CN112965513A - Unmanned aerial vehicle landing control method and system, storage medium and electronic equipment - Google Patents
Unmanned aerial vehicle landing control method and system, storage medium and electronic equipment Download PDFInfo
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- CN112965513A CN112965513A CN202110075519.6A CN202110075519A CN112965513A CN 112965513 A CN112965513 A CN 112965513A CN 202110075519 A CN202110075519 A CN 202110075519A CN 112965513 A CN112965513 A CN 112965513A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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 discloses a landing control method and system for an unmanned aerial vehicle, a storage medium and electronic equipment, wherein the landing control method comprises the following steps: controlling the unmanned aerial vehicle to fly towards the landing point; according to the position of the landing point of the unmanned aerial vehicle, corresponding landing control is carried out on the unmanned aerial vehicle under the conditions of different heights, so that the unmanned aerial vehicle lands on the landing point. The invention realizes real-time calculation of the three-dimensional space coordinate of the unmanned aerial vehicle by using the dual-antenna RTK and the vision-aided calibration algorithm, and further enables the unmanned aerial vehicle to accurately return to a landing point, such as a vehicle-mounted parking apron, so as to meet the high-precision landing requirement of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a landing control method and system for an unmanned aerial vehicle, a storage medium and electronic equipment.
Background
At present, in the control field of descending to unmanned aerial vehicle, generally through RTK (Real-time kinematic, Real-time dynamic carrier phase difference technology) confirm unmanned aerial vehicle's position, then descend control, but under this kind of mode, if because of searching for the star not enough when leading to RTK can't get into the Fix state, its positioning error can exceed 30cm, and unmanned aerial vehicle can't accurate return to the landing point, like on the on-vehicle parking apron, can't satisfy unmanned aerial vehicle's high accuracy landing requirement from this.
Or the pattern arranged on the landing point is combined, and the landing control is carried out by recognizing the pattern, but in the mode, the recognition height of the pattern is generally below 20m, and the landing cannot be effectively controlled above the recognition height, so that the user experience and the landing effect are influenced.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an unmanned aerial vehicle landing control method, an unmanned aerial vehicle landing control system, a storage medium and electronic equipment, which utilize a dual-antenna RTK and a vision-aided calibration algorithm to realize real-time calculation of the three-dimensional space coordinate of the unmanned aerial vehicle, and further can enable the unmanned aerial vehicle to accurately return to a landing point, such as a vehicle-mounted parking apron, so as to meet the high-precision landing requirement of the unmanned aerial vehicle.
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:
controlling the unmanned aerial vehicle to fly towards the landing point;
according to the position of the landing point of the unmanned aerial vehicle, corresponding landing control is carried out on the unmanned aerial vehicle under the conditions of different heights, so that the unmanned aerial vehicle lands on the landing point.
Preferably, the process of controlling the drone to fly towards the landing point comprises:
if the current altitude gpsH1 of the unmanned aerial vehicle is judged to be less than or equal to the return flight altitude rcvH + the landing point altitude rtkH set by the user, the unmanned aerial vehicle is controlled to fly towards the landing point according to the actual return flight altitude reH1, and at the moment, the actual return flight altitude reH1 is more than or equal to the altitude airH1+ the altitude difference dH of the current relative flying point of the unmanned aerial vehicle, wherein the altitude difference dH is (the return flight altitude rcvH + the landing point altitude rtkH set by the user) -the current altitude gpsH1 of the unmanned aerial vehicle;
and if the current altitude gpsH2 of the unmanned aerial vehicle is judged to be larger than the return flight altitude rcvH + the landing point altitude rtkH set by the user, controlling the unmanned aerial vehicle to fly towards the landing point according to the actual return flight altitude reH2, wherein the actual return flight altitude reH2 is not less than the current relative takeoff altitude airH2 of the unmanned aerial vehicle.
Preferably, the actual return flight height of the unmanned aerial vehicle takes the unmanned aerial vehicle flying starting point as a reference zero point, and the return flight height rcvH set by the user is the height of the unmanned aerial vehicle relative to the landing point.
Preferably, "according to the position of unmanned aerial vehicle landing point, carry out corresponding landing control to unmanned aerial vehicle under the not co-altitude condition, make its landing on landing point" include:
when the current flying height of the unmanned aerial vehicle meets a first height condition, controlling the unmanned aerial vehicle to descend until the current flying height meets a second height condition;
when the current flying height of the unmanned aerial vehicle is lowered to meet the second height condition, controlling the unmanned aerial vehicle to continue to descend, identifying the patterns arranged on the landing points in real time through the visual assembly in the descending process, and controlling the unmanned aerial vehicle to land according to the identification result until the unmanned aerial vehicle meets the third height condition;
when the current flying height of the unmanned aerial vehicle descends to meet a third height condition, controlling the unmanned aerial vehicle to descend continuously so as to descend from the first position point to the second position point, and identifying the patterns arranged on the descending point in real time through the visual assembly in the process of descending from the first position point to the second position point;
if no pattern is identified in the continuous N frames in the process of descending from the first position point to the second position point, controlling the unmanned aerial vehicle to fly again to reach the fly-back height;
if at least one frame in the continuous N frames identifies a pattern in the process of descending from the first position point to the second position point, determining the position information of the unmanned aerial vehicle relative to the descending point according to the pattern, and controlling the unmanned aerial vehicle to continuously descend according to the position information until the unmanned aerial vehicle lands on the descending point.
Preferably, after the re-flying height is reached, the unmanned aerial vehicle is controlled to descend to the first position again, the unmanned aerial vehicle is continuously controlled to descend to the second position from the first position again, the pattern is identified again in the process of descending to the second position from the first position, if the pattern is still not identified by N continuous frames, the steps of re-flying and re-identifying the pattern are repeated for at least 1 time, and if the pattern is still not identified by N continuous frames, the unmanned aerial vehicle is controlled to hover and is manually landed.
Preferably, the process of controlling the unmanned aerial vehicle to descend to the first position again after the missed approach height is reached includes:
identifying the pattern, if the pattern can be identified, determining the current height tagH of the unmanned aerial vehicle relative to the landing point according to the pattern, determining the current fusion height H of the unmanned aerial vehicle as the current height tagH of the unmanned aerial vehicle relative to the landing point, determining the confidence con1 as 1, and determining a first height calibration value d1, wherein the fusion height H is considered to be accurate at the moment, and directly outputting the fusion height H, wherein the first height calibration value d1 as the barometer height airh-the current height tagH of the unmanned aerial vehicle relative to the landing point; if the pattern can not be identified, entering the next step;
judging whether the RTK enters a Fixed state, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the current height relaRTKh of the unmanned aerial vehicle relative to a landing point, determining that the confidence con2 is equal to 1, and determining a second height calibration value d2, wherein the fusion height H is considered to be accurate at the moment, and directly outputting the fusion height H, wherein the second height calibration value d2 is equal to the barometer height airh, which is the current height relaRTKh of the unmanned aerial vehicle relative to the landing point; if the Fixed state is not entered, entering the next step;
judging whether the confidence con1 is 1, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the barometer height airh — the first height calibration value d 1; if not, entering the next step;
judging whether the confidence con2 is 1, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the height airh of the barometer-a second height calibration value d 2; if not, the current fusion height H of the unmanned aerial vehicle is equal to the RTK relative height in the non-Fixed state.
Preferably, the unmanned aerial vehicle landing control method further includes: after the unmanned aerial vehicle descends on the landing point, the position of the unmanned aerial vehicle is adjusted and fixed.
Still provide an unmanned aerial vehicle landing control system, it includes:
a pattern disposed on the landing point;
a return flight height determination unit for determining an actual return flight height of the unmanned aerial vehicle;
the return flight control unit is connected with the return flight height determining unit and used for controlling the unmanned aerial vehicle to fly towards the landing point according to the actual return flight height;
and the landing control unit is used for controlling the landing of the unmanned aerial vehicle according to the position of the landing point of the unmanned aerial vehicle, so that the unmanned aerial vehicle can land on the landing point.
Preferably, the landing control unit includes:
the height acquisition unit is used for acquiring the current flight height of the unmanned aerial vehicle;
a visual component for identifying the pattern;
the first height control unit is used for controlling the unmanned aerial vehicle to descend until the current flying height of the unmanned aerial vehicle meets a second height condition when the current flying height of the unmanned aerial vehicle meets the first height condition;
the second height control unit is used for controlling the unmanned aerial vehicle to continuously descend when the current flying height of the unmanned aerial vehicle descends to meet a second height condition, and controlling the unmanned aerial vehicle to hover if the visual component does not continuously recognize patterns in the descending process to a preset height on the premise of meeting the second height condition; if the pattern can be identified by the visual component in the process of descending to the preset height on the premise of meeting the second height condition, controlling the unmanned aerial vehicle to continuously descend according to the position information of the unmanned aerial vehicle relative to the descending point;
the third height control unit is used for controlling the unmanned aerial vehicle to continuously descend to descend from the first position point to the second position point when the current flying height of the unmanned aerial vehicle descends to meet a third height condition, and controlling the unmanned aerial vehicle to fly back if no pattern is identified in the continuous N frames in the process of descending from the first position point to the second position point; if the pattern is identified in at least one frame in the continuous N frames in the process of descending from the first position point to the second position point, the unmanned aerial vehicle is controlled to continuously descend according to the position information of the unmanned aerial vehicle relative to the descending point until the unmanned aerial vehicle descends on the descending point.
Preferably, the landing control unit further includes:
the fusion height acquisition unit is used for acquiring the current fusion height of the unmanned aerial vehicle in the process of descending to the first site again after the unmanned aerial vehicle reaches the re-flight height, and the current fusion height is used as a height reference for descending control; and the process of obtaining the fusion height of the unmanned aerial vehicle comprises:
identifying the pattern, if the pattern can be identified, determining the current height tagH of the unmanned aerial vehicle relative to the landing point according to the pattern, determining the current fusion height H of the unmanned aerial vehicle as the current height tagH of the unmanned aerial vehicle relative to the landing point, determining the confidence con1 as 1, and determining a first height calibration value d1, wherein the fusion height H is considered to be accurate at the moment, and directly outputting the fusion height H, wherein the first height calibration value d1 as the barometer height airh-the current height tagH of the unmanned aerial vehicle relative to the landing point; if the pattern can not be identified, entering the next step;
judging whether the RTK enters a Fixed state, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the current height relaRTKh of the unmanned aerial vehicle relative to a landing point, determining that the confidence con2 is equal to 1, and determining a second height calibration value d2, wherein the fusion height H is considered to be accurate at the moment, and directly outputting the fusion height H, wherein the second height calibration value d2 is equal to the barometer height airh, which is the current height relaRTKh of the unmanned aerial vehicle relative to the landing point; if the Fixed state is not entered, entering the next step;
judging whether the confidence con1 is 1, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the barometer height airh — the first height calibration value d 1; if not, entering the next step;
judging whether the confidence con2 is 1, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the height airh of the barometer-a second height calibration value d 2; if not, the current fusion height H of the unmanned aerial vehicle is equal to the RTK relative height in the non-Fixed state.
Preferably, the unmanned aerial vehicle landing control system further comprises: and the position fixing unit is used for adjusting and fixing the position of the unmanned aerial vehicle after the unmanned aerial vehicle lands on the landing point.
There is also provided a readable storage medium having stored thereon a computer program which, when executed, implements the drone landing control method described above.
The electronic equipment comprises the readable storage medium, a processor and a computer program which is stored on the readable storage medium and can run on the processor, and the processor executes the program to realize the unmanned aerial vehicle landing control method.
Compared with the prior art, the invention has the following beneficial effects:
the invention realizes real-time calculation of the three-dimensional space coordinate of the unmanned aerial vehicle by using the dual-antenna RTK and the vision-aided calibration algorithm, further enables the unmanned aerial vehicle to accurately return to a landing point, such as a vehicle-mounted parking apron, simultaneously accurately controls the landing process in stages, and combines a missed approach mechanism after landing failure to meet the high-precision taking-off and landing requirements of the unmanned aerial vehicle.
Drawings
FIG. 1 is a flow chart illustrating the steps of a method for controlling the landing of an unmanned aerial vehicle according to the present invention;
FIG. 2 is a flow chart of the actual return flight height of the unmanned aerial vehicle in the invention;
FIG. 3 is a flowchart illustrating the steps of controlling the landing of an UAV according to the present invention;
FIG. 4a is a schematic view showing a pattern on a tarmac according to the present invention;
FIG. 4b is a schematic view of a pattern according to the present invention;
FIG. 5 is a flow chart of the steps of determining fusion height in the present invention;
FIG. 6 is a schematic structural view of the unmanned aerial vehicle landing control system of the present invention;
FIG. 7 is a schematic view of the landing control unit according to 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.
Example 1:
as shown in fig. 1-2, the method for controlling the landing of the unmanned aerial vehicle in this embodiment includes:
s1, determining the position of a landing point of the unmanned aerial vehicle, triggering a return flight condition, and controlling the unmanned aerial vehicle to fly towards the landing point;
specifically, the landing point may be a fixed landing point that is not movable, such as a landing point disposed on the ground or on the top floor of a building, or a movable landing point, such as a vehicle-mounted parking apron; the position of the landing point can be determined by using the position of the center point of the landing point as a measuring reference, and the determination mode includes but is not limited to the determination mode through the relative position between the landing point and the RTK;
the return journey condition comprises: the number of the searched satellites of the RTK main antenna is more than or equal to 15, the Fix type meets the requirement of 3D positioning, the RTK position resolving result reaches a single-precision solution and the like, and the RTK main antenna can be determined according to actual working conditions;
further, considering that after the unmanned aerial vehicle performs the mission takeoff, if the landing point can be moved at will, if the landing point is a vehicle-mounted apron, then there may be a situation where the difference between the heights of the takeoff point and the landing point of the unmanned aerial vehicle is large, for example, as shown in fig. 2, the takeoff point is at the bottom of a mountain, and the landing point (i.e., the apron in fig. 2) is at the waist of a mountain, etc., so that it is first necessary to determine the actual return flight height of the Unmanned Aerial Vehicle (UAV) to control the unmanned aerial vehicle to fly towards the landing point at the actual return flight height, and therefore, as shown in fig. 2, the process of controlling the unmanned aerial vehicle to fly towards the landing point includes:
if the current altitude gpsH1 of the unmanned aerial vehicle is judged to be less than or equal to the return flight altitude rcvH + the landing point altitude rtkH set by the user, the unmanned aerial vehicle is controlled to fly towards the landing point according to the actual return flight altitude reH1, and at the moment, the actual return flight altitude reH1 is more than or equal to the altitude airH1+ the altitude difference dH of the current relative flying point of the unmanned aerial vehicle, wherein the altitude difference dH is (the return flight altitude rcvH + the landing point altitude rtkH set by the user) -the current altitude gpsH1 of the unmanned aerial vehicle;
if the current altitude gpsH2 of the unmanned aerial vehicle is judged to be larger than the return flight altitude rcvH + the landing point altitude rtkH set by the user, the unmanned aerial vehicle is controlled to fly towards the landing point according to the actual return flight altitude reH2, and the actual return flight altitude reH2 is not less than the current relative takeoff altitude airH2 of the unmanned aerial vehicle;
the actual return flight heights reH1 and reH2 of the unmanned aerial vehicles both use the departure point (the altitude of the departure point is gpsH0) of the unmanned aerial vehicle as a reference zero point, the return flight height rcvH set by the user is the height of the unmanned aerial vehicle relative to the landing point, and the actual return flight heights can be determined according to the self height of the highest object (such as the highest obstacle near the apron in fig. 2) in a preset range (such as the range of radius 10m) around the landing point, and if the return flight height rcvH set by the user can be set to be more than or equal to 20 m;
from this, through the above-mentioned adjustment strategy to the actual height of returning a voyage of unmanned aerial vehicle, can ensure that unmanned aerial vehicle is located safe height of returning a voyage all the time, ensure that it does not collide with the barrier in the process of returning a voyage to make its accurate landing on the landing point.
S2, when the unmanned aerial vehicle is positioned above the landing point, adjusting the orientation of the unmanned aerial vehicle to enable the orientation to meet a preset condition;
for example, this embodiment is based on dual-antenna RTK technology, and when the unmanned aerial vehicle arrives above the apron, and the main antenna and the slave antenna of RTK all enter Fix state, start to adjust the orientation of the unmanned aerial vehicle, make its front orientation satisfy the predetermined condition, for example make the front of the unmanned aerial vehicle unanimous with the locomotive direction of on-vehicle apron etc. to guarantee the accuracy of position when the unmanned aerial vehicle descends, the front of the unmanned aerial vehicle means under conventional concept, the unmanned aerial vehicle faces the one side of operator.
S3, performing corresponding landing control on the drone under different heights according to the position of the landing point of the drone, so that the drone lands on the landing point, as shown in fig. 3, step S3 specifically includes:
s31, when the current flying height of the unmanned aerial vehicle meets a first height condition (for example, the height of the current relative landing point of the unmanned aerial vehicle is more than or equal to 20m) (namely, the first stage in the figure 3), controlling the unmanned aerial vehicle to descend by means of RTK traction and the like until the unmanned aerial vehicle meets a second height condition (for example, the height of the current relative landing point of the unmanned aerial vehicle is more than or equal to 10m and less than 20m), and correcting the position of the unmanned aerial vehicle in real time in the descending process.
S32, as shown in fig. 4a, when the current flying height of the drone is lowered to meet the second height condition (i.e. the second stage in fig. 3), the drone is controlled to continue to descend by RTK traction, and the pattern 100 set on the landing point (e.g. on-board parking apron) is identified in real time by the visual components (e.g. monocular/binocular camera) mounted on the drone during the descent process, and the landing of the drone is controlled according to the identification result until it meets the third height condition (e.g. the height of the current relative landing point of the drone is less than 10m), which comprises the following specific processes:
if the unmanned aerial vehicle is controlled to hover and manually land through related personnel, if the pattern 100 is not continuously recognized by the vision component in the process of descending to a preset height (such as the lower limit 10m of the second height condition) on the premise of meeting the second height condition, the unmanned aerial vehicle may be too far away from the apron due to insufficient RTK satellite search or due to reasons such as abnormal vision component, and the unmanned aerial vehicle is controlled to hover at the moment;
if the pattern 100 can be identified by the visual component in the process of descending to a preset height (for example, the lower limit of the second height condition is 10m) on the premise of meeting the second height condition, determining first position information of the unmanned aerial vehicle relative to a descending point in real time according to the pattern 100, wherein the first position information comprises the distance between the unmanned aerial vehicle and a characteristic point (for example, a central point) on the pattern 100;
and according to first position information control unmanned aerial vehicle lasts the decline, and descend the in-process according to position information carries out real-time deviation rectification to unmanned aerial vehicle's decline process, if when unmanned aerial vehicle deviates from the landing point central point position too much, control unmanned aerial vehicle adjustment flight route, makes it be close to the landing point to ensure that unmanned aerial vehicle and landing point's relative position is in normal range constantly, guarantee that unmanned aerial vehicle accurate landing is on the landing point.
S33, when the current flying height of the drone is lowered to meet a third height condition (i.e. a third stage in fig. 3), controlling the drone to continue to descend by means of RTK towing and the like to descend from a first location (e.g. the height of the drone relative to the landing point is 4 m) to a second location (e.g. the height of the drone relative to the landing point is 2.5 m), and in the process of descending from the first location to the second location, identifying the pattern 100 set on the landing point (e.g. the vehicle-mounted apron) in real time by the vision assembly;
if the unmanned aerial vehicle does not recognize the pattern 100 in N continuous frames (N is a positive integer, such as 20 frames) in the process of descending from the first position to the second position, controlling the unmanned aerial vehicle to fly again, controlling the unmanned aerial vehicle to descend to the first position again after reaching the flying height, continuously controlling the unmanned aerial vehicle to descend from the first position to the second position again, and recognizing the pattern 100 again in the process of descending from the first position to the second position, if the pattern 100 is not recognized in the N continuous frames (such as 20 frames), repeating the steps of flying again and recognizing the group pattern 100 again for at least 1 time, and if the pattern 100 is not recognized in the N continuous frames (such as 20 frames), controlling the unmanned aerial vehicle to hover and manually descend by related personnel;
preferably, the missed approach height satisfies a first height condition or a second height condition or a third height condition, and,
if the missed approach height meets the first height condition, repeating the steps S31-S32, and controlling the unmanned aerial vehicle to descend to the first position again;
or if the re-flying height meets the second height condition, repeating the step S32, and controlling the unmanned aerial vehicle to land and descend to the first position again;
or if the re-flying height meets the third height condition, directly controlling the unmanned aerial vehicle to descend to the first site again;
if the pattern 100 is identified in at least one frame of the continuous N frames (such as 20 frames) in the process of descending from the first position to the second position, determining second position information of the unmanned aerial vehicle relative to the descending point in real time according to the pattern 100, wherein the second position information comprises three-dimensional coordinates and the like of the unmanned aerial vehicle; and controlling the unmanned aerial vehicle to continuously descend according to the second position information until the unmanned aerial vehicle lands on a landing point.
Furthermore, in this embodiment, the pattern 100 includes a plurality of graphic codes (such as two-dimensional codes, bar codes, and the like), and each graphic code is encoded with coordinate information corresponding thereto, in the descending process of the unmanned aerial vehicle, an image of the graphic code is acquired through the visual component, and the coordinate information included in each graphic code is obtained through decoding, and further, a three-dimensional coordinate of the unmanned aerial vehicle relative to a descending point is solved through a PNP algorithm and the like, and the three-dimensional coordinate is more accurate relative to the first position information, so that the descending accuracy can be completely ensured; preferably, as shown in fig. 4b, the graphic code of the pattern 100 in this embodiment includes an outer ring graphic code 101 and an inner ring graphic code 102, and the color of the outer ring graphic code 101 and/or the color of the inner ring graphic code 102 are light purple and black, so as to improve the color contrast and reduce the light reflection rate to the maximum extent, and meanwhile, the graphic code is made of a black rubber vehicle sticker, and the surface of the graphic code is pasted with a diffuse reflection film, so that the graphic code has the characteristics of water resistance, sun protection, collision protection, wear protection and the like, and can meet the general use requirements of various vehicle-mounted parking aprons.
And S4, adjusting and fixing the position of the unmanned aerial vehicle after the unmanned aerial vehicle lands on the landing point.
From this, the problem that has great height drop when taking off and descending with unmanned aerial vehicle's descending in-process fully consideration in this embodiment, the reasonable setting is returned and is navigated the height, flight safety when guaranteeing to descend, divide into the first stage with the decline control process simultaneously, the second stage and the third stage, adopt RTK to pull the mode that + vision assistance combines in the three stage, and correspond respectively by thick to accurate descending control process, and the design has perfect descending failure and repeated flying mechanism, effective detection height has both been guaranteed, the accuracy of unmanned aerial vehicle three-dimensional space coordinate resolving has been improved again, can make the accurate landing point that returns to of unmanned aerial vehicle, if on-vehicle parking apron.
Example 2:
the difference between this embodiment and embodiment 1 is that, in step S33, because the precision requirement of the missed approach on the height is relatively high, in the process of controlling the unmanned aerial vehicle to descend to the first location again after the missed approach height is reached, this embodiment is designed with a height fusion processing scheme, so as to use the obtained fusion height as a height reference for descending control, so as to implement accurate descending control, and provide accurate premise for the pattern 100 recognition step in the subsequent descending process from the first location to the second location, as shown in fig. 5, it specifically includes:
after the missed approach height is reached, controlling the unmanned aerial vehicle to descend to the first position again to recognize the pattern 100 in real time, if the pattern 100 can be recognized, determining the height tagH of the unmanned aerial vehicle relative to the descending point in real time according to the pattern 100, determining the current fusion height H of the unmanned aerial vehicle relative to the descending point, determining the confidence con1 as 1, and determining a first height calibration value d1, wherein the fusion height H is considered to be accurate at the moment, and directly outputting the fusion height H, wherein the first height calibration value d1 is the barometer height airh (taking the flying point as a zero point reference) -the height tagH of the unmanned aerial vehicle relative to the descending point; if the pattern 100 cannot be identified, the next step is carried out;
judging whether the RTK enters a Fixed state, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the current height relaRTKh of the unmanned aerial vehicle relative to a landing point, determining that the confidence con2 is equal to 1, and determining a second height calibration value d2, wherein the fusion height H is considered to be accurate at the moment, and directly outputting the fusion height H, wherein the second height calibration value d2 is equal to the barometer height airh (taking a starting point as a zero point reference) -the current height relaRTKh of the unmanned aerial vehicle relative to the landing point; if the Fixed state is not entered, entering the next step;
judging whether the confidence con1 is 1, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the barometer height airh (taking the flying point as a zero point reference) -the first height calibration value d1, and directly outputting the fusion height H; if not, entering the next step;
judging whether the confidence con2 is 1, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the barometer height airh (taking the flying point as a zero point reference) -the second height calibration value d2, and directly outputting the fusion height H; if not, the current fusion height H of the unmanned aerial vehicle is equal to the RTK relative height in the non-Fixed state.
Therefore, in the embodiment, height fusion is performed in the descending process after the missed approach, wherein the relative heights of the pattern 100 and the RTK are considered at the same time, calibration is performed by using the barometer height airh, and the calibrated barometer height airh is used as the fusion height, so that the pattern 100 and the RTK are prevented from dropping simultaneously, and accurate control of height descending is further ensured.
Example 3:
the embodiment provides an unmanned aerial vehicle landing control system capable of realizing the unmanned aerial vehicle landing control method in embodiment 1, which includes:
a pattern 100 disposed on the landing point;
the return flight height determining unit 1 is used for determining the actual return flight height of the unmanned aerial vehicle, and the specific process comprises the following steps: if the current altitude gpsH1 of the unmanned aerial vehicle is judged to be less than or equal to the return flight altitude rcvH + the landing point altitude rtkH set by the user, determining the actual return flight altitude reH1 of the unmanned aerial vehicle, wherein the actual return flight altitude reH1 is more than or equal to the altitude airH1+ the altitude difference dH of the current relative flying point of the unmanned aerial vehicle, and the altitude difference dH is (the return flight altitude rcvH + the landing point altitude rtkH set by the user) -the current altitude gpsH1 of the unmanned aerial vehicle;
if the current altitude gpsH2 of the unmanned aerial vehicle is judged to be larger than the return flight height rcvH + landing point altitude rtkH set by the user, the actual return flight height reH2 of the unmanned aerial vehicle is determined, and the actual return flight height reH2 is not less than the current relative takeoff height air H2 of the unmanned aerial vehicle;
the return flight control unit 2 is connected with the return flight height determining unit 1 and is used for controlling the unmanned aerial vehicle to fly towards the landing point according to the actual return flight height;
the direction adjusting unit 3 is used for adjusting the direction of the unmanned aerial vehicle when the unmanned aerial vehicle is positioned above the landing point, so that the direction of the unmanned aerial vehicle meets a preset condition;
the landing control unit 4 is used for controlling the landing of the unmanned aerial vehicle according to the position of the landing point of the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to land on the landing point;
and a position fixing unit 5 for adjusting and fixing the position of the unmanned aerial vehicle after the unmanned aerial vehicle lands on the landing point.
Specifically, as shown in fig. 7, the landing control unit 4 includes:
an altitude acquisition unit 41 for acquiring a current flying altitude of the unmanned aerial vehicle;
a vision component 42 for identifying the pattern 100 in real time;
a first height control unit 43, configured to, when the current flying height of the drone satisfies a first height condition (e.g., the height of the current relative landing point of the drone is greater than or equal to 20m) (i.e., the first stage in fig. 3), control the drone to descend by RTK traction or the like until the current flying height of the drone satisfies a second height condition (e.g., 10m is greater than or equal to the height of the current relative landing point of the drone is less than 20m), and correct the position of the drone in real time during the descent process;
a second height control unit 44, configured to control the drone to continue to descend by RTK towing or the like when the current flying height of the drone descends to a position that meets a second height condition (i.e., a second stage in fig. 3), and control the drone to hover and manually descend by a relevant person if the visual component continues not to recognize the pattern 100 in a process of descending to a predetermined height (e.g., a lower limit 10m of the second height condition) on the premise that the second height condition is met during the descending process; if the pattern 100 can be identified by the visual component in the process of descending to a preset height (such as the lower limit of 10m of the second height condition) on the premise of meeting the second height condition, controlling the unmanned aerial vehicle to continuously descend according to the first position information of the unmanned aerial vehicle relative to the descending point, and correcting the descending process of the unmanned aerial vehicle in real time according to the position information in the descending process;
a third height control unit 45, configured to control the drone to continue descending by RTK towing or the like when the current flying height of the drone falls to meet a third height condition (i.e., a third stage in fig. 3), so as to descend from a first location (e.g., the height of the current relative landing point of the drone is 4 m) to a second location (e.g., the height of the current relative landing point of the drone is 2.5 m), and control the drone to fly back if no pattern 100 is recognized for N consecutive frames (e.g., 20 frames) during descending from the first location to the second location, and control the drone to descend to the first location again after the drone reaches the fly-back height; if the pattern 100 is recognized in at least one frame of the continuous N frames (such as 20 frames) in the process of descending from the first position to the second position, controlling the unmanned aerial vehicle to continuously descend according to the second position information of the unmanned aerial vehicle relative to the descending point until the unmanned aerial vehicle lands on the descending point;
the fusion height acquiring unit 46 is used for acquiring the current fusion height of the unmanned aerial vehicle in the process that the unmanned aerial vehicle descends to the first site again after reaching the re-flight height, and the current fusion height is used as a height reference for descending control; and the process of obtaining the fusion height of the unmanned aerial vehicle comprises:
after the missed approach height is reached, controlling the unmanned aerial vehicle to descend to the first position again to recognize the pattern 100 in real time, if the pattern 100 can be recognized, determining the height tagH of the unmanned aerial vehicle relative to the descending point in real time according to the pattern 100, determining the current fusion height H of the unmanned aerial vehicle relative to the descending point, determining the confidence con1 as 1, and determining a first height calibration value d1, wherein the fusion height H is considered to be accurate at the moment, and directly outputting the fusion height H, wherein the first height calibration value d1 is the barometer height airh (taking the flying point as a zero point reference) -the height tagH of the unmanned aerial vehicle relative to the descending point; if the pattern 100 cannot be identified, the next step is carried out;
judging whether the RTK enters a Fixed state, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the current height relaRTKh of the unmanned aerial vehicle relative to a landing point, determining that the confidence con2 is equal to 1, and determining a second height calibration value d2, wherein the fusion height H is considered to be accurate at the moment, and directly outputting the fusion height H, wherein the second height calibration value d2 is equal to the barometer height airh (taking a starting point as a zero point reference) -the current height relaRTKh of the unmanned aerial vehicle relative to the landing point; if the Fixed state is not entered, entering the next step;
judging whether the confidence con1 is 1, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the barometer height airh (taking the flying point as a zero-point reference) -the first height calibration value d 1; if not, entering the next step;
judging whether the confidence con2 is 1, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the barometer height airh (taking the flying point as a zero-point reference) -the second height calibration value d 2; if not, the current fusion height H of the unmanned aerial vehicle is equal to the RTK relative height in the non-Fixed state.
See examples 1 or 2 for other relevant technical features, which are not to be mentioned here.
Example 4:
the present embodiment provides a readable storage medium on which a computer program is stored, the computer program, when executed, implementing the unmanned aerial vehicle landing control method described in embodiment 1 above.
Example 5:
the embodiment provides an electronic device, which includes the readable storage medium described in embodiment 4, a processor, and a computer program stored on the readable storage medium and capable of running on the processor, and when the processor executes the program, the processor implements the unmanned aerial vehicle landing control method described in embodiment 1 or 2 above.
In conclusion, the problem that the unmanned aerial vehicle has large height drop during takeoff and landing is fully considered in the landing process of the unmanned aerial vehicle, the return flight height is reasonably set, the flight safety during landing is ensured, meanwhile, the landing control process is divided into a first stage, a second stage and a third stage, a RTK traction and vision assistance combined mode is adopted in the three stages, the three stages respectively correspond to the landing control process from coarse to fine, a perfect landing failure and return flight mechanism for controlling the return flight is designed, and meanwhile, the fusion height is used as the landing control reference for the return flight, so that the height can be effectively detected, the accuracy of three-dimensional space coordinate calculation of the unmanned aerial vehicle is improved, and the unmanned aerial vehicle can accurately return to the landing point, such as a vehicle-mounted parking apron.
It should be noted that the technical features of the above embodiments 1 to 5 can be arbitrarily combined, and the technical solutions obtained by combining the technical features belong to the scope 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 (13)
1. An unmanned aerial vehicle landing control method is characterized by comprising the following steps:
controlling the unmanned aerial vehicle to fly towards the landing point;
according to the position of the landing point of the unmanned aerial vehicle, corresponding landing control is carried out on the unmanned aerial vehicle under the conditions of different heights, so that the unmanned aerial vehicle lands on the landing point.
2. An unmanned aerial vehicle landing control method as in claim 1, wherein controlling the unmanned aerial vehicle to fly towards the landing point comprises:
if the current altitude gpsH1 of the unmanned aerial vehicle is judged to be less than or equal to the return flight altitude rcvH + the landing point altitude rtkH set by the user, the unmanned aerial vehicle is controlled to fly towards the landing point according to the actual return flight altitude reH1, and at the moment, the actual return flight altitude reH1 is more than or equal to the altitude airH1+ the altitude difference dH of the current relative flying point of the unmanned aerial vehicle, wherein the altitude difference dH is (the return flight altitude rcvH + the landing point altitude rtkH set by the user) -the current altitude gpsH1 of the unmanned aerial vehicle;
and if the current altitude gpsH2 of the unmanned aerial vehicle is judged to be larger than the return flight altitude rcvH + the landing point altitude rtkH set by the user, controlling the unmanned aerial vehicle to fly towards the landing point according to the actual return flight altitude reH2, wherein the actual return flight altitude reH2 is not less than the current relative takeoff altitude airH2 of the unmanned aerial vehicle.
3. An unmanned aerial vehicle landing control method according to claim 2, wherein the actual return flight height of the unmanned aerial vehicle is based on the unmanned aerial vehicle takeoff point as a reference zero point, and the user-set return flight height rcvH is the height of the unmanned aerial vehicle relative to the landing point.
4. An unmanned aerial vehicle landing control method as claimed in claim 1, wherein the "performing corresponding landing control on the unmanned aerial vehicle at different heights according to the position of the landing point of the unmanned aerial vehicle to make the unmanned aerial vehicle land on the landing point" comprises:
when the current flying height of the unmanned aerial vehicle meets a first height condition, controlling the unmanned aerial vehicle to descend until the current flying height meets a second height condition;
when the current flying height of the unmanned aerial vehicle is lowered to meet the second height condition, controlling the unmanned aerial vehicle to continue to descend, identifying the patterns arranged on the landing points in real time through the visual assembly in the descending process, and controlling the unmanned aerial vehicle to land according to the identification result until the unmanned aerial vehicle meets the third height condition;
when the current flying height of the unmanned aerial vehicle descends to meet a third height condition, controlling the unmanned aerial vehicle to descend continuously so as to descend from the first position point to the second position point, and identifying the patterns arranged on the descending point in real time through the visual assembly in the process of descending from the first position point to the second position point;
if no pattern is identified in the continuous N frames in the process of descending from the first position point to the second position point, controlling the unmanned aerial vehicle to fly again to reach the fly-back height;
if at least one frame in the continuous N frames identifies a pattern in the process of descending from the first position point to the second position point, determining the position information of the unmanned aerial vehicle relative to the descending point according to the pattern, and controlling the unmanned aerial vehicle to continuously descend according to the position information until the unmanned aerial vehicle lands on the descending point.
5. An unmanned aerial vehicle landing control method as claimed in claim 4, wherein the unmanned aerial vehicle is controlled to descend to the first location again after reaching the re-flying height, and is continuously controlled to descend from the first location to the second location again, and the pattern is identified again in the process of descending from the first location to the second location, if the pattern is not identified for N consecutive frames, the steps of re-flying and re-identifying the pattern are repeated for at least 1 time, and if the pattern is not identified for N consecutive frames, the unmanned aerial vehicle is controlled to hover and is manually landed.
6. An unmanned aerial vehicle landing control method as claimed in claim 5, wherein the process of controlling the unmanned aerial vehicle to descend to the first location again after reaching the missed approach altitude comprises:
identifying the pattern, if the pattern can be identified, determining the current height tagH of the unmanned aerial vehicle relative to the landing point according to the pattern, determining the current fusion height H of the unmanned aerial vehicle as the current height tagH of the unmanned aerial vehicle relative to the landing point, determining the confidence con1 as 1, and determining a first height calibration value d1, wherein the fusion height H is considered to be accurate at the moment, and directly outputting the fusion height H, wherein the first height calibration value d1 as the barometer height airh-the current height tagH of the unmanned aerial vehicle relative to the landing point; if the pattern can not be identified, entering the next step;
judging whether the RTK enters a Fixed state, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the current height relaRTKh of the unmanned aerial vehicle relative to a landing point, determining that the confidence con2 is equal to 1, and determining a second height calibration value d2, wherein the fusion height H is considered to be accurate at the moment, and directly outputting the fusion height H, wherein the second height calibration value d2 is equal to the barometer height airh, which is the current height relaRTKh of the unmanned aerial vehicle relative to the landing point; if the Fixed state is not entered, entering the next step;
judging whether the confidence con1 is 1, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the barometer height airh — the first height calibration value d 1; if not, entering the next step;
judging whether the confidence con2 is 1, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the height airh of the barometer-a second height calibration value d 2; if not, the current fusion height H of the unmanned aerial vehicle is equal to the RTK relative height in the non-Fixed state.
7. An unmanned aerial vehicle landing control method as in claim 1, further comprising: after the unmanned aerial vehicle descends on the landing point, the position of the unmanned aerial vehicle is adjusted and fixed.
8. An unmanned aerial vehicle landing control system, comprising:
a pattern disposed on the landing point;
a return flight height determination unit for determining an actual return flight height of the unmanned aerial vehicle;
the return flight control unit is connected with the return flight height determining unit and used for controlling the unmanned aerial vehicle to fly towards the landing point according to the actual return flight height;
and the landing control unit is used for controlling the landing of the unmanned aerial vehicle according to the position of the landing point of the unmanned aerial vehicle, so that the unmanned aerial vehicle can land on the landing point.
9. An unmanned aerial vehicle landing control system of claim 8, wherein the landing control unit comprises:
the height acquisition unit is used for acquiring the current flight height of the unmanned aerial vehicle;
a visual component for identifying the pattern;
the first height control unit is used for controlling the unmanned aerial vehicle to descend until the current flying height of the unmanned aerial vehicle meets a second height condition when the current flying height of the unmanned aerial vehicle meets the first height condition;
the second height control unit is used for controlling the unmanned aerial vehicle to continuously descend when the current flying height of the unmanned aerial vehicle descends to meet a second height condition, and controlling the unmanned aerial vehicle to hover if the visual component does not continuously recognize patterns in the descending process to a preset height on the premise of meeting the second height condition; if the pattern can be identified by the visual component in the process of descending to the preset height on the premise of meeting the second height condition, controlling the unmanned aerial vehicle to continuously descend according to the position information of the unmanned aerial vehicle relative to the descending point;
the third height control unit is used for controlling the unmanned aerial vehicle to continuously descend to descend from the first position point to the second position point when the current flying height of the unmanned aerial vehicle descends to meet a third height condition, and controlling the unmanned aerial vehicle to fly back if no pattern is identified in the continuous N frames in the process of descending from the first position point to the second position point; if the pattern is identified in at least one frame in the continuous N frames in the process of descending from the first position point to the second position point, the unmanned aerial vehicle is controlled to continuously descend according to the position information of the unmanned aerial vehicle relative to the descending point until the unmanned aerial vehicle descends on the descending point.
10. An unmanned aerial vehicle landing control system of claim 9, wherein the landing control unit further comprises:
the fusion height acquisition unit is used for acquiring the current fusion height of the unmanned aerial vehicle in the process of descending to the first site again after the unmanned aerial vehicle reaches the re-flight height, and the current fusion height is used as a height reference for descending control; and the process of obtaining the fusion height of the unmanned aerial vehicle comprises:
identifying the pattern, if the pattern can be identified, determining the current height tagH of the unmanned aerial vehicle relative to the landing point according to the pattern, determining the current fusion height H of the unmanned aerial vehicle as the current height tagH of the unmanned aerial vehicle relative to the landing point, determining the confidence con1 as 1, and determining a first height calibration value d1, wherein the fusion height H is considered to be accurate at the moment, and directly outputting the fusion height H, wherein the first height calibration value d1 as the barometer height airh-the current height tagH of the unmanned aerial vehicle relative to the landing point; if the pattern can not be identified, entering the next step;
judging whether the RTK enters a Fixed state, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the current height relaRTKh of the unmanned aerial vehicle relative to a landing point, determining that the confidence con2 is equal to 1, and determining a second height calibration value d2, wherein the fusion height H is considered to be accurate at the moment, and directly outputting the fusion height H, wherein the second height calibration value d2 is equal to the barometer height airh, which is the current height relaRTKh of the unmanned aerial vehicle relative to the landing point; if the Fixed state is not entered, entering the next step;
judging whether the confidence con1 is 1, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the barometer height airh — the first height calibration value d 1; if not, entering the next step;
judging whether the confidence con2 is 1, if so, determining that the current fusion height H of the unmanned aerial vehicle is equal to the height airh of the barometer-a second height calibration value d 2; if not, the current fusion height H of the unmanned aerial vehicle is equal to the RTK relative height in the non-Fixed state.
11. An unmanned aerial vehicle landing control system of claim 8, further comprising: and the position fixing unit is used for adjusting and fixing the position of the unmanned aerial vehicle after the unmanned aerial vehicle lands on the landing point.
12. A readable storage medium having stored thereon a computer program which, when executed, implements the drone landing control method of any one of claims 1-7.
13. An electronic device comprising a readable storage medium according to claim 12, a processor and a computer program stored on the readable storage medium and executable on the processor, the processor implementing the drone landing control method according to any one of the preceding claims 1 to 7 when executing the program.
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