CN114594789A

CN114594789A - Unmanned aerial vehicle recovery guiding method and device and electronic equipment

Info

Publication number: CN114594789A
Application number: CN202210209105.2A
Authority: CN
Inventors: 胡阳; 董海颖
Original assignee: Feixun Zhihang Chengdu Technology Co ltd
Current assignee: Feixun Zhihang Chengdu Technology Co ltd
Priority date: 2022-03-03
Filing date: 2022-03-03
Publication date: 2022-06-07

Abstract

The application relates to an unmanned aerial vehicle recovery guiding method, an unmanned aerial vehicle recovery guiding device and electronic equipment, wherein the method comprises the following steps: acquiring the height of the unmanned aerial vehicle in real time; acquiring an image outside the recovery cabin, a first image inside the recovery cabin and a second image inside the recovery cabin according to the acquisition rule; determining first contour information, second contour information and third contour information according to the images outside the recovery cabin, the first images inside the recovery cabin and the second images inside the recovery cabin; determining first, second, and third location information based on a location determination rule; outputting a first descending instruction and a starting instruction when the first identification mark image is positioned at a preset position; outputting a second descending instruction when the second identification mark image is positioned at the preset position; and outputting a third descending instruction when the third identification mark image is positioned at the preset position. This application can improve unmanned aerial vehicle and return descending precision of retrieving the cabin in-process.

Description

Unmanned aerial vehicle recovery guiding method and device and electronic equipment

Technical Field

The application relates to the field of unmanned aerial vehicles, in particular to a method and a device for recovering and guiding an unmanned aerial vehicle and electronic equipment.

Background

The unmanned plane is called unmanned plane for short, and is an unmanned aerial vehicle operated by radio remote control equipment and a self-contained program control device. Unmanned aerial vehicles are in fact a general term for unmanned aerial vehicles, and can be defined from a technical perspective as follows: unmanned fixed wing aircraft, unmanned VTOL aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aircraft, unmanned parachute-wing aircraft, etc.

At present, unmanned aerial vehicle is retrieving the in-process, returns through manual control unmanned aerial vehicle mostly and retrieves the cabin, because the position that sets up of some recovery cabins leads to controlling personnel to retrieve the cabin far away from, leads to the manual control unmanned aerial vehicle to descend the precision lower.

Disclosure of Invention

In order to improve the landing precision of the unmanned aerial vehicle in the process of returning to the recovery cabin, the application provides an unmanned aerial vehicle recovery guiding method, an unmanned aerial vehicle recovery guiding device and electronic equipment.

In a first aspect, the application provides a method for guiding recovery of an unmanned aerial vehicle, which adopts the following technical scheme:

the utility model provides an unmanned aerial vehicle retrieves guiding method, unmanned aerial vehicle retrieves guiding method is used for controlling unmanned aerial vehicle to get into retrieve the under-deck, is provided with the identification mark in the preset position of retrieving the under-deck, the identification mark includes, first identification mark, second identification mark and third identification mark, the third identification mark includes a plurality of sub-signs, and the method includes:

acquiring the current height of the unmanned aerial vehicle in real time;

when the unmanned aerial vehicle is at a first preset height, acquiring an image outside the recovery cabin;

determining first contour information of a first identification mark according to an image outside the recovery cabin, wherein the first contour information comprises an inner contour and an outer contour of the first identification mark;

determining first position information according to the recovery cabin external image and the first contour information based on a preset first position determination rule, wherein the first position information is the relative position of the first identification mark image and the recovery cabin external image;

judging whether the first identification mark image is located at a preset position of an image outside the recovery cabin according to the first position information;

if so, outputting a first descending instruction and a starting instruction;

after the preset time, acquiring a first image in the recovery cabin;

determining second contour information of a second identification mark according to the first image in the recycling bin, wherein the second contour information comprises an inner contour and an outer contour of the second identification mark;

determining second position information according to the first image and the second contour information in the recovery cabin based on a preset second position determination rule, wherein the second position information is the relative position of the second identification mark image and the first image in the recovery cabin;

judging whether the second identification mark image is located at the preset position of the first image in the recovery cabin according to the second position information;

if yes, outputting a second descending instruction;

when the unmanned aerial vehicle is at a second preset height, acquiring a second image in the recovery cabin;

determining third contour information of a third identification mark according to a second image in the recovery cabin, wherein the third contour information comprises an inner contour and an outer contour of the third identification mark;

determining third position information according to the second image and the third contour information in the recovery cabin based on a preset third position determination rule, wherein the third position information is the relative position of the third identification mark image and the second image in the recovery cabin;

judging whether the third identification mark image is located at the preset position of the second image in the recovery cabin according to the third position information;

if yes, outputting a third descending instruction.

By adopting the technical scheme, the first identification mark is identified by sequentially identifying the first identification mark, the second identification mark and the third identification mark, positioning the unmanned aerial vehicle according to the position of the first identification mark in the image outside the recovery cabin, controlling the unmanned aerial vehicle to descend after the positioning is finished, controlling the recovery cabin to open after the unmanned aerial vehicle descends to a specified height, identifying the second identification mark after the recovery cabin is opened, the secondary positioning of the unmanned aerial vehicle is realized according to the position of the second identification mark in the first image in the recovery cabin, the unmanned aerial vehicle is controlled to descend after the positioning is finished, the third identification mark is identified after the unmanned aerial vehicle descends to the designated height, the third positioning to the unmanned aerial vehicle is realized through the position of the third identification mark in the second image in the recovery cabin, and the unmanned aerial vehicle is controlled to descend to the recovery cabin after the positioning is finished, so that the landing precision of the unmanned aerial vehicle in the process of returning to the recovery cabin is improved.

Optionally, the method further includes:

determining angle information according to a second image and third contour information in the recovery cabin based on a preset angle determination rule;

judging whether the angle information is equal to an angle preset value or not;

if not, outputting a fourth adjusting instruction.

Through adopting above-mentioned technical scheme, unmanned aerial vehicle descends the in-process, according to the angle information of third discernment sign, adjusts unmanned aerial vehicle's angle for unmanned aerial vehicle descends to retrieving behind the cabin, and unmanned aerial vehicle's aircraft nose is at the assigned position.

Optionally, a camera is vertically arranged on the unmanned aerial vehicle body, and a shooting end of the camera is vertically towards the ground to obtain a method for recovering an external image of the cabin, a first image inside the cabin and a second image inside the cabin, and the method specifically comprises the following steps:

acquiring an image outside the recovery cabin, a first image inside the recovery cabin and a second image inside the recovery cabin, which are acquired by a camera;

storing the recovery compartment exterior image, the recovery compartment interior first image and the recovery compartment interior second image in a database;

and calling an image outside the recovery cabin, a first image inside the recovery cabin and a second image inside the recovery cabin.

Optionally, the method for determining the first contour information of the first identification mark according to the image outside the recovery compartment, the method for determining the second contour information of the second identification mark according to the first image inside the recovery compartment, or the method for determining the third contour information of the third identification mark according to the second image inside the recovery compartment specifically includes:

converting the acquired images outside the recovery cabin into a first gray-scale image;

carrying out binarization on the first gray-scale image to obtain a first image to be identified;

determining an inner contour and an outer contour of a first identification mark in a first image to be identified based on a preset contour extraction algorithm;

or converting the acquired first image in the recovery cabin into a second gray-scale image;

carrying out binarization on the second gray-scale image to obtain a second image to be identified;

determining the inner contour and the outer contour of a second identification mark in a second image to be identified based on a preset contour extraction algorithm;

or converting the obtained second image in the recovery cabin into a third gray-scale image;

carrying out binarization on the third gray-scale image to obtain a third image to be identified;

and determining the inner contour and the outer contour of a third identification mark in a third image to be identified based on a preset contour extraction algorithm.

Optionally, the outer contours of the first identification mark and the second identification mark are both square, and the outer contour of each sub-mark of the third identification mark is both square; the method for determining the first position information or the second position information or the third position information based on the preset first position determination rule and the first contour information according to the image outside the recovery cabin or the preset second position determination rule and the preset third position determination rule according to the first image inside the recovery cabin and the second contour information specifically comprises the following steps:

establishing a first coordinate system by taking the center of the acquired image outside the recovery cabin as an origin;

determining the midpoint of the outer contour of the first identification mark;

calculating the coordinate of the midpoint of the outline of the first identification mark in the first coordinate system, namely first position information;

or, establishing a second coordinate system by taking the center of the acquired first image in the recovery cabin as an origin;

determining the midpoint of the outer contour of the second identification mark;

calculating the coordinate of the midpoint of the outline of the second identification mark in the second coordinate system, namely second position information;

or, establishing a third coordinate system by taking the center of the obtained second image in the recovery cabin as an origin;

determining the midpoint of the outer contour of the third identification mark;

and calculating the coordinates of the middle points of the outer contours of the five sub-identifiers included in the third identification identifier in the third coordinate system, namely the third position information.

Optionally, a method for determining angle information according to the second image and the third contour information inside the recovery cabin based on a preset angle determination rule specifically includes;

selecting sub-identifiers in the third identification identifiers as target sub-identifiers based on a preset identifier selection rule;

determining the middle point of the outer contour of the target sub-identifier;

calculating the included angle between the straight line where the middle point of any adjacent target sub-mark is located and the straight line where the side of a second image in the preset recycling bin is located;

and determining angle information according to the included angle between the straight line where the middle point of any adjacent target sub-mark is located and the preset straight line where the side of the second image in the recovery cabin is located.

Optionally, the method for selecting a sub identifier of the plurality of third identifiers based on the preset identifier selection rule specifically includes:

establishing a sub-identifier recognition model;

and inputting the inner contour image of the sub-identifier into a sub-identifier recognition model to determine the target sub-identifier.

The second aspect, this application provides an unmanned aerial vehicle retrieves guider adopts following technical scheme:

an unmanned aerial vehicle retrieves guider includes:

the first acquisition module is used for acquiring the current height of the unmanned aerial vehicle in real time;

the second acquisition module is used for acquiring an image outside the recovery cabin when the unmanned aerial vehicle is at the first preset height;

the first processing module is used for determining first contour information of the first identification mark according to the image outside the recovery cabin;

the second processing module is used for determining first position information according to the recovery cabin external image and the first contour information based on a preset first position determination rule;

the first judgment module is used for judging whether the first identification mark image is located at the preset position of the image outside the recovery cabin according to the first position information;

the first instruction output module is used for outputting a first descending instruction and a starting instruction if the first descending instruction and the starting instruction are output;

the third acquisition module is used for acquiring a first image in the recovery cabin after the preset time;

the third processing module is used for determining second contour information of the second identification mark according to the first image in the recovery cabin;

the fourth processing module is used for determining second position information according to the first image and the second outline information in the recovery cabin based on a preset second position determination rule;

the second judgment module is used for judging whether the second identification mark image is positioned at the preset position of the first image in the recovery cabin according to the second position information;

the second instruction output module is used for outputting a second descending instruction if the first descending instruction is output;

the fourth acquisition module is used for acquiring a second image in the recovery cabin when the unmanned aerial vehicle is at a second preset height;

the fifth processing module is used for determining third outline information of a third identification mark according to the second image in the recovery cabin, and the third outline information comprises an inner outline and an outer outline of the third identification mark;

the sixth processing module is used for determining third position information according to the second image and the third contour information in the recovery cabin based on a preset third position determination rule;

the third judging module is used for judging whether the third identification mark image is positioned at the preset position of the second image in the recovery cabin according to the third position information;

and the third instruction output module is used for outputting a third descending instruction if the first descending instruction is positive.

In a third aspect, the present application provides an electronic device, which adopts the following technical solutions:

an electronic device comprising a memory and a processor, the memory having stored thereon a computer program of a drone recycling boot method that is loadable and executable by the processor.

In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:

a computer readable storage medium storing a computer program of a drone recycling boot method that can be loaded and executed by a processor.

In summary, the present application includes at least one of the following beneficial technical effects:

through discerning first discernment sign in proper order, second discernment sign and third discernment sign, discern first discernment sign, realize the location to unmanned aerial vehicle according to the position of first discernment sign in retrieving cabin outside image, control unmanned aerial vehicle to descend after the location is accomplished, after descending the appointed height, control and retrieve the cabin and open, retrieve the cabin and open back discernment second discernment sign, realize the secondary positioning to unmanned aerial vehicle according to the position of second discernment sign in retrieving the inside first image of cabin, control unmanned aerial vehicle to descend after the location is accomplished, after descending the appointed height, discern the third discernment sign, realize the cubic location to unmanned aerial vehicle through the position of third discernment sign in retrieving the inside second image of cabin, control unmanned aerial vehicle descends to retrieving the cabin after the location is accomplished, improve the landing precision that unmanned aerial vehicle returned in-recovery cabin process.

Drawings

Fig. 1 is a flowchart of a method for guiding recovery of an unmanned aerial vehicle provided in the present application.

Fig. 2 is a schematic structural diagram of an unmanned aerial vehicle recovery guiding device provided by the present application.

Fig. 3 is a schematic structural diagram of an electronic device provided in the present application.

Description of reference numerals: 200. an unmanned aerial vehicle recovery guiding device; 201. a first acquisition module; 202. a second acquisition module; 203. a first processing module; 204. a second processing module; 205. a first judgment module; 206. a first instruction output module; 207. a third obtaining module; 208. a third processing module; 209. a fourth processing module; 210. a second judgment module; 211. a second instruction output module; 212. a fourth obtaining module; 213. a fifth processing module; 214. a sixth processing module; 215. a third judging module; 216. a third instruction output module; 301. a CPU; 302. a ROM; 303. a RAM; 304. an I/O interface; 305. an input section; 306. an output section; 307. a storage section; 308. a communication section; 309. a driver; 310. a removable media.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to fig. 1-3 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The embodiment of the application discloses unmanned aerial vehicle retrieves guide method, this method is used for controlling unmanned aerial vehicle to get into and retrieves the under-deck, preset position in retrieving the under-deck is provided with the identification, the identification includes, first identification, second identification and third identification, the third identification includes five sub-signs, be first sign respectively, the second sign, the third sign, fourth sign and fifth sign, five sub-signs are arranged according to certain rule, wherein first sign wherein, the second sign, third sign and fourth sign are arranged according to 2 x 2 matrix, the fifth sign is located the central point of first sign, the second sign, the third sign and fourth sign. The sub-marks of the first identification mark, the second identification mark and the third identification mark are all square in whole, identification patterns are arranged in the square, the identification patterns in the sub-marks of the first identification mark, the second identification mark and the third identification mark are designed to be white, and the rest parts are black.

Referring to fig. 1, the unmanned aerial vehicle recovery guidance method includes:

s101: and acquiring the current height of the unmanned aerial vehicle in real time.

Specifically, be provided with range unit on the unmanned aerial vehicle body, at unmanned aerial vehicle flight in-process, range unit real-time measurement unmanned aerial vehicle is apart from the height that the height on ground is unmanned aerial vehicle located to highly upload to the server and store in the database in real time with the current height that locates of measuring unmanned aerial vehicle, when needing, can transfer current unmanned aerial vehicle height of locating from the database.

S102: when unmanned aerial vehicle was in first when predetermineeing the height, acquireed and retrieve the outside image in cabin.

Concretely, return the in-process of retrieving the cabin at unmanned aerial vehicle, at first control unmanned aerial vehicle reachs the first high department of predetermineeing in recovery cabin top, the vertical camera that is provided with on the unmanned aerial vehicle body, the end of making a video recording of camera is towards ground, hover when retrieving the cabin directly over when unmanned aerial vehicle, the camera keeps perpendicular with ground, gather through the camera this moment and retrieve the outside image of cabin, and upload the recovery outside image of cabin of gathering to the server and store in the database, retrieve the outside image of cabin from the database when needing.

S103: and determining first contour information of the first identification mark according to the recovery cabin external image.

Specifically, the first contour information comprises an inner contour and an outer contour of a first identification mark, the inner contour is a contour of an identification pattern in the first identification mark, the outer contour is an edge contour of the first identification mark, after an image outside the recovery cabin is obtained, the obtained image outside the recovery cabin is converted into a gray-scale image to obtain a first gray-scale image, binarization processing is performed on the first gray-scale image to enable the boundary between a black part and a white part in the first identification mark to be more obvious, a first image to be identified is obtained, and then the inner contour and the outer contour of the first identification mark in the first image to be identified are extracted through a preset contour extraction algorithm.

After the outline of the first identification mark image is determined, calculating the side length ratio of any two sides of the outline, outputting a first adjusting instruction by a server when the side length ratio of one or more groups of the outline is not 1:1, receiving the first adjusting instruction by a flight controller of the unmanned aerial vehicle, and adjusting the unmanned aerial vehicle to keep the unmanned aerial vehicle horizontal; and when the side length ratio of any two sides of the outer contour is 1:1, executing the step S104.

S104: and determining first position information according to the recovery cabin external image and the first contour information based on a preset first position determination rule.

Specifically, the first position information is a relative position relationship between a first identification mark and an acquired image outside the recovery cabin, after the image outside the recovery cabin is acquired, a first coordinate system is established by taking the center of the image outside the recovery cabin as an original point, an X axis is perpendicular to the width direction of the image outside the recovery cabin, a Y axis is perpendicular to the length direction of the image outside the recovery cabin, the right side of the original point is the positive direction of the X axis, the upper side of the original point is the positive direction of the Y axis, the image outside the recovery cabin is wholly rectangular, a midpoint is an intersection point of diagonal lines of the image outside the recovery cabin, after the establishment of the first coordinate system is completed, the midpoint of the first identification mark contained in the image outside the recovery cabin is determined, the midpoint of the first identification mark is an intersection point of the outline diagonal lines of the first identification mark, after the midpoint of the first identification mark is determined, distances from the midpoint of the first identification mark to the X axis and the Y axis are respectively calculated, and determining the coordinates of the first identification mark, namely the first position information of the first identification mark.

S105: and judging whether the first identification mark image is located at the preset position of the image outside the recovery cabin according to the first position information.

Specifically, in this embodiment, the preset position of the image outside the recovery cabin is the central position of the image outside the recovery cabin, after the midpoint coordinate of the first identification mark is determined, when the midpoint coordinate is (0, 0), that is, when the midpoint coordinate coincides with the origin, it is determined that the first identification mark image is located at the central position of the image outside the recovery cabin, and when the midpoint coordinate is not (0, 0), it is determined that the first identification mark image is not located at the central position of the image outside the recovery cabin. The preset position can be adjusted according to the installation position of the camera on the unmanned aerial vehicle, and the limitation is not made here.

S106: if not, the server outputs a first control instruction at the moment, and the flight controller of the unmanned aerial vehicle receives the first control instruction to control the unmanned aerial vehicle to horizontally move until the first identification mark image is located at the center of the image outside the recovery cabin, and controls the unmanned aerial vehicle to stop horizontally moving.

S107: and if so, outputting a first descending instruction and an opening instruction.

Specifically, when judging that first discernment sign image is located the central point of retrieving the outside image in cabin and puts, the first instruction of descending of server output at first, unmanned aerial vehicle's flight controller receives first instruction of descending control unmanned aerial vehicle and descends appointed height, later output opening instruction, retrieves cabin controller and receives opening instruction control and retrieves the cabin and open.

S108: and after the preset time, acquiring a first image in the recovery cabin.

Specifically, the preset time is the time spent on the complete opening of the recovery cabin, after the preset time, namely the complete opening of the recovery cabin, the camera collects the first image information in the recovery cabin, the collected first image in the recovery cabin is uploaded to the server and stored in the database, and the first image in the recovery cabin is called from the database as required.

S109: and determining second outline information of the second identification mark image according to the first image in the recycling bin.

Specifically, the second contour information includes an inner contour and an outer contour of the second identification mark image, the inner contour is a contour of an identification pattern in the second identification mark image, the outer contour is an edge contour of the second identification mark image, after the first image in the recovery cabin is obtained, the obtained first image in the recovery cabin is converted into a gray scale image to obtain a second gray scale image, binarization processing is performed on the second gray scale image to enable the boundary between a black part and a white part in the second identification mark image to be more obvious, the second image to be identified is obtained, and then the inner contour and the outer contour of the second identification mark image in the second image to be identified are determined through a preset contour extraction algorithm.

After the outline of the second identification mark image is determined, calculating the proportion of the side lengths of any two sides of the outline, when the side lengths of one or more groups are not 1:1, outputting a second adjusting instruction by a server, receiving the second adjusting instruction by a flight controller of the unmanned aerial vehicle, and adjusting the unmanned aerial vehicle to keep the unmanned aerial vehicle horizontal; when the side length ratio of any two sides of the outer contour is 1:1, the step S110 is executed.

S110: and determining second position information according to the first image and the second contour information in the recovery cabin based on a preset second position determination rule.

Specifically, the second position information is the relative position relationship between the second identification mark image and the acquired first image in the recovery cabin, after the first image in the recovery cabin is acquired, a second coordinate system is established by taking the center of the first image in the recovery cabin as an original point, the X axis is perpendicular to the width direction of the first image in the recovery cabin, the Y axis is perpendicular to the length direction of the first image in the recovery cabin, the right side of the original point is the positive direction of the X axis, the upper side of the original point is the positive direction of the Y axis, the first image in the recovery cabin is wholly rectangular, the midpoint is the intersection point of the diagonal line of the first image in the recovery cabin, after the second coordinate system is established, the midpoint of the second identification mark image contained in the first image in the recovery cabin is determined, the midpoint of the second identification mark image is the intersection point of the diagonal line of the outline of the second identification mark image, and after the midpoint of the second identification mark image is determined, and respectively calculating the distances from the midpoint of the second identification image to the X axis and the Y axis, and determining the coordinates of the second identification image, namely the second position information of the second identification image.

S111: and judging whether the second identification mark image is located at the preset position of the first image in the recovery cabin according to the second position information.

Specifically, in this embodiment, the preset position of the first image inside the recovery compartment is the central position of the first image inside the recovery compartment, after the midpoint coordinate of the second identification mark image is determined, when the midpoint coordinate of the second identification mark image is (0, 0), that is, when the midpoint coordinate of the second identification mark image coincides with the origin, it is determined that the second identification mark image is located at the central position of the first image inside the recovery compartment, and when the midpoint coordinate of the second identification mark image is not (0, 0), it is determined that the second identification mark image is not located at the central position of the first image inside the recovery compartment. The preset position can be adjusted according to the installation position of the camera on the unmanned aerial vehicle, and the limitation is not made here.

S112: if not, the server outputs a second control instruction at the moment, the flight controller of the unmanned aerial vehicle receives the second control instruction to control the unmanned aerial vehicle to horizontally move until the second identification mark image is located at the center of the first image in the recovery cabin, and the unmanned aerial vehicle is controlled to stop horizontally moving.

S113: if yes, outputting a second descending instruction.

Specifically, when judging that the second identification mark image is located the central point of the first image in the recovery cabin, the server outputs a second descending instruction, and the flight controller of the unmanned aerial vehicle receives the second descending instruction and controls the unmanned aerial vehicle to vertically descend to the designated height.

S114: when unmanned aerial vehicle is in the second and predetermines the height, acquire the inside second image in recovery cabin.

Specifically, after the unmanned aerial vehicle flight controller receives and receives a second descending instruction to control the unmanned aerial vehicle to descend to a specified height, the unmanned aerial vehicle is at a second preset height, the second image in the recovery cabin is collected through the camera at the moment, the collected second image in the recovery cabin is uploaded to the server and stored in the database, and the second image in the recovery cabin is called from the database as required.

S115: and determining third contour information of the third identification mark according to the second image in the recovery cabin.

Specifically, the third identification mark comprises five sub-marks, so that the third contour information comprises an outer contour and an inner contour of each sub-mark image, the inner contour is a contour of an identification pattern in the sub-mark image, the outer contour is an edge contour of the sub-mark image, the inner contour of each sub-mark is different, after the second image in the recovery cabin is obtained, the obtained second image in the recovery cabin is converted into a gray-scale image to obtain a third gray-scale image, binarization processing is performed on the third gray-scale image, so that the boundary between a black part and a white part in each sub-mark image is more obvious, the third image to be identified is obtained, and then the inner contour and the outer contour of each sub-mark image in the third image to be identified are determined through a preset contour extraction algorithm.

After the outline of each sub-identification image of the third identification mark is determined, calculating the side length ratio of any two sides of the outline of any sub-identification image, when the side length ratio of one or more groups of sub-identification images is not 1:1, outputting a third adjusting instruction by a server, receiving the third adjusting instruction by a flight controller of the unmanned aerial vehicle, and adjusting the unmanned aerial vehicle to keep the unmanned aerial vehicle horizontal; when the side length ratio of any two sides is 1:1, step S116 is executed.

S116: and determining third position information according to the second image and the third contour information in the recovery cabin based on a preset third position determination rule.

Specifically, the third position information is a relative position relationship between the third identification mark image and the obtained second image inside the recovery cabin, after the second image inside the recovery cabin is obtained, a third coordinate system is established by taking the center of the second image inside the recovery cabin as an origin, the X axis is perpendicular to the width direction of the second image inside the recovery cabin, the Y axis is perpendicular to the length direction of the second image inside the recovery cabin, the right side of the origin is the positive direction of the X axis, the upper side of the origin is the positive direction of the Y axis, the whole second image inside the recovery cabin is rectangular, the midpoint is an intersection point of diagonal lines of the second image inside the recovery cabin, after the establishment of the third coordinate system is completed, the midpoint of the third identification mark image contained in the second image inside the recovery cabin is determined, in this embodiment, the midpoint of the third identification mark image is the midpoint of the outer contour of the fifth mark, the midpoint of the outer contour of the fifth mark is the intersection point of the diagonal lines of the fifth mark, after the midpoint of the third identification image is determined, the distances from the midpoint of the third identification image to the X axis and the Y axis are respectively calculated, and the coordinate of the third identification image is determined, namely the third position information of the third identification image.

S117: and judging whether the third identification mark image is located at the preset position of the second image in the recovery cabin according to the third position information.

Specifically, in this embodiment, the preset position of the second image inside the recovery cabin is the central position of the second image inside the recovery cabin, after the midpoint coordinate of the third identification mark image is determined, when the midpoint coordinate of the third identification mark image is (0, 0), that is, the midpoint coordinate coincides with the origin, it is determined that the third identification mark image is located at the central position of the second image inside the recovery cabin, and when the midpoint coordinate of the third identification mark image is not (0, 0), it is determined that the third identification mark image is not located at the central position of the second image inside the recovery cabin. The preset position can be adjusted according to the installation position of the camera on the unmanned aerial vehicle, and the limitation is not made here.

S118: if not, the server outputs a third control instruction, the flight controller of the unmanned aerial vehicle receives the third control instruction to control the unmanned aerial vehicle to horizontally move until the third identification mark image is located at the center of the second image in the recovery cabin, and the unmanned aerial vehicle is controlled to stop horizontally moving.

S119: if yes, outputting a third descending instruction.

Specifically, when judging that the third identification image is located the central point of retrieving the inside second image in cabin, the server outputs the third descending instruction, and unmanned aerial vehicle's flight controller receives the third descending instruction, controls the appointed height of the vertical decline of unmanned aerial vehicle, gets into the assigned position of retrieving the under-deck.

After the unmanned aerial vehicle enters the recovery cabin, the unmanned aerial vehicle is required to ensure that the head of the unmanned aerial vehicle faces a specific direction, so the method further comprises the following steps:

and determining third angle information according to the second image and the third contour information in the recovery cabin based on a preset angle determination rule.

Specifically, the inner contours of the five sub-markers included in the third identification marker are different, the image of the inner contour of each sub-marker determined in the second image of the interior of the recovery cabin shot from different angles is obtained, establishing a sub-identifier recognition model according to the determined image of the inner contour of each sub-identifier in the second image in the recovery compartment, inputting the determined inner contour of each sub-identifier in the second image in the recovery compartment into the sub-identifier recognition model, determining a first identifier, a second identifier, a third identifier, a fourth identifier and a fifth identifier, wherein the first identifier, the second identifier, the third identifier and the fourth identifier are target sub-identifiers in the embodiment, and after the first identifier, the second identifier, the third identifier and the fourth identifier are recognized, and judging that the first mark, the second mark, the third mark and the fourth mark are positioned in a quadrant in a third coordinate system.

Specifically, corner points of the outer contour of the first identifier, the second identifier, the third identifier and the fourth identifier are respectively determined, coordinates of four corner points of each sub-identifier are respectively calculated, and when the coordinates of the four corner points of the first identifier are all located in a first quadrant, the first identifier is judged to be located in the first quadrant; when the coordinates of four corner points of the second identifier are all positioned in the second quadrant, judging that the second identifier is positioned in the first quadrant; when the coordinates of four corner points of the third identifier are all positioned in the third quadrant, judging that the third identifier is positioned in the third quadrant; and when the coordinates of the four corner points of the fourth mark are all positioned in the fourth quadrant, judging that the fourth mark is positioned in the fourth quadrant.

When the first indicator is located in the first quadrant, the second indicator is located in the second quadrant, the third indicator is located in the third quadrant, and the fourth indicator is located in the fourth quadrant, determining a first middle point of the first mark, a second middle point of the second mark, a third middle point of the third mark and a fourth middle point of the fourth mark according to the outer contours of the first mark, the second mark, the third mark and the fourth mark, respectively calculating included angles between a straight line determined by the first middle point and the second middle point and a straight line where two long sides of the second image in the recovery cabin are located, respectively calculating included angles between a straight line determined by the third middle point and the fourth middle point and a straight line where two long sides of the second image in the recovery cabin are located, respectively calculating included angles between a straight line determined by the first middle point and the third middle point and a straight line where two short sides of the second image in the recovery cabin are located, and respectively calculating included angles between a connecting line where the second middle point and the fourth middle point are located and a straight line where two short sides of the second image in the recovery cabin are located.

And judging whether the angle information is equal to an angle preset value, specifically, in the embodiment, the angle preset value is 180 degrees, when all included angles are 180 degrees, judging that the angle information is equal to the angle preset value, and when one or more included angles are not 180 degrees, judging that the angle information is not equal to the angle preset value.

If yes, the unmanned aerial vehicle is controlled to continuously descend.

If not, control unmanned aerial vehicle descending in-process, output fourth adjustment command, unmanned aerial vehicle's flight controller receives fourth adjustment command, and the angle of horizontal adjustment unmanned aerial vehicle is up to the angle information and accords with the angle default, judges that the angle information accords with the angle default after, stops the adjustment to unmanned aerial vehicle in the horizontal direction.

The embodiment of the application discloses guiding device is retrieved to unmanned aerial vehicle, refer to fig. 2, and guiding device 200 is retrieved to unmanned aerial vehicle includes:

the first obtaining module 201 is configured to obtain a current height of the unmanned aerial vehicle in real time;

the second obtaining module 202 is used for obtaining an image outside the recovery cabin when the unmanned aerial vehicle is at a first preset height;

the first processing module 203 is used for determining first contour information of the first identification mark according to the recovery cabin exterior image;

the second processing module 204 is used for determining first position information according to the recovery cabin external image and the first contour information based on a preset first position determination rule;

the first judging module 205 is configured to judge whether the first identification mark image is located at a preset position of an image outside the recovery compartment according to the first position information;

a first instruction output module 206, configured to output a first descending instruction and a starting instruction if yes;

a third obtaining module 207, configured to obtain a first image inside the recovery cabin after a preset time;

the third processing module 208 is configured to determine second contour information of the second identification mark image according to the first image inside the recovery compartment;

a fourth processing module 209, configured to determine second position information according to the first image and the second contour information inside the recovery compartment based on a preset second position determination rule;

the second judging module 210 is configured to judge whether the second identification mark image is located at the preset position of the first image in the recovery compartment according to the second position information;

a second instruction output module 211, configured to output a second descending instruction if yes;

a fourth obtaining module 212, configured to obtain a second image inside the recovery cabin when the unmanned aerial vehicle is at a second preset height;

the fifth processing module 213 is configured to determine third contour information of the third identification mark according to the second image inside the recovery compartment, where the third contour information includes an inner contour and an outer contour of the third identification mark;

a sixth processing module 214, configured to determine third position information according to the second image and the third contour information inside the recovery compartment based on a preset third position determination rule;

the third judging module 215 is configured to judge whether the third identification mark image is located at the preset position of the second image in the recovery compartment according to the third position information;

and a third instruction output module 216, configured to output a third descending instruction if the first descending instruction is positive.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the described module may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.

The embodiment of the application also discloses the electronic equipment. Referring to fig. 3, the electronic apparatus includes a Central Processing Unit (CPU)301 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)302 or a program loaded from a storage section 307 into a Random Access Memory (RAM) 303. In the RAM303, various programs and data necessary for system operation are also stored. The CPU301, ROM302, and RAM303 are connected to each other via a bus. An input/output (I/O) interface 304 is also connected to the bus.

The following components are connected to the I/O interface 304: an input section 305 including a keyboard, a mouse, and the like; an output section 306 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 307 including a hard disk and the like; and a communication section 308 including a network interface card such as a LAN card, a modem, or the like. The communication section 308 performs communication processing via a network such as the internet. Drivers 309 are also connected to the I/O interface 304 as needed. A removable medium 310 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 309 as necessary, so that a computer program read out therefrom is mounted into the storage section 307 as necessary.

In particular, according to embodiments of the present application, the process described above with reference to the flowchart fig. 1 may be implemented as a computer software program. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a machine-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via the communication section 308, and/or installed from the removable medium 310. The above-described functions defined in the apparatus of the present application are executed when the computer program is executed by the Central Processing Unit (CPU) 301.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the application referred to in the present application is not limited to the embodiments with a particular combination of the above-mentioned features, but also encompasses other embodiments with any combination of the above-mentioned features or their equivalents without departing from the spirit of the application. For example, the above features may be replaced with (but not limited to) features having similar functions as those described in this application.

Claims

1. The utility model provides an unmanned aerial vehicle retrieves guiding method which characterized in that: the unmanned aerial vehicle recovery guiding method is used for controlling the unmanned aerial vehicle to enter a recovery cabin, identification marks are arranged at preset positions of the recovery cabin, the identification marks comprise a first identification mark, a second identification mark and a third identification mark, the third identification mark comprises a plurality of sub-marks, and the method comprises the following steps:

acquiring the current height of the unmanned aerial vehicle in real time;

if so, outputting a first descending instruction and a starting instruction;

after the preset time, acquiring a first image in the recovery cabin;

if yes, outputting a second descending instruction;

if yes, outputting a third descending instruction.

2. The unmanned aerial vehicle recovery guidance method of claim 1, wherein: the method further comprises the following steps:

judging whether the angle information is equal to an angle preset value or not;

if not, outputting a fourth adjusting instruction.

3. The unmanned aerial vehicle recovery guidance method of claim 1, wherein: the vertical camera that is provided with on the unmanned aerial vehicle body, the shooting end of camera is vertical towards ground, acquires the method of retrieving the outside image in cabin, retrieving the inside first image in cabin and retrieving the inside second image in cabin, specifically includes:

4. The unmanned aerial vehicle recovery guidance method of claim 1, wherein: the method for determining the first contour information of the first identification mark according to the image outside the recovery cabin, the method for determining the second contour information of the second identification mark according to the first image inside the recovery cabin, or the method for determining the third contour information of the third identification mark according to the second image inside the recovery cabin specifically includes:

5. The unmanned aerial vehicle recovery guidance method of claim 4, wherein: the outer contours of the first identification mark and the second identification mark are both square, and the outer contour of each sub-mark of the third identification mark is both square; the method for determining the first position information or the method for determining the second position information or the method for determining the third position information according to the second image and the third contour information in the recovery compartment based on the preset first position determination rule, the first image and the first contour information in the recovery compartment, the second image and the second contour information in the recovery compartment, the third position determination rule, the second image and the third contour information in the recovery compartment specifically include:

determining the midpoint of the outer contour of the first identification mark;

determining the midpoint of the outer contour of the third identification mark;

6. The unmanned aerial vehicle recovery guidance method of claim 2, wherein: the method for determining the angle information according to the second image and the third contour information in the recovery cabin based on the preset angle determination rule specifically comprises the following steps;

selecting a sub-identifier of the third identification identifier as a target sub-identifier based on a preset identifier selection rule;

determining the middle point of the outer contour of the target sub-identifier;

and calculating the included angle between the straight line where the middle points of any adjacent target sub-identifiers are located and the straight line where the side of the second image in the preset recovery cabin is located.

7. The unmanned aerial vehicle recovery guidance method of claim 6, wherein: the method for selecting the sub-identifiers from the plurality of third identifiers based on the preset identifier selection rule specifically includes:

establishing a sub-identifier recognition model;

and inputting the inner contour image of the sub-identifier into a sub-identifier recognition model to determine a target sub-identifier.

8. The utility model provides an unmanned aerial vehicle guide recovery unit which characterized in that: the method comprises the following steps:

the first acquisition module (201) is used for acquiring the current height of the unmanned aerial vehicle in real time;

the second acquisition module (202) is used for acquiring an image outside the recovery cabin when the unmanned aerial vehicle is at a first preset height;

the first processing module (203) is used for determining first contour information of the first identification mark according to the recovery cabin exterior image;

the second processing module (204) is used for determining first position information according to the images outside the recovery cabin and the first contour information based on a preset first position determination rule;

the first judging module (205) is used for judging whether the first identification mark image is located at a preset position of an image outside the recovery cabin according to the first position information;

a first instruction output module (206) for outputting a first descending instruction and an opening instruction if the first descending instruction and the opening instruction are the same;

the third acquisition module (207) is used for acquiring a first image in the recovery cabin after the preset time;

a third processing module (208) for determining second contour information of the second identification mark according to the first image in the recycling bin;

a fourth processing module (209) for determining second position information according to the first image and the second contour information in the recovery compartment based on a preset second position determination rule;

the second judging module (210) is used for judging whether the second identification mark image is positioned at the preset position of the first image in the recovery cabin according to the second position information;

a second instruction output module (211) for outputting a second descending instruction if yes;

the fourth obtaining module (212) is used for obtaining a second image in the recovery cabin when the unmanned aerial vehicle is at a second preset height;

a fifth processing module (213) for determining third contour information of a third identification mark according to the second image in the recovery compartment, wherein the third contour information comprises an inner contour and an outer contour of the third identification mark;

a sixth processing module (214) for determining third position information according to the second image and the third contour information in the recovery compartment based on a preset third position determination rule;

a third judging module (215) for judging whether the third identification mark image is located at the preset position of the second image in the recovery cabin according to the third position information;

and a third instruction output module (216) for outputting a third descending instruction if the first descending instruction is positive.

9. An electronic device, characterized in that: comprising a memory and a processor, said memory having stored thereon a computer program which can be loaded by the processor and which performs the method of any of claims 1 to 7.

10. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 7.