CN112455705B - Unmanned aerial vehicle autonomous accurate landing system and method - Google Patents
Unmanned aerial vehicle autonomous accurate landing system and method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/18—Visual or acoustic landing aids
- B64F1/20—Arrangement of optical beacons
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle autonomous accurate landing system, which comprises an unmanned aerial vehicle main control system and a site main control system, wherein the output end of the site main control system is electrically connected with a data transceiver module in a bidirectional manner, the output end of the site main control system is electrically connected with an infrared LED lamp and an infrared emission module in a unidirectional manner respectively, and the output end of the unmanned aerial vehicle main control system is electrically connected with an infrared receiving module in a bidirectional manner; according to the invention, through an infrared technology and an image processing technology, the unmanned aerial vehicle is not easily influenced by external radio signal factors, and meanwhile, accurate landing can be realized in foggy days or in environments with weak light, so that the problems that the existing unmanned aerial vehicle landings are generally in a GPS navigation-based mode, and signals are easily interfered by radio signals and lost although the precision is high and the use is simple are solved, and meanwhile, the situation that the unmanned aerial vehicle is influenced by factors such as weather and light and the like based on image recognition is avoided, and the unmanned aerial vehicle landing system is worthy of popularization.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle autonomous accurate landing system and method.
Background
Unmanned aerial vehicles, abbreviated as "unmanned aerial vehicles", abbreviated as "UAVs", are unmanned aerial vehicles that are operated by means of radio remote control devices and self-contained programmed control devices, or are operated autonomously, either entirely or intermittently, by an onboard computer. Automatic landing is the most dangerous and most demanding process of the whole automatic flight process of the fixed wing unmanned aerial vehicle.
At present, the unmanned aerial vehicle landing is commonly adopted in a mode based on GPS navigation, although the precision is high and the use is simple, signals are easy to interfere by radio signals and easy to lose, and unmanned opportunities based on image recognition are influenced by factors such as weather and light, so that a landing system which is not easy to influence by external radio signal factors and can realize accurate landing in foggy days or in a weak light environment is provided to solve the problem.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle autonomous accurate landing system and method, so that the unmanned aerial vehicle is not easily influenced by external radio signal factors, and meanwhile, accurate landing can be realized in foggy days or in environments with weaker light, and the problems in the prior art are solved.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an unmanned aerial vehicle independently accurate landing system, includes unmanned aerial vehicle main control system and site main control system, the two-way electricity of site main control system's output is connected with data transceiver module, site main control system's output is one-way electricity respectively and is connected with infrared LED lamp and infrared emission module, unmanned aerial vehicle main control system's output is two-way electricity and is connected with infrared receiving module, mutually support between infrared emission module and the infrared receiving module, unmanned aerial vehicle main control system's output is one-way electricity respectively and is connected with laser range finder and camera module, unmanned aerial vehicle main control system's input is one-way electricity and is connected with feedback unit, feedback unit's input is one-way electricity is connected with judgement unit, judgement unit's input is one-way electricity and is connected with image processing unit.
Preferably, the image processing unit comprises an image acquisition module, an image preprocessing module, a runway identification module, a horizon detection module and a runway edge line detection module, wherein the output end of the image acquisition module is in unidirectional electrical connection with the input end of the image preprocessing module, the output end of the image preprocessing module is in unidirectional electrical connection with the input end of the runway identification module, the output end of the runway identification module is in unidirectional electrical connection with the input end of the horizon detection module, and the input end of the runway edge line detection module is in unidirectional electrical connection with the output end of the horizon detection module.
Preferably, the image preprocessing module is operated in two steps, namely resampling and Gaussian pyramid filtering, the specific processing technology used by the runway identification module is a multi-scale template matching technology and a support vector machine technology, the horizon detection module adopts a mode classification algorithm, and the runway edge line detection module adopts a canny edge detection algorithm.
Preferably, the unmanned aerial vehicle main control system comprises a data transmission unit, a self-driving control unit and a calculation unit, wherein the self-driving control unit adopts an open source flight controller Pixhawk, and the data transmission unit and the data receiving and transmitting module are matched for use.
Preferably, the unidirectional electricity of output of site main control system is connected with LED sign lamp pearl, the unidirectional electricity of output of unmanned aerial vehicle main control system is connected with the searchlight, LED sign lamp pearl evenly inlays and establishes in the race track edge line.
Preferably, the input end of the camera module is electrically connected with an adjusting module in one direction, and the adjusting module comprises a micro motor for driving and a gear matched with the micro motor for use.
Preferably, the infrared transmitting module is an infrared transmitter, the number of the infrared transmitting modules is three, the connecting lines between the infrared transmitting modules form a regular triangle, the transmitting ends of the infrared transmitter are inclined upwards by 75-80 degrees, and the infrared receiving module is an infrared receiver, and the number of the infrared receiving modules is the same as that of the infrared transmitter.
Preferably, the camera module is a CCD camera, an infrared filter is additionally arranged at the lens end of the camera, the thickness of the infrared filter is 2mm, the number of the infrared LED lamps is multiple, the infrared LED lamps form an annular landing area together, the power of the infrared LED lamps is 5W, and the wavelength of emitted infrared light is 930nm.
An unmanned aerial vehicle autonomous accurate landing method comprises the following steps:
Step T1: when the unmanned aerial vehicle needs landing, information transmission is carried out by means of a data transmission unit of the unmanned aerial vehicle and a data transceiver module of a landing site, so that the unmanned aerial vehicle enters a region to be landed, and a laser range finder, a camera module, an infrared receiving module, an infrared transmitting module, an infrared LED lamp, an LED identification lamp bead and a searchlight synchronously start to work;
step T2: the image acquisition module is matched with the camera module to acquire field images of landing sites, the image preprocessing module is used for processing the images, the LED identification lamp beads emit bright light when working, the runway identification module is used for identifying an area to be landed according to lines with the bright light on two sides of the sites, the horizon detection module and the runway edge line detection module are used for judging the edges of the sites, and the judgment unit and the feedback unit are used for feeding back to the main system;
Step T3: the laser range finder emits laser to the right lower side, and judges the distance between the unmanned aerial vehicle and the ground according to the reflection time until the unmanned aerial vehicle descends to a certain height, and the unmanned aerial vehicle does not act in the vertical direction at the moment and moves along the ground in the horizontal direction;
Step T4: the unmanned aerial vehicle captures infrared light emitted by the infrared LED lamp by means of the camera, the shooting direction is adjusted by the adjusting module until the unmanned aerial vehicle flies to the position right above the annular infrared LED lamp group, at the moment, the position of the unmanned aerial vehicle in the horizontal direction is not changed any more, and then the unmanned aerial vehicle descends in the vertical direction;
Step T5: the unmanned aerial vehicle slowly descends and carries out the rotation action of self until a certain infrared receiver receives the light beam from the infrared transmitter below, then the position of the unmanned aerial vehicle is finely adjusted until all the receivers receive the light beam below, the spinning action is stopped, and at the moment, the unmanned aerial vehicle is positioned right above the landing position, and then landing work is carried out.
Preferably, in the step T1-T2, both the LED identification beads and the searchlight do not work when the vehicle is in the visible daytime, and in the step T3, the height of the unmanned aerial vehicle stopped in the vertical direction is higher than the position of the intersection point of the light beams emitted by the plurality of infrared emitters.
Compared with the prior art, the invention has the following beneficial effects:
According to the invention, through an infrared technology and an image processing technology, the unmanned aerial vehicle is not easily influenced by external radio signal factors, and meanwhile, accurate landing can be realized in foggy days or in environments with weak light, so that the problems that the existing unmanned aerial vehicle landings are generally in a GPS navigation-based mode, and signals are easily interfered by radio signals and lost although the precision is high and the use is simple are solved, and meanwhile, the situation that the unmanned aerial vehicle is influenced by factors such as weather and light and the like based on image recognition is avoided, and the unmanned aerial vehicle landing system is worthy of popularization.
Drawings
FIG. 1 is a schematic diagram of a system of the present invention;
FIG. 2 is a system block diagram of an image processing unit of the present invention;
Fig. 3 is a system block diagram of the unmanned aerial vehicle master control system of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-3, an unmanned aerial vehicle autonomous accurate landing system comprises an unmanned aerial vehicle main control system and a site main control system, wherein the output end of the site main control system is electrically connected with a data transceiver module in a bidirectional manner, the output end of the site main control system is respectively connected with an infrared LED lamp and an infrared emission module in a unidirectional manner, the output end of the unmanned aerial vehicle main control system is electrically connected with an infrared receiving module in a bidirectional manner, the infrared emission module and the infrared receiving module are mutually matched, the output end of the unmanned aerial vehicle main control system is respectively connected with a laser range finder and a camera module in a unidirectional manner, the input end of the unmanned aerial vehicle main control system is electrically connected with a feedback unit in a unidirectional manner, the input end of the feedback unit is electrically connected with a judging unit in a unidirectional manner, and the input end of the judging unit is electrically connected with an image processing unit in a unidirectional manner.
In this embodiment, the image processing unit includes an image acquisition module, an image preprocessing module, a runway identification module, a horizon detection module and a runway edge line detection module, wherein the output end of the image acquisition module is electrically connected with the input end of the image preprocessing module in a unidirectional manner, the output end of the image preprocessing module is electrically connected with the input end of the runway identification module in a unidirectional manner, the output end of the runway identification module is electrically connected with the input end of the horizon detection module in a unidirectional manner, and the input end of the runway edge line detection module is electrically connected with the output end of the horizon detection module in a unidirectional manner, and the two are matched together for performing auxiliary landing work of the unmanned aerial vehicle.
In this embodiment, the image preprocessing module performs two steps of operations, namely resampling and gaussian pyramid filtering, the specific processing technology used by the runway identification module is a multi-scale template matching technology and a support vector machine technology, the horizon detection module adopts a pattern classification algorithm, the runway edge line detection module adopts a canny edge detection algorithm, after a series of obtained images are preprocessed by the image preprocessing module, the original images become filtered images, the runway identification module is arranged, the main functions of the runway identification module are to perform further processing on the preprocessed images obtained before, and the main functions of the horizon detection module and the runway edge line detection module are to perform cutting processing on the images, distinguish sky from ground, so as to determine the horizon.
In this embodiment, unmanned aerial vehicle main control system includes data transmission unit, self-driving control unit and calculation unit, and self-driving control unit adopts open source flight controller Pixhawk, and the cooperation is used between data transmission unit and the data transceiver module.
In this embodiment, the unidirectional electricity of the output of place main control system is connected with LED sign lamp pearl, and the unidirectional electricity of the output of unmanned aerial vehicle main control system is connected with the searchlight, and LED sign lamp pearl evenly inlays and establishes in the race track edge line, and they mainly work under night or the darker condition of light to guarantee that unmanned aerial vehicle discerns approximately to descend the position.
In this embodiment, the unidirectional electricity of the input of camera module is connected with adjustment module, and adjustment module is including being used for carrying out driven micromotor and the gear that the cooperation was used for finely tune the orientation of camera.
In this embodiment, the infrared emitting modules are infrared emitters, the number of the infrared emitters is three, the connecting lines between the infrared emitters form a regular triangle, the emitting ends of the infrared emitters are inclined upwards by 75-80 degrees, the infrared receiving modules are infrared receivers, the number of the infrared receiving modules is the same as that of the infrared emitters, the area formed by the three emitters is a landing area, the center of the landing position can be determined by adopting three-point intersection, and the intersection point is positioned on the middle vertical line of the landing center.
In this embodiment, the camera module is a CCD camera, and an infrared filter is added at the lens end of the camera, the thickness of the infrared filter is 2mm, the number of the infrared LED lamps is plural and they together form an annular landing area, the power is 5W, the wavelength of the emitted infrared light is 930nm, and the infrared filter is mainly used for eliminating the influence of visible light.
An unmanned aerial vehicle autonomous accurate landing method comprises the following steps:
Step T1: when the unmanned aerial vehicle needs landing, information transmission is carried out by means of a data transmission unit of the unmanned aerial vehicle and a data transceiver module of a landing site, so that the unmanned aerial vehicle enters a region to be landed, and a laser range finder, a camera module, an infrared receiving module, an infrared transmitting module, an infrared LED lamp, an LED identification lamp bead and a searchlight synchronously start to work;
step T2: the image acquisition module is matched with the camera module to acquire field images of landing sites, the image preprocessing module is used for processing the images, the LED identification lamp beads emit bright light when working, the runway identification module is used for identifying an area to be landed according to lines with the bright light on two sides of the sites, the horizon detection module and the runway edge line detection module are used for judging the edges of the sites, and the judgment unit and the feedback unit are used for feeding back to the main system;
Step T3: the laser range finder emits laser to the right lower side, and judges the distance between the unmanned aerial vehicle and the ground according to the reflection time until the unmanned aerial vehicle descends to a certain height, and the unmanned aerial vehicle does not act in the vertical direction at the moment and moves along the ground in the horizontal direction;
Step T4: the unmanned aerial vehicle captures infrared light emitted by the infrared LED lamp by means of the camera, the shooting direction is adjusted by the adjusting module until the unmanned aerial vehicle flies to the position right above the annular infrared LED lamp group, at the moment, the position of the unmanned aerial vehicle in the horizontal direction is not changed any more, and then the unmanned aerial vehicle descends in the vertical direction;
Step T5: the unmanned aerial vehicle slowly descends and carries out the rotation action of self until a certain infrared receiver receives the light beam from the infrared transmitter below, then the position of the unmanned aerial vehicle is finely adjusted until all the receivers receive the light beam below, the spinning action is stopped, and at the moment, the unmanned aerial vehicle is positioned right above the landing position, and then landing work is carried out.
In this embodiment, in the step T1-T2, when the vehicle is in the visible daytime, neither the LED identification beads nor the searchlight is operated, and in the step T3, the height of the unmanned aerial vehicle stopped in the vertical direction is higher than the position of the intersection point of the light beams emitted by the plurality of infrared emitters.
According to the invention, through an infrared technology and an image processing technology, the unmanned aerial vehicle is not easily influenced by external radio signal factors, and meanwhile, accurate landing can be realized in foggy days or in environments with weak light, so that the problems that the existing unmanned aerial vehicle landings are generally in a GPS navigation-based mode, and signals are easily interfered by radio signals and lost although the precision is high and the use is simple are solved, and meanwhile, the situation that the unmanned aerial vehicle is influenced by factors such as weather and light and the like based on image recognition is avoided, and the unmanned aerial vehicle landing system is worthy of popularization.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "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 one … …" does not exclude the presence of other like 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 understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. An unmanned aerial vehicle autonomous accurate landing system, which is characterized in that: the intelligent unmanned aerial vehicle comprises an unmanned aerial vehicle main control system and a site main control system, wherein the output end of the site main control system is electrically connected with a data transceiver module in a bidirectional manner, the output end of the site main control system is respectively and unidirectionally connected with an infrared LED lamp and an infrared emission module, the output end of the unmanned aerial vehicle main control system is electrically connected with an infrared receiving module in a bidirectional manner, the infrared emission module and the infrared receiving module are mutually matched, the output end of the unmanned aerial vehicle main control system is respectively and unidirectionally connected with a laser range finder and a camera module, the input end of the unmanned aerial vehicle main control system is electrically connected with a feedback unit in a unidirectional manner, the input end of the feedback unit is electrically connected with a judging unit in a unidirectional manner, and the input end of the judging unit is electrically connected with an image processing unit in a unidirectional manner;
The image processing unit comprises an image acquisition module, an image preprocessing module, a runway identification module, a horizon detection module and a runway edge detection module, wherein the output end of the image acquisition module is electrically connected with the input end of the image preprocessing module in a unidirectional manner, the output end of the image preprocessing module is electrically connected with the input end of the runway identification module in a unidirectional manner, the output end of the runway identification module is electrically connected with the input end of the horizon detection module in a unidirectional manner, and the input end of the runway edge detection module is electrically connected with the output end of the horizon detection module in a unidirectional manner;
The image preprocessing module is operated in two steps, resampling and Gaussian pyramid filtering are respectively carried out, the specific processing technology used by the runway identification module is a multi-scale template matching technology and a support vector machine technology, the horizon detection module adopts a mode classification algorithm, and the runway edge line detection module adopts a canny edge detection algorithm;
The unmanned aerial vehicle main control system comprises a data transmission unit, a self-driving control unit and a calculation unit, wherein the self-driving control unit adopts an open source flight controller Pixhawk, and the data transmission unit and the data receiving and transmitting module are matched for use;
The output end of the field main control system is electrically connected with LED identification lamp beads in a one-way, the output end of the unmanned aerial vehicle main control system is electrically connected with a searchlight in a one-way, and the LED identification lamp beads are uniformly embedded in a runway edge line;
The input end of the camera module is electrically connected with an adjusting module in one direction, and the adjusting module comprises a miniature motor for driving and a gear matched with the miniature motor for use;
The infrared transmitting modules are infrared transmitters, the number of the infrared transmitting modules is three, the connecting lines between the infrared transmitting modules form a regular triangle, the transmitting ends of the infrared transmitters are inclined upwards by 75-80 degrees, and the number of the infrared receiving modules is the same as that of the infrared transmitters;
The camera module is a CCD camera, an infrared filter is additionally arranged at the lens end of the camera, the thickness of the infrared filter is 2mm, the number of the infrared LED lamps is multiple, the infrared LED lamps form an annular landing area together, the power of the infrared LED lamps is 5W, and the wavelength of emitted infrared light is 930nm;
The landing method of the unmanned aerial vehicle autonomous accurate landing system comprises the following steps:
Step T1: when the unmanned aerial vehicle needs landing, information transmission is carried out by means of a data transmission unit of the unmanned aerial vehicle and a data transceiver module of a landing site, so that the unmanned aerial vehicle enters a region to be landed, and a laser range finder, a camera module, an infrared receiving module, an infrared transmitting module, an infrared LED lamp, an LED identification lamp bead and a searchlight synchronously start to work;
step T2: the image acquisition module is matched with the camera module to acquire field images of landing sites, the image preprocessing module is used for processing the images, the LED identification lamp beads emit bright light when working, the runway identification module is used for identifying an area to be landed according to lines with the bright light on two sides of the sites, the horizon detection module and the runway edge line detection module are used for judging the edges of the sites, and the judgment unit and the feedback unit are used for feeding back to the main system;
Step T3: the laser range finder emits laser to the right lower side, and judges the distance between the unmanned aerial vehicle and the ground according to the reflection time until the unmanned aerial vehicle descends to a certain height, and the unmanned aerial vehicle does not act in the vertical direction at the moment and moves along the ground in the horizontal direction;
Step T4: the unmanned aerial vehicle captures infrared light emitted by the infrared LED lamp by means of the camera, the shooting direction is adjusted by the adjusting module until the unmanned aerial vehicle flies to the position right above the annular infrared LED lamp group, at the moment, the position of the unmanned aerial vehicle in the horizontal direction is not changed any more, and then the unmanned aerial vehicle descends in the vertical direction;
step T5: the unmanned aerial vehicle slowly descends and rotates until a certain infrared receiver receives the light beam from the infrared emitter below, then the position of the unmanned aerial vehicle is finely adjusted until all the receivers receive the light beam below, the spinning action is stopped, and at the moment, the unmanned aerial vehicle is positioned right above the landing position, and then landing work is carried out;
In the step T1-T2, when the LED marker lamp beads and the searchlight are in a visible daytime, the LED marker lamp beads and the searchlight do not work, and in the step T3, the height of the unmanned aerial vehicle stopping in the vertical direction is higher than the position of an intersection point of light beams emitted by a plurality of infrared emitters.
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