CN108983807B - Unmanned aerial vehicle fixed-point landing method and system - Google Patents
Unmanned aerial vehicle fixed-point landing method and system Download PDFInfo
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Abstract
The invention provides a fixed-point landing method and a system for an unmanned aerial vehicle, and the method comprises the following steps: step 1, after receiving a landing command, an unmanned aerial vehicle starts a first positioning system, determines the position of a landing point and plans a return route; step 2, the unmanned aerial vehicle returns according to the return route and then enters a local distance measuring range, a second positioning system is started, and the unmanned aerial vehicle is controlled to reach the position above the landing point; and 3, controlling the unmanned aerial vehicle to gradually land, and starting a third positioning system to perform accurate positioning in the landing process. Through the technical scheme, unmanned aerial vehicle is descending the in-process, need not manual control, can independently accomplish the process of accurate descending to improve the precision that unmanned aerial vehicle descends, reduced the danger coefficient when unmanned aerial vehicle descends, provided convenience for user's use.
Description
Technical Field
The invention belongs to the field of unmanned control, and particularly relates to a fixed-point landing method and system for an unmanned aerial vehicle.
Background
The unmanned aerial vehicle is also called as an unmanned aerial vehicle, is an unmanned aerial vehicle operated by utilizing a radio remote control device and a self-contained program control device, and is a high-tech product integrating aerodynamics, material mechanics, an automatic control technology and a software technology. With the development of scientific technology, the unmanned aerial vehicle serving as a high-tech intelligent product is not limited to early military equipment for a long time, but is widely applied to multiple fields of emergency rescue, film and television aerial photography, homeland surveying and mapping, electric power and pipeline patrol, pesticide spraying, entertainment and leisure and the like, and is continuously miniaturized, civilized and humanized, and the unmanned aerial vehicle shows the situation of blowout development in recent years.
Unmanned aerial vehicle generally all has appointed landing point at the descending in-process to supply unmanned aerial vehicle directly to land after can fixing unmanned aerial vehicle and charge to unmanned aerial vehicle.
The existing unmanned aerial vehicle generally needs manual participation when falling to a specified falling point, and a user needs to control the accurate falling process of the unmanned aerial vehicle by using a remote controller, so that the requirement on the accuracy of the operation of the user is higher.
Therefore, a new technical scheme is needed to realize the automatic and accurate landing of the unmanned aerial vehicle to the landing point, and convenience is brought to the use of the user.
The present invention has been made in view of this situation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a fixed-point landing method and system for an unmanned aerial vehicle, which can realize the automatic and accurate landing of the unmanned aerial vehicle on a landing point and provide convenience for users.
In order to solve the technical problems, the invention adopts the technical scheme that:
the invention provides an unmanned aerial vehicle fixed-point landing method in a first aspect, which comprises the following steps:
step 1, after receiving a landing command, an unmanned aerial vehicle starts a first positioning system, determines the position of a landing point and plans a return route;
step 2, the unmanned aerial vehicle returns according to the return route and then enters a local distance measuring range, a second positioning system is started, and the unmanned aerial vehicle is controlled to reach the position above the landing point;
and 3, controlling the unmanned aerial vehicle to gradually land, and starting a third positioning system to perform accurate positioning in the landing process.
Preferably, the first positioning system is a GPS positioning system or a beidou positioning system or a mobile network positioning system;
preferably, the step 1 specifically includes:
step 11, receiving a landing command sent by a control terminal by the unmanned aerial vehicle;
and step 12, selecting the nearest landing point from the landing points to be selected by the unmanned aerial vehicle by using the GPS and the position coordinates sent by each landing point to be selected, and planning a return route to the landing point.
Preferably, if the landing point is a target charging seat, the step 11 includes:
when the electric quantity detector of the unmanned aerial vehicle detects that the electric quantity is insufficient, a landing command is sent to the controller; or when the user needs to charge the unmanned aerial vehicle, the control terminal is used for sending a landing command to the unmanned aerial vehicle.
Preferably, the second positioning system is composed of at least one ranging sensor disposed at the landing point and one receiver disposed on the drone, or the second positioning system is composed of at least one receiver disposed at the landing point and one ranging sensor disposed on the drone, so step S3 is specifically step S2: the unmanned aerial vehicle enters a local ranging range and is locally positioned by using a ranging sensor;
preferably, the distance measuring sensor detects the distance of the unmanned aerial vehicle and locally positions the unmanned aerial vehicle by using a triangulation positioning method;
more preferably, the local positioning comprises the following specific steps:
step 21, the distance measuring sensor detects the relative coordinates of the unmanned aerial vehicle and the target charging seat;
and step 22, calculating the moving direction and the moving distance of the unmanned aerial vehicle by combining a triangulation method according to the relative coordinates, and moving the unmanned aerial vehicle to the position above the landing point according to the moving direction and the moving distance.
Preferably, the third positioning system is an image acquisition device and/or a distance measurement sensor, and the accurate positioning is:
controlling the unmanned aerial vehicle to vertically land, adjusting the position of the unmanned aerial vehicle through the image acquisition device and/or the distance measuring sensor in the descending process, and determining that a landing point is kept right below the unmanned aerial vehicle until the unmanned aerial vehicle accurately lands to the landing point;
preferably, the unmanned aerial vehicle is in carrying out the vertical landing in-process, utilizes ultrasonic wave and/or barometer to assist and decide the height, confirms that unmanned aerial vehicle steadily lands.
Preferably, when the third positioning system is an image acquisition device, the accurate positioning specifically comprises:
step 31, searching a target image by using an image acquisition device, and identifying a landing point image from the target image;
step 32, judging whether the image of the landing point is positioned in the center of the image view, if so, landing, otherwise, entering step 33;
step 33, the unmanned aerial vehicle starts the driving mechanism to adjust the position, and the step 32 is returned;
preferably, the step 31 specifically includes:
step 311, after the image reaches the position above the falling point, controlling the image acquisition device to vertically search downwards to acquire a target image;
step 312, identifying whether the image has a landing point, if so, capturing the image of the landing point, otherwise, entering step 313;
step 313, after the image acquisition device is shifted to the predetermined direction by the set angle, the target image is acquired again, and the process returns to step 312.
The invention provides an unmanned aerial vehicle fixed-point landing system in a second aspect, and the unmanned aerial vehicle fixed-point landing method in the first aspect comprises an unmanned aerial vehicle and a landing point, wherein the unmanned aerial vehicle is wirelessly connected with the landing point,
after the unmanned aerial vehicle receives the landing command, the first positioning system of the unmanned aerial vehicle is matched with the second positioning system of the landing point, the unmanned aerial vehicle is controlled to reach the position right above the landing point, then the unmanned aerial vehicle lands, and the third positioning system is utilized to accurately position the unmanned aerial vehicle in the landing process until the unmanned aerial vehicle accurately lands on the landing point.
Preferably, the first positioning system is: a GPS positioning system or a Beidou positioning system or a mobile network positioning system.
Preferably, the second positioning system consists of a ranging sensor and a receiver; at least one ranging sensor is arranged in the center or the periphery of the landing point, and one receiver is arranged on the unmanned aerial vehicle;
or, the receiver is at least one and set up in the landing point focus or around, and range finding sensor is one and sets up on unmanned aerial vehicle.
Preferably, the third positioning system is an image acquisition device and/or a distance measuring sensor, and the image acquisition device and/or the distance measuring sensor are installed on the unmanned aerial vehicle.
After the technical scheme is adopted, compared with the prior art, the invention has the following beneficial effects.
When the unmanned aerial vehicle needs to return to land, a first positioning system of the unmanned aerial vehicle is utilized to search nearby landing points, the nearest landing point is selected as the landing point, then all routes from the unmanned aerial vehicle to the landing point are obtained, and the route with the least distance is selected as a return route. Unmanned aerial vehicle flies according to returning the route of navigating back, flies to local range finding within range back, and the second positioning system who sets up on the landing point will carry out local location to unmanned aerial vehicle, controls unmanned aerial vehicle flight to directly over the landing point, recycles third positioning system and carries out meticulous location, confirms unmanned aerial vehicle directly over the landing point after, controls unmanned aerial vehicle again and descends. Unmanned aerial vehicle is descending the in-process, need not manual control, can independently accomplish the process of accurate descending to improve the precision that unmanned aerial vehicle descends, reduced the danger coefficient when unmanned aerial vehicle descends, provide convenience for user's use.
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 is a flow chart of a method of fixed-point landing of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of coordinates of an embodiment of the present invention;
FIG. 3 is an expanded flow diagram of step 3 of an embodiment of the present invention.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
As shown in fig. 1, an embodiment of the present invention provides an unmanned aerial vehicle fixed-point landing method, including the following steps:
step 1, after receiving a landing command, an unmanned aerial vehicle starts a first positioning system, determines the position of a landing point and plans a return route;
step 2, the unmanned aerial vehicle returns according to the return route and then enters a local distance measuring range, a second positioning system is started, and the unmanned aerial vehicle is controlled to reach the position above the landing point;
and 3, controlling the unmanned aerial vehicle to gradually land, and starting a third positioning system to perform accurate positioning in the landing process.
In the technical scheme, after the user sends the landing command to the unmanned aerial vehicle, the unmanned aerial vehicle searches for nearby landing points by using the first positioning system of the unmanned aerial vehicle, selects the nearest landing point as the landing point, then acquires all routes from the unmanned aerial vehicle to the landing point, and selects the route with the least distance from the routes as a return route.
Unmanned aerial vehicle flies according to returning the flight route of navigating back, flies to the within range (in the local range finding scope promptly, this scope can change according to actual need) at a distance of 5m with the landing point after, and the second positioning system will carry out the local location to unmanned aerial vehicle, and after the local location was accomplished, recycle third positioning system carries out meticulous location, confirms unmanned aerial vehicle directly over the landing point after, and the unmanned aerial vehicle of controlling again descends.
Preferably, the second positioning system comprises at least one ranging sensor and a receiver, the ranging sensor is arranged on the landing point or around the landing point, and the receiver is arranged on the unmanned aerial vehicle.
Preferably, the second positioning system comprises at least one receiver and a ranging sensor, the receiver sets up on the landing point or around the landing point, ranging sensor sets up on unmanned aerial vehicle.
Through the technical scheme, unmanned aerial vehicle is descending the in-process, need not manual control, can independently accomplish the process of accurate descending to improve the precision that unmanned aerial vehicle descends, reduced the danger coefficient when unmanned aerial vehicle descends, provided convenience for user's use.
The first positioning system is a GPS positioning system or a Beidou positioning system or a mobile network positioning system, and is used for searching the position of a landing point and planning a return route according to the position of the landing point.
When the first positioning system is a GPS positioning system, the step 1 specifically includes:
step 11, receiving a landing command sent by a control terminal by the unmanned aerial vehicle;
and step 12, selecting the nearest landing point from the landing points to be selected by the unmanned aerial vehicle by using the GPS and the position coordinates sent by each landing point to be selected, and planning a return route to the landing point.
The landing point is a target charging seat, and the step 11 includes:
when the electric quantity detector of the unmanned aerial vehicle detects that the electric quantity is insufficient, a landing command is sent to the controller; or when the user needs to charge the unmanned aerial vehicle, the control terminal is used for sending a landing command to the unmanned aerial vehicle.
Unmanned aerial vehicle's time of endurance is than shorter, so when utilizing unmanned aerial vehicle to carry out long-time operation, need midway to carry out once or charge many times to unmanned aerial vehicle and just can guarantee that unmanned aerial vehicle accomplishes corresponding work. When the unmanned aerial vehicle needs to be charged, a first positioning system (GPS system) on the unmanned aerial vehicle starts to search for surrounding charging seats and flies to the charging seats for charging.
Or the user sees unmanned aerial vehicle's electric quantity through the electric quantity that the terminal shows than less, when needing to charge, utilizes remote controller or terminal to send the descending order to unmanned aerial vehicle, and then makes unmanned aerial vehicle descend and charge.
Like this, unmanned aerial vehicle can be automatic or semi-automatic independently descend to charge, and then has improved user experience.
The second positioning system is at least one ranging sensor, and the quantity of ranging sensor can be set for according to actual need, consequently, ranging sensor detects unmanned aerial vehicle's distance and utilizes the triangulation location method to carry out local positioning to unmanned aerial vehicle.
The specific steps of local positioning are as follows:
step 21, when the unmanned aerial vehicle enters a local ranging range, the ranging sensor detects the relative distance between the unmanned aerial vehicle and the landing point;
and step 22, calculating the moving direction and the moving distance of the unmanned aerial vehicle by combining a triangulation method according to the relative distance, and moving the unmanned aerial vehicle to the position above the landing point according to the moving direction and the moving distance.
The number of the ranging sensors can be changed according to actual needs, for example, the number of the ranging sensors can be four, as shown in fig. 2, the four ranging sensors are equally distributed on the circumference which takes the center P of the landing point as the center of circle and has the radius R, the number 1 ranging sensor is opposite to the number 2 ranging sensor, and the number 3 ranging sensor is opposite to the number 4 ranging sensor;
and calculating relative coordinates (X, Y, H) of the unmanned aerial vehicle relative to the center P (0, 0, 0) of the landing point, determining the relative position of the unmanned aerial vehicle relative to the landing point according to the relative coordinates, giving position navigation information of the unmanned aerial vehicle, and guiding the unmanned aerial vehicle to fly above the landing point.
The distance measurement navigation principle of the triangulation method is as follows:
the distance between each distance measuring sensor and the receiver is measured (the receiver is installed on the unmanned aerial vehicle) through the relative relation between the positions of each distance measuring sensor, so that the three-dimensional space coordinate value of the position of the receiver can be calculated, and the specific position of the unmanned aerial vehicle can be determined by receiving three or more sensing signals by the general receiver.
The distance measuring sensor is an ultrasonic sensor, and then the unmanned aerial vehicle is accurately positioned in a coordinate system in a local range based on a triangulation method and an error value judgment method of the ultrasonic sensor, and the process is as follows:
as shown in fig. 2, the distance detected by the ranging sensor is S1, S2, S3, S4;
when S1< S2, S3< S4:
when S1< S2, S3> S4, X, H is unchanged;
when S1> S2, S3< S4:
when S1> S2, S3> S4: x and H are unchanged;
the coordinates (X, Y and H) of the unmanned aerial vehicle are determined in the above mode.
The third positioning system is an image acquisition device and/or a distance measuring sensor, and then the accurate positioning is as follows:
control unmanned aerial vehicle carries out the vertical landing, and the in-process that descends passes through image acquisition device and/or at least one distance measuring sensor adjusts unmanned aerial vehicle's position, confirms that the landing point keeps under unmanned aerial vehicle, and the landing point is arrived to unmanned aerial vehicle accuracy.
Unmanned aerial vehicle is carrying out perpendicular descending in-process, need carry out continuous feedback adjustment through image acquisition device (camera) and/or a plurality of range sensor, prevents that unmanned aerial vehicle from landing the in-process deviation from the landing point, further improves the precision that unmanned aerial vehicle descends.
The unmanned aerial vehicle utilizes ultrasonic wave and/or barometer to assist and decide the height when carrying out the vertical landing in-process, confirms that unmanned aerial vehicle steadily lands.
As shown in fig. 3, when the third positioning system is an image acquisition device, the step 3 specifically includes:
step 31, searching a target image by using an image acquisition device, and identifying a landing point image from the target image;
step 32, judging whether the image of the landing point is positioned in the center of the image view, if so, landing, otherwise, entering step 33;
and step 33, the unmanned aerial vehicle starts the driving mechanism to adjust the position, and the step 32 is returned.
A camera (namely an image acquisition device) is used for shooting a picture (namely a target image) downwards, a landing point image is searched from the picture, if the landing point image is found, a coordinate axis is established by taking the center of the target image as a coordinate center, the position of the center of the landing point image on a coordinate plane is determined, if the center of the landing point image is coincident with the center of the coordinate axis, the unmanned aerial vehicle is determined to be positioned right above the landing point, and at the moment, the unmanned aerial vehicle only needs to land vertically; if the center of the image of the landing point does not coincide with the coordinate center, the unmanned aerial vehicle is adjusted according to the coordinate of the center of the landing point until the unmanned aerial vehicle is positioned right above the landing point, so that the unmanned aerial vehicle can vertically land, and the unmanned aerial vehicle just can land on the landing point during landing.
The step 31 specifically includes:
step 311, after the image reaches the position above the falling point, controlling the image acquisition device to vertically search downwards to acquire a target image;
step 312, identifying whether the image has a landing point, if so, capturing the image of the landing point, otherwise, entering step 313;
step 313, after the image acquisition device is shifted to the predetermined direction by the set angle, the target image is acquired again, and the process returns to step 312.
If the image of the falling point exists in the picture shot by the camera (namely the image acquisition device), the image of the falling point is captured, if the image of the falling point does not exist in the shot picture, the camera is rotated towards a certain direction (for example, the camera is rotated towards the left by 2 degrees) and is deflected by 2 degrees every time, and when the rotation angle of the direction reaches a set deviation angle (for example, 10 degrees), the camera is rotated in one direction.
Accumulating the offset set angles every time, if the offset set angles are accumulated to be larger than the set threshold value, and if no landing point image exists in all the newly acquired target images, controlling the unmanned aerial vehicle to ascend, and repeating the step 312 and the step 313 until the landing point image can be captured in the target image.
If the deflection angle is too large, the captured image is distorted, and it is difficult to recognize the landing point image, so the set threshold is set to be between 5 ° and 10 °.
The step 33 specifically includes:
step 331, obtaining the offset direction and the offset distance of the center of the landing point offset image, and calculating the moving direction, the moving distance and the moving speed of the unmanned aerial vehicle according to the offset direction and the offset distance;
and 332, adjusting the position of the unmanned aerial vehicle according to the moving direction, the moving distance and the moving speed, and returning to the step 31 after the adjustment is finished.
The method comprises the steps of establishing a plane rectangular coordinate system by taking a shot image center as a coordinate center, calculating the position of the center of a landing point in the coordinate system, further enabling the unmanned aerial vehicle to calculate the moving direction, the moving distance and the moving speed of the unmanned aerial vehicle to the coordinate center according to the position, and further moving the unmanned aerial vehicle to adjust the unmanned aerial vehicle to be right above the landing point according to the numerical values.
Example two
The embodiment of the invention provides an unmanned aerial vehicle fixed-point landing system, and based on the unmanned aerial vehicle fixed-point landing method in the embodiment I, the unmanned aerial vehicle fixed-point landing system comprises an unmanned aerial vehicle and a landing point, wherein the unmanned aerial vehicle is in wireless connection with the landing point.
After the unmanned aerial vehicle receives the landing command, the first positioning system is matched with the second positioning system, the unmanned aerial vehicle is controlled to reach the position right above the landing point, then the unmanned aerial vehicle lands, and the third positioning system is utilized to accurately position the unmanned aerial vehicle in the landing process until the unmanned aerial vehicle accurately lands on the landing point.
The first positioning system is as follows: a GPS positioning system or a Beidou positioning system or a mobile network positioning system.
The third positioning system is an image acquisition device and/or a distance measuring sensor.
The second positioning system comprises at least one ranging sensor and a receiver, the number of the ranging sensors can be set according to the actual needs of a user, the ranging sensors are arranged on or around a landing point, and the receiver is arranged on the unmanned aerial vehicle;
or, second positioning system comprises at least one receiver and a range finding sensor, the quantity of receiver can be set for according to user's actual need, the receiver sets up on the landing point or around the landing point, range finding sensor sets up on unmanned aerial vehicle.
Through the technical scheme, when the unmanned aerial vehicle needs to return to land, the first positioning system of the unmanned aerial vehicle is utilized to search for the nearby landing points, the nearest landing point is selected as the landing point, then all routes from the unmanned aerial vehicle to the landing point are obtained, and the route with the least distance is selected as the return route from the routes. Unmanned aerial vehicle flies according to returning the route of navigating back, and after flying to local range finding within range, the second positioning system (being range finding sensor) that sets up on the landing point will carry out the local location to unmanned aerial vehicle, and control unmanned aerial vehicle flies directly over to the landing point, recycles third positioning system and carries out meticulous location, confirms unmanned aerial vehicle directly over the landing point after, and the unmanned aerial vehicle of controlling again descends. Unmanned aerial vehicle is descending the in-process, need not manual control, can independently accomplish the process of accurate descending to improve the precision that unmanned aerial vehicle descends, reduced the danger coefficient when unmanned aerial vehicle descends, provide convenience for user's use.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (12)
1. An unmanned aerial vehicle fixed-point landing method is characterized by comprising the following steps:
step 1, after receiving a landing command, an unmanned aerial vehicle starts a first positioning system, determines the position of a landing point and plans a return route;
step 2, the unmanned aerial vehicle returns according to the return route and then enters a local distance measuring range, a second positioning system is started, and the unmanned aerial vehicle is controlled to reach the position above the landing point;
step 3, controlling the unmanned aerial vehicle to gradually land, and starting a third positioning system to perform accurate positioning in the landing process;
the third positioning system is an image acquisition device, and the accurate positioning is as follows:
controlling the unmanned aerial vehicle to vertically land, adjusting the position of the unmanned aerial vehicle through the image acquisition device in the descending process, and determining that a landing point is kept under the unmanned aerial vehicle until the unmanned aerial vehicle accurately lands on the landing point;
the accurate positioning specifically comprises:
step 31, searching a target image by using an image acquisition device, and identifying a landing point image from the target image;
step 32, judging whether the image of the landing point is positioned in the center of the image view, if so, landing, otherwise, entering step 33;
step 33, the unmanned aerial vehicle starts the driving mechanism to adjust the position, and the step 32 is returned;
the step 31 specifically includes:
step 311, after the image reaches the position above the falling point, controlling the image acquisition device to vertically search downwards to acquire a target image;
step 312, identifying whether the image has a landing point, if so, capturing the image of the landing point, otherwise, entering step 313;
313, after the image acquisition device is shifted to a preset direction by a set angle, reacquiring the target image, and returning to 312;
accumulating the offset set angles each time, if the offset set angles are accumulated to be larger than a set threshold value, and if no landing point image exists in all the newly acquired target images, controlling the unmanned aerial vehicle to ascend, and repeating the step 312 and the step 313 until the landing point image can be captured in the target image;
the step 33 specifically includes:
step 331, obtaining the offset direction and the offset distance of the center of the landing point offset image, and calculating the moving direction, the moving distance and the moving speed of the unmanned aerial vehicle according to the offset direction and the offset distance;
and 332, adjusting the position of the unmanned aerial vehicle according to the moving direction, the moving distance and the moving speed, and returning to the step 31 after the adjustment is finished.
2. An unmanned aerial vehicle fixed point landing method according to claim 1, wherein the first positioning system is a GPS positioning system, a beidou positioning system or a mobile network positioning system.
3. The unmanned aerial vehicle fixed-point landing method according to claim 2, wherein the step 1 specifically comprises:
step 11, receiving a landing command sent by a control terminal by the unmanned aerial vehicle;
and step 12, selecting the nearest landing point from the landing points to be selected by the unmanned aerial vehicle by using the GPS and the position coordinates sent by each landing point to be selected, and planning a return route to the landing point.
4. A method for fixed-point landing of an unmanned aerial vehicle as defined in claim 3, wherein the landing point is a target charging dock, and step 11 comprises:
when the electric quantity detector of the unmanned aerial vehicle detects that the electric quantity is insufficient, a landing command is sent to the controller; or when the user needs to charge the unmanned aerial vehicle, the control terminal is used for sending a landing command to the unmanned aerial vehicle.
5. An unmanned aerial vehicle fixed-point landing method according to claim 1, wherein the second positioning system comprises at least one ranging sensor disposed at the landing point and one receiver disposed on the unmanned aerial vehicle, or the second positioning system comprises at least one receiver disposed at the landing point and one ranging sensor disposed on the unmanned aerial vehicle, and the step 2 specifically comprises:
the unmanned aerial vehicle enters a local ranging range, and a ranging sensor is used for local positioning.
6. An unmanned aerial vehicle fixed point landing method according to claim 5, wherein the ranging sensor detects the distance of the unmanned aerial vehicle and uses triangulation to locally locate the unmanned aerial vehicle.
7. An unmanned aerial vehicle fixed point landing method according to claim 6, wherein the specific steps of local positioning are as follows:
step 21, the distance measuring sensor detects the relative coordinates of the unmanned aerial vehicle and the landing point;
and step 22, calculating the moving direction and the moving distance of the unmanned aerial vehicle by combining a triangulation method according to the relative coordinates, and moving the unmanned aerial vehicle to the position above the landing point according to the moving direction and the moving distance.
8. The unmanned aerial vehicle fixed-point landing method according to claim 1, wherein the unmanned aerial vehicle is assisted to be fixed in height by using ultrasonic waves and/or a barometer in the vertical landing process, and the unmanned aerial vehicle is determined to land stably.
9. An unmanned aerial vehicle fixed-point landing system using the unmanned aerial vehicle fixed-point landing method according to any one of claims 1 to 8, comprising an unmanned aerial vehicle and a landing point, the unmanned aerial vehicle being wirelessly connected to the landing point,
after the unmanned aerial vehicle receives the landing command, the first positioning system of the unmanned aerial vehicle is matched with the second positioning system of the landing point, the unmanned aerial vehicle is controlled to reach the position right above the landing point, then the unmanned aerial vehicle lands, and the third positioning system is utilized to accurately position the unmanned aerial vehicle in the landing process until the unmanned aerial vehicle accurately lands on the landing point.
10. An unmanned aerial vehicle fixed point landing system of claim 9, wherein the first positioning system is: a GPS positioning system or a Beidou positioning system or a mobile network positioning system.
11. An unmanned aerial vehicle fixed point landing system of claim 9, wherein the second positioning system is comprised of a ranging sensor and a receiver;
at least one ranging sensor is arranged in the center or the periphery of the landing point, and one receiver is arranged on the unmanned aerial vehicle;
or, the receiver is at least one and sets up in the center of the landing point or around, and range finding sensor is one and sets up on unmanned aerial vehicle.
12. An unmanned aerial vehicle fixed point landing system of claim 9, wherein the third positioning system is an image capture device, the image capture device being mounted on the unmanned aerial vehicle.
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| CN109857128B (en) * | 2018-12-18 | 2022-07-15 | 丰翼科技(深圳)有限公司 | Unmanned aerial vehicle vision fixed-point landing method, system, equipment and storage medium |
| CN109508037B (en) * | 2018-12-28 | 2019-10-11 | 滨州学院 | A kind of unmanned plane assisted charging system |
| CN109508040A (en) * | 2019-01-11 | 2019-03-22 | 福建江夏学院 | A kind of unmanned plane precise positioning landing system and method |
| CN109857139A (en) * | 2019-01-29 | 2019-06-07 | 珠海金慧科技有限公司 | City low-to-medium altitude load-carrying 7kg and following rank unmanned plane space precise positioning technology |
| CN109976378B (en) * | 2019-03-13 | 2021-08-06 | 南京航空航天大学 | Trajectory control method for unmanned aerial vehicle perching and landing maneuver under wind disturbance |
| CN110001980B (en) * | 2019-04-19 | 2021-11-26 | 深圳市道通智能航空技术股份有限公司 | Aircraft landing method and device |
| CN110703201A (en) * | 2019-09-23 | 2020-01-17 | 广西诚新慧创科技有限公司 | Ultrasonic unmanned aerial vehicle landing method and unmanned aerial vehicle shutdown system |
| CN112272957B (en) * | 2019-11-19 | 2024-06-18 | 深圳市大疆创新科技有限公司 | Landing control method, equipment, base station, unmanned aerial vehicle and storage medium |
| CN111123964B (en) * | 2019-12-24 | 2021-07-06 | 浙江大学 | Unmanned aerial vehicle landing method and device and computer readable medium |
| CN113614670A (en) * | 2020-02-28 | 2021-11-05 | 深圳市大疆创新科技有限公司 | Method and equipment for controlling return flight of unmanned aerial vehicle |
| CN113655804B (en) * | 2020-05-12 | 2023-07-07 | 北京三快在线科技有限公司 | Method and system for guiding unmanned aerial vehicle to land, auxiliary positioning system and unmanned aerial vehicle |
| CN112051856B (en) * | 2020-07-31 | 2024-01-19 | 深圳市贝贝特科技实业有限公司 | Composite sensing system for dynamic recovery of unmanned aerial vehicle |
| CN112977855B (en) * | 2021-01-26 | 2022-11-04 | 广州成至智能机器科技有限公司 | Method, device, equipment and system for adjusting automatic landing of tethered unmanned aerial vehicle |
| CN112947524B (en) * | 2021-03-09 | 2023-05-26 | 广东鸿源智能科技有限公司 | Unmanned aerial vehicle accurate landing control method |
| CN113009925B (en) * | 2021-03-09 | 2023-05-26 | 广东鸿源智能科技有限公司 | Unmanned aerial vehicle landing control method |
| CN113050680B (en) * | 2021-03-09 | 2023-05-30 | 广东鸿源智能科技有限公司 | Unmanned aerial vehicle standby landing control method |
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