CN114840004A - Unmanned aerial vehicle autonomous landing method based on two-dimensional code recognition - Google Patents
Unmanned aerial vehicle autonomous landing method based on two-dimensional code recognition Download PDFInfo
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- CN114840004A CN114840004A CN202210426017.8A CN202210426017A CN114840004A CN 114840004 A CN114840004 A CN 114840004A CN 202210426017 A CN202210426017 A CN 202210426017A CN 114840004 A CN114840004 A CN 114840004A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
Abstract
The invention discloses an unmanned aerial vehicle autonomous landing method based on two-dimension code recognition. A plurality of sensor information are fused in different stages, the unmanned aerial vehicle is guided to fly to a target area by GPS information in the initial stage, and then the coordinates of a landing position are locked by searching and identifying ground two-dimensional codes through visual information. And finally, calculating the self height and the target coordinate by using the information of a plurality of sensors, and realizing high-precision local positioning and autonomous landing of the quad-rotor unmanned aerial vehicle through a flight control algorithm. According to the method for autonomous landing of the quad-rotor unmanned aerial vehicle based on two-dimensional code recognition, the landing precision and the tracking efficiency are obviously improved.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to an identification and positioning technology based on a two-dimensional code as a bearing body.
Background
In recent years, especially in civilian field, plant protection unmanned aerial vehicle, the unmanned aerial vehicle of taking photo by plane and patrol and examine unmanned aerial vehicle's application and more popularize, improved people's work efficiency greatly, improved people's life and experienced at present, four rotor unmanned aerial vehicle outdoor location mainly fuse sensors such as IMU, barometer through the GPS.
The common GPS sensor is low in price, but the positioning accuracy is in the meter level, the error is larger when gusts affect the sensor, and the common GPS sensor is not suitable for high-accuracy local positioning and autonomous landing. In the market, the GPS sensor with the precision of centimeter level is high in price and complex in deployment, and meanwhile, the GPS sensor has large errors in height estimation, so that the GPS sensor is difficult to popularize. The integration error accumulation exists in the independent accelerometer and barometer sensors, and the accurate positioning and landing are not facilitated.
Disclosure of Invention
The invention aims to provide a method for identifying the landing of a quad-rotor unmanned aerial vehicle based on a two-dimensional code, so as to solve the problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows: a quad-rotor unmanned aerial vehicle autonomous landing method based on two-dimension code recognition comprises the following steps:
step 1, receiving the information which is preliminarily identified by a GPS positioning system and descending in a grading way according to the flying height of the unmanned aerial vehicle by the unmanned aerial vehicle;
step 2, when the unmanned aerial vehicle falls to a certain height, the target two-dimensional code can be searched, and an interest area is divided;
step 3, carrying out picture matching in the interest area by a vision module, and positioning the space position of the two-dimensional code by taking the position of the unmanned aerial vehicle as an origin after successful matching to establish a space coordinate system;
and 4, receiving the positioning coordinate information sent by the vision module and the height information sent by the ultrasonic ranging sensor through the serial port, processing and judging the acquired information by the flight control processor, and outputting a navigation instruction which can be identified by the unmanned aerial vehicle platform flight control module, so that the unmanned aerial vehicle is controlled to independently land on the target two-dimensional code.
Further, the specific process of step 3-4 is:
the unmanned aerial vehicle searches for the approximate position of the target two-dimensional code in a large range according to a GPS positioning system and continuously lands according to the height of the target two-dimensional code; capturing an image by adopting a visual recognition system, and processing the image to acquire information; after the image is corrected, decoding is carried out to extract QR code content, data is decoded according to QR code coding specifications, and matching is carried out after decoding is successful; after decoding is completed, a space coordinate system is established by taking the position of the unmanned aerial vehicle as an original point to obtain the accurate space coordinate of the two-dimensional code, and the information is transmitted to enable the unmanned aerial vehicle to land to reach the target geographic position through control.
Further, the visual recognition system processes the image, and the image can be processed by graying, image rotation, threshold segmentation and image denoising methods, so that the data volume of the image is reduced, the output frame rate is improved, and the real-time performance is achieved.
Further, the method can decode the QR code according to the QR code coding basis to obtain the content, then matches the content with the set content, and if the QR code is consistent with the set content, the matching is successful, and the positioning is accurate.
Compared with the prior art, the embodiment of the invention has the advantages that:
the invention provides a four-rotor unmanned aerial vehicle landing method based on two-dimensional code, which aims at detecting the position information of an unmanned aerial vehicle and realizing accurate positioning and height coordinated landing;
on one hand: the invention provides a two-dimension code-based autonomous landing method, which can receive target point information obtained after image information provided by a visual recognition system is processed, so that an unmanned aerial vehicle landing mode is determined, and meanwhile, the position information of the target point can be tracked in real time.
On the other hand: unmanned aerial vehicle is descending the in-process, adopts the mode that the descending that hovers combined together, and the changeable flight mode to the difference of unmanned aerial vehicle distance target point positional information that constantly updates to carry out more accurate descending instruction to the two-dimensional code, adopt the mode that progressively descends to realize more stable descending, adopt QR detection mode to realize more accurate descending. Still include simultaneously that unmanned aerial vehicle can take the real-time adjustment of descending speed and descending direction and descending gesture to the fuselage according to the difference of height of locating.
The invention provides a four-rotor unmanned aerial vehicle landing method based on two-dimensional code autonomous landing, which has the beneficial effects that: the method can efficiently realize the precision of the landing of the unmanned aerial vehicle, and meanwhile, the method is widely applied to realize the landing of multiple landmarks. The height is gradually reduced by loitering through GPS positioning, and efficient, stable and reliable landing is realized. The two-dimensional code is used as a tool for bearing position information, and has the characteristics of strong damage resistance, light interference resistance and gust impact resistance. The two-dimensional code has high identification degree, large data capacity, wide application range and uniqueness in identification. After the picture is processed, the QR code is successfully detected, the content contained in the QR code is obtained and then decoded, and the confidentiality is high. After the position is determined, a space coordinate system can be established to realize real-time positioning, and the method is efficient and accurate.
Drawings
In order to more clearly illustrate the detailed description of the invention or the prior art solutions, the drawings required in the detailed description or the prior art description will be briefly described below.
Fig. 1 is a schematic view of a main operation flow of a method for identifying autonomous landing of a quad-rotor unmanned aerial vehicle based on a two-dimensional code according to an embodiment of the present invention;
fig. 2 is a schematic view of a specific operation flow of the method for identifying autonomous landing of a quad-rotor unmanned aerial vehicle based on a two-dimensional code according to the embodiment of the present invention;
fig. 3 is a schematic view of another specific operation flow of the autonomous landing method of a quad-rotor unmanned aerial vehicle based on two-dimensional code identification according to the embodiment of the present invention;
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that certain terms of orientation or positional relationship are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referred device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
Example one
Referring to fig. 1, the invention further provides a method for identifying the autonomous landing of the quad-rotor unmanned aerial vehicle based on the two-dimensional code, which utilizes the unmanned aerial vehicle to identify the two-dimensional code to control the accurate landing process of the quad-rotor unmanned aerial vehicle, and comprises the following operation steps:
step 1, receiving the information which is preliminarily identified by a GPS positioning system and descending in a grading way according to the flying height of the unmanned aerial vehicle by the unmanned aerial vehicle;
step 2, when the unmanned aerial vehicle falls to a certain height, the target two-dimensional code can be searched, and an interest area is divided;
step 3, carrying out picture matching in the interest area by a vision module, and positioning the space position of the two-dimensional code by taking the position of the unmanned aerial vehicle as an origin after successful matching to establish a space coordinate system;
and 4, receiving the positioning coordinate information sent by the vision module and the height information sent by the ultrasonic ranging sensor through the serial port, processing and judging the acquired information by the flight control processor, and outputting a navigation instruction which can be identified by the unmanned aerial vehicle platform flight control module, so that the unmanned aerial vehicle is controlled to independently land on the target two-dimensional code.
The specific functions and specific technical effects of the method for identifying autonomous landing of the quad-rotor unmanned aerial vehicle based on the two-dimensional code provided by the embodiment of the invention are described in detail as follows:
referring to fig. 2, the unmanned aerial vehicle finds an interest area through a GPS primary positioning target range, and then recognizes a two-dimensional code through a vision module to realize accurate landing, and specifically includes the following operation steps:
after receiving a takeoff signal, the unmanned aerial vehicle hovers in the air in combination with GPS positioning information, and primary positioning is carried out according to provided target data;
after the approximate range is found, the initial landing is carried out, and the appropriate landing speed is set according to the height of the machine body until the vision module can acquire a target image;
the unmanned aerial vehicle starts to collect information from the captured picture, and the two-dimensional code in the image is identified according to the surface image;
unmanned aerial vehicle discerns and acquires the information that contains after the current two-dimensional code to highly analyzing current fuselage department simultaneously, unmanned aerial vehicle's descending control mode when acquireing not co-altitude, then unmanned aerial vehicle can descend the operation according to the instruction.
Preferably, as an embodiment: the unmanned aerial vehicle can also carry out the location operation to the two-dimensional code position that discerns when unmanned aerial vehicle descends according to current not co-altitude.
Referring to fig. 3, the positioning operation of the target two-dimensional code geographic position by the unmanned aerial vehicle specifically includes the following operation steps:
firstly, obtaining the space coordinate of the unmanned aerial vehicle at the moment by a GPS; establishing a space rectangular coordinate system by taking the coordinate point of the unmanned aerial vehicle as an origin, and obtaining a space coordinate point of the target two-dimensional code by using the altitude difference, the course angle and the distance;
and the unmanned aerial vehicle makes a landing route according to the obtained target point coordinates and realizes real-time tracking.
Preferably, as an embodiment: the unmanned aerial vehicle further determining the position of the two-dimensional code further comprises the following steps: through the characteristic of QR sign indicating number, carry out the QR sign indicating number to the two-dimensional code and detect, detect and draw out QR partial content after succeeding in, decode data according to QR sign indicating number code standard, decode the string that obtains after succeeding in and pair with the string that has set for, if unanimously then pair successfully, can control unmanned aerial vehicle and hover above it, wait for the landing signal to send.
Preferably, as an embodiment: when unmanned aerial vehicle is to obtaining two-dimensional code information, can adjust unmanned aerial vehicle flight gesture simultaneously.
Preferably, as an embodiment: controlling the unmanned aerial vehicle to hover at a certain height, and entering a landing mode specifically comprises the following operation steps:
and controlling the unmanned aerial vehicle to continuously descend above the two-dimensional code position and feed back the height information of the unmanned aerial vehicle in real time.
And descending when the received height position information accords with the condition of entering a descending mode.
The autonomous landing method for the quad-rotor unmanned aerial vehicle based on the two-dimension code recognition solves the problem that the destination cannot be correctly judged in the presence of a multi-landmark condition by using the characteristics of the two-dimension code, can be used in other schemes, can be used for real-time tracking as well as positioning, is reliable, low in cost and convenient to design by using the two-dimension code, and is high in receptivity; under the condition that the GPS positioning accuracy is not enough, accurate landing can be achieved; the method has the characteristics of strong damage resistance, light interference resistance, gust influence resistance and the like, and improves the accuracy of identifying and positioning the target. The time is saved and the efficiency is improved in the aspect of operation as a whole; in the economic aspect, the cost saving can be continued for a long time.
According to the method for identifying the landing of the quad-rotor unmanned aerial vehicle based on the two-dimensional code, the problems of inaccurate manual landing operation and low efficiency are solved, bad factors caused by improper manual operation are avoided, the landing accuracy and safety of the unmanned aerial vehicle are improved, and the method is high in operation efficiency and low in cost.
Based on the technical advantages, the method for identifying the landing and releasing points of the quad-rotor unmanned aerial vehicle based on the two-dimensional code can bring good market prospect and economic benefit.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, the present invention may be modified from the technical solutions described in the foregoing embodiments, or some or all of the technical solutions may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. A four-rotor unmanned aerial vehicle autonomous landing method based on two-dimensional code recognition is characterized by comprising the following steps:
step 1, receiving the information which is preliminarily identified by a GPS positioning system and descending in a grading way according to the flying height of the unmanned aerial vehicle by the unmanned aerial vehicle;
step 2, when the unmanned aerial vehicle falls to a certain height, the target two-dimensional code can be searched, and an interest area is divided;
step 3, carrying out picture matching in the interest area by a vision module, and positioning the space position of the two-dimensional code by taking the position of the unmanned aerial vehicle as an origin after successful matching to establish a space coordinate system;
and 4, receiving the positioning coordinate information sent by the vision module and the height information sent by the ultrasonic ranging sensor through the serial port, processing and judging the acquired information by the flight control processor, and outputting a navigation instruction which can be identified by the unmanned aerial vehicle platform flight control module, so that the unmanned aerial vehicle is controlled to independently land on the target two-dimensional code.
2. The quad-rotor unmanned aerial vehicle autonomous landing method based on two-dimensional code recognition according to claim 1, wherein the specific process of steps 3-4 is as follows:
the unmanned aerial vehicle searches for the approximate position of the target two-dimensional code in a large range according to a GPS positioning system and continuously lands according to the height of the target two-dimensional code; capturing an image by adopting a visual recognition system, and processing the image to acquire information; after the image is corrected, decoding is carried out to extract QR code content, data is decoded according to QR code coding specifications, and matching is carried out after decoding is successful; after decoding is completed, a space coordinate system is established by taking the position of the unmanned aerial vehicle as an original point to obtain the accurate space coordinate of the two-dimensional code, and the information is transmitted to enable the unmanned aerial vehicle to land to reach the target geographic position through control.
3. The autonomous landing method of a quad-rotor unmanned aerial vehicle based on two-dimensional code recognition according to claim 2, wherein the vision recognition system processes the image, and the image can be processed by graying, image rotation, threshold segmentation and image denoising methods, so that the image data volume is reduced, and the output frame rate is improved in real time.
4. The autonomous landing method of a quad-rotor unmanned aerial vehicle based on two-dimensional code recognition according to claim 2, further comprising decoding the QR code according to the code to obtain the content, and matching the content with the set content, wherein if the QR code is consistent with the set content, the positioning is accurate.
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| CN115361663A (en) * | 2022-08-09 | 2022-11-18 | 广州天环信息技术有限公司 | Wireless sensor network deployment method |
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