CN111176331A - Precise landing control method for unmanned aerial vehicle - Google Patents
Precise landing control method for unmanned aerial vehicle Download PDFInfo
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- CN111176331A CN111176331A CN202010172033.XA CN202010172033A CN111176331A CN 111176331 A CN111176331 A CN 111176331A CN 202010172033 A CN202010172033 A CN 202010172033A CN 111176331 A CN111176331 A CN 111176331A
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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
The invention provides an unmanned aerial vehicle accurate landing control method, which is characterized in that a two-dimensional code matrix is arranged at a landing point of an unmanned aerial vehicle, when the unmanned aerial vehicle reaches the upper part of a guide point, a large two-dimensional code is firstly identified, then a small two-dimensional code image is identified, the space is judged, landing detection is carried out when landing is carried out, if landing is judged successfully, image identification software automatically locks the unmanned aerial vehicle, software control is quitted, landing is finished, and otherwise, landing detection signals are continuously monitored until the landing is finished. Compared with the traditional RTK equipment, the unmanned aerial vehicle logistics method can be used for rapid deployment, greatly reduces the cost, has high reliability and small environmental interference, and is suitable for the long-distance unmanned aerial vehicle logistics process.
Description
Technical Field
The invention relates to an unmanned aerial vehicle accurate landing control method, and belongs to the technical field of unmanned aerial vehicle control.
Background
The unmanned aerial vehicle is an unmanned flying device operated by utilizing wireless remote control equipment and a self-contained control device, and with the progress of the unmanned aerial vehicle control technology and the continuous development of the structure towards light weight and miniaturization, the unmanned aerial vehicle is gradually turned to the civil field by military reconnaissance aircraft and target drone, is widely applied to multiple industrial fields such as aerial photography, agriculture, transportation, surveying and mapping, and is more and more important and prominent under the background of modern social information.
In unmanned aerial vehicle's control process, the descending process is the important ring of unmanned aerial vehicle working process, and unmanned aerial vehicle can discern and descend to appointed place and be the basis of realizing each item extended function, also is that unmanned aerial vehicle carries out the assurance of repetitive work, especially takes on the logistics unmanned aerial vehicle of transportation function, for the safety and the completeness of guaranteeing unmanned aerial vehicle structure itself and transportation goods, it is higher to the requirement of predetermineeing the place to accurate steady descending. The existing unmanned aerial vehicle usually adopts an RTK positioning technology, and combines with GPS positioning navigation to realize a take-off and landing process according to coordinates, but because RTK equipment has certain requirements on the length of a base line, the take-off and landing distance of the unmanned aerial vehicle is basically limited within 15km, once the distance is exceeded, the unmanned aerial vehicle cannot accurately throw goods due to the fact that the RTK base line is too long and the positioning precision is poor; meanwhile, RTK equipment is high in cost and high in deployment difficulty, and is difficult to popularize in large area in the logistics industry, so that application of unmanned aerial vehicle equipment in the large-span logistics process is limited undoubtedly.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides an unmanned aerial vehicle accurate landing control method.
The technical solution of the invention is as follows: an unmanned aerial vehicle accurate landing control method specifically comprises the following steps:
1) the unmanned aerial vehicle is guided by coordinates provided by a common GPS navigation system and flies above a guide point;
2) pasting a two-dimensional code matrix at a landing point of the unmanned aerial vehicle, wherein the two-dimensional code matrix comprises 1 large two-dimensional code image with the number of 0 and 3 small two-dimensional code images with the number of 1/2/3 in sequence;
3) when the unmanned aerial vehicle arrives at the guiding point and is empty, the camera of the unmanned aerial vehicle identifies the large two-dimensional code image with the serial number of 0, and when the identification is successful, the unmanned aerial vehicle is guided to descend;
4) when the unmanned aerial vehicle descends to within 3 meters from the landing point, sequentially identifying the small two-dimensional code images with the serial numbers of 1/2/3, if the unmanned aerial vehicle identifies that the distance between the two-dimensional code matrixes is consistent with the input distance preset by the image identification software, descending according to the image identification result, and if not, continuing hovering to correct the distance;
5) when the unmanned aerial vehicle lands, triggering landing detection, if the unmanned aerial vehicle lands successfully, locking the unmanned aerial vehicle by the image recognition software, exiting from software control, completing landing, and otherwise, continuously monitoring a landing detection signal until completion.
The invention has the advantages that:
1) compared with RTK equipment which needs to be deployed 10 hours in advance to reach centimeter-level precision, the RTK equipment can be rapidly deployed by adopting an image recognition system, and only the two-dimensional code needs to be pasted at a position needing to be released;
2) compared with RTK equipment, the cost is greatly reduced by adopting a universal camera to carry out image recognition;
3) the reliability is high, receives the environmental disturbance less.
Drawings
Fig. 1 is a flow structure diagram of the precise landing control method of the unmanned aerial vehicle.
Fig. 2 is a schematic diagram of a two-dimensional code matrix.
Detailed Description
The technical solution of the present invention is further illustrated by the following examples.
The method for controlling the accurate landing of the unmanned aerial vehicle shown in fig. 1 specifically comprises the following steps:
1) the unmanned aerial vehicle is guided by coordinates provided by a common GPS navigation system, flies above a guide point and hovers within the range of 1.5m in precision.
2) A two-dimensional code matrix is pasted on an unmanned aerial vehicle landing point, wherein the two-dimensional code matrix comprises 1 large two-dimensional code image with the number of 0 and 3 small two-dimensional code images with the number of 1/2/3 in sequence, the distance between the 3 small two-dimensional code images is fixed, and the three-dimensional code images are input into Open CV + April-Tag image recognition software in an unmanned aerial vehicle flight control system of S1-V2020 in advance.
3) When the unmanned aerial vehicle arrives at the guiding point and is empty, the camera of the unmanned aerial vehicle identifies the large two-dimensional code image with the serial number of 0, and when the identification is successful, the unmanned aerial vehicle is guided to descend; at the moment, the flying height is higher, and the small two-dimensional code is invisible.
4) Considering that the error of the large two-dimensional code image is large and cannot meet the requirement of accurate landing, when the unmanned aerial vehicle descends to within 3 meters from a landing point, the small two-dimensional code images with the serial numbers of 1/2/3 are sequentially identified, if the unmanned aerial vehicle identifies that the distance between the two-dimensional code matrixes is consistent with the input distance preset by the image identification software, the unmanned aerial vehicle descends according to the image identification result, and if the unmanned aerial vehicle does not identify the two-dimensional code matrixes, the unmanned aerial vehicle continues to hover to correct the distance.
The identification method of the two-dimensional code image uses LJ EDU SDK V2.0, Python and whale graphic programming software, and comprises the following specific steps:
firstly, image recognition software recognizes an image collected by a camera, judges whether any two-dimensional code is recognized, and controls the unmanned aerial vehicle to cycle around a coordinate point until any two-dimensional code image is recognized if the two-dimensional code is not recognized;
if a large two-dimensional code image is identified, controlling the unmanned aerial vehicle to slowly descend until one of 3 small two-dimensional code images is identified;
if any small two-dimensional code image is identified, controlling the unmanned aerial vehicle to adjust the horizontal direction distance until 3 small two-dimensional code images are identified simultaneously;
and fourthly, if the 3 small two-dimensional code images are recognized simultaneously, controlling the unmanned aerial vehicle to adjust the distance in the vertical direction until the distance between the 3 small two-dimensional code images is consistent with the distance input in advance, and continuing to control the unmanned aerial vehicle to slowly descend until the unmanned aerial vehicle stops landing and recognition is finished.
5) When the unmanned aerial vehicle falls to the ground, triggering to fall to the ground for detection: detecting whether an accelerator channel of the remote controller is at a low position, detecting that a horizontal angle is not allowed to be larger than 12 degrees, and detecting that the acceleration in the vertical direction has negative overshoot; if the unmanned aerial vehicle successfully lands on the ground, the image recognition software automatically locks the unmanned aerial vehicle, quits software control, and completes landing, otherwise, the landing detection signal is continuously monitored until completion.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (3)
1. The precise landing control method for the unmanned aerial vehicle is characterized by comprising the following steps:
1) the unmanned aerial vehicle is guided by coordinates provided by a common GPS navigation system and flies above a guide point;
2) setting a two-dimensional code matrix at a landing point of the unmanned aerial vehicle, wherein the two-dimensional code matrix comprises 1 large two-dimensional code image with the number of 0 and 3 small two-dimensional code images with the number of 1/2/3 in sequence;
3) when the unmanned aerial vehicle arrives at the guiding point and is empty, the camera of the unmanned aerial vehicle identifies the large two-dimensional code image with the serial number of 0, and when the identification is successful, the unmanned aerial vehicle is guided to descend;
4) when the unmanned aerial vehicle descends to within 3 meters from the landing point, sequentially identifying the small two-dimensional code images with the serial numbers of 1/2/3, if the unmanned aerial vehicle identifies that the distance between the two-dimensional code matrixes is consistent with the input distance preset by the image identification software, descending according to the image identification result, and if not, continuing hovering to correct the distance;
5) when the unmanned aerial vehicle lands, triggering landing detection, if the unmanned aerial vehicle lands successfully, locking the unmanned aerial vehicle by the image recognition software, exiting from software control, completing landing, and otherwise, continuously monitoring a landing detection signal until completion.
2. The method for controlling the precise landing of the unmanned aerial vehicle according to claim 1, wherein the distance between the 3 small two-dimensional code images in the step 2) is fixed and is input into image recognition software in a flight control system of the unmanned aerial vehicle in advance.
3. The method for controlling the precise landing of the unmanned aerial vehicle according to claim 1, wherein the method for identifying the two-dimensional code image in the steps 3) and 4) is as follows:
firstly, image recognition software recognizes an image collected by a camera, judges whether any two-dimensional code is recognized, and controls the unmanned aerial vehicle to cycle around a coordinate point until any two-dimensional code image is recognized if the two-dimensional code is not recognized;
if a large two-dimensional code image is identified, controlling the unmanned aerial vehicle to slowly descend until one of 3 small two-dimensional code images is identified;
if any small two-dimensional code image is identified, controlling the unmanned aerial vehicle to adjust the horizontal direction distance until 3 small two-dimensional code images are identified simultaneously;
and fourthly, if the 3 small two-dimensional code images are recognized simultaneously, controlling the unmanned aerial vehicle to adjust the distance in the vertical direction until the distance between the 3 small two-dimensional code images is consistent with the distance input in advance, and continuing to control the unmanned aerial vehicle to slowly descend until the unmanned aerial vehicle stops landing and recognition is finished.
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| CN113485449A (en) * | 2021-08-16 | 2021-10-08 | 普宙科技(深圳)有限公司 | Unmanned aerial vehicle autonomous landing method and system based on nested two-dimensional code |
| CN113495569A (en) * | 2021-06-17 | 2021-10-12 | 上海大风技术有限公司 | Unmanned aerial vehicle accurate landing method based on autonomous identification |
| CN113759943A (en) * | 2021-10-13 | 2021-12-07 | 北京理工大学重庆创新中心 | Unmanned aerial vehicle landing platform, identification method, landing method and flight operation system |
| CN115214902A (en) * | 2021-04-20 | 2022-10-21 | 苏州臻迪智能科技有限公司 | Aircraft hangar and control method thereof |
| WO2023098164A1 (en) * | 2021-12-03 | 2023-06-08 | 国网智能科技股份有限公司 | Unmanned aerial vehicle patrol system and method of gridding machine nest |
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| WO2023098164A1 (en) * | 2021-12-03 | 2023-06-08 | 国网智能科技股份有限公司 | Unmanned aerial vehicle patrol system and method of gridding machine nest |
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