CN112327913A - Unmanned aerial vehicle flight control method and system for power inspection - Google Patents
Unmanned aerial vehicle flight control method and system for power inspection Download PDFInfo
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- CN112327913A CN112327913A CN202011192528.5A CN202011192528A CN112327913A CN 112327913 A CN112327913 A CN 112327913A CN 202011192528 A CN202011192528 A CN 202011192528A CN 112327913 A CN112327913 A CN 112327913A
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- 238000007689 inspection Methods 0.000 title claims abstract description 12
- 238000003384 imaging method Methods 0.000 claims abstract description 20
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a flight control method and a system of an unmanned aerial vehicle for power inspection, which comprises the following steps: s1, controlling the unmanned aerial vehicle to fly towards the landing point according to the set return flight height and the landing point position; s2, starting the first imaging device to obtain images of the landing point and the surrounding environment thereof at a first field angle, identifying the landing point from the images, and obtaining first relative position information of the unmanned aerial vehicle and the landing point in real time through a visual algorithm and the like; s3, controlling the unmanned aerial vehicle to fly right above the landing point according to the first relative position information of the unmanned aerial vehicle and the landing point; s4, opening a second imaging device to obtain an image of the landing point at a second field angle, identifying the landing point from the image, and obtaining second relative position information of the unmanned aerial vehicle and the landing point; and S5, controlling the unmanned aerial vehicle to land on the landing point according to the second relative position information of the unmanned aerial vehicle and the landing point so as to finish the accurate landing of the unmanned aerial vehicle. The invention can rapidly identify and position the landing target through the wide field and the narrow field in the landing process of the unmanned aerial vehicle, thereby realizing the accurate landing control of the unmanned aerial vehicle and effectively preventing the occurrence of the condition of blasting.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle flight control method and system for power inspection.
Background
Along with economic quick development, unmanned aerial vehicle power inspection work has become the normality, and unmanned aerial vehicle can stable work under outdoor complex environment has become basic requirement.
The traditional automatic landing technology of the unmanned aerial vehicle is that a home point is recorded during takeoff, and the unmanned aerial vehicle returns and lands automatically according to the home point. However, under some special use operating mode, when carrying out unmanned aerial vehicle electric power inspection under the outdoor mountain environment, can be difficult to find smooth unmanned aerial vehicle landing position because geographical environment's influence, consequently very easily because GPS positioning error leads to unmanned aerial vehicle can't accurate the descending to the predetermined place, but falls in the ditch or the pit, leads to exploding quick-witted accident to take place.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an unmanned aerial vehicle flight control method and system for power inspection, which can rapidly identify and position a landing target through a wide view field and a narrow view field in the landing process of an unmanned aerial vehicle, realize the accurate landing control of the unmanned aerial vehicle and effectively prevent the occurrence of a machine explosion condition.
In order to achieve the purpose, the invention provides the following technical scheme:
the landing control method of the unmanned aerial vehicle comprises the following steps:
s1, controlling the unmanned aerial vehicle to fly towards the landing point according to the set return flight height and the landing point position;
s2, starting the first imaging device to obtain images of the landing point and the surrounding environment thereof at a first field angle, identifying the landing point from the images, and obtaining first relative position information of the unmanned aerial vehicle and the landing point in real time through a visual algorithm and the like;
s3, controlling the unmanned aerial vehicle to fly right above the landing point according to the first relative position information of the unmanned aerial vehicle and the landing point;
s4, opening a second imaging device to obtain an image of the landing point at a second field angle, identifying the landing point from the image, and obtaining second relative position information of the unmanned aerial vehicle and the landing point;
and S5, controlling the unmanned aerial vehicle to land on the landing point according to the second relative position information of the unmanned aerial vehicle and the landing point so as to finish the accurate landing of the unmanned aerial vehicle.
Preferably, the first relative position information includes a distance between the unmanned aerial vehicle and the landing point.
Preferably, the second relative position information includes the height of the drone relative to the landing point.
Preferably, the first angle of view is greater than the second angle of view.
Still provide an unmanned aerial vehicle flight control system that can realize above-mentioned unmanned aerial vehicle flight control method, it includes:
the first imaging device is used for providing a first view angle, acquiring images of the landing point and the surrounding environment thereof at the first view angle and identifying the landing point;
a second imaging device for providing a second field of view and acquiring an image of the drop point at the second field of view and identifying the drop point therefrom;
the position calculation unit is used for acquiring first relative position information and second relative position information of the unmanned aerial vehicle and the landing point in real time through a visual algorithm and the like;
and the flight control unit is connected with the position calculation unit, is used for controlling the unmanned aerial vehicle to fly towards the landing point according to the first relative position information, is positioned right above the landing point, and controls the unmanned aerial vehicle to land on the landing point according to the second relative position information.
Preferably, the first imaging device includes a first pan/tilt, a first camera, and a first image recognition unit, where the first pan/tilt is configured to provide a first field angle and drive the first camera to move so as to obtain an image of the landing point and its surrounding environment at the first field angle, and the first image recognition unit is configured to recognize the landing point from the image.
Preferably, the second imaging device includes a second pan/tilt, a second camera, and a second image recognition unit, where the second pan/tilt is configured to provide a second field angle and drive the second camera to move so as to obtain an image of the landing point at the second field angle, and the second image recognition unit is configured to recognize the landing point from the image.
Compared with the prior art, the invention has the following beneficial effects:
the invention can carry out rapid identification and positioning technology on the landing points based on a wide view field and a narrow view field, rapidly identify the landing points and the surrounding environment thereof through the wide view field (namely a first field angle) when the unmanned aerial vehicle navigates back, solve the relative position information of the unmanned aerial vehicle and the landing points, and further control the unmanned aerial vehicle to carry out rough navigation positioning; the landing stage uses the accurate discernment of the landing point of narrow visual field (being the second angle of vision), finally makes unmanned aerial vehicle carry out accurate landing on the landing point to improve the unmanned aerial vehicle landing security performance under electric power inspection task, the outdoor complex environment greatly.
Drawings
FIG. 1 is a flow chart illustrating the steps of a method for controlling the flight of an unmanned aerial vehicle according to the present invention;
fig. 2 is a schematic structural diagram of the flight control system of the unmanned aerial vehicle in the 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.
Example 1:
as shown in fig. 1, the method for controlling flight of an unmanned aerial vehicle in this embodiment is applicable to power inspection based on an unmanned aerial vehicle, and specifically includes:
s1, controlling the unmanned aerial vehicle to fly towards the landing point according to the set return flight height and the landing point position; the drop point may be a fixed drop point;
s2, when the distance between the unmanned aerial vehicle and the landing point meets a preset condition (if the distance between the unmanned aerial vehicle and the landing point is 20 m), starting the first imaging device to acquire images of the landing point and the surrounding environment at a first field angle, identifying the landing point from the images, and acquiring first relative position information of the unmanned aerial vehicle and the landing point in real time through a visual algorithm and the like, wherein the first relative position information comprises the distance between the unmanned aerial vehicle and the landing point;
s3, controlling the unmanned aerial vehicle to fly right above the landing point according to the first relative position information of the unmanned aerial vehicle and the landing point so as to finish primary positioning of the unmanned aerial vehicle based on the landing point;
s4, opening a second imaging device to obtain an image of the landing point at a second field angle, identifying the landing point, and obtaining second relative position information of the unmanned aerial vehicle and the landing point in real time through a visual algorithm and the like, wherein the second relative position information comprises the height of the unmanned aerial vehicle relative to the landing point and the like;
and S5, controlling the unmanned aerial vehicle to land on the landing point according to the second relative position information of the unmanned aerial vehicle and the landing point so as to finish the accurate landing of the unmanned aerial vehicle.
In this embodiment, the first field angle is larger than the second field angle, so that a rapid identification and positioning technology can be performed on the landing point based on two fields of view, namely, when the unmanned aerial vehicle navigates back, the landing point and the surrounding environment thereof are rapidly identified through the wide field of view (i.e., the first field angle), the relative position information between the unmanned aerial vehicle and the landing point is solved, and the unmanned aerial vehicle is controlled to perform rough navigation positioning; the landing stage uses the accurate discernment of the landing point of narrow visual field (being the second angle of vision), finally makes unmanned aerial vehicle carry out accurate landing on the landing point to improve the unmanned aerial vehicle landing security performance under electric power inspection task, the outdoor complex environment greatly.
Example 2:
the present embodiment provides an unmanned aerial vehicle flight control system capable of implementing the unmanned aerial vehicle flight control method in embodiment 1, as shown in fig. 2, the system includes:
a first imaging device 1 for providing a first angle of view, and acquiring an image of a landing point and its surroundings at the first angle of view, and identifying the landing point therefrom;
a second imaging device 2 for providing a second field angle, and acquiring an image of the landing point at the second field angle, and identifying the landing point therefrom;
the position calculation unit 3 is used for acquiring first relative position information and second relative position information of the unmanned aerial vehicle and the landing point in real time through a visual algorithm and the like; the first relative position information comprises the distance and the like of the unmanned aerial vehicle relative to the landing point, and the second relative position information comprises the height and the like of the unmanned aerial vehicle relative to the landing point; and the first field of view is greater than the second field of view;
and the flight control unit 4 is connected with the position calculation unit 3, is used for controlling the unmanned aerial vehicle to fly towards the landing point according to the first relative position information, is positioned right above the landing point, and controls the unmanned aerial vehicle to land on the landing point according to the second relative position information.
Specifically, the first imaging device 1 includes a first pan-tilt, a first camera, and a first image recognition unit, where the first pan-tilt is configured to provide a first field angle and drive the first camera to move so as to obtain an image of a landing point and its surrounding environment at the first field angle, and the first image recognition unit is configured to recognize the landing point from the image;
the second imaging device 2 includes a second pan-tilt, a second camera, and a second image recognition unit, the second pan-tilt is configured to provide a second field angle and drive the second camera to move so as to obtain an image of the landing point at the second field angle, and the second image recognition unit is configured to recognize the landing point from the image.
In conclusion, the invention can perform fast identification and positioning technology on the landing points based on the wide field of view and the narrow field of view, when the unmanned aerial vehicle navigates back, the landing points and the surrounding environment thereof are fast identified through the wide field of view (namely, the first field angle), the relative position information of the unmanned aerial vehicle and the landing points is calculated, and then the unmanned aerial vehicle is controlled to perform rough navigation positioning; the landing stage uses the accurate discernment of the landing point of narrow visual field (being the second angle of vision), finally makes unmanned aerial vehicle carry out accurate landing on the landing point to improve the unmanned aerial vehicle landing security performance under electric power inspection task, the outdoor complex environment greatly.
The technical features of the above embodiments 1-2 can be combined arbitrarily, and the combined technical solutions all belong to the scope of protection of the present application. In this document, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
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 (7)
1. The utility model provides an unmanned aerial vehicle flight control method for electric power inspection, which is characterized in that, includes the following steps:
s1, controlling the unmanned aerial vehicle to fly towards the landing point according to the set return flight height and the landing point position;
s2, starting the first imaging device to obtain images of the landing point and the surrounding environment thereof at a first field angle, identifying the landing point from the images, and obtaining first relative position information of the unmanned aerial vehicle and the landing point in real time through a visual algorithm and the like;
s3, controlling the unmanned aerial vehicle to fly right above the landing point according to the first relative position information of the unmanned aerial vehicle and the landing point;
s4, opening a second imaging device to obtain an image of the landing point at a second field angle, identifying the landing point from the image, and obtaining second relative position information of the unmanned aerial vehicle and the landing point;
and S5, controlling the unmanned aerial vehicle to land on the landing point according to the second relative position information of the unmanned aerial vehicle and the landing point so as to finish the accurate landing of the unmanned aerial vehicle.
2. The method of unmanned aerial vehicle flight control of claim 1, wherein the first relative position information comprises a distance of the unmanned aerial vehicle from a landing point.
3. The drone flight control method of claim 1, wherein the second relative location information includes a height of the drone relative to a landing point.
4. The unmanned aerial vehicle flight control method of claim 1, wherein the first field of view is greater than the second field of view.
5. An unmanned aerial vehicle flight control system capable of implementing the unmanned aerial vehicle flight control method according to any one of claims 1 to 4, comprising:
the first imaging device is used for providing a first view angle, acquiring images of the landing point and the surrounding environment thereof at the first view angle and identifying the landing point;
a second imaging device for providing a second field of view and acquiring an image of the drop point at the second field of view and identifying the drop point therefrom;
the position calculation unit is used for acquiring first relative position information and second relative position information of the unmanned aerial vehicle and the landing point in real time through a visual algorithm and the like;
and the flight control unit is connected with the position calculation unit, is used for controlling the unmanned aerial vehicle to fly towards the landing point according to the first relative position information, is positioned right above the landing point, and controls the unmanned aerial vehicle to land on the landing point according to the second relative position information.
6. The unmanned aerial vehicle flight control system of claim 5, wherein the first imaging device comprises a first pan/tilt head, a first camera, and a first image recognition unit, the first pan/tilt head is configured to provide a first field angle and move the first camera to capture an image of the landing point and its surroundings at the first field angle, and the first image recognition unit is configured to recognize the landing point from the image.
7. The unmanned aerial vehicle flight control system of claim 5, wherein the second imaging device comprises a second pan/tilt head, a second camera, and a second image recognition unit, the second pan/tilt head being configured to provide a second field of view and move the second camera to capture an image of the landing point at the second field of view, the second image recognition unit being configured to recognize the landing point from the image.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113148209A (en) * | 2021-03-29 | 2021-07-23 | 苏州臻迪智能科技有限公司 | Method for controlling unmanned aerial vehicle to return to hangar, unmanned aerial vehicle recovery device and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113148209A (en) * | 2021-03-29 | 2021-07-23 | 苏州臻迪智能科技有限公司 | Method for controlling unmanned aerial vehicle to return to hangar, unmanned aerial vehicle recovery device and system |
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