CN111930146A - Vehicle-mounted unmanned aerial vehicle accurate landing recognition method - Google Patents
Vehicle-mounted unmanned aerial vehicle accurate landing recognition method Download PDFInfo
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- CN111930146A CN111930146A CN202010864322.6A CN202010864322A CN111930146A CN 111930146 A CN111930146 A CN 111930146A CN 202010864322 A CN202010864322 A CN 202010864322A CN 111930146 A CN111930146 A CN 111930146A
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- 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 a vehicle-mounted unmanned aerial vehicle accurate landing recognition method, and relates to the field of unmanned aerial vehicle recovery. The vehicle-mounted unmanned aerial vehicle accurate landing recognition method comprises the following steps: s1, when an unmanned aerial vehicle lands, a wireless beacon sends out a wireless signal for guiding the landing; s2, the unmanned aerial vehicle flies and approaches towards a vehicle provided with a wireless beacon after receiving the signal; s3, after the unmanned aerial vehicle flies to the top end of the vehicle, a camera on the unmanned aerial vehicle captures and identifies an outer two-dimensional code at the top end of the vehicle, and the unmanned aerial vehicle moves towards the position right above the outer two-dimensional code and continuously moves towards the outer two-dimensional code; s4, after unmanned aerial vehicle descends to a take the altitude, the camera on the unmanned aerial vehicle catches and discerns the sublayer two-dimensional code, and unmanned aerial vehicle continues to keep on the positive end of sublayer two-dimensional code to descend towards the sublayer two-dimensional code. The method provided by the invention realizes accurate identification and one-to-one correspondence of the landing points by arranging the upper and lower middle area combined codes on the top of the vehicle, thereby ensuring accurate landing of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle recovery, in particular to a vehicle-mounted unmanned aerial vehicle accurate landing recognition method.
Background
Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle + the industry application is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and developed countries actively expand industrial application and develop unmanned aerial vehicle technology.
On-vehicle unmanned aerial vehicle loads unmanned aerial vehicle on the vehicle, and unmanned aerial vehicle's take off directly goes on the vehicle that removes, and the user can come real-time tracking unmanned aerial vehicle through the vehicle. The takeoff of the vehicle-mounted unmanned aerial vehicle is simple, but the landing and recovery are difficult, because the vehicle continuously moves, the unmanned aerial vehicle can not be accurately and stably parked on the vehicle through control, the unmanned aerial vehicle is easily damaged by landing errors, so that great loss is caused, and the vehicle-mounted unmanned aerial vehicle accurate landing identification method needs to be designed.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a vehicle-mounted unmanned aerial vehicle accurate landing recognition method, which solves the problem that the existing vehicle-mounted unmanned aerial vehicle cannot land on a moving vehicle accurately and stably.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: a vehicle-mounted unmanned aerial vehicle accurate landing recognition method comprises the following steps:
s1, when an unmanned aerial vehicle lands, a wireless beacon sends out a wireless signal for guiding the landing;
s2, the unmanned aerial vehicle flies and approaches towards a vehicle provided with a wireless beacon after receiving the signal;
s3, after the unmanned aerial vehicle flies to the top end of the vehicle, a camera on the unmanned aerial vehicle captures and identifies an outer two-dimensional code at the top end of the vehicle, and the unmanned aerial vehicle moves towards the position right above the outer two-dimensional code and continuously moves towards the outer two-dimensional code;
s4, when the unmanned aerial vehicle descends to a certain height, a camera on the unmanned aerial vehicle captures and recognizes the secondary-layer two-dimensional code, and the unmanned aerial vehicle is continuously kept right above the secondary-layer two-dimensional code and descends towards the secondary-layer two-dimensional code;
s5, when the unmanned aerial vehicle descends to a position short of the vehicle, the camera of the unmanned aerial vehicle cannot completely recognize the secondary-layer two-dimensional code at the moment, but can capture and recognize the inner-layer two-dimensional code, the unmanned aerial vehicle is continuously kept at the upper end of the vehicle according to the information recorded by the inner-layer two-dimensional code and descends towards the inner-layer two-dimensional code, and meanwhile, the front and back orientation of the unmanned aerial vehicle is adjusted according to the inner-layer two-dimensional code;
s6, after the front and back orientation of the unmanned aerial vehicle is adjusted, the unmanned aerial vehicle stably descends to the right upper end of the inner layer two-dimensional code on the top end of the vehicle.
Preferably, outer two-dimensional code, sublayer two-dimensional code, inlayer two-dimensional code, wireless beacon all set up the top at the vehicle, outer two-dimensional code, sublayer two-dimensional code, inlayer two-dimensional code inform the course position information that unmanned aerial vehicle should descend through specific figure combination style code.
Preferably, wireless beacon sets up in the positive center department of inlayer two-dimensional code, the setting of sublayer two-dimensional code is peripheral at the inlayer two-dimensional code, outer two-dimensional code sets up the periphery at the sublayer two-dimensional code.
Preferably, the inner two-dimensional code is described with information for identifying a front-rear direction.
Preferably, outer two-dimensional code, sublayer two-dimensional code, inlayer two-dimensional code can continue to expand and subdivide according to unmanned aerial vehicle's flying height.
Preferably, install intelligent recognition module among the unmanned aerial vehicle, can discern the judgement to two-dimensional code information.
(III) advantageous effects
The invention provides a vehicle-mounted unmanned aerial vehicle accurate landing recognition method. The method has the following beneficial effects:
1. the method provided by the invention realizes accurate identification and one-to-one correspondence of the landing points by arranging the upper and lower middle area combined codes on the top of the vehicle, ensures that the unmanned aerial vehicle can more and more accurately capture the landing points from high to low, and solves the problem of false landing near the landing points.
2. The method can also be suitable for unmanned aerial vehicles with different heights by expanding and refining the two-dimensional code, and the front and back directions of the unmanned aerial vehicles can be adjusted during landing, so that the method is very convenient.
Drawings
Fig. 1 is a schematic structural diagram of a roof two-dimensional code according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a two-dimensional roof code according to a second embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, an embodiment of the present invention provides a vehicle-mounted unmanned aerial vehicle precision landing recognition method, including the following steps:
s1, when an unmanned aerial vehicle needs to land, a wireless beacon of a vehicle landing point sends out a wireless signal for guiding landing;
s2, the unmanned aerial vehicle flies and approaches towards a vehicle provided with a wireless beacon after receiving the signal;
s3, after the unmanned aerial vehicle flies to the top end of the vehicle, a camera on the unmanned aerial vehicle captures and identifies an outer two-dimensional code at the top end of the vehicle, and the unmanned aerial vehicle moves towards the position right above the outer two-dimensional code and continuously moves towards the outer two-dimensional code;
s4, when the unmanned aerial vehicle descends to a certain height, a camera on the unmanned aerial vehicle captures and recognizes the secondary-layer two-dimensional code, and the unmanned aerial vehicle is continuously kept right above the secondary-layer two-dimensional code and descends towards the secondary-layer two-dimensional code;
s5, when the unmanned aerial vehicle descends to a position short of the vehicle, the camera of the unmanned aerial vehicle cannot completely recognize the secondary-layer two-dimensional code at the moment, but can capture and recognize the inner-layer two-dimensional code, the unmanned aerial vehicle is continuously kept at the upper end of the vehicle according to the information recorded by the inner-layer two-dimensional code and descends towards the inner-layer two-dimensional code, the front and back orientation of the unmanned aerial vehicle is adjusted according to the inner-layer two-dimensional code, and the head and the tail of the unmanned aerial vehicle face backwards;
s6, after the front and back orientation of the unmanned aerial vehicle is adjusted, the unmanned aerial vehicle stably descends to the right upper end of the inner two-dimensional code on the top end of the vehicle, and stops at a descending point accurately and stably.
Example two:
as shown in fig. 2, an embodiment of the present invention provides a vehicle-mounted unmanned aerial vehicle precision landing recognition method, including the following steps:
s1, when an unmanned aerial vehicle needs to land, a wireless beacon of a vehicle landing point sends out a wireless signal for guiding landing;
s2, the unmanned aerial vehicle flies and approaches towards a vehicle provided with a wireless beacon after receiving the signal;
s3, after the unmanned aerial vehicle flies to the top end of the vehicle, a camera on the unmanned aerial vehicle captures and identifies an outermost two-dimensional code at the top end of the vehicle, and the unmanned aerial vehicle moves towards the position right above the outer two-dimensional code and continuously moves towards the outermost two-dimensional code;
s4, after the unmanned aerial vehicle descends to a certain height, a camera on the unmanned aerial vehicle captures and recognizes the outer two-dimensional code, and the unmanned aerial vehicle is continuously kept right above the outer two-dimensional code and descends towards the outer two-dimensional code;
s5, after the unmanned aerial vehicle descends to a certain height again, a camera on the unmanned aerial vehicle captures and recognizes the secondary-layer two-dimensional code, and the unmanned aerial vehicle is continuously kept right above the secondary-layer two-dimensional code and descends towards the secondary-layer two-dimensional code;
s6, when the unmanned aerial vehicle descends to a position short of the vehicle, the camera of the unmanned aerial vehicle cannot completely recognize the secondary-layer two-dimensional code at the moment, but can capture and recognize the inner-layer two-dimensional code, the unmanned aerial vehicle is continuously kept at the upper end of the vehicle according to the information recorded by the inner-layer two-dimensional code and descends towards the inner-layer two-dimensional code, the front and back orientation of the unmanned aerial vehicle is adjusted according to the inner-layer two-dimensional code, and the head and the tail of the unmanned aerial vehicle face backwards;
s7, after the front and back orientation of the unmanned aerial vehicle is adjusted, the unmanned aerial vehicle stably descends to the right upper end of the inner two-dimensional code on the top end of the vehicle, and stops at a descending point accurately and stably.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The vehicle-mounted unmanned aerial vehicle accurate landing recognition method is characterized by comprising the following steps: the method comprises the following steps: .
S1, when an unmanned aerial vehicle lands, a wireless beacon sends out a wireless signal for guiding the landing;
s2, the unmanned aerial vehicle flies and approaches towards a vehicle provided with a wireless beacon after receiving the signal;
s3, after the unmanned aerial vehicle flies to the top end of the vehicle, a camera on the unmanned aerial vehicle captures and identifies an outer two-dimensional code at the top end of the vehicle, and the unmanned aerial vehicle moves towards the position right above the outer two-dimensional code and continuously moves towards the outer two-dimensional code;
s4, when the unmanned aerial vehicle descends to a certain height, a camera on the unmanned aerial vehicle captures and recognizes the secondary-layer two-dimensional code, and the unmanned aerial vehicle is continuously kept right above the secondary-layer two-dimensional code and descends towards the secondary-layer two-dimensional code;
s5, when the unmanned aerial vehicle descends to a position short of the vehicle, the camera of the unmanned aerial vehicle cannot completely recognize the secondary-layer two-dimensional code at the moment, but can capture and recognize the inner-layer two-dimensional code, the unmanned aerial vehicle is continuously kept at the upper end of the vehicle according to the information recorded by the inner-layer two-dimensional code and descends towards the inner-layer two-dimensional code, and meanwhile, the front and back orientation of the unmanned aerial vehicle is adjusted according to the inner-layer two-dimensional code;
s6, after the front and back orientation of the unmanned aerial vehicle is adjusted, the unmanned aerial vehicle stably descends to the right upper end of the inner layer two-dimensional code on the top end of the vehicle.
2. The vehicle-mounted unmanned aerial vehicle precision landing recognition method according to claim 1, characterized in that: outer two-dimensional code, sublayer two-dimensional code, inlayer two-dimensional code, wireless beacon all set up on the top of vehicle, outer two-dimensional code, sublayer two-dimensional code, inlayer two-dimensional code inform the course position information that unmanned aerial vehicle should descend through specific figure combination style code.
3. The vehicle-mounted unmanned aerial vehicle precision landing recognition method according to claim 1, characterized in that: the wireless beacon is arranged in the center of the inner two-dimensional code, the secondary two-dimensional code is arranged on the periphery of the inner two-dimensional code, and the outer two-dimensional code is arranged on the periphery of the secondary two-dimensional code.
4. The vehicle-mounted unmanned aerial vehicle precision landing recognition method according to claim 1, characterized in that: the inner two-dimensional code is recorded with information for identifying the front and rear directions.
5. The vehicle-mounted unmanned aerial vehicle precision landing recognition method according to claim 1, characterized in that: outer two-dimensional code, sublayer two-dimensional code, inlayer two-dimensional code can continue to expand and subdivide according to unmanned aerial vehicle's flying height.
6. The vehicle-mounted unmanned aerial vehicle precision landing recognition method according to claim 1, characterized in that: install intelligent recognition module among the unmanned aerial vehicle, can discern the judgement to two-dimensional code information.
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| CN113537430A (en) * | 2021-07-02 | 2021-10-22 | 北京三快在线科技有限公司 | Beacon, beacon generation method, beacon generation device and equipment |
| 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 |
| CN113867373A (en) * | 2021-09-30 | 2021-12-31 | 广州极飞科技股份有限公司 | Unmanned aerial vehicle landing method and device, parking apron and electronic equipment |
| CN114115318A (en) * | 2021-12-01 | 2022-03-01 | 山东八五信息技术有限公司 | Visual method for unmanned aerial vehicle to land on top of moving vehicle |
| CN114384921A (en) * | 2022-01-12 | 2022-04-22 | 上海赫千电子科技有限公司 | Vehicle-mounted unmanned aerial vehicle lifting method based on unmanned aerial vehicle primary vehicle |
| CN114384925A (en) * | 2022-01-12 | 2022-04-22 | 上海赫千电子科技有限公司 | Vehicle-mounted unmanned aerial vehicle lifting method and pairing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113537430A (en) * | 2021-07-02 | 2021-10-22 | 北京三快在线科技有限公司 | Beacon, beacon generation method, beacon generation device and equipment |
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| CN114384925A (en) * | 2022-01-12 | 2022-04-22 | 上海赫千电子科技有限公司 | Vehicle-mounted unmanned aerial vehicle lifting method and pairing method |
| CN114384925B (en) * | 2022-01-12 | 2024-04-12 | 上海赫千电子科技有限公司 | Lifting method and pairing method for vehicle-mounted unmanned aerial vehicle |
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