CN115981355A - Unmanned aerial vehicle automatic cruise method and system capable of landing quickly and accurately - Google Patents
Unmanned aerial vehicle automatic cruise method and system capable of landing quickly and accurately Download PDFInfo
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Abstract
The invention belongs to the technical field of control and adjustment, and particularly relates to an automatic cruise method and system for an unmanned aerial vehicle, wherein an unmanned aerial vehicle take-off and landing platform is arranged on the ground or a movable unmanned vehicle, cruise control equipment is connected with GPS (global positioning system) positioning equipment and unmanned aerial vehicle remote control equipment and is arranged in the unmanned aerial vehicle take-off and landing platform, an operating panel is connected with the cruise control equipment and is embedded in the outer surface of the unmanned aerial vehicle take-off and landing platform, and a visual identification mark is drawn on the upper surface of the unmanned aerial vehicle take-off and landing platform. The invention has the beneficial effects that: compared with the prior art, the unmanned aerial vehicle landing system has higher landing accuracy, can control the unmanned aerial vehicle in time, avoids the unmanned aerial vehicle wandering near a landing target, realizes the rapid landing of the unmanned aerial vehicle, only needs the GPS equipment to provide approximate GPS coordinates and a visual identification mark for detection, and has lower cost compared with other methods which adopt RTK equipment to provide accurate GPS coordinates or determine a landing position through a laser emitter and a light sensor.
Description
Technical Field
The invention relates to the technical field of control and adjustment, in particular to an automatic cruise method and system for an unmanned aerial vehicle capable of landing quickly and accurately.
Background
An Unmanned Aerial Vehicle (UAV) is an Unmanned Aerial Vehicle that is operated using radio remote control devices and self-contained program control devices, and is often more suitable for environmentally hazardous, manned aircraft-difficult tasks than manned aircraft. With the progress of unmanned aerial vehicle control technology and the continuous development of light weight and miniaturization of the structure of the unmanned aerial vehicle, the unmanned aerial vehicle is gradually turned to the civil field by military reconnaissance aircraft and target drone. In the civil aspect, because its simple structure of unmanned aerial vehicle, stability is high, mobility is strong, characteristics such as adaptability to the environment ability reinforce, the wide application is patrolled and examined, relevant fields such as relay, weather, commodity circulation. In addition, the unmanned aerial vehicle can also be matched with professional equipment such as a high-speed camera and a thermal imager to be used for detecting various information.
Most of the existing unmanned aerial vehicles are controlled by workers on the ground by using radio remote control equipment or are completely or intermittently and autonomously controlled by a computer. For making unmanned aerial vehicle be applicable to more fields, multiple unmanned aerial vehicle automatic cruise system has appeared on the market at present, can accomplish the flight task of setting in advance automatically under the condition that does not have the staff, reduced the human cost. However, because unmanned aerial vehicle duration is short, for realizing perfect automatic flow, further reduce the manpower, often need with the supporting use of unmanned aerial vehicle take off and land platform, unmanned aerial vehicle take off and land platform supplies unmanned aerial vehicle to berth and charge. The existing automatic cruise system of the unmanned aerial vehicle usually needs a worker to manually land after completing a flight task or is controlled by a computer to automatically land, and the methods respectively have the problems that full automation cannot be realized and the unmanned aerial vehicle cannot land on a take-off and landing platform accurately due to poor landing precision. In addition, some existing methods for realizing accurate landing by using RTK positioning equipment or a computer vision method also have the problems of long landing time, high cost and the like, and are easily influenced by air flow.
Therefore, the unmanned aerial vehicle automatic cruising method and system capable of landing quickly and accurately are designed to solve the problems.
Disclosure of Invention
In order to make up for the defects in the prior art, the invention provides the automatic cruising method and the automatic cruising system for the unmanned aerial vehicle, which can land fast and accurately.
The invention is realized by the following technical scheme:
an unmanned aerial vehicle auto-cruise system, comprising: unmanned aerial vehicle, unmanned aerial vehicle remote control equipment, GPS positioning device, unmanned aerial vehicle take off and land platform, visual identification sign, cruise control equipment. The unmanned aerial vehicle takes off and land the platform and arranges ground or can remove unmanned car in, inside cruise control equipment connected GPS positioning device and unmanned aerial vehicle remote control equipment arranged unmanned aerial vehicle take off and land the platform in, operating panel connected cruise control equipment inlayed in unmanned aerial vehicle take off and land the platform surface, and visual identification sign draws in unmanned aerial vehicle take off and land the platform upper surface.
Further, unmanned aerial vehicle embeds GPS positioning device is used for acquireing unmanned aerial vehicle positional information, is equipped with main camera and is used for shooing, is equipped with down looking the camera and is used for hovering the descending, is equipped with the main camera angle of triaxial cloud platform control, is equipped with a plurality of ultrasonic radar and is used for keeping away the barrier.
Further, unmanned aerial vehicle remote control equipment sends radio connection unmanned aerial vehicle, is equipped with the rocker handle and is used for manual control unmanned aerial vehicle to usable usb data line connection cruise control equipment realizes unmanned aerial vehicle automatic control through the built-in procedure of cruise control equipment.
Furthermore, the size of the unmanned aerial vehicle take-off and landing platform is 0.5m x 0.5m, a battery is carried or alternating current is connected to supply power for the cruise control device, and the built-in GPS positioning device is used for determining the position information of the unmanned aerial vehicle take-off and landing platform.
Further, inside the unmanned aerial vehicle platform of taking off and land was arranged in to GPS positioning device, by the power supply of unmanned aerial vehicle platform of taking off and land to utilize serial ports and cruise control equipment to carry out the communication.
Furthermore, the size of the visual identification mark is 0.5m x 0.5m, is equivalent to the size of the unmanned aerial vehicle taking-off and landing platform, and is composed of a long-distance identification pattern, a short-distance identification pattern and a direction positioning pattern. Wherein the size of the remote identification pattern is 0.5m x 0.5m; the short-distance recognition pattern is 0.1m by 0.1m and is drawn in the center of the visual recognition mark; the size of the direction positioning graph is 0.1m x 0.1m, and the direction positioning graph is drawn at a position 0.1m right above the close-distance identification graph and used for identifying the positive direction of the unmanned aerial vehicle take-off and landing platform.
Further, cruise control equipment carries on android operating system, connects unmanned aerial vehicle remote control equipment and GPS positioning device respectively through usb data line and serial ports, and built-in unmanned aerial vehicle cruise control preface carries out automated control to unmanned aerial vehicle, realizes the unmanned aerial vehicle automatic cruise method that can descend fast accurate, is equipped with the display screen in order to touch the screen operation.
Preferably, the cruise control equipment configures NPU computing resources to provide cruise control program calculation power and improve unmanned aerial vehicle landing accuracy.
Based on foretell unmanned aerial vehicle automatic cruise system, the unmanned aerial vehicle automatic cruise method that can accurate landing fast is:
s1, system preparation, namely firstly completing system preparation work, and arranging an unmanned aerial vehicle take-off and landing platform on a flat open and unshielded ground; starting a power supply of the unmanned aerial vehicle take-off and landing platform to supply power for the cruise control equipment, the GPS positioning equipment and the unmanned aerial vehicle remote control equipment; starting the cruise control equipment, the unmanned aerial vehicle remote control equipment and the unmanned aerial vehicle, and placing the unmanned aerial vehicle above the unmanned aerial vehicle taking-off and landing platform for taking off;
s2, issuing a cruise task, and formulating the cruise task consisting of a series of navigation points by clicking a map in a cruise control program built in the cruise control equipment or manually inputting a GPS coordinate point; setting the flight height and flight speed information of the unmanned aerial vehicle according to the surrounding environment; the cruise control equipment issues a cruise instruction to the unmanned aerial vehicle through the unmanned aerial vehicle remote control equipment;
s3, executing a cruise task, and executing takeoff operation after the unmanned aerial vehicle receives a cruise instruction sent by the unmanned aerial vehicle remote control equipment; the unmanned aerial vehicle sends information including a GPS coordinate, a flight height, a course and an electric quantity state of the unmanned aerial vehicle to the cruise control equipment at a frequency of 2 Hz; the cruise control equipment adjusts the vertical direction speed of the unmanned aerial vehicle according to the flight height information of the unmanned aerial vehicle, and controls the unmanned aerial vehicle to reach the set flight height; the cruise control equipment calculates the direction of the current cruise target relative to the unmanned aerial vehicle according to the GPS coordinate of the current unmanned aerial vehicle and the GPS coordinate of the current cruise target, and controls the unmanned aerial vehicle to rotate in the horizontal direction according to the actual course of the current unmanned aerial vehicle so that the course of the unmanned aerial vehicle is aligned to the current cruise target; a specific formula for calculating the direction angles of the two GPS coordinate points is as follows,
the cruise control equipment controls the unmanned aerial vehicle to fly to the current cruise target at a set speed, and finely adjusts the course of the unmanned aerial vehicle in real time; the cruise control device calculates the distance between the unmanned aerial vehicle and the cruise target in real time according to the current GPS coordinate of the unmanned aerial vehicle and the current GPS coordinate of the cruise target, when the distance between the unmanned aerial vehicle and the current cruise target is smaller than 3m, the cruise control device updates the cruise target for completing the patrol of the target point, and the unmanned aerial vehicle starts flying to the next cruise target in the same way; the specific formula for calculating the distance between two GPS coordinate points is as follows:
wherein (lat 1, lng 2), (lat 2, lng 2) are the GPS coordinates of two points, rad is the algorithm of angle radian, 6378137 is the equator radius of the earth, dis is the distance between two calculated GPS coordinate points; when the unmanned aerial vehicle reaches the last cruise target point, the unmanned aerial vehicle finishes the cruise task, sends a signal to the cruise control equipment and waits for a return flight instruction;
s4, sending a return flight instruction, and after receiving a signal of finishing the cruise task of the unmanned aerial vehicle, starting to calculate the return flight height of the unmanned aerial vehicle by the cruise control equipment; maximum error of known GPS positioning technology
Unmanned aerial vehicle downward-looking camera visual angle->
Size of unmanned aerial vehicle take-off and landing platform>
The calculation formula of the return flight height H is as follows: />
Combining the return flight height H and the GPS coordinate of the current unmanned aerial vehicle take-off and landing platform acquired through GPS positioning equipment to obtain the return flight suspension point (Lat, lng, H) of the unmanned aerial vehicle; the cruise control equipment sends a return command to the unmanned aerial vehicle;
s5, the unmanned aerial vehicle automatically navigates back, the cruise control device controls the unmanned aerial vehicle to fly towards the direction of a navigation suspension point in the same way as the cruise task is executed, and after the unmanned aerial vehicle reaches a GPS coordinate point of the navigation suspension point, the cruise control device adjusts the vertical direction speed of the unmanned aerial vehicle and controls the unmanned aerial vehicle to hover at a hovering height H;
s6, visual target detection is carried out, the unmanned aerial vehicle reaches a return flight suspension point, a downward-looking camera is started to carry out real-time video transmission, and a video shot by the downward-looking camera of the unmanned aerial vehicle is transmitted to cruise control equipment; the cruise control equipment runs a real-time target detection algorithm to detect the visual identification mark in the video shot by the unmanned aerial vehicle to obtain the relative position coordinates of the centers of the long-distance identification graph, the short-distance identification graph and the direction positioning graph relative to the video shot by the unmanned aerial vehicle
；
S7, adjusting the course of the unmanned aerial vehicle, and ensuring that the course of the unmanned aerial vehicle is consistent with the positive direction of the unmanned aerial vehicle take-off and landing platform after the unmanned aerial vehicle lands in order to facilitate the operation of the unmanned aerial vehicle take-off and landing platform after landing; positioning coordinates of a pattern based on close range recognition of the pattern and direction
Calculating the deviation angle between the course of the unmanned aerial vehicle and the positive direction of the take-off and landing platform of the unmanned aerial vehicle
The formula is as follows: />
Cruise control systemThe control equipment sends a rotation instruction to the unmanned aerial vehicle and controls the unmanned aerial vehicle to rotate a deviation angle>
The heading of the unmanned aerial vehicle is aligned with the positive direction of the take-off and landing platform of the unmanned aerial vehicle;
s8, adjusting the horizontal position, landing the unmanned aerial vehicle under the guidance of the visual identification mark, comprehensively calculating an optimal command for controlling the unmanned aerial vehicle to land by the cruise control equipment according to the relative position of the visual identification mark in the video shot by the unmanned aerial vehicle and the current state information of the unmanned aerial vehicle, and sending the command to the unmanned aerial vehicle at the frequency of 20 Hz to achieve the optimal landing effect; specifically, when the flying height of the unmanned aerial vehicle is greater than 2m, the graphic coordinates are identified according to the long distance
And calculating the speed of the unmanned aerial vehicle in the x direction and the y direction according to the current flying height h of the unmanned aerial vehicle, wherein the formula is as follows:
since the actual horizontal distance between the unmanned aerial vehicle and the visual identification mark is larger when the flying height of the unmanned aerial vehicle is high and the same coordinate deviation is compared with when the flying height of the unmanned aerial vehicle is low, the speed is multiplied by a coefficient h,
the cruise control device updates the speed and the speed balance coefficient at the frequency of 20 Hz, which is a speed balance coefficient and plays the roles of resisting position deviation caused by airflow in the falling process and accelerating falling; falling onset->
If two times in succession during the fall>
Or->
In the same sign, i.e. the unmanned plane is moving in the x or y directionThe moving direction is the same, and the unmanned aerial vehicle is far away from the visual identification mark to be carried out>
Or->
Operating to accelerate the unmanned aerial vehicle to reach the visual identification mark; if two times in succession during the fall>
Or->
The opposite sign, that is, the direction of motion of the unmanned aerial vehicle in the x or y direction is opposite, indicates that the unmanned aerial vehicle is close to the visual identification mark, and proceeds
Or>
The operation to make unmanned aerial vehicle position converge in the visual identification sign, prevent that unmanned aerial vehicle from reciprocating near the visual identification sign. When the flying height of the unmanned aerial vehicle is more than 2m, the unmanned aerial vehicle lands by taking the long-distance identification graph as a target, and when the flying height of the unmanned aerial vehicle is less than 2m, the flying height is too low, and the shooting range of a downward-looking camera of the unmanned aerial vehicle is limited, so that the complete long-distance identification graph cannot be completely shot, and the short-distance identification graph with smaller size is taken as the target to land;
s9, guiding to descend, and when the flying height of the unmanned aerial vehicle is larger than 2m, enabling the deviation of the unmanned aerial vehicle from the center of the remote identification graph to be smaller than 0.1, namely
In time, the cruise control equipment controls the unmanned aerial vehicle to vertically land at the speed of 0.3 m/s; when the height of the unmanned aerial vehicle is less than 2m, the deviation of the unmanned aerial vehicle from the center of the close distance identification graph is less than 0.05,
in time, the cruise control equipment controls the unmanned aerial vehicle to rotate at the speed of 0.2m/sVertically descending; when the position deviation is larger than the specified value in the landing process, the unmanned aerial vehicle stops descending and repeats the horizontal position adjustment of the step S8 until the position deviation is smaller than the specified value. The unmanned aerial vehicle is greatly influenced by airflow at a high position and can deviate again in the descending process, so that the threshold value of the position deviation is set to be 0.1 when the height of the unmanned aerial vehicle is greater than 2m, the unmanned aerial vehicle is prevented from being in S8 for a long time, and the descending process is accelerated;
s10, the descending is accomplished, when unmanned aerial vehicle flying height is less than 0.5m, unmanned aerial vehicle stops descending, cruise control equipment control unmanned aerial vehicle keeps the vision identification target deviation less than 0.05 for continuous 2S, control unmanned aerial vehicle afterwards and descend fast in unmanned aerial vehicle take-off and landing platform with 4 ms' S speed, in order to avoid falling to the ground the in-process and take place the skew, unmanned aerial vehicle sends the descending completion signal to cruise control equipment, accomplish the descending process of cruising.
The invention has the beneficial effects that:
1. the unmanned aerial vehicle automatic cruise method provided by the invention controls the unmanned aerial vehicle in real time in the landing process by utilizing a computer vision method, timely corrects the deviation generated in the landing process, simultaneously weakens the deviation caused by airflow in the landing process by introducing a speed balance coefficient, finally realizes that the landing precision is within 5cm, and has higher landing precision compared with the prior art.
2. The invention accelerates the position convergence of the unmanned aerial vehicle to the landing target by introducing the speed balance coefficient, and meanwhile, the cruise control equipment realizes the real-time detection of the frequency of the visual identification mark at 20 Hz by utilizing the NPU computing resource, can control the unmanned aerial vehicle in time, avoids the unmanned aerial vehicle from wandering near the landing target, realizes the rapid landing of the unmanned aerial vehicle, and has higher landing speed compared with the prior art.
3. The landing position is determined by a computer vision method, only the GPS equipment is needed to provide approximate GPS coordinates and a vision identification mark for detection, and the method is lower in cost compared with other methods which adopt RTK equipment to provide accurate GPS coordinates or determine the landing position through a laser emitter and an optical sensor.
4. The unmanned aerial vehicle automatic cruise method provided by the invention can control the course of the unmanned aerial vehicle to point to the positive direction of the take-off and landing platform of the unmanned aerial vehicle by detecting the directional positioning graph when the unmanned aerial vehicle lands, and has better application in a scene in which the positive direction of the take-off and landing platform of the unmanned aerial vehicle is uncertain compared with the prior art.
Drawings
Fig. 1 is a schematic view of the orientation of the drone of the present invention;
FIG. 2 is an overall architecture diagram of the auto cruise system of the present invention;
FIG. 3 is a flow chart of the auto cruise method of the present invention;
FIG. 4 is a flow chart of an automatic descent method of the present invention;
FIG. 5 is a schematic view of a visual identification tag of the present invention;
FIG. 6 is a schematic diagram of the latitude and longitude angle calculation of the present invention;
fig. 7 is a statistical table of the automatic cruise test results of the unmanned aerial vehicle according to the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Fig. 1 to 5 show an embodiment of the present invention, which is an automatic cruise method and system for an unmanned aerial vehicle capable of landing quickly and accurately, the system including: unmanned aerial vehicle, unmanned aerial vehicle remote control equipment, GPS positioning device, unmanned aerial vehicle take off and land platform, visual identification sign, cruise control equipment. The unmanned aerial vehicle takes off and land the platform and arranges ground or can remove unmanned car in, inside cruise control equipment connected GPS positioning device and unmanned aerial vehicle remote control equipment arranged unmanned aerial vehicle take off and land the platform in, operating panel connected cruise control equipment inlayed in unmanned aerial vehicle take off and land the platform surface, and visual identification sign draws in unmanned aerial vehicle take off and land the platform upper surface. Unmanned aerial vehicle embeds GPS positioning device is used for acquireing unmanned aerial vehicle positional information, is equipped with main camera and is used for shooing, is equipped with down looking the camera and is used for hovering the descending, is equipped with three-axis cloud platform control main camera angle, is equipped with a plurality of ultrasonic radar and is used for keeping away the barrier. Unmanned aerial vehicle remote control equipment sends radio connection unmanned aerial vehicle, is equipped with the rocker handle and is used for manual control unmanned aerial vehicle to usable usb data line connects cruise control equipment, realizes unmanned aerial vehicle automatic control through the built-in procedure of cruise control equipment. The size of the unmanned aerial vehicle take-off and landing platform is 0.5m multiplied by 0.5m, a battery is carried or alternating current is connected to supply power for the cruise control equipment, and the built-in GPS positioning equipment is used for determining the position information of the unmanned aerial vehicle take-off and landing platform. Inside the unmanned aerial vehicle platform of taking off and land was arranged in to GPS positioning device, was supplied power by unmanned aerial vehicle platform of taking off and land to utilize the serial ports and cruise control equipment to carry out the communication. The size of the visual identification mark is 0.5m multiplied by 0.5m, which is equivalent to the size of an unmanned aerial vehicle taking-off and landing platform and is composed of a long-distance identification pattern, a short-distance identification pattern and a direction positioning pattern (as shown in figure 5). Wherein the size of the remote identification pattern is 0.5m x 0.5m; the short-distance recognition pattern is 0.1m by 0.1m and is drawn in the center of the visual recognition mark; the size of the direction positioning graph is 0.1m x 0.1m, and the direction positioning graph is drawn at a position 0.1m right above the close-distance identification graph and used for identifying the positive direction of the unmanned aerial vehicle take-off and landing platform. Cruise control equipment carries on android operating system, connects unmanned aerial vehicle remote control equipment and GPS positioning device respectively through usb data line and serial ports, and built-in unmanned aerial vehicle cruise control preface carries out automated control to unmanned aerial vehicle, realizes the unmanned aerial vehicle automatic cruise method that can descend fast accurate, is equipped with the display screen in order to touch the screen operation. The cruise control equipment configures NPU (network processor Unit) computing resources to provide cruise control program computing power and improve unmanned aerial vehicle landing accuracy.
The invention discloses an automatic cruise method of an unmanned aerial vehicle, which can land quickly and accurately, and is realized by using an automatic cruise system of the unmanned aerial vehicle, and comprises the following steps:
s1, system preparation, namely firstly completing system preparation work, and arranging an unmanned aerial vehicle take-off and landing platform on a flat open and unshielded ground; starting a take-off and landing platform power supply of the unmanned aerial vehicle to supply power for the cruise control equipment, the GPS positioning equipment and the unmanned aerial vehicle remote control equipment; starting the cruise control equipment, the unmanned aerial vehicle remote control equipment and the unmanned aerial vehicle, and placing the unmanned aerial vehicle above the unmanned aerial vehicle taking-off and landing platform for taking off;
s2, issuing a cruise task, and formulating the cruise task consisting of a series of navigation points by clicking a map in a cruise control program built in the cruise control equipment or manually inputting a GPS coordinate point; setting the flight height and flight speed information of the unmanned aerial vehicle according to the surrounding environment; the cruise control equipment issues a cruise instruction to the unmanned aerial vehicle through the unmanned aerial vehicle remote control equipment;
s3, executing a cruise task, and executing takeoff operation after the unmanned aerial vehicle receives a cruise instruction sent by the unmanned aerial vehicle remote control equipment; the unmanned aerial vehicle sends information including a GPS coordinate, a flight height, a course and an electric quantity state of the unmanned aerial vehicle to the cruise control equipment at a frequency of 2 Hz; the cruise control equipment adjusts the vertical direction speed of the unmanned aerial vehicle according to the flight height information of the unmanned aerial vehicle, and controls the unmanned aerial vehicle to reach the set flight height; the cruise control equipment calculates the direction of the current cruise target relative to the unmanned aerial vehicle according to the GPS coordinate of the current unmanned aerial vehicle and the GPS coordinate of the current cruise target, and controls the unmanned aerial vehicle to rotate in the horizontal direction according to the actual course of the current unmanned aerial vehicle so that the course of the unmanned aerial vehicle is aligned to the current cruise target; a specific formula for calculating the direction angles of the two GPS coordinate points is as follows,
the cruise control equipment controls the unmanned aerial vehicle to fly to the current cruise target at a set speed, and finely adjusts the course of the unmanned aerial vehicle in real time; the cruise control equipment calculates the distance between the unmanned aerial vehicle and the cruise target in real time according to the current GPS coordinate of the unmanned aerial vehicle and the current GPS coordinate of the cruise target, when the distance between the unmanned aerial vehicle and the current cruise target is less than 3m, the cruise control equipment updates the cruise target for completing the patrol of the target point, and the unmanned aerial vehicle starts flying to the next cruise target in the same way; the specific formula for calculating the distance between two GPS coordinate points is as follows:
s4, sending a return flight instruction, and after receiving a signal of finishing the cruise task of the unmanned aerial vehicle, starting to calculate the return flight height of the unmanned aerial vehicle by the cruise control equipment; maximum error of known GPS positioning technology
Unmanned aerial vehicle downward-looking camera visual angle->
Size of unmanned aerial vehicle taking-off and landing platform>
The calculation formula of the return flight height H is as follows: />
Combining the return flight height H and the GPS coordinate of the current unmanned aerial vehicle take-off and landing platform acquired through GPS positioning equipment to obtain the return flight suspension point (Lat, lng, H) of the unmanned aerial vehicle; the cruise control equipment sends a return command to the unmanned aerial vehicle;
s5, the unmanned aerial vehicle automatically navigates back, the cruise control equipment controls the unmanned aerial vehicle to fly towards the direction of a navigation-back suspension point in the same way as the cruise task is executed, and after the unmanned aerial vehicle reaches a GPS coordinate point of the navigation-back suspension point, the cruise control equipment adjusts the vertical direction speed of the unmanned aerial vehicle and controls the unmanned aerial vehicle to hover at a hovering height H;
s6, visual target detection is carried out, the unmanned aerial vehicle reaches a return flight suspension point, the downward-looking camera is started to carry out real-time video transmission, and the video shot by the downward-looking camera of the unmanned aerial vehicle is transmitted to cruiseA control device; the cruise control equipment runs a real-time target detection algorithm to detect the visual identification mark in the video shot by the unmanned aerial vehicle to obtain the relative position coordinates of the centers of the long-distance identification graph, the short-distance identification graph and the direction positioning graph relative to the video shot by the unmanned aerial vehicle
；
S7, adjusting the course of the unmanned aerial vehicle, and ensuring that the course of the unmanned aerial vehicle is consistent with the positive direction of the unmanned aerial vehicle take-off and landing platform after the unmanned aerial vehicle lands in order to conveniently operate the unmanned aerial vehicle after landing; positioning coordinates of a pattern based on close range recognition of the pattern and direction
Calculating the deviation angle between the course of the unmanned aerial vehicle and the positive direction of the take-off and landing platform of the unmanned aerial vehicle
The formula is as follows: />
Cruise control equipment sends rotation instruction to unmanned aerial vehicle, and control unmanned aerial vehicle rotation deviation angle>
The heading of the unmanned aerial vehicle is aligned to the positive direction of the take-off and landing platform of the unmanned aerial vehicle;
s8, adjusting the horizontal position, landing the unmanned aerial vehicle under the guidance of the visual identification mark, comprehensively calculating an optimal command for controlling the unmanned aerial vehicle to land by the cruise control equipment according to the relative position of the visual identification mark in the video shot by the unmanned aerial vehicle and the current state information of the unmanned aerial vehicle, and sending the command to the unmanned aerial vehicle at the frequency of 20 Hz so as to achieve the optimal landing effect; specifically, when the flying height of the unmanned aerial vehicle is greater than 2m, the coordinates of the figure are identified according to a long distance
And calculating the speeds of the unmanned aerial vehicle in the x direction and the y direction according to the current flying height h of the unmanned aerial vehicle, wherein the formula is as follows:
since the actual horizontal distance between the unmanned aerial vehicle and the visual identification mark is larger when the flying height of the unmanned aerial vehicle is high and the same coordinate deviation is compared with when the flying height of the unmanned aerial vehicle is low, the speed is multiplied by a coefficient h,
the cruise control device updates the speed and the speed balance coefficient at the frequency of 20 Hz, which is the speed balance coefficient and plays the roles of resisting position deviation caused by airflow in the falling process and accelerating the falling; falling onset conjunction with a trigger>
If two times in succession during the fall>
Or->
The same sign, that is, the unmanned aerial vehicle moves in the same direction in the x or y direction, and the unmanned aerial vehicle is far away from the visual identification mark and is carried out on->
Or->
Operating to accelerate the unmanned aerial vehicle to reach the visual identification mark; if on the falling process two times in succession>
Or->
The opposite sign, that is, the direction of motion of the unmanned aerial vehicle in the x or y direction is opposite, indicates that the unmanned aerial vehicle is close to the visual identification mark, and proceeds
Or->
The operation to make unmanned aerial vehicle position converge in the visual identification sign, prevent that unmanned aerial vehicle from reciprocating near the visual identification sign. When the flying height of the unmanned aerial vehicle is more than 2m, the unmanned aerial vehicle lands by taking the long-distance identification graph as a target, and when the flying height of the unmanned aerial vehicle is less than 2m, the flying height is too low, and the shooting range of a downward-looking camera of the unmanned aerial vehicle is limited, so that the complete long-distance identification graph cannot be completely shot, and the short-distance identification graph with smaller size is taken as the target to land;
s9, guiding to descend, and when the flying height of the unmanned aerial vehicle is larger than 2m, enabling the deviation of the unmanned aerial vehicle from the center of the remote identification graph to be smaller than 0.1, namely
In time, the cruise control equipment controls the unmanned aerial vehicle to vertically land at the speed of 0.3 m/s; when the height of the unmanned aerial vehicle is less than 2m, the deviation of the unmanned aerial vehicle from the center of the close distance identification graph is less than 0.05,
in the process, the cruise control equipment controls the unmanned aerial vehicle to vertically land at the speed of 0.2 m/s; when the position deviation is larger than the specified value in the landing process, the unmanned aerial vehicle stops descending and repeats the horizontal position adjustment of the step S8 until the position deviation is smaller than the specified value. The unmanned aerial vehicle is greatly influenced by airflow at a high position and can deviate again in the descending process, so that the threshold value of the position deviation is set to be 0.1 when the height of the unmanned aerial vehicle is greater than 2m, the unmanned aerial vehicle is prevented from being in S8 for a long time, and the descending process is accelerated;
s10, the descending is accomplished, when unmanned aerial vehicle flying height is less than 0.5m, unmanned aerial vehicle stops descending, cruise control equipment control unmanned aerial vehicle keeps the vision identification target deviation less than 0.05 for continuous 2S, control unmanned aerial vehicle afterwards and descend fast in unmanned aerial vehicle take-off and landing platform with 4 ms' S speed, in order to avoid falling to the ground the in-process and take place the skew, unmanned aerial vehicle sends the descending completion signal to cruise control equipment, accomplish the descending process of cruising.
The experiment test is carried out on the unmanned aerial vehicle automatic cruise method, the main test content comprises the cruise function, the landing speed and the landing error, and the experiment result is shown in fig. 7 after 30 times of experiments.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent substitutions made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (8)
1. The utility model provides an unmanned aerial vehicle automatic cruise system that can descend fast and accurately, includes unmanned aerial vehicle, unmanned aerial vehicle remote control equipment, GPS positioning device, unmanned aerial vehicle take off and land platform, visual identification sign and cruise control equipment, its characterized in that:
the unmanned aerial vehicle takes off and land the platform and arranges in on ground or the movable unmanned vehicle, inside cruise control equipment connected GPS positioning device and unmanned aerial vehicle remote control equipment arranged in unmanned aerial vehicle takes off and land the platform, operating panel has been inlayed to unmanned aerial vehicle takes off and land the platform surface, and operating panel connects cruise control equipment, visual identification sign draws in unmanned aerial vehicle takes off and land the platform upper surface.
2. The unmanned aerial vehicle automatic cruise system capable of landing rapidly and accurately according to claim 1, wherein:
unmanned aerial vehicle embeds GPS positioning device for acquire unmanned aerial vehicle positional information, be equipped with main camera and be used for shooing, be equipped with down looking the camera and be used for hovering descending, be equipped with three-axis cloud platform control main camera angle, be equipped with a plurality of ultrasonic radar and be used for keeping away the barrier.
3. The unmanned aerial vehicle automatic cruise system capable of landing rapidly and accurately according to claim 1, wherein:
unmanned aerial vehicle remote control equipment sends radio connection unmanned aerial vehicle, is equipped with the rocker handle and is used for manual control unmanned aerial vehicle to usable usb data line connects cruise control equipment, realizes unmanned aerial vehicle automatic control through the built-in procedure of cruise control equipment.
4. The unmanned aerial vehicle automatic cruise system capable of rapidly and accurately landing according to claim 1, wherein:
the unmanned aerial vehicle take-off and landing platform is 0.5m in size, carries a battery or is connected with alternating current to supply power for the cruise control device, and the built-in GPS positioning device is used for determining the position information of the unmanned aerial vehicle take-off and landing platform.
5. The unmanned aerial vehicle automatic cruise system capable of rapidly and accurately landing according to claim 1, wherein:
inside the unmanned aerial vehicle platform of taking off and land was arranged in to GPS positioning device, by the power supply of unmanned aerial vehicle platform of taking off and land to utilize serial ports and cruise control equipment to carry out the communication.
6. The unmanned aerial vehicle automatic cruise system capable of landing rapidly and accurately according to claim 1, wherein:
the size of the visual identification mark is 0.5m x 0.5m and is composed of a long-distance identification pattern, a short-distance identification pattern and a direction positioning pattern, wherein the size of the long-distance identification pattern is 0.5m x 0.5m; the short-distance recognition pattern is 0.1m by 0.1m and is drawn in the center of the visual recognition mark; the size of the direction positioning graph is 0.1m x 0.1m, and the direction positioning graph is drawn at a position 0.1m right above the close-distance identification graph and used for identifying the positive direction of the unmanned aerial vehicle take-off and landing platform.
7. The unmanned aerial vehicle automatic cruise system capable of landing rapidly and accurately according to claim 1, wherein:
the cruise control equipment is provided with an android operating system, is respectively connected with the unmanned aerial vehicle remote control equipment and the GPS positioning equipment through usb data lines and serial ports, is internally provided with an unmanned aerial vehicle cruise control program to automatically control the unmanned aerial vehicle, realizes an unmanned aerial vehicle automatic cruise method capable of rapidly and accurately landing, and is provided with a display screen to perform touch screen operation; the cruise control equipment is provided with NPU computing resources to provide cruise control program calculation power and improve unmanned aerial vehicle landing accuracy.
8. An automatic cruise method of an unmanned aerial vehicle capable of fast and accurate landing, which is applied to the automatic cruise system of the unmanned aerial vehicle capable of fast and accurate landing according to any one of claims 1 to 7, is characterized by comprising the following steps:
s1, system preparation, namely firstly completing system preparation work, and arranging an unmanned aerial vehicle take-off and landing platform on a flat open and unshielded ground; starting a power supply of the unmanned aerial vehicle take-off and landing platform to supply power for the cruise control equipment, the GPS positioning equipment and the unmanned aerial vehicle remote control equipment; starting the cruise control equipment, the unmanned aerial vehicle remote control equipment and the unmanned aerial vehicle, and placing the unmanned aerial vehicle above the unmanned aerial vehicle taking-off and landing platform for taking off;
s2, issuing a cruise task, and formulating the cruise task consisting of a series of navigation points by clicking a map in a cruise control program built in the cruise control equipment or manually inputting a GPS coordinate point; setting the flight height and flight speed information of the unmanned aerial vehicle according to the surrounding environment; the cruise control equipment issues a cruise instruction to the unmanned aerial vehicle through the unmanned aerial vehicle remote control equipment;
s3, executing a cruise task, and executing takeoff operation after the unmanned aerial vehicle receives a cruise instruction sent by the unmanned aerial vehicle remote control equipment; the unmanned aerial vehicle sends information including a GPS coordinate, a flight height, a course and an electric quantity state of the unmanned aerial vehicle to the cruise control equipment at a frequency of 2 Hz; the cruise control equipment adjusts the vertical direction speed of the unmanned aerial vehicle according to the flight height information of the unmanned aerial vehicle, and controls the unmanned aerial vehicle to reach the set flight height; the cruise control equipment calculates the direction of the current cruise target relative to the unmanned aerial vehicle according to the GPS coordinate of the current unmanned aerial vehicle and the GPS coordinate of the current cruise target, and controls the unmanned aerial vehicle to rotate in the horizontal direction according to the actual course of the current unmanned aerial vehicle so that the course of the unmanned aerial vehicle is aligned to the current cruise target; the cruise control equipment controls the unmanned aerial vehicle to fly to the current cruise target at a set speed, and finely adjusts the course of the unmanned aerial vehicle in real time; the cruise control equipment calculates the distance between the unmanned aerial vehicle and the cruise target in real time according to the current GPS coordinate of the unmanned aerial vehicle and the current GPS coordinate of the cruise target, when the distance between the unmanned aerial vehicle and the current cruise target is less than 3m, the cruise control equipment updates the cruise target for completing the patrol of the target point, and the unmanned aerial vehicle starts flying to the next cruise target in the same way; when the unmanned aerial vehicle reaches the last cruise target point, the unmanned aerial vehicle finishes the cruise task, sends a signal to the cruise control equipment and waits for a return flight instruction;
s4, sending a return flight instruction, and after receiving a signal of finishing the cruise task of the unmanned aerial vehicle, starting to calculate the return flight height of the unmanned aerial vehicle by the cruise control equipment; maximum error of known GPS positioning technology
Unmanned aerial vehicle look down camera visual angle->
Size of unmanned aerial vehicle take-off and landing platform>
The calculation formula of the return flight height H is as follows: />
Combining the return flight height H and the GPS coordinates of the current unmanned aerial vehicle take-off and landing platform acquired through GPS positioning equipment to obtain the return flight suspension points (Lat, lng, H) of the unmanned aerial vehicle; the cruise control equipment sends a return command to the unmanned aerial vehicle;
s5, the unmanned aerial vehicle automatically navigates back, the cruise control device controls the unmanned aerial vehicle to fly towards the direction of a navigation suspension point in the same way as the cruise task is executed, and after the unmanned aerial vehicle reaches a GPS coordinate point of the navigation suspension point, the cruise control device adjusts the vertical direction speed of the unmanned aerial vehicle and controls the unmanned aerial vehicle to hover at a hovering height H;
s6, visual target detection is carried out, the unmanned aerial vehicle reaches a return flight suspension point, a downward-looking camera is started to carry out real-time video transmission, and a video shot by the downward-looking camera of the unmanned aerial vehicle is transmitted to cruise control equipment; the cruise control equipment runs a real-time target detection algorithm to detect the visual identification mark in the video shot by the unmanned aerial vehicle to obtain the relative position coordinates of the centers of the long-distance identification graph, the short-distance identification graph and the direction positioning graph relative to the video shot by the unmanned aerial vehicle
；
S7, adjusting the course of the unmanned aerial vehicle, and ensuring that the course of the unmanned aerial vehicle is consistent with the positive direction of the unmanned aerial vehicle take-off and landing platform after the unmanned aerial vehicle lands in order to facilitate the operation of the unmanned aerial vehicle take-off and landing platform after landing; positioning coordinates of a pattern based on close range recognition of the pattern and direction
And calculating the deviation angle between the heading of the unmanned aerial vehicle and the positive direction of the take-off and landing platform of the unmanned aerial vehicle>
The formula is as follows: />
The cruise control device sends a rotation instruction to the unmanned aerial vehicle to control the rotation deviation angle of the unmanned aerial vehicle to be greater or smaller than>
The heading of the unmanned aerial vehicle is aligned to the positive direction of the take-off and landing platform of the unmanned aerial vehicle;
s8, adjusting the horizontal position, landing the unmanned aerial vehicle under the guidance of the visual identification mark, comprehensively calculating an optimal command for controlling the unmanned aerial vehicle to land by the cruise control equipment according to the relative position of the visual identification mark in the video shot by the unmanned aerial vehicle and the current state information of the unmanned aerial vehicle, and sending the command to the unmanned aerial vehicle at the frequency of 20 Hz to achieve the optimal landing effect; specifically, when the flying height of the unmanned aerial vehicle is greater than 2m, the graphic coordinates are identified according to the long distance
And calculating the speeds of the unmanned aerial vehicle in the x direction and the y direction according to the current flying height h of the unmanned aerial vehicle, wherein the formula is as follows:
when the flying height of the unmanned aerial vehicle is high, the same coordinate deviation is compared with that when the flying height of the unmanned aerial vehicle is low, and the unmanned aerial vehicle and the visual identification mark are usedThe actual horizontal distance is greater, so that the velocity is multiplied by a factor h,
the cruise control device updates the speed and the speed balance coefficient at the frequency of 20 Hz, which is a speed balance coefficient and plays the roles of resisting position deviation caused by airflow in the falling process and accelerating falling; falling onset->
If on the fall twice in succession>
Or->
The same number, that is, the unmanned aerial vehicle moves in the same direction in the x or y direction, indicates that the unmanned aerial vehicle is far away from the visual identification mark, and carries out
Or>
Operating to accelerate the unmanned aerial vehicle to reach the visual identification mark; if two times in succession during the fall>
Or->
The abnormal sign means that the unmanned aerial vehicle moves in the opposite direction in the x or y direction, which means that the unmanned aerial vehicle approaches the visual identification mark and takes a->
Or->
Operate to make the unmanned aerial vehicle position converge in the visual identification sign, prevent that unmanned aerial vehicle from attaching at the visual identification signThe reciprocating motion is nearly repeated; when the flying height of the unmanned aerial vehicle is more than 2m, the unmanned aerial vehicle lands by taking the long-distance identification graph as a target, and when the flying height of the unmanned aerial vehicle is less than 2m, the flying height is too low, and the shooting range of a downward-looking camera of the unmanned aerial vehicle is limited, so that the complete long-distance identification graph cannot be completely shot, and the short-distance identification graph with smaller size is taken as the target to land;
s9, guiding to descend, and when the flying height of the unmanned aerial vehicle is larger than 2m, enabling the deviation of the unmanned aerial vehicle from the center of the remote identification graph to be smaller than 0.1, namely
In the process, the cruise control equipment controls the unmanned aerial vehicle to vertically land at the speed of 0.3 m/s; when the height of the unmanned aerial vehicle is less than 2m, the deviation of the unmanned aerial vehicle from the center of the close distance identification graph is less than 0.05,
in the process, the cruise control equipment controls the unmanned aerial vehicle to vertically land at the speed of 0.2 m/s; when the position deviation is larger than the specified value in the landing process, stopping the unmanned aerial vehicle from descending, and repeating the step S8 of horizontal position adjustment until the position deviation is smaller than the specified value; because the unmanned aerial vehicle is greatly influenced by airflow at a high position and can generate position deviation again in the descending process, when the height of the unmanned aerial vehicle is greater than 2m, the threshold value of the position deviation is set to be 0.1, so that the unmanned aerial vehicle is prevented from being in S8 for a long time, and the descending process is accelerated;
s10, the descending is accomplished, when unmanned aerial vehicle flying height was less than 0.5m, unmanned aerial vehicle stops to descend, cruise control equipment control unmanned aerial vehicle keeps visual identification target deviation less than 0.05 for continuous 2S, control unmanned aerial vehicle to land in unmanned aerial vehicle take off and land platform fast with 4 ms' S speed afterwards, in order to avoid falling to the ground the in-process and take place the skew, unmanned aerial vehicle sends the landing completion signal to cruise control equipment, accomplish the landing process that cruises.
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