CN108694728A - Unmanned plane guides landing method, apparatus and system - Google Patents
Unmanned plane guides landing method, apparatus and system Download PDFInfo
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- CN108694728A CN108694728A CN201710232212.6A CN201710232212A CN108694728A CN 108694728 A CN108694728 A CN 108694728A CN 201710232212 A CN201710232212 A CN 201710232212A CN 108694728 A CN108694728 A CN 108694728A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20048—Transform domain processing
- G06T2207/20061—Hough transform
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Abstract
The present invention relates to a kind of unmanned plane guiding landing method, apparatus and systems.The method includes:Acquire the initial pictures of preset two-dimension light source pattern on unmanned plane;Noise reduction process is carried out to the initial pictures of collected two-dimension light source pattern, obtains the center point coordinate of the two-dimension light source pattern;Calculate the deviant between the center point coordinate and the coordinate in level point of the two-dimension light source pattern;The flight path that the unmanned plane is adjusted according to the deviant guides the unmanned plane to drop to the level point.Unmanned plane guiding landing method and device provided by the invention utilize image recognition technology by the initial pictures of preset two-dimension light source pattern on unmanned plane, accurately calculate the coordinate of unmanned plane central point, reduce the influence of ambient enviroment.The deviant between the center point coordinate and the coordinate in level point of unmanned plane two-dimension light source pattern is calculated, unmanned plane landing is guided according to deviant so that aircraft accurately drops to target location.
Description
Technical field
The present invention relates to unmanned plane fields, more particularly to a kind of unmanned plane guiding landing method, apparatus and system.
Background technology
Unmanned plane is a kind of nolo flight system possessing power plant.It has a wide range of applications, and can both use
In take photo by plane, the civil fields such as traffic patrolling, can be used for the military fields such as investigation, monitoring.
In traditional technology, unmanned plane guides landing method generally by the way that camera is set to unmanned plane, is placed on ground
Continuity pattern, by calculating the relative position of unmanned plane and level point, guiding unmanned plane landing.But if ambient enviroment occurs
Landing mark and jamming pattern often cannot be distinguished in figure similar with index point, the computational methods, causes unmanned plane can not essence
Accurate drops to level point.
Invention content
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of unmanned plane that can accurately guide unmanned plane to land guiding
Landing method, apparatus and system.
A kind of unmanned plane guiding landing method, the method includes:
Acquire the initial pictures of preset two-dimension light source pattern on unmanned plane;
Noise reduction process is carried out to the initial pictures of collected two-dimension light source pattern, is obtained in the two-dimension light source pattern
Heart point coordinates;
Calculate the deviant between the center point coordinate and the coordinate in level point of the two-dimension light source pattern;
The flight path that the unmanned plane is adjusted according to the deviant guides the unmanned plane to drop to the landing
Point.
Above-mentioned unmanned plane guides landing method, by acquiring the initial pictures of preset two-dimension light source pattern on unmanned plane,
And noise reduction process is carried out to it, the method can reduce ambient enviroment to the interference in unmanned plane position fixing process.In addition, passing through meter
The deviant between the center point coordinate and the coordinate in level point of unmanned plane two-dimension light source pattern is calculated, unmanned plane can be guided accurate
Drop to level point.
The initial pictures to collected two-dimension light source pattern carry out noise reduction process in one of the embodiments,
The step of center point coordinate for obtaining the two-dimension light source pattern includes:
The two-dimension light source pattern includes multiple light sources, and the barycenter for obtaining each light source in the two-dimension light source pattern is sat
Mark;
Noise spot is removed using standard picture according to the center-of-mass coordinate of each light source, calculates the two-dimentional light after removal noise spot
The center point coordinate of source pattern.
Described the step of obtaining the center-of-mass coordinate of each light source in two-dimension light source pattern, wraps in one of the embodiments,
It includes:
The center-of-mass coordinate of each light source is calculated using connected component labeling algorithm.
The center-of-mass coordinate according to each light source removes noise spot using standard picture in one of the embodiments,
Calculate removal noise spot after two-dimension light source pattern center point coordinate the step of include:
By preset each light source in the standard picture of the center-of-mass coordinate of each light source of acquisition and two-dimension light source pattern
Center-of-mass coordinate is fitted matching, removes the noise spot in initial pictures, obtains the center point coordinate of two-dimension light source pattern.
The two-dimension light source pattern includes the point light source of dispersed distribution in one of the embodiments,.
The coordinate of the center point coordinate and level point for calculating the two-dimension light source pattern in one of the embodiments,
Between deviant the step of include:
Calculate the horizontal offset values between the center point coordinate and target level point of two-dimension light source pattern.
A kind of unmanned plane guiding landing-gear is provided, described device includes:
Image collection module, for obtaining the initial pictures for presetting two-dimension light source pattern in unmanned plane;
Image processing module handles for the initial pictures to the two-dimension light source pattern got, and calculates two dimension
The center point coordinate of light source pattern;
Control module, the offset between center point coordinate and the coordinate in level point for calculating the two-dimension light source pattern
Value, the flight path of unmanned plane is adjusted according to the deviant, and guiding unmanned plane drop to level point.
Above-mentioned unmanned plane guides landing-gear, by image processing module to the initial of the two-dimension light source pattern on unmanned plane
Image is handled, and the center point coordinate of initial pictures is obtained, and reduces ambient enviroment to the interference in image processing process.Control
Module is used to calculate the deviant between the center point coordinate and the coordinate in level point of the two-dimension light source pattern, according to deviant
Guiding unmanned plane precisely drop to level point.
Described image processing module includes in one of the embodiments,:
Center-of-mass coordinate acquiring unit, the center-of-mass coordinate for calculating each light source using connected component labeling algorithm;
Center point coordinate acquiring unit, for obtaining two-dimension light source using preset algorithm according to the center-of-mass coordinate of each light source
The center point coordinate of pattern.
The center point coordinate acquiring unit is additionally operable to using fitting matching process to obtaining in one of the embodiments,
The center-of-mass coordinate of each light source and the center-of-mass coordinate of preset each light source in the standard picture of two-dimension light source pattern intended
Matching is closed, the noise spot in initial pictures is removed, calculates the center point coordinate of two-dimension light source pattern.
A kind of unmanned plane guiding landing system, the system comprises:
Light source board is set to unmanned plane bottom, and light source board is provided with two-dimension light source pattern, the two-dimension light source pattern described in portion
Including multiple light sources;
Imaging device, the initial pictures for obtaining the two-dimension light source pattern on the light source board;
Image processor, the initial pictures for the two-dimension light source pattern to getting carry out noise reduction process, obtain two dimension
The center point coordinate of light source pattern;
Controller, the offset between center point coordinate and the coordinate in level point for calculating unmanned plane two-dimension light source pattern
Value, the flight path of unmanned plane is adjusted according to deviant, and guiding unmanned plane drop to level point.
Unmanned plane provided by the invention guides landing system, by obtaining the two-dimension light source pattern on unmanned plane light source board,
Guiding unmanned plane drop to target level point, can reduce ambient enviroment to the interference in unmanned plane position fixing process, to guide
Unmanned plane can accurately drop to level point.
Description of the drawings
Fig. 1 is unmanned plane landing system schematic diagram provided in an embodiment of the present invention;
Fig. 2 is that unmanned plane provided in an embodiment of the present invention guides landing-gear schematic diagram;
Fig. 3 is that unmanned plane provided in an embodiment of the present invention guides landing method flow chart.
Wherein:
110- unmanned planes;
120- light source boards;
130- two-dimension light source patterns;
140- imaging devices;
150- image processors;
160- controllers;
170- communication devices;
210- image collection modules;
220- image processing modules;
221- center-of-mass coordinate acquiring units;
222- center point coordinate acquiring units;
230- control modules.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with attached drawing to the present invention's
Unmanned plane guiding landing method, apparatus and system are further elaborated.It should be appreciated that specific implementation described herein
Example is not intended to limit the present invention only to explain the present invention.
It please refers to Fig.1 to Fig.3, one embodiment of the invention, a kind of unmanned plane guiding landing method, the method packet is provided
It includes:
S100 acquires the initial pictures of preset two-dimension light source pattern 130 on unmanned plane 110;
S200 carries out noise reduction process to the initial pictures of collected two-dimension light source pattern 130, obtains the two-dimension light source
The center point coordinate of pattern 130;
S300 calculates the deviant between the center point coordinate and the coordinate in level point of the two-dimension light source pattern 130;
S400, the flight path of unmanned plane 110 is adjusted according to deviant, and guiding unmanned plane 110 drop to level point.
In the step s 100, specifically, being provided with light source board 120 in 110 bottom of unmanned plane, it is arranged two in light source board 120
Light source pattern 130 is tieed up, the two-dimension light source pattern 130 includes the point light source of multiple dispersed distributions.The arrangement of point light source includes T
Type, H-type, cross, formation two-dimensional pattern.It is appreciated that point light source can also arrange according to curve, two-dimensional pattern is formed.
Point light source can be LED light, and the light that point light source is sent out can be the infrared light of narrow-band, visible light or ultraviolet
Light.The initial pictures of the two-dimension light source pattern 130 in video camera acquisition unmanned plane 110 can be used.The type of video camera can root
The light that strong point light source is sent out determines, including the infrared pick-up machine of narrow-band, visible light camera, ultraviolet light video camera.
In step s 200, unmanned plane 110 is by within the scope of self-contained GPS module flight to camera coverage, taking the photograph
Camera obtains the initial pictures of preset two-dimension light source pattern 130 on unmanned plane 110.Image processing module 220 is to getting
The initial pictures of two-dimension light source pattern 130 are handled, and remove the noise spot in initial pictures, and removal noise spot is calculated
Center point coordinate information is sent to unmanned plane 110 by the center point coordinate of two-dimension light source pattern 130 afterwards, radio station.
In step S300, unmanned plane 110 receives the 130 center point coordinate information of two-dimension light source pattern transmitted in radio station,
The deviant of the current location and target level point of unmanned plane 110 is calculated.
In step S400, during unmanned plane 110 declines, current location and the target of unmanned plane 110 are calculated in real time
The deviant in level point adjusts the flight path of unmanned plane 110 according to deviant, finally so that aircraft accurately drops to target
Position.
The unmanned plane that above-described embodiment provides guides landing method, and two-dimension light source pattern is preset on unmanned plane by acquiring
Initial pictures, the influence of ambient enviroment can be reduced or avoided;Meanwhile it being sat by the two dimension of the central point of two-dimension light source pattern
Mark, the deviant that can be accurately positioned between unmanned plane current location and level point adjust unmanned plane during flying rail according to deviant
Mark, it is accurate to guide unmanned plane landing.
Step S200 includes in one of the embodiments,:
S210, the two-dimension light source pattern 130 include multiple light sources, obtain each light source in two-dimension light source pattern 130
Center-of-mass coordinate;
S220 removes noise spot using standard picture according to each light source center-of-mass coordinate, calculates two after removal noise spot
Tie up the center point coordinate of light source pattern 130.
Specifically, in step S210, thresholding method can be first used, according to the bright of the point light source LED light of actual use
The size of dark degree threshold value, extracts the part for being more than threshold value in initial pictures, and the gray value for obtaining initial pictures is higher
Image, the higher image of the gray value includes mainly:Point light source LED light, solar facula, distant place the point light sources such as street lamp formed
Image.In one embodiment, the matter that connected component labeling algorithm calculates each point light source in initial pictures may be used
Heart coordinate.
In step S220, according to the standard picture of default preservation and each light source center-of-mass coordinate, preset algorithm pair is used
The center-of-mass coordinate of calculated each point light source is fitted matching.
Further, by the center-of-mass coordinate of each light source of acquisition with it is preset in the standard picture of two-dimension light source pattern 130
The center-of-mass coordinate of each light source is fitted matching, removes the noise spot in initial pictures, calculates two-dimension light source pattern 130
Center point coordinate.Specifically, in being fitted matching process, the preset algorithm of use includes hough transformation (Hough transformation) straight lines
Detection algorithm, curve fitting algorithm or hough convert (Hough transformation) loop truss algorithm, to remove noise spot, and obtain two dimension
The center point coordinate of light source pattern 130.
Center point coordinate and the level point of two-dimension light source pattern 130 are calculated in step S300 in one of the embodiments,
Coordinate between deviant include:Calculate the horizontal-shift of the center point coordinate and target level point of two-dimension light source pattern 130
Value.
Specifically, unmanned plane 110 receives the center point coordinate information of two-dimension light source pattern 130, two-dimension light source figure is calculated
Horizontal offset values between the center point coordinate of case 130 and the coordinate in level point.Unmanned plane is adjusted according to the horizontal offset values
110 flight path, control unmanned plane 110 constantly correct this horizontal offset values during declining, finally so that unmanned plane 110
Accurately drop to target location.
Unmanned plane provided by the invention guides landing method, by the way that two-dimension light source pattern is arranged in uav bottom, utilizes
Image recognition technology accurately calculates the coordinate of two-dimension light source pattern center point.Calculate unmanned plane center point coordinate and landing
Deviant between point adjusts unmanned plane during flying track, to guide unmanned plane precisely to land according to deviant.The present invention provides
Unmanned plane guiding landing method be affected by the external environment small, unmanned plane center point coordinate can be accurately calculated, guide nobody
Machine precisely lands.
Referring to Fig. 2, another embodiment of the present invention, provides a kind of unmanned plane guiding landing-gear, including:Image obtains mould
Block 210, image processing module 220 and control module 230.
Image collection module 210 is used to obtain the initial pictures that two-dimension light source pattern 130 is preset in unmanned plane 110.
Specifically, image collection module 210 may include video camera, video camera can will be two in the unmanned plane 110 of shooting
Dimension light source initial pictures send image processing module 220 to.
Image processing module 220, the initial pictures for the two-dimension light source pattern 130 to acquisition are handled, and are calculated
The center point coordinate of two-dimension light source pattern 130.
Wherein, preset two-dimension light source pattern standards image is preserved in image processing module 220.Image processing module
220 can be handled the initial pictures of the two-dimension light source pattern 130 of acquisition, and calculate the center of two-dimension light source pattern 130
Point coordinates.
The shape of two-dimension light source pattern standards image is unlimited, can be the T-type being made of dot pattern, H-type, cross
Two dimensional image, the curved two dimensional image that can also be made of dot pattern.On the light source board 120 of 110 bottom of unmanned plane
Preset two-dimension light source pattern 130 is arranged according to the preset standard image preserved in image processing module 220.
Further, image processing module 220 includes center-of-mass coordinate acquisition module 221, and center-of-mass coordinate acquiring unit 221 can be with
The center-of-mass coordinate of each light source is calculated using connected component labeling algorithm.Specifically, first threshold segmentation method can be used to extract
Go out the higher part of gray value in initial pictures.Then the every bit light in initial pictures is calculated using connected component labeling algorithm
The center-of-mass coordinate in source.
In one embodiment, image processing module 220 further includes center point coordinate acquiring unit 222, be may be used
Matching process is fitted to each light source in the center-of-mass coordinate of each light source of acquisition and the standard picture of two-dimension light source pattern 130
Center-of-mass coordinate be fitted matching, calculate the center point coordinate of two-dimension light source pattern 130.
Further, hough transformation line detection algorithms may be used when point light source is linearly distributed to calculated every
The center-of-mass coordinate of one point light source is fitted matching;When the curved distribution of point light source, using curve fitting algorithm to calculating
The center-of-mass coordinate of each point light source be fitted matching;Loop truss is converted when point light source is circular distribution using hough to calculate
Method is fitted matching to the center-of-mass coordinate of calculated each point light source.Finally, the two dimension after removal noise spot is calculated
The center point coordinate of the centroid image of light source pattern 130 is to get to the center point coordinate of two-dimension light source pattern 130.
Control module 230, between the center point coordinate and the coordinate in level point for calculating the two-dimension light source pattern 130
Deviant, control module 230 according to the deviant adjust unmanned plane 110 flight path, guiding unmanned plane 110 precisely drop
Drop down onto level point.
One of embodiment, control module 230 can calculate the center point coordinate of the two-dimension light source pattern 130 with
Deviant between the coordinate in level point, control unmanned plane 110 constantly correct this deviant during declining.According to described inclined
Shifting value adjusts the flight path of unmanned plane 110, finally so that unmanned plane 110 accurately drops to target location.
It further includes communication module 140 that unmanned plane 110, which guides landing-gear, in one of the embodiments, and being used for will be two-dimentional
The center point coordinate information of light source pattern 130 is transmitted to control module 230 from image processing module 220.Communication module 140 can be with
For radio station, but it is not limited to radio station, as long as realizing the center point coordinate information of two-dimension light source pattern 130 from image processing module
220 are transmitted to control module 230 this communication function.
Unmanned plane provided by the invention guides landing-gear, and preset two dimension on unmanned plane is obtained by image collection module
The initial pictures of light source pattern carry out image procossing to initial pictures by image processing module, obtain two-dimension light source in unmanned plane
The center point coordinate of pattern.Between center point coordinate and the coordinate in level point of the control module by calculating two-dimension light source pattern
Deviant controls the flight landing track of unmanned plane.Using image processing techniques, point light source in unmanned plane can be accurately calculated
Center point coordinate, the influence of ambient enviroment is reduced, to guide unmanned plane precisely to drop to level point.
Referring to Fig. 3, the present embodiment provides a kind of unmanned planes to guide landing system, the system comprises:Light source board 120,
Imaging device 140, image processor 150 and controller 160.
One of embodiment is provided with light source board 120 in 110 bottom of unmanned plane, two-dimension light source is arranged in light source board 120
Pattern 130, including multiple point light sources.The arrangement of point light source includes T-type, H-type, cross, formation two-dimensional pattern.It is appreciated that
Point light source can also arrange according to curve, form two-dimensional pattern.
In one embodiment, point light source can be LED light, point light source include infrared light supply, ultraviolet source with it is visible
Light source.The light that point light source is sent out can be infrared light, visible light or the ultraviolet light of narrow-band.
Imaging device 140 is used to obtain the initial pictures of the two-dimension light source pattern 130 on light source board 120.Preferably, it is imaged
Device 140 can be camera, video camera.The type of video camera can point light source is sent out according to light determine, including narrow wave
Infrared pick-up machine, visible light camera, the ultraviolet light video camera of section.
The standard picture that preset two-dimension light source pattern 130 is preserved in image processor 150, for two to getting
The initial pictures for tieing up light source pattern 130 carry out noise reduction process, obtain the center point coordinate of two-dimension light source pattern 130.
In one embodiment, image processor 150 includes barycenter acquisition module, for calculating in two-dimension light source pattern
The center-of-mass coordinate of each point light source.The barycenter that connected component labeling algorithm calculates each light source may be used in image processor 150
Coordinate.Specifically, can the higher part of gray value in initial pictures first be extracted using threshold segmentation method.Then using company
Logical field mark algorithm calculates the center-of-mass coordinate of each point light source in initial pictures.
In one embodiment, image processor 150 further includes center point coordinate acquisition module, for according to every bit
Light source center-of-mass coordinate obtains the center point coordinate of two-dimension light source pattern using preset algorithm.Fitting matching process may be used to obtaining
The center-of-mass coordinate of each light source and the center-of-mass coordinate of each light source in the standard picture of two-dimension light source pattern 130 obtained is intended
Matching is closed, the center point coordinate of two-dimension light source pattern 130 is calculated.
Further, hough transformation line detection algorithms may be used when point light source is linearly distributed to calculated every
The center-of-mass coordinate of one point light source is fitted matching;When the curved distribution of point light source, using curve fitting algorithm to calculating
The center-of-mass coordinate of each point light source be fitted matching;Loop truss is converted when point light source is circular distribution using hough to calculate
Method is fitted matching to the center-of-mass coordinate of calculated each point light source.Finally, the two dimension after removal noise spot is calculated
The center point coordinate of the centroid image of light source pattern 130 is to get to the center point coordinate of two-dimension light source pattern 130.
Controller 160 is used to calculate between the center point coordinate and the coordinate in level point of unmanned plane two-dimension light source pattern 160
Deviant, according to deviant adjust unmanned plane 110 flight path, guiding unmanned plane 110 drop to level point.
In one embodiment, unmanned plane guiding landing system further includes communication device 170, is used for image processor
The center point coordinate information of 150 obtained two-dimension light source patterns is sent in controller 160.Preferably, communication device 170 can be with
For radio station, but it is not limited to radio station, as long as realizing the center point coordinate information of two-dimension light source pattern 130 from image processor 150
It is transmitted to controller 160 this communication function.
Unmanned plane provided by the invention guides landing system, and preset two-dimension light source figure on unmanned plane is obtained by video camera
The initial pictures of case, image processor are handled initial pictures using image processing techniques, can be accurately obtained two-dimentional light
The center point coordinate of source pattern.Controller calculates the deviant in unmanned plane and level point, and guiding unmanned plane is precisely drop to
Drop point.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of unmanned plane guides landing method, which is characterized in that the method includes:
Acquire the initial pictures of preset two-dimension light source pattern on unmanned plane;
Noise reduction process is carried out to the initial pictures of collected two-dimension light source pattern, obtains the central point of the two-dimension light source pattern
Coordinate;
Calculate the deviant between the center point coordinate and the coordinate in level point of the two-dimension light source pattern;
The flight path that the unmanned plane is adjusted according to the deviant guides the unmanned plane to drop to the level point.
2. unmanned plane according to claim 1 guides landing method, which is characterized in that described to collected two-dimension light source
The step of initial pictures of pattern carry out noise reduction process, the center point coordinate for obtaining the two-dimension light source pattern include:
The two-dimension light source pattern includes multiple light sources, obtains the center-of-mass coordinate of each light source in the two-dimension light source pattern;
Noise spot is removed using standard picture according to the center-of-mass coordinate of each light source, calculates the two-dimension light source figure after removal noise spot
The center point coordinate of case.
3. unmanned plane according to claim 2 guides landing method, which is characterized in that in the acquisition two-dimension light source pattern
The step of center-of-mass coordinate of each light source includes:
The center-of-mass coordinate of each light source is calculated using connected component labeling algorithm.
4. unmanned plane according to claim 2 guides landing method, which is characterized in that the barycenter according to each light source
The step of coordinate removes noise spot using standard picture, the center point coordinate for calculating the two-dimension light source pattern after removal noise spot is wrapped
It includes:
By the barycenter of preset each light source in the standard picture of the center-of-mass coordinate of each light source of acquisition and two-dimension light source pattern
Coordinate is fitted matching, removes the noise spot in initial pictures, obtains the center point coordinate of two-dimension light source pattern.
5. unmanned plane according to claim 1 guides landing method, which is characterized in that the two-dimension light source pattern includes point
Dissipate the point light source of distribution.
6. unmanned plane according to claim 1 guides landing method, which is characterized in that described to calculate the two-dimension light source figure
The step of deviant between the center point coordinate of case and the coordinate in level point includes:
Calculate the horizontal offset values between the center point coordinate and target level point of two-dimension light source pattern.
7. a kind of unmanned plane guides landing-gear, which is characterized in that described device includes:
Image collection module, for obtaining the initial pictures for presetting two-dimension light source pattern in unmanned plane;
Image processing module is handled for the initial pictures to the two-dimension light source pattern got, and calculates the two dimension
The center point coordinate of light source pattern;
Control module, the deviant between center point coordinate and the coordinate in level point for calculating the two-dimension light source pattern,
The flight path of unmanned plane is adjusted according to the deviant, guiding unmanned plane drop to level point.
8. unmanned plane according to claim 7 guides landing-gear, which is characterized in that described image processing module includes:
Center-of-mass coordinate acquiring unit, the center-of-mass coordinate for calculating each light source using connected component labeling algorithm;
Center point coordinate acquiring unit, for obtaining two-dimension light source pattern using preset algorithm according to the center-of-mass coordinate of each light source
Center point coordinate.
9. unmanned plane according to claim 8 guides landing-gear, which is characterized in that the center point coordinate acquiring unit
It is additionally operable to using fitting matching process to pre- in the center-of-mass coordinate of each light source of acquisition and the standard picture of two-dimension light source pattern
If the center-of-mass coordinate of each light source be fitted matching, remove the noise spot in initial pictures, calculate two-dimension light source pattern
Center point coordinate.
10. a kind of unmanned plane guides landing system, which is characterized in that the system comprises:
Light source board is set to uav bottom, and the light source board is provided with two-dimension light source pattern, and the two-dimension light source pattern includes
Multiple light sources;
Imaging device, the initial pictures for obtaining the two-dimension light source pattern on the light source board;
Image processor, the initial pictures for the two-dimension light source pattern to getting carry out noise reduction process, obtain two-dimension light source
The center point coordinate of pattern;
Controller, the deviant between center point coordinate and the coordinate in level point for calculating unmanned plane two-dimension light source pattern,
The flight path of unmanned plane is adjusted according to deviant, guiding unmanned plane drop to level point.
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