CN110488848A - Unmanned plane vision guide it is autonomous drop method and system - Google Patents
Unmanned plane vision guide it is autonomous drop method and system Download PDFInfo
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- 238000005259 measurement Methods 0.000 claims abstract description 28
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 14
- 238000000605 extraction Methods 0.000 claims description 5
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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
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
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- Length Measuring Devices By Optical Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unmanned plane vision guide it is autonomous drop method, comprising: step 1: unmanned plane flies to drop point overhead effective coverage, monocular cam photographic subjects scene image；Wherein: including identification pattern in target scene image, there is internal pattern in the centre of identification pattern；Step 2: target scene image being handled, identification marking pattern frame by frame, extract feature, solve relative position of the unmanned plane relative to drop point；Wherein: when the unmanned plane calculated is greater than threshold level relative to the height of drop point, using the characteristic size of whole identification pattern as reference measurement relative position；When the unmanned plane that position calculates is lower than threshold level relative to the height of drop point, using the characteristic size of the inside pattern in identification pattern as reference measurement relative position.Step 3: controlling the centering that unmanned plane is completed with drops point, uniform descent to drop point depending on the relative position.The present invention can guide unmanned plane precision approach to designated place.
Description
Technical field
The present invention relates to Navigation of Pilotless Aircraft technical field, in particular to a kind of unmanned plane vision guide it is autonomous the method for drop
And system.
Background technique
As unmanned air vehicle technique is gradually expanded military, civil field application range, there is the nothing of precisely landing function
It is man-machine more and more attention has been paid to, such as accurate landing warship, fixed point launch.Traditional bootstrap technique includes inertial guidance, radar
Guidance, the guidance of high-precision satellite etc..The location error of inertial navigation can accumulate increase at any time, influence navigation accuracy；The positioning of radar
Precision is limited, and the device is complicated；The guidance of high-precision satellite is by satellite-signal, vulnerable to interference, is difficult to ensure in last depression of order section
Reliability.Vision guide carries out respective handling based on image processing techniques, to camera acquired image, in conjunction with camera shooting
Posture information in the solving targets motion processes such as head internal reference, constraint condition information, so that the one kind for controlling aircraft landing is new
Type airmanship, because its precision is high, anti-interference, imaging and passive imaging, it is at low cost the advantages that, receive extensive attention.Vision measurement master
It is divided into monocular vision measurement and two kinds of Binocular vision photogrammetry, Binocular vision photogrammetry needs to install two camera shootings additional on unmanned plane
Head, camera installation accuracy is more demanding, realizes complexity, and measures distance and far require baseline longer, for small drone
For it is difficult to install.Monocular vision measurement only needs a camera, and the dimension information of combining target pattern can be realized opposite
Positioning, system structure is simple, and installation requirement is low, has greater advantage for the application scenarios in specified landing place.
Summary of the invention
In order to solve the defects of prior art, goal of the invention of the invention is to provide a kind of unmanned plane vision guide autonomous
Drop method and with a kind of unmanned plane vision guide it is autonomous drop system, target scene image is obtained by monocular cam, is led to
It crosses the technologies such as image procossing, target identification, accurate extraction, state switching control and realizes that relative position resolves, for unmanned plane drop
Accurate guidance data are provided,
A goal of the invention of the invention is achieved through the following technical solutions:
A kind of unmanned plane vision guide it is autonomous drop method, include the following steps:
Step 1: unmanned plane flies the monocular cam being mounted under unmanned plane ventral to drop point overhead effective coverage
Photographic subjects scene image；Wherein: including identification pattern in target scene image, there is internal pattern in the centre of identification pattern；
Step 2: target scene image being handled, identification marking pattern frame by frame, extract feature, solve unmanned plane phase
For the relative position of drop point；Wherein: when the unmanned plane calculated is greater than threshold level h ' relative to the height of drop point,
When identifying next frame target scene image using the characteristic size of whole identification pattern as reference measurement relative position；Work as position
When setting the unmanned plane calculated relative to the height of point is dropped lower than threshold level h ', when identifying next frame target scene image
Using the characteristic size of the inside pattern in identification pattern as reference measurement relative position；
Step 3: the centering with drop point is completed relative to the relative position control unmanned plane of drop point according to unmanned plane, it is even
Speed drops to drop point.
Preferably, effective coverage is an inverted rotary table, the range of effective coverage are as follows:
h1=r1/tan(θ/2)
h2=r2/tan(θ/2)
Wherein, height of the upper bottom of rotary table apart from drop point is h1, height of the bottom of rotary table apart from drop point is h2, circle
The upper bottom radius of platform is r1, the bottom radius of rotary table is r2, the optical axis direction of camera and the angle in fuselage vertical axis direction are
θ, camera vertical resolution be D, the side length of complete identification pattern is w1, internal pattern side length be w2, correctly regarded
The minimum resolution for feeling identification pattern needed for measuring is Pmin。
Preferably, internal pattern is equipped with the feature of anti-shadow occlusion.
Preferably, extraction feature refers to special by edge of the image processing techniques to complete identification pattern or internal pattern
Sign extracts, and using the actual size of the edge feature as measurement parameter.
Preferably, threshold level h ' are as follows:
Another goal of the invention of the invention is achieved through the following technical solutions:
A kind of unmanned plane vision guide it is autonomous drop system, including be mounted on unmanned plane ventral bottom monocular cam,
Embedded vision processor and the flight control computer being mounted on inside unmanned plane, it is characterised in that:
When unmanned plane flies to after dropping point overhead effective coverage, monocular cam photographic subjects scene image transmits frame by frame
Give embedded vision processor；It wherein, include identification pattern in target scene image, there is internal pattern in the centre of identification pattern；
Embedded vision processor for handling target scene image frame by frame, identification marking pattern, extracts feature,
Relative position of the unmanned plane relative to drop is solved, and the station-keeping data of unmanned plane and drop point is assisted according to certain
View format is sent to flight control computer；
Flight control computer completes pair with drop point according to unmanned plane relative to the relative position control unmanned plane of drop point
In, uniform descent to drop point.
Preferably, flight control computer is also used in the case where insufficient light, and control lighting apparatus carries out identification pattern
Illumination.
Beneficial effects of the present invention are to fly to regard to drop point overhead and after entering effective range by monocular in unmanned plane
Feel that guide means accurately calculate the relative position between unmanned plane and landing point, and be sent to the flight control computer of unmanned plane,
In the case where insufficient light by the way of illuminating marker pattern, so as to all the period of time guidance unmanned plane precision approach to refer to
Determine place.
Detailed description of the invention
Fig. 1 be unmanned plane vision guide shown in embodiment one it is autonomous the flow diagram of drop method.
Fig. 2 is the schematic diagram of drop point overhead effective coverage.
Fig. 3 is identification pattern schematic layout pattern.
Fig. 4 be unmanned plane vision guide it is autonomous the structural schematic diagram of drop system.
Fig. 5 is high-precision satellite/vision measurement data and curves of height Z.
Fig. 6 is X-direction high-precision satellite/vision measurement data and curves.
Fig. 7 is Y-direction high-precision satellite/vision measurement data and curves.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
Embodiment one
Present embodiments provide a kind of unmanned plane vision guide it is autonomous drop method, include the following steps:
Step 1: unmanned plane flies the monocular cam being mounted under unmanned plane ventral to drop point overhead effective coverage
Photographic subjects scene image.
Shown in Figure 2, effective coverage is an inverted rotary table, if height of the upper bottom of rotary table apart from drop point is h1,
Height of the bottom of rotary table apart from drop point is h2, the upper bottom radius of rotary table is r1, the bottom radius of rotary table is r2, camera
The angle in optical axis direction and fuselage vertical axis direction is θ, the side that the vertical resolution of camera is D, complete identification pattern
A length of w1, internal pattern side length be w2, it is correct carry out vision measurement needed for identification pattern minimum resolution PminIt is related, effectively
The range in region are as follows:
h1=r1/tan(θ/2)
h2=r2/tan(θ/2)
When unmanned plane enters effective coverage, being fixed on must in the target scene image of the video camera shooting of ventral bottom
It so can be comprising the identification pattern dropped on point be arranged in.Shown in Figure 3, identification pattern is square image, pattern identification
Middle is equipped with internal pattern, can increase the feature of anti-shadow occlusion on internal pattern, be incident upon on pattern in shadows of objects
When can still provide for correctly identify measurement.
Step 2: target scene image being handled, identification marking pattern frame by frame, extract feature, solve unmanned plane phase
For the relative position of drop point.
Wherein, when the unmanned plane calculated is greater than threshold level h ' relative to the height of drop point, in identification next frame
Using the characteristic size of whole identification pattern as reference measurement relative position when target scene image；When the nothing that position calculates
When the man-machine height relative to drop point is lower than threshold level h ', when identifying next frame target scene image in identification pattern
Inside pattern characteristic size as reference measurement relative position.
Extraction feature refers to be carried out by edge feature of the image processing techniques to complete identification pattern or internal pattern
It extracts, and using the actual size of the edge feature as measurement parameter.
Threshold level h ' is in order to avoid when height reduces, whole identification pattern exceeds camera field of view range, and mentions
Preceding setting switches to the height for identifying internal pattern, calculation method are as follows:
Step 3: the centering with drop point is completed relative to the relative position control unmanned plane of drop point according to unmanned plane, it is even
Speed drops to drop point.
Embodiment two
It is shown in Figure 3, present embodiments provide a kind of unmanned plane vision guide it is autonomous drop system, including be mounted on nothing
The monocular cam of man-machine ventral bottom, the embedded vision processor being mounted on inside unmanned plane and flight control computer.Insertion
Formula vision processor is connect with monocular cam by video interface (such as USB, DVI), passes through data-interface with flight control computer
(such as network interface, serial ports) connection.
The Focussing of monocular cam is certain particular values, and inner parameter is in these focal lengths in advance by mark
It is fixed.The optical axis direction of camera and fuselage vertical axis angular separation θ it is known that the camera optical axis direction hang down with fuselage
The mechanical devices such as holder real-time measurement can be passed through to axis direction angle theta and feed back to unmanned plane flying control equipment.When unmanned plane flies
To drop point overhead effective coverage, monocular cam photographic subjects scene image sends embedded vision processor to frame by frame.
Wherein, in target scene image comprising identification pattern, effective coverage and identification pattern with effective coverage described in embodiment one and
Identification pattern is not repeating herein.
Embedded vision processor for handling target scene image frame by frame, identification marking pattern, extracts feature,
Relative position of the unmanned plane relative to drop is solved, and the station-keeping data of unmanned plane and drop point is assisted according to certain
View format is sent to flight control computer.
Wherein, when the unmanned plane calculated is greater than threshold level h ' relative to the height of drop point, in identification next frame
Using the characteristic size of whole identification pattern as reference measurement relative position when target scene image；When the nothing that position calculates
When the man-machine height relative to drop point is lower than threshold level h ', when identifying next frame target scene image in identification pattern
Inside pattern characteristic size as reference measurement relative position.
Extraction feature refers to be carried out by edge feature of the image processing techniques to complete identification pattern or internal pattern
It extracts, and using the actual size of the edge feature as measurement parameter.
Threshold level h ' is in order to avoid when height reduces, whole identification pattern exceeds camera field of view range, and mentions
Preceding setting switches to the height for identifying internal pattern, calculation method are as follows:
Flight control computer completes pair with drop point according to unmanned plane relative to the relative position control unmanned plane of drop point
In, uniform descent to drop point.
In the case where insufficient light, flight control computer can also control lighting apparatus and illuminate to identification pattern, protect
It is able to use under card night, dark surrounds.
This example is in entire descent, and with high precision on the basis of satellite measurement data, the data of vision measurement pass through
Coordinate system be converted to aircraft mass center relative to drop point position coordinates (X, Y, Z) as illustrated in figs. 5-7, wherein Fig. 5 be height Z
High-precision satellite/vision measurement data and curves, Fig. 6 be X-direction high-precision satellite/vision measurement data and curves, Fig. 7 be the side Y
To high-precision satellite/vision measurement data and curves, accuracy of alignment (X, Y-direction) is centimetre rank, height Z essence as seen from the figure
Degree is decimetre rank.
In conclusion the present invention for rotor wing unmanned aerial vehicle it is autonomous drop provide a kind of simple and reliable, high-precision vision and draw
Lead means, can for unmanned plane it is accurate round the clock drop provide safeguard.
The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of unmanned plane vision guide it is autonomous drop method, include the following steps:
Step 1: unmanned plane flies the monocular cam shooting being mounted under unmanned plane ventral to drop point overhead effective coverage
Target scene image；Wherein: including identification pattern in target scene image, there is internal pattern in the centre of identification pattern；
Step 2: target scene image is handled frame by frame, identification marking pattern, extract feature, solve unmanned plane relative to
Drop point relative position；Wherein: when the unmanned plane calculated is greater than threshold level h ' relative to the height of drop point, knowing
Using the characteristic size of whole identification pattern as reference measurement relative position when other next frame target scene image；When position solves
When the unmanned plane of calculating is lower than threshold level h ' relative to the height of drop point, in identification next frame target scene image Shi Yibiao
The characteristic size of the inside pattern in pattern is known as reference measurement relative position；
Step 3: according to unmanned plane relative to drop point relative position control unmanned plane complete with drop point centering, at the uniform velocity under
It is down to drop point.
2. a kind of unmanned plane vision guide according to claim 1 it is autonomous drop method, it is characterised in that effective coverage is
One inverted rotary table, the range of effective coverage are as follows:
h1=r1/tan(θ/2)
h2=r2/tan(θ/2)
Wherein, height of the upper bottom of rotary table apart from drop point is h1, height of the bottom of rotary table apart from drop point is h2, rotary table
Upper bottom radius is r1, the bottom radius of rotary table is r2, the optical axis direction of camera and the angle in fuselage vertical axis direction are θ, take the photograph
As the vertical resolution of head is D, the side length of complete identification pattern is w1, internal pattern side length be w2, correct carry out vision survey
The minimum resolution of identification pattern needed for measuring is Pmin。
3. a kind of unmanned plane vision guide according to claim 1 it is autonomous drop method, it is characterised in that on internal pattern
Feature equipped with anti-shadow occlusion.
4. a kind of unmanned plane vision guide according to claim 1 it is autonomous drop method, it is characterised in that extraction is characterized in
Refer to and extracted by edge feature of the image processing techniques to complete identification pattern or internal pattern, and is special using the edge
The actual size of sign is as measurement parameter.
5. a kind of unmanned plane vision guide according to claim 1 it is autonomous drop method, it is characterised in that threshold level h '
Are as follows:
6. a kind of unmanned plane vision guide it is autonomous drop system, monocular cam, peace including being mounted on unmanned plane ventral bottom
Embedded vision processor and flight control computer inside unmanned plane, it is characterised in that:
When unmanned plane flies to after dropping point overhead effective coverage, monocular cam photographic subjects scene image is sent to embedding frame by frame
Enter formula vision processor；It wherein, include identification pattern in target scene image, there is internal pattern in the centre of identification pattern；
Embedded vision processor for handling target scene image frame by frame, identification marking pattern, extracts feature, solves
Out unmanned plane relative to drop point relative position, and by unmanned plane with drop point station-keeping data according to certain agreement lattice
Formula is sent to flight control computer；
Flight control computer completes the centering with drop point relative to the relative position control unmanned plane of drop point according to unmanned plane, even
Speed drops to drop point.
7. a kind of unmanned plane vision guide according to claim 6 it is autonomous drop system, it is characterised in that flight control computer
It is also used in the case where insufficient light, control lighting apparatus illuminates identification pattern.
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