, a large amount of image analysis is needed, and the image analysis usually needs a large amount of computer resources to calculate, so that the method has low requirements on the calculation speed of a 'flight controller' (abbreviated as 'flight control') of the brain of the unmanned aerial vehicle. Moreover, the binocular obstacle avoidance requires a large amount of computation, which results in increased power consumption. Besides the requirements on the processor and the endurance, the binocular obstacle avoidance also directly increases the production cost of the unmanned aerial vehicle. And the binocular vision can achieve better effect only in the environment with good light, and is used for outdoor positioning with high requirements on technology and configuration. The first prior art is as follows: the utility model provides an autonomic landing unmanned aerial vehicle based on vision auxiliary technology, includes unmanned aerial vehicle organism and autonomic landing system, autonomic landing system includes DSP treater, GPS orientation module, camera module, image processing module, flight control system, power module, GPS orientation module, camera module, image processing module, flight control system respectively with the DSP treater links to each other, power module provides the power for whole unmanned aerial vehicle autonomic landing system, still includes the landing lamp, the landing lamp with the DSP treater links to each other. The landing accuracy is improved. The second prior art is: the research on the detection and tracking of the moving target of the unmanned aerial vehicle platform and the vision auxiliary landing system thereof uses the detection and tracking of the moving target by the unmanned aerial vehicle platform and the auxiliary landing navigation system of the unmanned aerial vehicle as backgrounds, and researches related algorithms in the aspects of image corner feature extraction, camera self-motion elimination, moving target tracking under complex backgrounds, target scale direction self-adaptive tracking, small target real-time high-precision tracking, auxiliary landing system of the unmanned aerial vehicle and the like.
In summary, the problems of the prior art are as follows: the first technology system is complex and complex in structure, and has high dependency on hardware configuration of the unmanned aerial vehicle, so that the whole cost of the unmanned aerial vehicle is high and the unmanned aerial vehicle is difficult to popularize; the second technique has high requirement on the computing power of the unmanned aerial vehicle system, and has high power consumption, so that the cruising ability of the unmanned aerial vehicle is reduced, the flight distance of the unmanned aerial vehicle is restricted, and the application field is limited.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an automatic microminiature four-rotor autonomous landing and charging method and system.
The invention is realized in such a way that an automatic microminiature four-rotor autonomous landing and charging method comprises the following steps:
the electric quantity of the microminiature four rotors is early warned, and the microminiature four rotors are positioned by a GPS to fly right above the ground relay station;
shooting the microminiature quadrotors by the camera, and performing background differential positioning capture and tracking on the microminiature quadrotors;
and the height of the microminiature quadrotors is read by combining the microminiature quadrotors and GPS information returned from the ground, 3D positioning is carried out, and the microminiature quadrotors are guided to independently land.
Further, the microminiature four rotors fall to an acrylic plate of the ground device, and a screw rod of the elevator is controlled by the motor to automatically fall; and monitoring the voltage to judge whether wireless charging is needed.
And further, the miniature four rotors execute tasks, the opening and closing device is opened, the motor drives the elevator to ascend, and after the miniature four rotors take off from the acrylic plate to execute the tasks after the miniature four rotors are stabilized.
Furthermore, the automatic microminiature four-rotor autonomous landing and charging method adopts GPS positioning and monocular vision positioning to fuse positioning.
Another objective of the present invention is to provide an automatic micro-miniature four-rotor autonomous landing and charging method, which is a method for accurately positioning an outdoor GPS of the micro-miniature four-rotor and a monocular vision in a fusion manner, wherein the method for accurately positioning an outdoor GPS of the micro-miniature four-rotor and a monocular vision in a fusion manner includes:
extracting a background, judging the brightness of a pixel point of a difference image, and keeping the point unchanged when the brightness is greater than a threshold value; when the brightness is smaller than the threshold value, updating the point;
step two, when the background is extracted, judging whether the microminiature quadrotors exist in the current field; continuously carrying out differential processing on the newly acquired image in a background picture, and if a microminiature quadrotor exists in the visual field, displaying the area of the microminiature quadrotor on the image after differential processing;
extracting a foreground moving image, continuously tracking and adjusting the position of the microminiature four-rotor wing, recording the central position M (x, y) of the microminiature four-rotor wing and predicting the position of the microminiature four-rotor wing appearing next time;
step four, the differential GPS acquires accurate height information, the GPS error is calculated by the ground station and sent to the microminiature four-rotor wing, and the error is eliminated, so that the landing is more accurate; the ground reference station can measure the pseudo range between the ground reference station and the GPS satellite, and the real distance between the ground station and the GPS satellite can be obtained through calculation, and the positioning error is calculated by subtracting the true distance from the true distance;
fifthly, after the position of the microminiature four-rotor wing in the visual field is located, the position of the microminiature four-rotor wing is adjusted, and the microminiature four-rotor wing accurately lands in an expected area; when the position of the microminiature four-rotor wing is adjusted and controlled, the microminiature four-rotor wing is always kept in the middle of the visual field by adopting PID (proportion integration differentiation) adjustment accurate control.
Further, the first step specifically includes:
(1) a first frame picture I0As a background picture B0；
(2) Selecting a threshold value T, wherein the iteration time m is 1, and the maximum iteration time m is MAX-STEP;
(3) solving a differential image of the current frame:
(4) from binary images DiUpdating background image Bi：
In the formula Bi(x, y) and Di(x, y) are the luminance values of the background image and the foreground image at (x, y), IiFor the input ith frame image, alpha is the updating speed;
(5) the iteration number m is m +1, and the return is (3) to end the iteration when the iteration number m is MAX-STEP, and B is in the momenti(x, y) can be regarded as a background picture;
the second step specifically comprises:
wherein, DifiFor the differentiated image, IiB is an extracted background image, and T is a differential threshold value;
the step four, eliminating the common error specifically includes:
(1) three-dimensional coordinate X is obtained by observing satellite at ground reference station0，Y0，Z0The real coordinate X of the known ground reference station1，Y1，Z1And subtracting the two to obtain an absolute value, namely the error:
(2) the ground reference station transmits the corrected value to the microminiature four-rotor wing, and a GPS observation satellite on the microminiature four-rotor wing obtains the self coordinate Xi，Yi，ZiThrough eliminating the error, solve accurate coordinate, and then realize accurate descending:
only the height Z information is taken to carry out relevant calculation and correction in the system.
Further, the PID formula in the fifth step is as follows:
in the formula uP(n)＝KPe (n) is referred to as a scale term,
referred to as the integral term, is,
referred to as the derivative term.
Another object of the present invention is to provide an automatic micro-miniature four-rotor autonomous landing and charging system, including: the system comprises a lifting structure, an opening and closing device, a frame and a wireless charging module;
the lifting structure, the wireless charging module and the opening and closing device are arranged on the frame.
Further, the take-off and landing structure includes: the device comprises a motor, two lifters and an acrylic plate;
the motor is connected with the shaft of the elevator, and the acrylic plate is fixed on the flange plates at the tops of the two screw rods of the elevator.
Further, the opening and closing device is connected with the motor through a lead.
Further comprising: the base is provided with an industrial camera and a wide-angle lens and is fixed at the bottom of the charging platform.
Another object of the present invention is to provide a landing and charging miniature quad-rotor using the automatic miniature quad-rotor autonomous landing and charging method.
The invention has the advantages and positive effects that: the positioning mode of integrating GPS positioning and monocular vision positioning is adopted, tests are carried out on different environment complexity, different illumination degrees, different microminiature four-rotor models and different heights, and positioning is accurate; differential GPS is adopted to read the height information of the microminiature four rotors, so that the problems of delay and error caused by the GPS position are solved; meanwhile, a background updating algorithm is adopted, the differential positioning is not influenced by the transformation of the background environment, and the influence of complex environment conditions and the improvement of the configuration of the microminiature four rotors and the cost increase are avoided.
The invention provides a platform for the taking off and landing of the miniature four rotors, can automatically control the taking off and landing of the platform where the miniature four rotors are located, saves manpower, simultaneously, the opening and closing device and the frame can ensure that the miniature four rotors are not damaged in special weather, most of the domestic existing taking off and landing of the miniature four rotors are finished on the ground, and a fixed liftable opening and closing structure is not provided to ensure the storage and the stable taking off of the miniature four rotors.
The invention realizes the full automation of the landing and charging processes of the microminiature four rotors, and avoids the great influence of the GPS signal delay and the error on the positioning of the microminiature four rotors; the visual positioning of the relay station camera replaces the visual positioning of a microminiature quadrotor carrying a camera, so that the cost is reduced, the positioning precision is improved, and the independent landing, storage and stable takeoff of the outdoor microminiature quadrotor are ensured.
Drawings
Fig. 1 is a flowchart of an automated micro-miniature quad-rotor autonomous landing and charging method according to an embodiment of the present invention.
Fig. 2 is a flowchart of an implementation of an automatic micro-miniature quad-rotor autonomous landing and charging method according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an automatic micro-miniature four-rotor autonomous landing and charging system according to an embodiment of the present invention;
in the figure: 1. a frame; 2. an elevator; 3. acrylic plates.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
As shown in fig. 1, the automatic micro-miniature quad-rotor autonomous landing and charging method provided by the embodiment of the invention includes the following steps:
s101: the method comprises the following steps that a positioning mode integrating GPS positioning and monocular vision positioning is adopted, a microminiature quadrotor flies right above a ground relay station through airborne GPS positioning, a camera for vertically shooting the sky is set to shoot the microminiature quadrotor, and background differential positioning capture is carried out;
s102: and (3) reading the height of the microminiature quadrotors by combining differential GPS information returned by the microminiature quadrotors and the ground, carrying out 3D positioning on the microminiature quadrotors, and guiding the microminiature quadrotors to independently land.
As shown in fig. 2, the system for automatic micro-miniature autonomous landing and charging with four rotors according to the embodiment of the present invention includes: a lifting structure, an opening and closing device and a frame 1.
The structure of taking off and landing includes: the device comprises a motor, two lifters 2 and an acrylic plate 3; the motor is connected with the shaft of the lifter 2, and the acrylic plate 3 is fixed on the flange plates at the tops of the two screw rods of the lifter 2.
The lifting structure and the opening and closing device are arranged at the top of the frame 1, and the opening and closing device is connected with the motor through a wire.
The wireless charging module adopts a wireless charging circuit designed by an XKT-801 chip. Through experimental tests, data of 8-13 mm time between two coils are compared, and wireless charging is carried out when the coil distance is 8 mm. At this time, the input end voltage is about 24V, the battery end charging power is about 15W, and the charging efficiency is about 60%. And the problems that the microminiature four-rotor wing is poor in cruising ability and needs to be manually replaced can be effectively solved by matching with the autonomous landing.
The industrial camera and the base of the wide-angle lens enable the camera to be stably fixed at the bottom of the charging platform and not affected by wind generated by rotation of the propeller when the microminiature four rotors fall. And controlling the landing error of the microminiature four rotors to be in the centimeter level. The miniature four rotors can accurately land in the chargeable area of the ground relay station.
The motor drives the two elevators to take off and land simultaneously, and the acrylic plate is fixed on the flange plates at the tops of the two screw rods of the elevators to provide a platform for the taking off and landing of the microminiature four rotors. When the microminiature four rotors fall on the acrylic plate, the motor controls the screw rod of the lifter to automatically fall, and when the acrylic plate falls, the opening and closing device at the top of the falling platform is closed. When the microminiature four rotors execute tasks, the opening and closing device is controlled to be opened, and the motor drives the elevator to ascend.
The invention is realized in such a way that the microminiature four-rotor electric quantity early warning flies right above the ground relay station through the positioning of the airborne GPS; shooting the microminiature quadrotors by the camera, and performing background differential positioning capture and tracking on the microminiature quadrotors;
the embodiment of the invention provides an automatic microminiature four-rotor outdoor GPS and monocular vision fusion accurate positioning method, which comprises the following steps: the image collected by the camera is a color image, and in order to reduce the calculation amount, the image is firstly converted into a gray image.
1surendra background update
The algorithm can adaptively extract a background picture, the idea of extracting the background is to judge the brightness of a pixel point of a difference image, and when the brightness is greater than a threshold value, the point is kept unchanged; when the brightness is less than the threshold, the point is updated. The algorithm implementation can be divided into the following steps:
firstly, a first frame picture I0As a background picture B0；
Selecting a threshold value T, wherein the iteration time m is 1, and the maximum iteration time m is MAX-STEP;
solving a difference image of the current frame:
fourthly, the binary image DiUpdating background image Bi：
In the formula Bi(x, y) and Di(x, y) are the luminance values of the background image and the foreground image at (x, y), IiFor the input i-th frame image, α is the update speed.
The iteration number m is m +1, the process returns to the third STEP, the iteration is ended when the iteration number m is MAX-STEP, and B is finished at the momenti(x, y) may be considered a background picture.
2 background difference
When the background is successfully extracted, it is necessary to judge whether the microminiature quadrotors exist in the current field of view. Continuously carrying out difference processing on the newly acquired image in a background picture, and if a microminiature four-rotor wing exists in the visual field, displaying the area of the microminiature four-rotor wing on the image after difference, wherein the algorithm is realized as follows:
wherein, DifiFor the differentiated image, IiAnd B is an extracted background image and T is a differential threshold value.
3 accurate positioning target tracking
Once the foreground moving image is extracted, the position of the microminiature quadrotor needs to be continuously trackedAnd (6) adjusting. The central position M (x, y) of the microminiature quadrotors is recorded and the position of their next occurrence is predicted. Since the movement of the microminiature quadrotors follows Newton's law, the positions of the microminiature quadrotors do not change suddenly, and the position of the next frame of the microminiature quadrotors can be predicted to be near M (x, y) in a short time. The position of the microminiature quadrotor can be tracked only by searching a rectangular area with M (x, y) as the center and L as the side length. It is critical to determine this L. The ratio of the differential microminiature four-rotor image area to the predicted rectangular area can be controlled to be constant to determine the rectangular side length, namely
Through experiments, the method is found when
Then a better prediction region can be obtained. Because the images of the microminiature four rotors at different heights are different in size, the value of L needs to be dynamically adjusted, and therefore the size of the prediction region is dynamically adjusted.
4 differential GPS to obtain accurate altitude information
The GPS is a global real-time navigation positioning system developed by the U.S. department of defense. The system consists of a satellite system, a relay station and a terminal user. GPS has satellite, signal, receiving error, and artificial error brought by SA measures. In the same area, the system error of the GPS which changes slowly can be effectively corrected for the reference station and the adjacent users by applying the difference technology, and the positioning accuracy of the users in the local range is improved. To accomplish accurate landing, differential GPS positioning technology (DGPS) is chosen.
The principle of the differential GPS is that two GPS receivers are set, one is used as a ground reference station, the other is placed on the microminiature four rotors for positioning, the ground station calculates GPS errors and sends the GPS errors to the microminiature four rotors, and therefore the errors are eliminated, and landing is more accurate. The ground reference station can measure the distance between the ground reference station and the GPS satellite, namely pseudo distance, and the real distance between the ground station and the satellite can be obtained through calculation, and the positioning error is calculated by subtracting the ground station and the satellite. The ground platform transmits the error to the microminiature four-rotor wing end, the GPS on the microminiature four-rotor wing obtains a group of pseudo-ranges through observing a satellite, and after receiving the correction value transmitted by the ground platform, a more accurate coordinate is calculated, so that the landing accuracy is greatly improved.
The GPS system can obtain three-dimensional coordinates by observing 4 satellites, but the coordinates directly obtained by the GPS are inaccurate due to orbital errors, ephemeris errors, troposphere effects, internal noise, and the influence of the SA policy. The error between the true range and the pseudorange is therefore resolved by the ground reference station, in this way eliminating the common error. The method comprises the following specific steps:
firstly, a three-dimensional coordinate X is obtained by observing a satellite at a ground reference station0，Y0，Z0The real coordinate X of the known ground reference station1，Y1，Z1And subtracting the two to obtain an absolute value, namely the error:
secondly, the ground reference station transmits the corrected value to the microminiature four-rotor wing, and a GPS observation satellite on the microminiature four-rotor wing obtains the self coordinate Xi，Yi，ZiThrough eliminating the error, solve accurate coordinate, and then realize accurate descending:
only the height Z information is taken to carry out relevant calculation and correction in the system.
5PID tuning control
After the position of the microminiature four-rotor wing in the visual field is located, the position of the microminiature four-rotor wing needs to be adjusted, and the microminiature four-rotor wing can accurately land in a desired area. When the position of the microminiature four-rotor wing is adjusted and controlled, the microminiature four-rotor wing is always kept in the middle of the visual field by adopting PID (proportion integration differentiation) adjustment accurate control. PID is a linear closed loop negative feedback controller that forms an error signal based on a given target value and an actual output value:
the PID formula is as follows:
in the formula uP(n)＝KPe (n) is referred to as a scale term,
referred to as the integral term, is,
referred to as the derivative term. Provided that a suitable K is givenI、KP、KDThe microminiature quadrotors can be stably controlled.
According to the automatic micro-miniature four-rotor autonomous landing and charging method provided by the embodiment of the invention, the micro-miniature four-rotor flies right above a ground relay station through GPS positioning, a camera vertically shooting the sky shoots the micro-miniature four-rotor, background difference is carried out, the micro-miniature four-rotor is positioned, captured and tracked, then the height of the micro-miniature four-rotor is read by combining differential GPS information returned by the micro-miniature four-rotor and the ground, and 3D positioning is carried out on the micro-miniature four-rotor, so that the micro-miniature four-rotor autonomous landing is guided by an improved PID algorithm, and the landing error of the micro-miniature four-rotor is controlled to be in the centimeter level.
When the microminiature four rotors fall on the acrylic plate of the ground device, the motor controls the screw rod of the lifter to automatically fall, and after the acrylic plate falls, the opening and closing device at the top of the falling platform is closed. And monitoring the voltage of the microminiature four-rotor battery to judge whether wireless charging is needed. When the miniature four rotors execute tasks, the opening and closing device is controlled to be opened, then the motor drives the elevator to ascend, and after the miniature four rotors are stabilized, the miniature four rotors take off from the acrylic plate to execute the tasks.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. An automatic microminiature four-rotor autonomous landing and charging method is characterized by comprising the following steps:
the electric quantity of the microminiature four rotors is early warned, and the microminiature four rotors are positioned by a GPS to fly right above the ground relay station;
opening the ground relay station opening and closing device, shooting the microminiature quadrotors by the camera, carrying out background difference, positioning, capturing and tracking the microminiature quadrotors;
the height of the microminiature quadrotors is read by combining differential GPS information returned by the microminiature quadrotors and the ground, 3D positioning is carried out, and the microminiature quadrotors are guided to independently land;
the microminiature four rotors fall to an acrylic plate of the opening and closing device of the ground relay station, and the motor controls the lifter to automatically fall; monitoring the voltage to judge whether wireless charging is needed;
the miniature four rotors execute tasks, the opening and closing device is opened, the motor drives the elevator to ascend, and after the miniature four rotors take off from the acrylic plate to execute the tasks after the miniature four rotors are stabilized;
the automatic microminiature four-rotor autonomous landing and charging method adopts differential GPS positioning and monocular vision positioning to fuse positioning;
the method for fusing outdoor GPS of the automatic microminiature four-rotor wing and monocular vision to accurately position comprises the following steps:
extracting a background, judging the brightness of a pixel point of a difference image, and keeping the point unchanged when the brightness is greater than a threshold value; when the brightness is smaller than the threshold value, updating the point;
step two, when the background is extracted, judging whether the microminiature quadrotors exist in the current field; continuously carrying out difference processing on the newly acquired image and the background image, and if a microminiature four-rotor wing exists in the visual field, displaying the area of the microminiature four-rotor wing on the image after difference;
extracting a foreground moving image, continuously tracking and adjusting the position of the microminiature four-rotor wing, recording the central position M (x, y) of the microminiature four-rotor wing and predicting the position of the microminiature four-rotor wing appearing next time;
step four, the differential GPS acquires accurate height information, a GPS error is calculated by the ground relay station and is sent to the microminiature four-rotor wing, and the error is eliminated, so that the landing is more accurate; the ground relay station can measure a pseudo range between the ground relay station and a GPS satellite, the real distance between the ground relay station and the GPS satellite can be obtained through calculation, and a positioning error is calculated by subtracting the pseudo range from the real distance;
fifthly, after the position of the microminiature four-rotor wing in the visual field is located, the position of the microminiature four-rotor wing is adjusted, and the microminiature four-rotor wing accurately lands in an expected area; when the position of the microminiature four-rotor wing is adjusted and controlled, the microminiature four-rotor wing is always kept in the middle of the visual field by adopting PID (proportion integration differentiation) adjustment accurate control.
2. The automated microminiature quad-rotor autonomous landing and charging method of claim 1, wherein the first step specifically comprises:
(1) a first frame picture I0As a background picture B0；
(2) Selecting a difference threshold value T, wherein the iteration time m' is 1, and the maximum iteration time m is MAX-STEP;
(3) solving a differential image of the current frame:
(4) from binary images Di(x, y) update background image Bi：
In the formula Bi(x, y) luminance value of background image, Di(x, y) is the brightness value of the foreground image at (x, y), IiFor the input ith frame image, alpha is the updating speed;
(5) the iteration number m '═ m' +1, return (3) as the maximum iterationWhen the generation number m is MAX-STEP, the iteration is ended, and B isi(x, y) can be regarded as a background picture;
the second step specifically comprises:
wherein, DifiFor the differentiated image, IiFor the input i-th frame image, BiT is a differential threshold value for the extracted background image;
the step four, eliminating the common error specifically includes:
(1) three-dimensional coordinate X obtained by observing satellite by ground relay station0，Y0，Z0The real coordinate X of the known ground relay station1，Y1，Z1And subtracting the two to obtain an absolute value, namely the error:
(2) the ground relay station transmits the corrected value to the microminiature four-rotor wing, and a GPS observation satellite on the microminiature four-rotor wing obtains the self coordinate Xi，Yi，ZiThrough eliminating the error, solve accurate coordinate, and then realize accurate descending:
only the height information is taken in the system for relevant calculation and correction.
3. The method according to claim 1, wherein the PID formula in the fifth step is as follows:
in the formula uP(n)＝KPe (n) is referred to as a scale term,
referred to as the integral term, is,
referred to as the derivative term.
4. An automated miniature quadrotor autonomous landing and charging system using the method for automated miniature quadrotor autonomous landing and charging of claim 1, wherein said automated miniature quadrotor autonomous landing and charging system comprises: the system comprises a lifting structure, an opening and closing device, a frame and a wireless charging module;
the lifting structure, the wireless charging module and the opening and closing device are arranged on the frame.
5. An automated micro-miniature quadrotor autonomous landing and charging system as claimed in claim 4, wherein said take-off and landing configuration comprises: the device comprises a motor, two lifters and an acrylic plate;
the motor is connected with the shaft of the elevator, and the acrylic plate is fixed on flange plates at the tops of two screw rods of the elevator;
the ground relay station opening and closing device is connected with the motor through a wire;
further comprising: the base is provided with an industrial camera and a wide-angle lens and is fixed at the bottom of the charging platform.
6. A microminiature quadrotor, characterized in that the automatic microminiature quadrotor automatic landing and charging method according to any one of claims 1 to 3 is adopted for landing and charging of the microminiature quadrotor.
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