CN110244749A - A kind of agricultural unmanned plane mobile platform independently precisely lands control system and method - Google Patents
A kind of agricultural unmanned plane mobile platform independently precisely lands control system and method Download PDFInfo
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- CN110244749A CN110244749A CN201910324350.6A CN201910324350A CN110244749A CN 110244749 A CN110244749 A CN 110244749A CN 201910324350 A CN201910324350 A CN 201910324350A CN 110244749 A CN110244749 A CN 110244749A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
Independently precisely land control system and method the invention discloses a kind of agricultural unmanned plane mobile platform, enable unmanned plane efficiently, it is accurate, steadily drop to mobile airplane parking area.When unmanned plane high-altitude is landed first, based on GPS signal information adjustment unmanned plane during flying posture quickly close to mobile airplane parking area；When low latitude is landed; the image tag on mobile airplane parking area is detected based on the image recognition model that the YOLOv3 training being loaded into the winged control of unmanned plane generates, obtains the relative position information of label and unmanned plane further to adjust the close mobile airplane parking area of unmanned plane during flying posture；When will land; based on ultrasonic distance measurement value trigger electromagnet circuit; make the electromagnet electrification for being mounted in unmanned plane foot prop and be attracted with the magnetisable material on airplane parking area, and realize cushioning effect equipped with multiple springs under magnetisable material, final unmanned plane steadily drops on mobile airplane parking area.The present invention is conducive to agricultural unmanned plane comfortableization and Labor-saving operation, it can also be used to need the unmanned plane field of motor-driven operation.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control technical field, in particular to a kind of agricultural unmanned plane mobile platform independently precisely drops
Fall control system and method.
Background technique
With the fast development of unmanned plane, unmanned plane agriculture feelings information quick obtaining, in terms of apply the impetus
It is powerful.But field work carries agricultural unmanned plane field by people and shifts large labor intensity, and there is an urgent need to develop a kind of operating personnels
It can operating motor vehicles and Labor-saving, the comfortableization work pattern of the agricultural unmanned machine operation of motor-driven carry out.Agricultural unmanned plane is mobile flat
Platform, which independently precisely lands, then becomes the critical issue for realizing that comfortableization work pattern is urgently to be resolved.
Summary of the invention
In order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide a kind of agricultural unmanned plane mobile platforms
Autonomous precisely landing control system and method, it can be achieved that agricultural unmanned plane efficiently, it is accurate, steadily drop to mobile airplane parking area
Active position realizes field Labor-saving, comfortableization operation.
To achieve the goals above, the technical solution adopted by the present invention is that:
A kind of agricultural unmanned plane mobile platform independently precisely lands control system, the unmanned plane including being set to unmanned generator terminal
Platform 1 and the mobile airplane parking area 12 for being set to motor vehicle end, it is characterised in that:
The unmanned aerial vehicle platform 1 includes relay 2, electromagnet 3, wireless data transmission module-a4, ultrasonic wave module 7, GPS-
A8, unmanned plane fly control 9, image recognition model 10 and camera 11；
The mobile airplane parking area 12 includes wireless data transmission module-b5, GPS-b6, magnetisable material 13 and image tag 14；
Wherein, described image identification model 10 be by camera 11 obtain image tag 14 a large amount of different angles from it is different
Image pattern under intensity of illumination is generated using the training of deep learning algorithm, and is loaded into unmanned plane and is flown in control 9, and image is carried out
Detection and positioning, obtain the location information of image tag 14；
The relay 2 is connected with electromagnet 3 constitutes electromagnet circuit, and circuit triggering command flies control 9 by unmanned plane and issues；
Information is transmitted to unmanned plane and flies control 9 by the ultrasonic wave module 7 for detecting unmanned plane elevation information, is sentenced according to distance value
It is disconnected whether to send electromagnet circuit triggering command；
The GPS-a8 is used to obtain the location information of unmanned plane, and the GPS-b6 is used to obtain the position of mobile airplane parking area 12
Confidence breath；
Wireless data transmission module-the b5 and wireless data transmission module-a4 is used for transmission the location information of mobile airplane parking area 12.
Described image label 14 is combined using black and white rubber material, and image tag 14 is combined by two images of size
It forms, and is sticked to above magnetisable material 13.
The magnetisable material 13 is lower to realize cushioning effect equipped with multiple springs 18.
3D printing mold 22 is installed in the unmanned plane foot prop 20 of the unmanned plane, the electromagnet 3 is embedded into 3D printing
In mold 22.
Independently precisely land control method the present invention also provides a kind of agricultural unmanned plane mobile platform, which is characterized in that
Include:
Early period by the camera 11 of unmanned plane obtain a large amount of different angles comprising image tag 14 on airplane parking area 12 with
Image pattern under different illumination intensity generates image recognition model 10 using the training of deep learning algorithm, and is loaded into nobody
Machine flies in control 9；
When unmanned plane high-altitude is landed, pass through the GPS6 signal and unmanned plane itself of the mobile airplane parking area 12 of reception and analysis
GPS8 signal adjusts flight attitude, close to mobile airplane parking area 12；
When unmanned plane low latitude is landed, mobile shutdown is detected based on being loaded into unmanned plane and flying image recognition model 10 in control 9
Image tag 14 on level ground 12 obtains the relative position information of image tag 14 and unmanned plane further to adjust unmanned plane during flying
Posture makes unmanned plane close to mobile airplane parking area 12；
When unmanned plane will land, it is based on 7 distance measurement value trigger electromagnet of ultrasonic wave module, 3 circuit, makes to be mounted in unmanned plane
The electromagnet 3 of foot prop 20 is charged and is attracted with the magnetisable material 13 on airplane parking area 12, is realized and is landed.
The unmanned plane flies control 9 to be carried out constantly by signal of the dynamic averaging method to the GPS-b6 and GPS-a8 received
It updates.
The deep learning algorithm is YOLOv3, identifies and detects 14 region of image tag in image pattern, pass through
YOLOv3 network training generates image recognition model 10.
When unmanned plane high-altitude is landed, unmanned plane flies the GPS-a8 signal and mobile airplane parking area 12 that control 9 receives unmanned plane itself
Upper GPS-b (6) signal by wireless data transmission module-a4, wireless data transmission module-b5 transmission, and obtain relative position information
Adjust unmanned plane during flying parameter.
When unmanned plane low latitude is landed, image is obtained as inputting, based on being loaded into image recognition model 10 using camera 11
Detect 14 region of image tag on mobile airplane parking area 12, and the relative position information for obtaining label 14 and unmanned plane comes into one
Successive step unmanned plane during flying posture is close to mobile airplane parking area 12
When unmanned plane will land, by ultrasonic wave module 7 to determine whether landing, if landing, trigger relay 2,
Electromagnet 3 is set to be powered and be attracted with the magnetisable material 13 on airplane parking area 12.
For unmanned plane when high-altitude or low latitude are landed, unmanned plane flies the tune that control 9 obtains unmanned plane according to triangle composition principle
Whole speed.
Compared with prior art, the beneficial effects of the present invention are:
High-altitude GPS coarse positioning is effectively combined realization nothing based on the precise positioning of image recognition with low latitude by the present invention
Man-machine fast accurate landing, positioning bring inconvenience can not effectively be detected by avoiding high aerial image.Wherein image-recognizing method
Using deep learning algorithm, by obtaining under a large amount of different angle and different illumination intensity comprising image tag on airplane parking area
Image pattern, identified using YOLOv3 and detect the image tag region in image pattern, and ultimately generate image recognition
Model obtains the relative position information of label and unmanned plane further further to adjust unmanned plane during flying posture close to movement and stop
Machine level ground.Image procossing based on deep learning can meet requirement of real-time and precision is high, can be applied to the real-time fast of real moving-target
Speed detection.In addition, devising a kind of UAV Landing in order to avoid UAV Landing shakiness slides from platform is shut down and fixing automatically
Device, i.e. unmanned plane foot prop respectively install the 3D printing mold for having been inserted into electromagnet, and magnetisable material and magnetic material are housed on airplane parking area
Cushioning effect is played equipped with multiple springs under matter.When unmanned plane will land, trigger electromagnet circuit makes electromagnet have magnetism
It is attracted with the magnetisable material shut down on platform, realizes safe landing.
Detailed description of the invention
Fig. 1 be agricultural unmanned plane mobile platform independently precisely land control method schematic diagram.
Fig. 2 is the schematic top plan view of mobile airplane parking area.
Fig. 3 is the schematic side view of mobile airplane parking area.
Fig. 4 is electromagnet structure schematic diagram.
Fig. 5 is wireless data sending communication flow figure.
Fig. 6 is triangle composition principle flow chart.
Fig. 7 is dynamic mean value flow chart.
Fig. 8 is image recognition model work flow diagram.
Fig. 9 is YOLOv3 network training flow chart.
Figure 10 is ultrasonic wave module work flow diagram.
Figure 11 is the general flow chart of the autonomous accurate descent of agricultural unmanned plane mobile platform.
Specific embodiment
The embodiment that the present invention will be described in detail with reference to the accompanying drawings and examples.
As depicted in figs. 1 and 2, independently accurate landing system includes unmanned aerial vehicle platform 1 and moves agricultural unmanned plane mobile platform
Dynamic airplane parking area 12.
Unmanned aerial vehicle platform 1 is located at unmanned generator terminal, including relay 2, electromagnet 3, wireless data transmission module-a 4, ultrasonic wave mould
Block 7, GPS-a 8, unmanned plane fly control 9, image recognition model 10 and camera 11.Electromagnet 3 is connected with relay 2 constitutes electromagnetism
Iron circuit, circuit triggering command fly control 9 by unmanned plane to issue.Wireless data transmission module-a 4 is for receiving and transmitting mobile shutdown
The GPS signal on level ground 12.Information is transmitted to unmanned plane and flies control 9 by ultrasonic wave module 7 for detecting unmanned plane elevation information, according to
Distance value is to determine whether send electromagnet circuit triggering command.GPS-a 8 is used to obtain unmanned plane for what unmanned plane carried
Location information.Image recognition model 10 is loaded into unmanned plane and flies control 9, and camera 11 shoots image and is transferred to the image flown in control 9
Identification model 10 carries out image detection and positioning, obtains the location information of image tag.
Mobile airplane parking area 12 is set on motor vehicle 15, including wireless data transmission module-b 5, GPS-b 6, magnetisable material 13
With image tag 14.Wireless data transmission module-b 5 is connected with GPS-b 6, for transmitting the GPS of the mobile airplane parking area 12 obtained
Information.Image tag 14 is combined using black and white rubber material, and image tag 14 is composed of two images of size, and
It is sticked to above magnetisable material 13, motor vehicle 15 meets mobile condition.
As shown in Figure 3 and Figure 4, in order to realize unmanned plane safe landing, the component taken includes electromagnet 3, magnetisable material
13, screw 17, nut 16, spring 18, composite plate 19, unmanned plane foot prop 20, conducting wire 21 and 3D printing mold 22.Electromagnet 3 with
The connection of conducting wire 21 is powered through the triggering of electromagnet circuit and is fixed with magnetisable material 13, and it is thick that magnetisable material 13 is selected as diameter 50cm
Spend the iron plate of 1mm.Screw 17 and nut 16 are used for fixed magnetic substance 13, and screw 17 is embedded in composite plate 19, selects 6 spiral shells
Silk 17 with nut 16 and be uniformly distributed, spring 18 connects magnetisable material 13 and composite plate 19, cushioning effect, and magnetisable material 13
It is 2cm or so with 19 spacing of composite plate.
In order to further appreciate that the contents of the present invention and feature.Following instance is enumerated, the course of work is as follows:
Independently precisely landing control method is broadly divided into three parts to the agricultural unmanned plane mobile platform of the present invention:
When unmanned plane is higher away from ground, unmanned plane flies control 9 and passes through the GPS signal and nothing of receiving and the mobile airplane parking area 12 of analysis
Itself man-machine GPS signal adjusts flight attitude, close to mobile airplane parking area 12；When unmanned plane is closer away from mobile airplane parking area 12,
Fly the image recognition model 10 that YOLOv3 network training generates in control 9 by unmanned plane, obtains image tag 14 and unmanned plane
Relative position information further adjusts flight attitude；When will land, returned in conjunction with 7 distance measurement value trigger electromagnet of ultrasonic wave module
Road makes electromagnet 3 charge and be attracted with the magnetisable material 13 on airplane parking area 12, realizes to land and fix.Detailed process is as follows:
When unmanned plane high-altitude is landed, GPS signal is depended on.Fig. 5 is that the GPS signal of mobile airplane parking area 12 passes through wirelessly
The flow chart of digital transmission module transmission, i.e. GPS-b 6 are connected by serial ports and are sent GPS signal to wireless data transmission module-b 5 concurrently
Out, wireless data transmission module-a 4 receives the GPS signal data packet issued and is transported to unmanned plane and flies in control 9, flies control 9 by unmanned plane
Effective GPS signal is extracted, and obtains the relative position information of the two in conjunction with the GPS signal of itself, is synthesized according to Fig. 6 triangle
Principle obtains regulating the speed for unmanned plane, and passes through Fig. 7 dynamic Mean Method real-time update GPS signal data packet.
When unmanned plane low latitude is landed, image recognition model 10 is opened.Fig. 8 is image recognition model work flow diagram.Camera shooting
First 11 images obtained are input in image recognition model 10, and detection identifies image tag 14, and in image tag 14
Heart point is that reference point calculates the relative position information for obtaining label 14 and unmanned plane, obtains nothing according to Fig. 6 triangle composition principle
Man-machine regulates the speed, and adjusts flight attitude close to mobile airplane parking area 12.When the unmanned plane figure closer and big away from airplane parking area 12
When can not completely be obtained by camera 11 as label 14, positioning inspection can be carried out by the small label in detection image label 14
It surveys.Wherein, image recognition model 10 is in a computer using YOLOv3 network and by the image of a large amount of image tag 14
Sample training obtains, and process is as shown in Figure 9.Image tag 14 is composed using black and white rubber material, and it is anti-can to weaken label 14
The influence of light.
When UAV Landing, ultrasonic wave module 7 is opened in second stage, as the agricultural unmanned plane mobile platform of Figure 11 is autonomous
The general flow chart of accurate descent.Figure 10 is that ultrasonic wave module works and the fixed flow chart of fuselage, i.e. ultrasonic wave module 7 will be surveyed
Unmanned plane is transmitted to away from value and flies control 9, control 9 is flown by unmanned plane and judges whether to reach landing conditions, if reaching, issues instruction triggers electricity
Iron circuit, i.e. relay 2 are connected, and electromagnet 3 is powered with magnetic and is fixed with magnetisable material 13, and unmanned plane is avoided to slide,
Spring 18 plays damping and buffer function.
Compared with traditional unmanned plane independent landing, high-altitude GPS coarse positioning and low latitude are effectively based on image by the present invention
The precise positioning of identification, which combines, realizes the landing of unmanned plane fast accurate, and positioning can not effectively be detected by avoiding high aerial image
Bring is inconvenient.Compared with high-precision GPS locating module, design scheme of the invention is cheap, and structural module is clear, fits
It closes and promotes and applies.Image tag identification positioning uses YOLOv3 network, and the reality of mobile target can be achieved in the fast precision height of processing speed
When quickly detect, improve whole efficiency and shorten the unmanned plane landing time, also substantially increase to mobile airplane parking area image tag inspection
Measure the reliability and accuracy of position.A kind of UAV Landing automatic fixer, can effectively realize nothing involved in the present invention
Man-machine safety lands.
For those skilled in the art, it can make other each according to the above description of the technical scheme and ideas
The corresponding modification of kind, equivalent variations and modification etc. all should belong within the scope of protection of the claims of the present invention.
Claims (10)
- The control system 1. a kind of agricultural unmanned plane mobile platform independently precisely lands, the unmanned plane including being set to unmanned generator terminal are flat Platform (1) and the mobile airplane parking area (12) for being set to motor vehicle end, it is characterised in that:The unmanned aerial vehicle platform (1) include relay (2), electromagnet (3), wireless data transmission module-a (4), ultrasonic wave module (7), GPS-a (8), unmanned plane fly control (9), image recognition model (10) and camera (11)；The mobile airplane parking area (12) includes wireless data transmission module-b (5), GPS-b (6), magnetisable material (13) and image tag (14)；Wherein, described image identification model (10) be by camera (11) obtain image tag (14) a large amount of different angles with not It with the image pattern under intensity of illumination, is generated using the training of deep learning algorithm, and is loaded into unmanned plane and flies in control (9), carried out Image detection and positioning, obtain the location information of image tag (14)；The relay (2) is connected with electromagnet (3) constitutes electromagnet circuit, and circuit triggering command flies control (9) by unmanned plane and sends out Out；Information is transmitted to unmanned plane and flies control (9) by the ultrasonic wave module (7) for detecting unmanned plane elevation information, according to distance Value is to determine whether send electromagnet circuit triggering command；The GPS-a (8) is used to obtain the location information of unmanned plane, and the GPS-b (6) is for obtaining mobile airplane parking area (12) Location information；Wireless data transmission module-the b (5) and wireless data transmission module-a (4) are used for transmission the location information of mobile airplane parking area (12).
- 2. agricultural unmanned plane mobile platform independently precisely lands control system according to claim 1, which is characterized in that described Image tag (14) is combined using black and white rubber material, and image tag (14) is composed of two images of size, and It is sticked to magnetisable material (13) above, realizes cushioning effect equipped with multiple springs (18) under the magnetisable material (13).
- 3. agricultural unmanned plane mobile platform independently precisely lands control system according to claim 1, which is characterized in that in institute The unmanned plane foot prop (20) for stating unmanned plane is equipped with 3D printing mold (22), and the electromagnet (3) is embedded into 3D printing mold (22) in.
- The control method 4. a kind of agricultural unmanned plane mobile platform independently precisely lands characterized by comprisingEarly period obtains a large amount of different angles comprising image tag (14) on airplane parking area (12) by the camera (11) of unmanned plane With the image pattern under different illumination intensity, image recognition model (10) are generated using the training of deep learning algorithm, and are loaded into Unmanned plane flies in control (9)；When unmanned plane high-altitude is landed, pass through GPS-b (6) signal and the unmanned plane itself of reception and analysis mobile airplane parking area (12) GPS-a (8) signal adjusts flight attitude, close to mobile airplane parking area (12)；When unmanned plane low latitude is landed, mobile shutdown is detected based on being loaded into unmanned plane and flying image recognition model (10) in control (9) Image tag (14) on level ground (12) obtains the relative position information of image tag (14) and unmanned plane further to adjust nobody Machine flight attitude makes unmanned plane close to mobile airplane parking area (12)；When unmanned plane will land, it is based on ultrasonic wave module (7) distance measurement value trigger electromagnet (3) circuit, makes to be mounted in unmanned plane The electromagnet (3) of foot prop (20) is charged and is attracted with the magnetisable material (13) on airplane parking area (12), is realized and is landed.
- 5. agricultural unmanned plane mobile platform independently precisely lands control method according to claim 4, which is characterized in that described Unmanned plane flies control (9) and is continuously updated by dynamic averaging method to the signal of the GPS-b (6) and GPS-a (8) that receive.
- 6. agricultural unmanned plane mobile platform independently precisely lands control method according to claim 4, which is characterized in that described Deep learning algorithm is YOLOv3, identifies and detects the image tag in image pattern (14) region, pass through YOLOv3 network Training generates image recognition model (10).
- 7. agricultural unmanned plane mobile platform independently precisely lands control method according to claim 4, which is characterized in that nobody When machine high-altitude is landed, pass through on GPS-a (8) signal of winged control (9) the reception unmanned plane of unmanned plane itself and mobile airplane parking area (12) GPS-b (6) signal of wireless data transmission module-a (4), wireless data transmission module-b (5) transmission, and relative position information is obtained to adjust Whole unmanned plane during flying parameter.
- 8. agricultural unmanned plane mobile platform independently precisely lands control method according to claim 4, which is characterized in that nobody When machine low latitude is landed, image is obtained as input using camera (11), shifting is detected based on image recognition model (10) is loaded into Image tag (14) region on dynamic airplane parking area (12), and the relative position information for obtaining label (14) and unmanned plane comes further Unmanned plane during flying posture is adjusted close to mobile airplane parking area (12).
- 9. agricultural unmanned plane mobile platform independently precisely lands control method according to claim 4, which is characterized in that nobody When machine will land, by ultrasonic wave module (7) to determine whether landing, if landing, trigger relay (2) makes electromagnet (3) it is powered and is attracted with the magnetisable material (13) on airplane parking area (12).
- 10. agricultural unmanned plane mobile platform independently precisely lands control method according to claim 4, which is characterized in that nothing It is man-machine when high-altitude or low latitude are landed, unmanned plane flies control (9) and obtains regulating the speed for unmanned plane according to triangle composition principle.
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| CN116466741A (en) * | 2023-03-29 | 2023-07-21 | 江苏科技大学 | Unmanned aerial vehicle parking apron automatic landing method based on monocular ranging |
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Application publication date: 20190917 |