CN113448351A - Method and device for guiding unmanned aerial vehicle to land accurately and unmanned aerial vehicle hangar - Google Patents
Method and device for guiding unmanned aerial vehicle to land accurately and unmanned aerial vehicle hangar Download PDFInfo
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Abstract
The invention discloses a method and a device for guiding an unmanned aerial vehicle to land accurately and an unmanned aerial vehicle hangar; the method for guiding the unmanned aerial vehicle to land accurately comprises the steps that an infrared beacon is mounted on the unmanned aerial vehicle, and the method comprises the following steps: acquiring a plurality of target images of an unmanned aerial vehicle to be landed; the target images are obtained by shooting infrared beacons of the unmanned aerial vehicle through a plurality of corresponding cameras, and the cameras are located in non-central positions of a landing area; calculating the position and the vertical height of the unmanned aerial vehicle according to the corresponding position of the infrared beacon in the target image and the central position of the landing area; determining attitude adjustment information of the unmanned aerial vehicle according to the position and the vertical height of the unmanned aerial vehicle; and controlling the unmanned aerial vehicle according to the attitude adjustment information so that the unmanned aerial vehicle accurately lands in a landing area.
Description
Technical Field
The invention belongs to the technical field, and particularly relates to a method and a device for guiding an unmanned aerial vehicle to land accurately and an unmanned aerial vehicle hangar.
Background
An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle + the industry application is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and developed countries actively expand industrial application and develop unmanned aerial vehicle technology.
At present, after an unmanned aerial vehicle executes a task, the return landing mode mainly comprises the following modes:
(1) and manually controlling, and remotely controlling the unmanned aerial vehicle to land through an operator. The flyer is required to have strong flying experience, emergency ability and psychological bearing capacity, and has strong dependence on the technical level of an operator.
(2) Unmanned aerial vehicle independently descends:
in the first mode, the unmanned aerial vehicle depends on the positioning precision of the GNSS system to realize landing in the automatic landing process. But because of GNSS precision error level more than a meter, and the decline process receives factors such as wind-force, environment influence easily, when the precision of descending exceeds a meter, can not satisfy the requirement that unmanned aerial vehicle precision descends.
In the second mode, the unmanned aerial vehicle adopts the image recognition technology to realize landing. The camera carried by the unmanned aerial vehicle is used for shooting information carriers such as two-dimensional codes and beacons of an apron and a hangar, and the landing position is identified for landing. However, the technology has large calculation amount, calculation time difference and large time consumption; the requirement on the angle of the camera is high, and when the distance of the camera is not proper, the problem that the camera cannot be focused and cannot be identified easily occurs, so that the camera cannot fall or the falling position is not accurate; moreover, the unmanned aerial vehicle can not land autonomously under the dark environment of light by the technology.
Among the prior art, unmanned aerial vehicle often positioning accuracy is not high when descending, appears descending positional deviation and falls the problem outside the descending position greatly even, even collides the crash when serious.
Therefore, how to provide a method for guiding the unmanned aerial vehicle to accurately land becomes a problem which needs to be solved urgently, and how to realize the accurate landing and parking of the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to solve the technical problems and provides a method and a device for guiding an unmanned aerial vehicle to land accurately and an unmanned aerial vehicle hangar.
In order to solve the problems, the invention is realized according to the following technical scheme:
in a first aspect, the invention provides a method for guiding an unmanned aerial vehicle to land accurately, wherein the unmanned aerial vehicle is provided with an infrared beacon, and the method comprises the following steps:
acquiring a plurality of target images of an unmanned aerial vehicle to be landed; the target images are obtained by shooting infrared beacons of the unmanned aerial vehicle through a plurality of corresponding cameras, and the cameras are located in non-central positions of a landing area;
calculating the position and the vertical height of the unmanned aerial vehicle according to the corresponding position of the infrared beacon in the target image and the central position of the landing area;
determining attitude adjustment information of the unmanned aerial vehicle according to the position and the vertical height of the unmanned aerial vehicle;
and controlling the unmanned aerial vehicle according to the attitude adjustment information so that the unmanned aerial vehicle accurately lands in a landing area.
With reference to the first aspect, the present invention further provides a 1 st implementation manner of the first aspect, where the calculating the position and the vertical height of the unmanned aerial vehicle according to the corresponding position of the infrared beacon in the target image and the central position of the landing area specifically includes:
according to the corresponding position and the central position of the infrared beacon in the target image, calculating the horizontal distance between the unmanned aerial vehicle and the central position, and determining the position of the unmanned aerial vehicle;
and calculating the vertical height of the unmanned aerial vehicle relative landing area according to the corresponding positions of the infrared beacons in the target images and the wide-angle information corresponding to the cameras.
With reference to the first aspect, the present invention further provides a 2 nd implementation manner of the first aspect, where determining attitude adjustment information of the drone according to the position and the vertical height of the drone specifically includes:
determining the adjustment amplitude of the attitude adjustment information according to the vertical height;
when the vertical height is larger, the adjustment amplitude is quick;
when the vertical height is small, the adjustment amplitude is slow.
With reference to the first aspect, the present invention further provides a third implementation manner of the first aspect, where the camera is an infrared camera, and the method further includes the following steps of identifying an ambient infrared light interference source, specifically including:
acquiring a target image set, wherein the target image set is obtained by a plurality of target image sets shot by a plurality of cameras in the same time;
and identifying whether an abnormal infrared light source exists in the target image set, and if so, marking the abnormal infrared light source as an ambient infrared light interference source.
With reference to the first aspect, the present invention further provides a 4 th implementation manner of the first aspect, before calculating the position and the vertical height of the drone, the method further includes:
acquiring a plurality of environment images of the unmanned aerial vehicle to be landed, wherein the environment images correspond to the target images;
comparing the corresponding environment image with the target image, and identifying to obtain an environment infrared interference source;
and identifying and determining the position of the infrared beacon of the unmanned aerial vehicle in the target image according to the ambient infrared light interference source.
With reference to the first aspect, the present invention further provides a 5 th implementation manner of the first aspect, where the camera includes a plurality of infrared cameras and a plurality of visible light cameras corresponding in number to the infrared cameras, and a visible light camera is disposed at the same position corresponding to an infrared camera;
the visible light camera is used for acquiring a plurality of environment images; and a plurality of infrared cameras correspondingly acquire a plurality of target images.
With reference to the first aspect, the present invention further provides a 6 th implementation manner of the first aspect, before acquiring the plurality of target images of the drone to be landed, further including:
when detecting that the unmanned aerial vehicle to be landed is located above a landing area, sending a stroboscopic instruction to the unmanned aerial vehicle, wherein the stroboscopic instruction instructs an infrared beacon of the unmanned aerial vehicle to flash according to a preset frequency;
acquiring a plurality of continuous-time target images of a single camera, wherein the shooting frequency of adjacent target images is less than the preset frequency of the unmanned aerial vehicle;
and comparing a plurality of continuous-time target images of the single camera, identifying the infrared beacon of the unmanned aerial vehicle in the target images based on the flickering of the infrared beacon, and determining the position of the infrared beacon of the unmanned aerial vehicle in the target images.
In a second aspect, the present invention further provides a device for guiding an unmanned aerial vehicle to land accurately, the device comprising:
the camera assembly comprises a plurality of cameras positioned in a landing area, and is used for acquiring a plurality of target images of the unmanned aerial vehicle to be landed; the plurality of target images are obtained by shooting infrared beacons of the unmanned aerial vehicle through a plurality of corresponding cameras;
the calculation module is used for calculating the position and the vertical height of the unmanned aerial vehicle according to the corresponding position of the infrared beacon in the target image and the central position of the landing area;
the attitude adjusting module is used for determining attitude adjusting information of the unmanned aerial vehicle according to the position and the vertical height of the unmanned aerial vehicle;
and the communication module is used for controlling the unmanned aerial vehicle according to the attitude adjustment information so as to enable the unmanned aerial vehicle to accurately land in a landing area.
With reference to the second aspect, the present invention further provides a 1 st implementation manner of the second aspect, where the calculating module calculates the position and the height of the unmanned aerial vehicle according to a corresponding position of the infrared beacon in the target image and a central position of the landing area, and specifically includes:
according to the corresponding position and the central position of the infrared beacon in the target image, calculating the horizontal distance between the unmanned aerial vehicle and the central position, and determining the position of the unmanned aerial vehicle;
and calculating the vertical height of the relative landing area of the unmanned aerial vehicle according to the corresponding positions of the infrared beacons in the plurality of target images and the wide angle information of the cameras.
In a third aspect, the invention also provides an unmanned aerial vehicle hangar, wherein the unmanned aerial vehicle hangar is provided with a landing area for landing of an unmanned aerial vehicle, a camera assembly and a processor;
the camera assembly comprises a plurality of cameras which are positioned at non-central positions of the landing area, and is used for acquiring a plurality of target images of the unmanned aerial vehicle to be landed; the plurality of target images are obtained by shooting infrared beacons of the unmanned aerial vehicle through a plurality of corresponding cameras;
the processor calculates the position and the vertical height of the unmanned aerial vehicle according to the corresponding position of the infrared beacon in the target image and the central position of the landing area;
the processor determines attitude adjustment information of the unmanned aerial vehicle according to the position and the vertical height of the unmanned aerial vehicle;
the processor controls the unmanned aerial vehicle according to the attitude adjustment information, so that the unmanned aerial vehicle can land in a landing area accurately.
Compared with the prior art, the invention has the beneficial effects that:
according to the method, a plurality of target images of the unmanned aerial vehicle to be landed are obtained, the target images are obtained by shooting an infrared beacon of the unmanned aerial vehicle, and therefore the position and the height of the unmanned aerial vehicle are calculated; and further calculating attitude adjustment information and controlling the unmanned aerial vehicle to accurately land in a landing area according to the attitude adjustment information.
In this application, shoot the target image that unmanned aerial vehicle corresponds through the camera in descending region on the unmanned aerial vehicle, the camera of this application is fixed to be set up, and the target image that obtains of shooing is clear, accurate. And this kind of camera and infrared beacon's setting method need not to shoot the landing pattern on the landing area through the camera, the position that the landing area was confirmed to infrared beacon, but acquires unmanned aerial vehicle's position and height, and the accurate landing of direct control unmanned aerial vehicle is in the landing area, is difficult to appear descending the deviation, has improved the precision that unmanned aerial vehicle independently descended.
Drawings
Embodiments of the invention are described in further detail below with reference to the attached drawing figures, wherein:
fig. 1 is a schematic view of a scenario involved in the method of guiding a drone to land accurately of the present invention;
fig. 2 is a schematic flow diagram of a method of the present invention for directing precise landing of a drone;
fig. 3 is a schematic composition diagram of the device for guiding the unmanned aerial vehicle to land accurately according to the invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Referring to fig. 1, fig. 1 is a schematic view of a scene involved in a method for guiding an unmanned aerial vehicle to land accurately according to the present application.
As shown in fig. 1, the scenario includes: unmanned aerial vehicle, carry on infrared beacon on unmanned aerial vehicle, install camera subassembly, the terminal in the landing area.
Wherein, a plurality of infrared beacons are installed to unmanned aerial vehicle's fuselage bottom. The infrared beacon is the basic setting of current unmanned aerial vehicle, and this application does not restrict infrared beacon at unmanned aerial vehicle's specific position and mounting means. In one implementation, the number of the infrared beacons carried by the unmanned aerial vehicle may be one, or may be multiple. When the number of the infrared beacons is one, the infrared beacons can be arranged at the geometric center of the bottom of the unmanned aerial vehicle body; when a plurality of infrared beacons are arranged, the infrared beacons can be arranged at the front and back of the bottom of the unmanned aerial vehicle body; this is not limited to actual conditions.
The camera subassembly is installed in descending region, upwards shoots the infrared beacon of unmanned aerial vehicle fuselage bottom. In one implementation, the camera is wide angle infrared camera, and it is installed in four corners in the landing area, upwards shoots the infrared beacon on the unmanned aerial vehicle perpendicularly.
It should be noted that, this application is different from prior art, has adopted a plurality of infrared cameras, preferably installs in the non-central point who descends the region and puts to this guarantees to calculate unmanned aerial vehicle's position and high accuracy new. Meanwhile, the wide-angle information of the infrared camera is known, so that the installation angle of the infrared camera is not limited, and the infrared camera can be obliquely installed and also can be vertically installed upwards.
The terminal can communicate with the unmanned aerial vehicle, interact with data, etc., and the terminal can control the flight and the landing of the unmanned aerial vehicle, etc. Meanwhile, the terminal and the camera can also carry out data interaction, such as image transmission, parameter setting and the like.
In a specific scenario, the terminal may be an unmanned aerial vehicle remote controller with display hardware, a PC terminal, or a data processing terminal of a ground control center. Preferably, the terminal can also be an unmanned aerial vehicle hangar, and a landing area is arranged on the unmanned aerial vehicle hangar.
In a possible implementation manner, the infrared beacon of the unmanned aerial vehicle to be landed transmits a light signal downwards at a preset frequency, the infrared camera installed in a landing area shoots an image, and the infrared beacon in the image is identified by the terminal. When the unmanned aerial vehicle to be landed flies to the range in which the infrared cameras can search the infrared beacons, the infrared beacons above the unmanned aerial vehicle are shot by the infrared cameras, and target images corresponding to the unmanned aerial vehicle to be landed are obtained. The infrared camera transmits the shot target image to the terminal, and the terminal analyzes the corresponding position of the infrared beacon in the target image based on the target image.
The terminal calculates the position and height of the unmanned aerial vehicle to be landed based on the position corresponding to the infrared beacon in the target image and the center position of the landing area of the unmanned aerial vehicle acquired in advance, and controls the unmanned aerial vehicle to land accurately in the landing area.
Referring to fig. 2, fig. 2 is a schematic flowchart of a method for guiding an unmanned aerial vehicle to accurately land according to an embodiment of the present application. The main execution body of the method in the embodiment is a terminal, and the terminal can be an unmanned aerial vehicle hangar provided with a landing area. The method as shown in fig. 2 may include:
s100: acquiring a plurality of target images of an unmanned aerial vehicle to be landed; a plurality of the target images are shot by a plurality of corresponding cameras and obtained by the infrared beacons of the unmanned aerial vehicle, and the cameras are located in the non-central position of the landing area.
In an implementation, install the camera at unmanned aerial vehicle landing zone center and search for infrared beacon always in its scope of searching infrared beacon, be convenient for catch infrared beacon in real time and send the infrared ray. When the unmanned aerial vehicle waiting for landing receives a return flight instruction, the unmanned aerial vehicle starts to return flight, and the infrared beacon installed on the unmanned aerial vehicle always sends infrared rays downwards at a preset frequency. When the unmanned aerial vehicle flies to the searching range of the camera, the camera shoots the infrared beacon on the unmanned aerial vehicle upwards to obtain a target image corresponding to the unmanned aerial vehicle to be landed; the unmanned aerial vehicle landing system can be understood as that infrared rays emitted by the infrared beacons enter the cameras and form images on the photosensitive devices of the cameras to obtain target images corresponding to the unmanned aerial vehicle to be landed. The plurality of cameras transmit a plurality of shot target images to the terminal, and the terminal receives the target images transmitted by the cameras and performs processing such as identification technology on the target images.
Preferably, two or four cameras are used, distributed at the four corners of the landing area.
S200: and calculating the position and the vertical height of the unmanned aerial vehicle according to the corresponding position of the infrared beacon in the target image and the central position of the landing area.
In one implementation, the position and the vertical height of the drone are calculated according to the corresponding position of the infrared beacon in the target image and the central position of the landing area, and S200 may include S210-220, specifically as follows:
s210: and calculating the horizontal distance between the unmanned aerial vehicle and the central position according to the corresponding position and the central position of the infrared beacon in the target image, and determining the position of the unmanned aerial vehicle.
Different from the prior art, the central position is calculated through the plurality of cameras, the obtained calculation result and the position of the unmanned aerial vehicle are more accurate, and accurate attitude adjustment information is sent to guide the unmanned aerial vehicle to land.
S220: and calculating the vertical height of the relative landing area of the unmanned aerial vehicle according to the corresponding positions of the infrared beacons in the plurality of target images and the wide angle information of the cameras.
According to the invention, the vertical height information can be accurately calculated creatively according to the wide-angle information of the camera and the position of the infrared beacon; and under the calculation of a plurality of cameras, the accuracy is higher. The applicant researches and discovers that in part of the prior art, the infrared camera is installed in the center of a landing area, and the height of the unmanned aerial vehicle is calculated by calculating the size ratio of the infrared beacon in an image. The method is approximate to estimate the height, the accuracy cannot be guaranteed, and the reliability is reduced.
S300: and determining the attitude adjustment information of the unmanned aerial vehicle according to the position and the vertical height of the unmanned aerial vehicle.
Wherein the state adjustment information includes adjustment instructions of displacement and angle. The displacement comprises course, speed and displacement distance, the speed refers to the flying speed of the unmanned aerial vehicle in the horizontal direction to the center position of the landing area, and the course refers to the flying direction of the unmanned aerial vehicle. And indicating that the unmanned aerial vehicle hovers right above the central position of the landing area through the state adjustment information.
Wherein, the state adjustment information of angle is instruction unmanned aerial vehicle's fuselage angle. In the event that the air environment of the drone is windy or has a large airflow causing the fuselage of the drone to deflect. Through the attitude information who obtains unmanned aerial vehicle, add the angle instruction at state adjustment information, cause unmanned aerial vehicle adjustment fuselage through the angle instruction to resist wind or air current.
The sending of the state adjustment information may be in real time to continually adjust the drone.
In a preferred implementation, determining the attitude adjustment information of the drone according to the position and vertical height of the drone specifically includes:
s310: determining the adjustment amplitude of the attitude adjustment information according to the vertical height; when the vertical height is larger, the adjustment amplitude is quick; when the vertical height is small, the adjustment amplitude is slow.
The adjustment range refers to the airspeed of control unmanned aerial vehicle, for example, when vertical height is great, unmanned aerial vehicle's operating space is abundant, can control unmanned aerial vehicle fast flight and reach the calibration position. When vertical height is great, unmanned aerial vehicle's operating space is less, needs to reduce unmanned aerial vehicle's flying speed, slowly reaches the calibration position, improves the accuracy.
S400: and controlling the unmanned aerial vehicle according to the attitude adjustment information so that the unmanned aerial vehicle accurately lands in a landing area.
The steerable unmanned aerial vehicle of terminal flies to the top of descending the region earlier, controls unmanned aerial vehicle again and descends to the descending region from the top of descending the region. For example, the heading of the unmanned aerial vehicle is adjusted first, so that the heading of the unmanned aerial vehicle faces the central position of the landing area; and controlling the unmanned aerial vehicle to fly above the central position, and continuously reducing the horizontal distance and the vertical distance until the unmanned aerial vehicle flies to the position of the landing area.
It should be noted that the invention also provides a technical means for identifying the infrared beacon of the unmanned aerial vehicle. The reason for developing the technical means is that when the unmanned aerial vehicle is applied to outdoor places, interference sources emitting infrared light, such as the sun or other equipment, exist in the environment.
The research of the applicant finds that in a scene that the unmanned aerial vehicle is guided to land outdoors, when weather is clear, the infrared camera shoots infrared light in the full-wave band light of the sun. Therefore, when the terminal identifies the infrared beacon of the unmanned aerial vehicle, a plurality of target infrared points exist in a target image, so that the infrared beacon of the unmanned aerial vehicle cannot be identified and guidance cannot be performed; or sending wrong attitude adjustment information to cause the unmanned aerial vehicle to land wrongly.
Therefore, the method also comprises the following steps of identifying the ambient infrared light interference source, and the invention provides the following three technical means for solving the ambient infrared interference source:
the first method comprises the following steps of identifying an ambient infrared interference source through a plurality of infrared cameras:
s510: acquiring a target image set, wherein the target image set is obtained by a plurality of target image sets shot by a plurality of cameras in the same time;
namely, the terminal controls a plurality of cameras to collect target images at the same time to obtain a plurality of target images at the same time.
S520: and identifying whether an abnormal infrared light source exists in the target image set, and if so, marking the abnormal infrared light source as an ambient infrared light interference source.
The applicant researches and discovers that the longer distance of sunlight is theoretically a vertical light source, and when the sunlight is imaged in a plurality of infrared cameras, infrared points of the sunlight are all in the same position (namely, the positions of the sunlight in different target images are the same, for example, four target images have an infrared point which is positioned at the upper left in each image); and the infrared beacon distance that is different from unmanned aerial vehicle is nearer, because of the position difference of infrared camera, the position of infrared beacon in the target image that the infrared camera of difference was shot is all inequality.
Therefore, sunlight can be identified by identifying abnormal infrared light sources in a plurality of target images of the target image set, and an ambient infrared light interference source is obtained; the infrared beacon of the unmanned aerial vehicle can be confirmed by eliminating ambient infrared light interference sources.
In the first method, two cameras are used.
Secondly, comparing the environmental images to identify an environmental infrared interference source:
s610: the method comprises the steps of obtaining an environment image of the unmanned aerial vehicle to be landed, obtaining a plurality of environment images of the unmanned aerial vehicle to be landed, wherein the environment images correspond to target images.
In one implementation, the camera includes a plurality of infrared cameras and a plurality of visible light cameras corresponding in number to the infrared cameras, and a visible light camera is disposed at the same position corresponding to an infrared camera, so as to identify the ambient infrared light interference source in each target image. The visible light camera is used for acquiring a plurality of environment images; and a plurality of infrared cameras correspondingly acquire a plurality of target images.
S620: and comparing the environmental image with the target image, and identifying to obtain an environmental infrared interference source.
Taking the sun as an example, the visible light camera can shoot the sun but cannot sample the light signal of the infrared beacon. Therefore, through comparison, the infrared position of the sun in the infrared camera and the visible light camera and the infrared beacon position of the unmanned aerial vehicle can be identified.
S630: and identifying and determining the position of the infrared beacon of the unmanned aerial vehicle in the target image according to the ambient infrared light interference source.
And thirdly, identifying through controlling the infrared beacon strobe of the unmanned aerial vehicle. Before acquiring a plurality of target images of the unmanned aerial vehicle to be landed, the method further comprises the following steps:
s710: when detecting that the unmanned aerial vehicle to be landed is located above a landing area, sending a stroboscopic instruction to the unmanned aerial vehicle, wherein the stroboscopic instruction instructs an infrared beacon of the unmanned aerial vehicle to flash according to a preset frequency;
s720: acquiring a plurality of continuous-time target images of a single camera, wherein the shooting frequency of adjacent target images is less than the preset frequency of the unmanned aerial vehicle;
s730: and comparing a plurality of continuous-time target images of the single camera, identifying the infrared beacon of the unmanned aerial vehicle in the target images based on the flickering of the infrared beacon, and determining the position of the infrared beacon of the unmanned aerial vehicle in the target images.
The infrared beacons flash at a preset frequency, and in the shot target images with continuous time, the former target image has the infrared beacon, and the latter target image does not have the infrared beacon. Whether the infrared beacons in the multiple target images are developed or not and the development positions are identified through comparison so as to identify the infrared beacons of the unmanned aerial vehicle and distinguish the ambient infrared light interference sources.
As shown in fig. 3, the present invention also provides a device for guiding an unmanned aerial vehicle to land accurately, the device comprising:
the camera assembly comprises a plurality of cameras positioned in a landing area, and is used for acquiring a plurality of target images of the unmanned aerial vehicle to be landed; the plurality of target images are obtained by shooting infrared beacons of the unmanned aerial vehicle through a plurality of corresponding cameras;
the calculation module is used for calculating the position and the vertical height of the unmanned aerial vehicle according to the corresponding position of the infrared beacon in the target image and the central position of the landing area;
the attitude adjusting module is used for determining attitude adjusting information of the unmanned aerial vehicle according to the position and the vertical height of the unmanned aerial vehicle;
and the communication module is used for controlling the unmanned aerial vehicle according to the attitude adjustment information so as to enable the unmanned aerial vehicle to accurately land in a landing area.
Preferentially, the calculation module calculates the position and height of the unmanned aerial vehicle according to the position of the infrared beacon corresponding to the target image and the central position of the landing area, and specifically includes:
according to the corresponding position and the central position of the infrared beacon in the target image, calculating the horizontal distance between the unmanned aerial vehicle and the central position, and determining the position of the unmanned aerial vehicle;
and calculating the vertical height of the relative landing area of the unmanned aerial vehicle according to the corresponding positions of the infrared beacons in the plurality of target images and the wide angle information of the cameras.
Preferably, the device further comprises a comparison module and an identification module;
the camera assembly is also used for acquiring an environment image of the unmanned aerial vehicle to be landed;
the comparison module is used for comparing the environmental image with the target image and identifying to obtain an environmental infrared light interference source;
the identification module is used for identifying and determining the position of the infrared beacon of the unmanned aerial vehicle in the target image according to the ambient infrared light interference source.
The invention also provides an unmanned aerial vehicle hangar which is provided with a landing area for landing the unmanned aerial vehicle, a camera assembly and a processor;
the camera assembly comprises a plurality of cameras which are positioned at non-central positions of the landing area, and is used for acquiring a plurality of target images of the unmanned aerial vehicle to be landed; the plurality of target images are obtained by shooting infrared beacons of the unmanned aerial vehicle through a plurality of corresponding cameras;
the processor calculates the position and the vertical height of the unmanned aerial vehicle according to the corresponding position of the infrared beacon in the target image and the central position of the landing area;
the processor determines attitude adjustment information of the unmanned aerial vehicle according to the position and the vertical height of the unmanned aerial vehicle;
the processor controls the unmanned aerial vehicle according to the attitude adjustment information, so that the unmanned aerial vehicle can land in a landing area accurately.
The method and the device for guiding the unmanned aerial vehicle to land accurately and other structures of the unmanned aerial vehicle hangar are disclosed in the embodiment and refer to the prior art.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a method for guiding unmanned aerial vehicle accurate landing, its characterized in that, unmanned aerial vehicle carries with infrared beacon, the method includes the following step:
acquiring a plurality of target images of an unmanned aerial vehicle to be landed; the target images are obtained by shooting infrared beacons of the unmanned aerial vehicle through a plurality of corresponding cameras, and the cameras are located in non-central positions of a landing area;
calculating the position and the vertical height of the unmanned aerial vehicle according to the corresponding position of the infrared beacon in the target image and the central position of the landing area;
determining attitude adjustment information of the unmanned aerial vehicle according to the position and the vertical height of the unmanned aerial vehicle;
and controlling the unmanned aerial vehicle according to the attitude adjustment information so that the unmanned aerial vehicle accurately lands in a landing area.
2. The method for guiding the unmanned aerial vehicle to land accurately according to claim 1, wherein the method for calculating the position and the vertical height of the unmanned aerial vehicle according to the corresponding position of the infrared beacon in the target image and the central position of the landing area specifically comprises:
according to the corresponding position and the central position of the infrared beacon in the target image, calculating the horizontal distance between the unmanned aerial vehicle and the central position, and determining the position of the unmanned aerial vehicle;
and calculating the vertical height of the unmanned aerial vehicle relative landing area according to the corresponding positions of the infrared beacons in the target images and the wide-angle information corresponding to the cameras.
3. The method for guiding the unmanned aerial vehicle to land accurately according to claim 1, wherein the attitude adjustment information of the unmanned aerial vehicle is determined according to the position and the vertical height of the unmanned aerial vehicle, and the method specifically comprises the following steps:
determining the adjustment amplitude of the attitude adjustment information according to the vertical height;
when the vertical height is larger, the adjustment amplitude is quick;
when the vertical height is small, the adjustment amplitude is slow.
4. The method for guiding the unmanned aerial vehicle to land accurately according to any one of claims 1 to 3, wherein the camera is an infrared camera, and the method further comprises the following steps of identifying an ambient infrared light interference source, specifically comprising:
acquiring a target image set, wherein the target image set is obtained by a plurality of target image sets shot by a plurality of cameras in the same time;
and identifying whether an abnormal infrared light source exists in the target image set, and if so, marking the abnormal infrared light source as an ambient infrared light interference source.
5. A method for guiding a drone to land accurately according to any one of claims 1 to 3, further comprising, before calculating the position and vertical height of the drone:
acquiring a plurality of environment images of the unmanned aerial vehicle to be landed, wherein the environment images correspond to the target images;
comparing the corresponding environment image with the target image, and identifying to obtain an environment infrared interference source;
and identifying and determining the position of the infrared beacon of the unmanned aerial vehicle in the target image according to the ambient infrared light interference source.
6. The method of guiding precise landing of a drone of claim 5, wherein:
the camera comprises a plurality of infrared cameras and a plurality of visible light cameras with the number corresponding to that of the infrared cameras, and one visible light camera is arranged at the same position corresponding to one infrared camera;
the visible light camera is used for acquiring a plurality of environment images; and a plurality of infrared cameras correspondingly acquire a plurality of target images.
7. A method for guiding a drone to land accurately according to any one of claims 1 to 3, characterized in that before acquiring a plurality of target images of the drone to land, it further comprises:
when detecting that the unmanned aerial vehicle to be landed is located above a landing area, sending a stroboscopic instruction to the unmanned aerial vehicle, wherein the stroboscopic instruction instructs an infrared beacon of the unmanned aerial vehicle to flash according to a preset frequency;
acquiring a plurality of continuous-time target images of a single camera, wherein the shooting frequency of adjacent target images is less than the preset frequency of the unmanned aerial vehicle;
and comparing a plurality of continuous-time target images of the single camera, identifying the infrared beacon of the unmanned aerial vehicle in the target images based on the flickering of the infrared beacon, and determining the position of the infrared beacon of the unmanned aerial vehicle in the target images.
8. The utility model provides a device that guide accurate descending of unmanned aerial vehicle, its characterized in that, the device includes:
the camera assembly comprises a plurality of cameras which are positioned at non-central positions of the landing area, and is used for acquiring a plurality of target images of the unmanned aerial vehicle to be landed; the plurality of target images are obtained by shooting infrared beacons of the unmanned aerial vehicle through a plurality of corresponding cameras;
the calculation module is used for calculating the position and the vertical height of the unmanned aerial vehicle according to the corresponding position of the infrared beacon in the target image and the central position of the landing area;
the attitude adjusting module is used for determining attitude adjusting information of the unmanned aerial vehicle according to the position and the vertical height of the unmanned aerial vehicle;
and the communication module is used for controlling the unmanned aerial vehicle according to the attitude adjustment information so as to enable the unmanned aerial vehicle to accurately land in a landing area.
9. The device of claim 8, wherein the calculation module calculates the position and height of the drone according to the position of the infrared beacon corresponding to the target image and the center position of the landing area, and specifically includes:
according to the corresponding position and the central position of the infrared beacon in the target image, calculating the horizontal distance between the unmanned aerial vehicle and the central position, and determining the position of the unmanned aerial vehicle;
and calculating the vertical height of the relative landing area of the unmanned aerial vehicle according to the corresponding positions of the infrared beacons in the plurality of target images and the wide angle information of the cameras.
10. An unmanned aerial vehicle hangar is characterized in that the unmanned aerial vehicle hangar is provided with a landing area for landing of an unmanned aerial vehicle, a camera assembly and a processor;
the camera assembly comprises a plurality of cameras positioned in a landing area, and is used for acquiring a plurality of target images of the unmanned aerial vehicle to be landed; the plurality of target images are obtained by shooting infrared beacons of the unmanned aerial vehicle through a plurality of corresponding cameras;
the processor calculates the position and the vertical height of the unmanned aerial vehicle according to the corresponding position of the infrared beacon in the target image and the central position of the landing area;
the processor determines attitude adjustment information of the unmanned aerial vehicle according to the position and the vertical height of the unmanned aerial vehicle;
the processor controls the unmanned aerial vehicle according to the attitude adjustment information, so that the unmanned aerial vehicle can land in a landing area accurately.
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