CN118089905B - Unmanned aerial vehicle landing position monitoring method and system and electronic equipment - Google Patents
Unmanned aerial vehicle landing position monitoring method and system and electronic equipment Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicle landing position monitoring, in particular to an unmanned aerial vehicle landing position monitoring method and system and electronic equipment. The method comprises the steps of setting a first two-dimensional code and a second two-dimensional code at any two opposite and parallel boundaries of a target safe parking area of an unmanned aerial vehicle parking apron, setting a third two-dimensional code on the unmanned aerial vehicle, shooting three two-dimensional codes simultaneously by using a camera, and calculating the pixel coordinates of the central points of the three two-dimensional codes; a plurality of film pressure sensors are arranged on a target safe stopping area of the unmanned aerial vehicle parking apron, and first total weight data of weight data collected by the film pressure sensors are calculated; the first two-dimensional code and the second two-dimensional code are arranged in an area which cannot be shielded by the unmanned aerial vehicle, and accurate monitoring of the landing position of the unmanned aerial vehicle can be achieved according to the central point pixel coordinates of the three two-dimensional codes and the first total weight data.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle landing position monitoring, in particular to an unmanned aerial vehicle landing position monitoring method and system and electronic equipment.
Background
The conventional unmanned aerial vehicle landing technology depends on GPS positioning to assist landing, but because GPS positioning errors are larger, and GPS signals are in areas with more shielding objects, the penetration force is poorer, so that errors are increased or signals are lost; the method for realizing landing by using the deep learning algorithm for image recognition avoids the problem of GPS positioning accuracy, but for unmanned aerial vehicles which cannot carry development boards, only image recognition can be performed on mobile equipment, then certain time delay is necessarily caused, and great requirements are required on the performance and the load pressure of the mobile equipment.
The current monitoring to unmanned aerial vehicle landing position often only relies on the discernment of a plurality of two-dimensional codes on the air park, and if shoot the two-dimensional code that is located the air park surface from the air park top, can influence unmanned aerial vehicle's landing, if unmanned aerial vehicle and the camera that sets up in the air park top probably lead to the fact unmanned aerial vehicle to crash because unexpected emergence bumps, and unmanned aerial vehicle falls when the air park, because unmanned aerial vehicle's self height, landing position and camera inclination influence, can block one or more two-dimensional codes, calculation to follow-up landing position causes very big influence, cause the unreliable of landing position monitoring result, the security problem appears easily, and improve above-mentioned problem through the mode that enlarges unmanned aerial vehicle air park area, then can lead to unmanned aerial vehicle air park's hardware cost of manufacture to increase by a wide margin.
Thus, the prior art is still to be further developed.
Disclosure of Invention
The invention aims to overcome the technical defects and provide a method and a system for monitoring the landing position of an unmanned aerial vehicle and electronic equipment so as to solve the problems in the prior art.
To achieve the above technical object, according to a first aspect of the present invention, there is provided a method for monitoring a landing position of an unmanned aerial vehicle, the method comprising:
S100, a first two-dimensional code and a second two-dimensional code are arranged at any two opposite and parallel boundaries of a target safe parking area of an unmanned aerial vehicle parking apron, a third two-dimensional code is arranged on the unmanned aerial vehicle, a camera is arranged at a first preset position, the camera can shoot the first two-dimensional code, the second two-dimensional code and the third two-dimensional code simultaneously when the unmanned aerial vehicle falls on the unmanned aerial vehicle parking apron, a current frame image shot by the camera is obtained, the first two-dimensional code, the second two-dimensional code and the third two-dimensional code in the current frame image are identified, and the center point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code are calculated respectively;
s200, a plurality of film pressure sensors are arranged on a target safe stopping area of the unmanned aerial vehicle parking apron, the film pressure sensors are uniformly distributed on the target safe stopping area of the unmanned aerial vehicle parking apron, weight data collected by the film pressure sensors are obtained, and then the sum of the weight data collected by the film pressure sensors is calculated and recorded as first total weight data;
S300, judging whether the landing position of the unmanned aerial vehicle is deviated or not according to the first two-dimensional code, the second two-dimensional code, the center point pixel coordinates of the third two-dimensional code and the first total weight data.
Specifically, set up first two-dimensional code and second two-dimensional code at the regional boundary department of the safe shut down of target of unmanned aerial vehicle air park of arbitrary two relatively and parallel, set up the third two-dimensional code on unmanned aerial vehicle, include:
The unmanned aerial vehicle air park includes the air park, be provided with the safe air park of target on the air park and regional, establish first plane, first plane and the safe air park of target correspond the setting, first planar size is unanimous with the safe air park of target, with first two-dimensional code and second two-dimensional code set up with on the first planar vertically second plane.
Specifically, the setting the first two-dimensional code and the second two-dimensional code on a plane perpendicular to the first plane includes:
Establishing a first projection point and a second projection point of the two opposite and parallel boundaries on a second plane, establishing a first line segment of the first projection point and the second projection point, establishing a first straight line perpendicular to the first line segment and passing through the first projection point on the second plane, and establishing a second straight line perpendicular to the first line segment and passing through the second projection point on the second plane, wherein the first two-dimensional code and the second two-dimensional code are both positioned on the second plane, and one sides of the first two-dimensional code and one side of the second two-dimensional code are respectively clung to the first straight line and the second straight line.
Specifically, the determining whether the landing position of the unmanned aerial vehicle deviates according to the center point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code and the first total weight data includes:
calculating a first difference value between the center point pixel coordinate of the third two-dimensional code and the abscissa of the center point pixel coordinate of the first two-dimensional code;
Calculating a second difference value of the horizontal coordinates of the center point pixel coordinates of the third two-dimensional code and the center point pixel coordinates of the second two-dimensional code;
And calculating a first absolute value of the first difference and the second difference, judging whether the first absolute value is larger than or equal to a first preset threshold value, and judging whether the landing position of the unmanned aerial vehicle is deviated according to a judging result.
Specifically, the determining whether the first absolute value is greater than or equal to a first preset threshold value, and determining whether the landing position of the unmanned aerial vehicle is deviated according to the determination result includes:
if the first absolute value is greater than or equal to a first preset threshold value, determining landing position deviation of the unmanned aerial vehicle;
If the first absolute value is smaller than a first preset threshold, judging whether the first total weight data is larger than or equal to a second preset threshold, and judging whether the landing position of the unmanned aerial vehicle is deviated according to a judging result.
Specifically, the determining whether the first total weight data is greater than or equal to a second preset threshold value, and determining whether the landing position of the unmanned aerial vehicle deviates according to the determination result includes:
If the first total weight data is larger than or equal to a second preset threshold value, judging that the landing position of the unmanned aerial vehicle is not deviated;
And if the first total weight data is smaller than the second preset threshold value, judging that the landing position of the unmanned aerial vehicle is deviated.
Specifically, the calculating the center point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code respectively includes:
The first two-dimensional code, the second two-dimensional code and the third two-dimensional code are all provided with two-dimensional code ID data, the three two-dimensional codes are identified, the two-dimensional code ID data of the three two-dimensional codes are obtained, the first two-dimensional code, the second two-dimensional code and the third two-dimensional code are confirmed according to the two-dimensional code ID data of the three two-dimensional codes, the pixel coordinates of four vertexes of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code are respectively obtained, and then the center point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code are calculated.
Specifically, the method further comprises the following steps:
if the landing position of the unmanned aerial vehicle is judged to be deviated, outputting an alarm signal related to the deviation of the landing position of the unmanned aerial vehicle;
if the landing position of the unmanned aerial vehicle is judged not to deviate, a prompt signal related to the landing position of the unmanned aerial vehicle is output.
According to a second aspect of the present invention, there is provided a unmanned aerial vehicle landing position monitoring system comprising:
The acquisition module comprises a first two-dimensional code and a second two-dimensional code which are arranged at any two opposite and parallel boundaries of the unmanned aerial vehicle parking apron, a third two-dimensional code which is arranged on the unmanned aerial vehicle, a camera, and a plurality of film pressure sensors which are arranged on the unmanned aerial vehicle parking apron, wherein the film pressure sensors are uniformly distributed on a target safe parking area of the unmanned aerial vehicle parking apron, the camera is used for shooting the first two-dimensional code, the second two-dimensional code and the third two-dimensional code simultaneously when the unmanned aerial vehicle falls onto the unmanned aerial vehicle parking apron, and the film pressure sensors are used for acquiring weight data;
The control module is used for calculating the center point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code respectively; or the weight data acquired by each film pressure sensor is acquired, and then the sum of the weight data acquired by each film pressure sensor is calculated and recorded as first total weight data; or the method is used for judging whether the landing position of the unmanned aerial vehicle is deviated or not according to the central point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code and the first total weight data.
According to a third aspect of the present invention, there is provided an electronic device comprising: a memory; and a processor, wherein the memory stores computer readable instructions, and the computer readable instructions implement the unmanned aerial vehicle landing position monitoring method when executed by the processor.
The beneficial effects are that:
According to the invention, the first two-dimensional code and the second two-dimensional code are arranged in an area which is not shielded by the unmanned aerial vehicle, and then the accurate monitoring of the landing position of the unmanned aerial vehicle can be realized through the third two-dimensional code arranged on the unmanned aerial vehicle and the plurality of film sensors arranged on the parking apron, so that the problems that if the two-dimensional code positioned on the surface of the parking apron is shot from the upper side of the parking apron, the landing of the unmanned aerial vehicle is possibly influenced, one or more two-dimensional codes are possibly blocked, the calculation of the subsequent landing position is greatly influenced and the unreliability of the landing position monitoring result is caused, and complex algorithm modeling is not needed, the application difficulty and the application cost are greatly reduced, and the intelligent degree, reliability and usability of the unmanned aerial vehicle are greatly improved.
Drawings
Fig. 1 is a flowchart of a method for monitoring a landing position of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a system component of the unmanned aerial vehicle landing position monitoring system according to an embodiment of the present invention;
fig. 3 is a schematic view of a position of a drone falling on an apron according to an embodiment of the present invention.
Detailed Description
In order to make the technical solution of the present application better understood by those skilled in the art, the technical solution of the present application will be clearly and completely described in the following with reference to the accompanying drawings, and based on the embodiments of the present application, other similar embodiments obtained by those skilled in the art without making any inventive effort should be included in the scope of protection of the present application. In addition, directional words such as "upper", "lower", "left", "right", and the like, as used in the following embodiments are merely directions with reference to the drawings, and thus, the directional words used are intended to illustrate, not to limit, the application.
The invention will be further described with reference to the drawings and preferred embodiments.
Referring to fig. 1 and 3, the present invention provides a method for monitoring a landing position of an unmanned aerial vehicle, including:
s100, a first two-dimensional code and a second two-dimensional code are arranged at any two opposite and parallel boundaries of a target safe parking area of an unmanned aerial vehicle parking apron, a third two-dimensional code is arranged on the unmanned aerial vehicle, a camera is arranged at a first preset position, the camera can shoot the first two-dimensional code, the second two-dimensional code and the third two-dimensional code simultaneously when the unmanned aerial vehicle falls onto the unmanned aerial vehicle parking apron, a current frame image shot by the camera is obtained, the first two-dimensional code, the second two-dimensional code and the third two-dimensional code in the current frame image are identified, and the center point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code are calculated respectively.
Here, the step S100 includes, before:
the method comprises the steps of presetting a first preset threshold value, a second preset threshold value, two-dimension code ID data of a first two-dimension code, two-dimension code ID data of a second two-dimension code and two-dimension code ID data of a third two-dimension code in a control module.
It should be noted that, the first preset threshold value, the second preset threshold value, the two-dimensional code ID data of the first two-dimensional code, the two-dimensional code ID data of the second two-dimensional code, and the two-dimensional code ID data of the third two-dimensional code may be specifically set according to the actual needs of the user of the present invention, and the present invention does not limit the specific settings of the first preset threshold value, the second preset threshold value, the two-dimensional code ID data of the first two-dimensional code, the two-dimensional code ID data of the second two-dimensional code, and the two-dimensional code ID data of the third two-dimensional code, so long as the present invention is applicable to the unmanned aerial vehicle landing position monitoring method provided by the present invention.
Preferably, the first preset threshold value is set to be half of the image length of the current frame image along the abscissa direction, and the second preset threshold value is set to be 99% of the total weight of the unmanned aerial vehicle, and the setting is obtained by a plurality of tests by the technical staff, so that whether the landing position of the unmanned aerial vehicle is deviated or not can be well judged, and the intelligent degree, reliability and usability of the unmanned aerial vehicle are further improved.
Specifically, set up first two-dimensional code and second two-dimensional code at the regional boundary department of the safe shut down of target of unmanned aerial vehicle air park of arbitrary two relatively and parallel, set up the third two-dimensional code on unmanned aerial vehicle, include:
The unmanned aerial vehicle air park includes the air park, be provided with the safe air park of target on the air park and regional, establish first plane, first plane and the safe air park of target correspond the setting, first planar size is unanimous with the safe air park of target, with first two-dimensional code and second two-dimensional code set up with on the first planar vertically second plane.
Specifically, the setting the first two-dimensional code and the second two-dimensional code on a plane perpendicular to the first plane includes:
Establishing a first projection point and a second projection point of the two opposite and parallel boundaries on a second plane, establishing a first line segment of the first projection point and the second projection point, establishing a first straight line perpendicular to the first line segment and passing through the first projection point on the second plane, and establishing a second straight line perpendicular to the first line segment and passing through the second projection point on the second plane, wherein the first two-dimensional code and the second two-dimensional code are both positioned on the second plane, and one sides of the first two-dimensional code and one side of the second two-dimensional code are respectively clung to the first straight line and the second straight line.
It can be understood that the first two-dimensional code and the second two-dimensional code are arranged on the side surface of the parking apron, namely, on a plane vertical to the parking area, one sides of the first two-dimensional code and the second two-dimensional code only need to be respectively clung to a first straight line and a second straight line, the arrangement heights of the first two-dimensional code and the second two-dimensional code are not required to be the same, and the arrangement heights can be flexibly adjusted according to the actual structure of the parking apron, so that the usability and the practicability of the invention are further improved, and the application cost of the invention is further reduced.
It should be noted that, please continue to refer to fig. 3, fig. 3 is a schematic diagram of a position of the unmanned aerial vehicle when the unmanned aerial vehicle falls on the parking apron, the view of the unmanned aerial vehicle is defined as a front view, and after the unmanned aerial vehicle falls, a center point of the third two-dimensional code of the present invention is located at a center position in front of a nose of the unmanned aerial vehicle, that is, on a central axis of the front view of the unmanned aerial vehicle, so as to further improve reliability of monitoring of the landing position of the unmanned aerial vehicle of the present invention.
And S200, a plurality of film pressure sensors are arranged on a target safe stopping area of the unmanned aerial vehicle parking apron, the film pressure sensors are uniformly distributed on the target safe stopping area of the unmanned aerial vehicle parking apron, weight data acquired by each film pressure sensor are acquired, and then the sum of the weight data acquired by each film pressure sensor is calculated and recorded as first total weight data.
S300, judging whether the landing position of the unmanned aerial vehicle is deviated or not according to the first two-dimensional code, the second two-dimensional code, the center point pixel coordinates of the third two-dimensional code and the first total weight data.
Specifically, the determining whether the landing position of the unmanned aerial vehicle deviates according to the center point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code and the first total weight data includes:
calculating a first difference value between the center point pixel coordinate of the third two-dimensional code and the abscissa of the center point pixel coordinate of the first two-dimensional code;
Calculating a second difference value of the horizontal coordinates of the center point pixel coordinates of the third two-dimensional code and the center point pixel coordinates of the second two-dimensional code;
And calculating a first absolute value of the first difference and the second difference, judging whether the first absolute value is larger than or equal to a first preset threshold value, and judging whether the landing position of the unmanned aerial vehicle is deviated according to a judging result.
Specifically, the determining whether the first absolute value is greater than or equal to a first preset threshold value, and determining whether the landing position of the unmanned aerial vehicle is deviated according to the determination result includes:
if the first absolute value is greater than or equal to a first preset threshold value, determining landing position deviation of the unmanned aerial vehicle;
If the first absolute value is smaller than a first preset threshold, judging whether the first total weight data is larger than or equal to a second preset threshold, and judging whether the landing position of the unmanned aerial vehicle is deviated according to a judging result.
Here, if the first absolute value is greater than or equal to the first preset threshold, that is, the first absolute value is greater than or equal to half the image length of the current frame image along the abscissa direction, it is determined that the landing position of the unmanned aerial vehicle is shifted. If the first absolute value is smaller than the first preset threshold, it is proved that the unmanned aerial vehicle does not deviate in the direction corresponding to the abscissa of the current frame image, and whether the unmanned aerial vehicle deviates in the direction corresponding to the ordinate of the current frame image needs to be further judged.
Specifically, the determining whether the first total weight data is greater than or equal to a second preset threshold value, and determining whether the landing position of the unmanned aerial vehicle deviates according to the determination result includes:
If the first total weight data is larger than or equal to a second preset threshold value, judging that the landing position of the unmanned aerial vehicle is not deviated;
And if the first total weight data is smaller than the second preset threshold value, judging that the landing position of the unmanned aerial vehicle is deviated.
It should be noted that, if the first total weight data is greater than or equal to the second preset threshold, that is, the first total weight data is greater than or equal to 99% of the total weight of the unmanned aerial vehicle, it is determined that the landing position of the unmanned aerial vehicle is not shifted, and if the first total weight data is less than 99% of the total weight of the unmanned aerial vehicle, it is determined that the landing position of the unmanned aerial vehicle is shifted.
Specifically, the calculating the center point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code respectively includes:
The first two-dimensional code, the second two-dimensional code and the third two-dimensional code are all provided with two-dimensional code ID data, the three two-dimensional codes are identified, the two-dimensional code ID data of the three two-dimensional codes are obtained, the first two-dimensional code, the second two-dimensional code and the third two-dimensional code are confirmed according to the two-dimensional code ID data of the three two-dimensional codes, the pixel coordinates of four vertexes of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code are respectively obtained, and then the center point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code are calculated.
It can be understood that the method for pixel coordinates of the center point of each two-dimensional code is as follows: and calculating line segment bisector coordinates according to two vertex pixel coordinates of the opposite angles of the two-dimensional code, namely, the pixel coordinates of the center of the two-dimensional code.
Specifically, the method further comprises the following steps:
if the landing position of the unmanned aerial vehicle is judged to be deviated, outputting an alarm signal related to the deviation of the landing position of the unmanned aerial vehicle;
if the landing position of the unmanned aerial vehicle is judged not to deviate, a prompt signal related to the landing position of the unmanned aerial vehicle is output.
It can be understood that the invention can realize the accurate monitoring of the landing position of the unmanned aerial vehicle by arranging the first two-dimensional code and the second two-dimensional code in the area which cannot be shielded by the unmanned aerial vehicle and then arranging the third two-dimensional code on the unmanned aerial vehicle and a plurality of film sensors on the apron, thereby solving the problems that if the two-dimensional code positioned on the surface of the apron is shot from above the apron, the landing of the unmanned aerial vehicle is possibly influenced, one or a plurality of two-dimensional codes are possibly blocked, the calculation of the subsequent landing position is greatly influenced and the unreliability of the landing position monitoring result is caused, and complex algorithm modeling is not needed, greatly reducing the application difficulty and the application cost, and greatly improving the intelligent degree, reliability and usability of the invention.
Referring to fig. 2, another embodiment of the present invention provides a system for monitoring a landing position of an unmanned aerial vehicle, where the system includes:
The acquisition module 100 comprises a first two-dimensional code and a second two-dimensional code which are arranged at any two opposite and parallel boundaries of the unmanned aerial vehicle parking apron, a third two-dimensional code which is arranged on the unmanned aerial vehicle, a camera, and a plurality of film pressure sensors which are arranged on the unmanned aerial vehicle parking apron, wherein the film pressure sensors are uniformly distributed on a target safe parking area of the unmanned aerial vehicle parking apron, the camera is used for shooting the first two-dimensional code, the second two-dimensional code and the third two-dimensional code simultaneously when the unmanned aerial vehicle falls onto the unmanned aerial vehicle parking apron, and the film pressure sensors are used for acquiring weight data;
The control module 200 is used for respectively calculating the center point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code; or the weight data acquired by each film pressure sensor is acquired, and then the sum of the weight data acquired by each film pressure sensor is calculated and recorded as first total weight data; or the method is used for judging whether the landing position of the unmanned aerial vehicle is deviated or not according to the central point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code and the first total weight data.
The method and the device can realize accurate monitoring of the landing position of the unmanned aerial vehicle by arranging the first two-dimensional code and the second two-dimensional code in an area which cannot be shielded by the unmanned aerial vehicle and then arranging the third two-dimensional code on the unmanned aerial vehicle and a plurality of film sensors on the apron, solve the problems that if the two-dimensional code positioned on the surface of the apron is shot from above the apron, landing of the unmanned aerial vehicle is possibly affected, one or a plurality of two-dimensional codes are possibly blocked, calculation of the subsequent landing position is greatly affected and unreliability of a landing position monitoring result is caused, and complex algorithm modeling is not needed, greatly reduce the application difficulty and the application cost, and greatly improve the intelligent degree, reliability and usability of the method and the device.
In a preferred embodiment, the present application also provides an electronic device, including:
A memory; and a processor, wherein the memory stores computer readable instructions, and the computer readable instructions implement the unmanned aerial vehicle landing position monitoring method when executed by the processor. The computer device may be broadly a server, a terminal, or any other electronic device having the necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc. connected by a system bus. The processor of the computer device may be used to provide the necessary computing, processing and/or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. The non-volatile storage medium may have an operating system, computer programs, etc. stored therein or thereon. The internal memory may provide an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface and communication interface of the computer device may be used to connect and communicate with external devices via a network. Which when executed by a processor performs the steps of the method of the invention.
The present invention may be implemented as a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes steps of a method of an embodiment of the present invention to be performed. In one embodiment, the computer program is distributed over a plurality of computer devices or processors coupled by a network such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed fashion. A single method step/operation, or two or more method steps/operations, may be performed by a single computer device or processor, or by two or more computer devices or processors. One or more method steps/operations may be performed by one or more computer devices or processors, and one or more other method steps/operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step/operation or two or more method steps/operations.
Those of ordinary skill in the art will appreciate that the method steps of the present invention may be implemented by a computer program, which may be stored on a non-transitory computer readable storage medium, to instruct related hardware such as a computer device or a processor, which when executed causes the steps of the present invention to be performed. Any reference herein to memory, storage, database, or other medium may include non-volatile and/or volatile memory, as the case may be. Examples of nonvolatile memory include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
It can be understood that the invention can realize accurate monitoring of the landing position of the unmanned aerial vehicle by arranging the first two-dimensional code and the second two-dimensional code in an area which cannot be shielded by the unmanned aerial vehicle, then arranging the third two-dimensional code on the unmanned aerial vehicle and arranging a plurality of film sensors on the apron, thereby solving the problems that if the two-dimensional code positioned on the surface of the apron is shot from above the apron, landing of the unmanned aerial vehicle is possibly influenced, one or a plurality of two-dimensional codes are possibly blocked, calculation of the subsequent landing position is greatly influenced and unreliability of a landing position monitoring result is caused, complex algorithm modeling is not needed, greatly reducing the application difficulty and the application cost, and greatly improving the intelligent degree, reliability and usability of the invention.
The technical features described above may be arbitrarily combined. Although not all possible combinations of features are described, any combination of features should be considered to be covered by the description provided that such combinations are not inconsistent.
The above-described embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (8)
1. A method for monitoring a landing position of an unmanned aerial vehicle, the method comprising:
S100, a first two-dimensional code and a second two-dimensional code are arranged at any two opposite and parallel boundaries of a target safe parking area of an unmanned aerial vehicle parking apron, a third two-dimensional code is arranged on the unmanned aerial vehicle, a camera is arranged at a first preset position, the camera can shoot the first two-dimensional code, the second two-dimensional code and the third two-dimensional code simultaneously when the unmanned aerial vehicle falls on the unmanned aerial vehicle parking apron, a current frame image shot by the camera is obtained, the first two-dimensional code, the second two-dimensional code and the third two-dimensional code in the current frame image are identified, and the center point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code are calculated respectively;
s200, a plurality of film pressure sensors are arranged on a target safe stopping area of the unmanned aerial vehicle parking apron, the film pressure sensors are uniformly distributed on the target safe stopping area of the unmanned aerial vehicle parking apron, weight data collected by the film pressure sensors are obtained, and then the sum of the weight data collected by the film pressure sensors is calculated and recorded as first total weight data;
S300, judging whether the landing position of the unmanned aerial vehicle is deviated or not according to the central point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code and the first total weight data;
The target safety of unmanned aerial vehicle air park is regional boundary department that two arbitrary opposition and parallel set up first two-dimensional code and second two-dimensional code, set up the third two-dimensional code on unmanned aerial vehicle, include:
The unmanned aerial vehicle parking apron comprises a parking surface, a target safe parking area is arranged on the parking surface, a first plane is established, the first plane and the target safe parking area are correspondingly arranged, the size of the first plane is consistent with that of the target safe parking area, and a first two-dimensional code and a second two-dimensional code are arranged on a second plane perpendicular to the first plane;
the setting of the first two-dimensional code and the second two-dimensional code on a plane perpendicular to the first plane includes:
Establishing a first projection point and a second projection point of the two opposite and parallel boundaries on a second plane, establishing a first line segment of the first projection point and the second projection point, establishing a first straight line perpendicular to the first line segment and passing through the first projection point on the second plane, and establishing a second straight line perpendicular to the first line segment and passing through the second projection point on the second plane, wherein the first two-dimensional code and the second two-dimensional code are both positioned on the second plane, and one sides of the first two-dimensional code and one side of the second two-dimensional code are respectively clung to the first straight line and the second straight line.
2. The unmanned aerial vehicle landing position monitoring method of claim 1, wherein determining whether the unmanned aerial vehicle landing position is offset according to the first two-dimensional code, the second two-dimensional code, the center point pixel coordinates of the third two-dimensional code, and the first total weight data comprises:
calculating a first difference value between the center point pixel coordinate of the third two-dimensional code and the abscissa of the center point pixel coordinate of the first two-dimensional code;
Calculating a second difference value of the horizontal coordinates of the center point pixel coordinates of the third two-dimensional code and the center point pixel coordinates of the second two-dimensional code;
And calculating a first absolute value of the first difference and the second difference, judging whether the first absolute value is larger than or equal to a first preset threshold value, and judging whether the landing position of the unmanned aerial vehicle is deviated according to a judging result.
3. The unmanned aerial vehicle landing position monitoring method according to claim 2, wherein the determining whether the first absolute value is greater than or equal to a first preset threshold value, and determining whether the landing position of the unmanned aerial vehicle is offset according to the determination result, comprises:
if the first absolute value is greater than or equal to a first preset threshold value, determining landing position deviation of the unmanned aerial vehicle;
If the first absolute value is smaller than a first preset threshold, judging whether the first total weight data is larger than or equal to a second preset threshold, and judging whether the landing position of the unmanned aerial vehicle is deviated according to a judging result.
4. The unmanned aerial vehicle landing position monitoring method of claim 3, wherein the determining whether the first total weight data is greater than or equal to a second preset threshold value, and determining whether the landing position of the unmanned aerial vehicle is offset according to the determination result, comprises:
If the first total weight data is larger than or equal to a second preset threshold value, judging that the landing position of the unmanned aerial vehicle is not deviated;
And if the first total weight data is smaller than the second preset threshold value, judging that the landing position of the unmanned aerial vehicle is deviated.
5. The unmanned aerial vehicle landing position monitoring method of claim 1, wherein the calculating the center point pixel coordinates of the first two-dimensional code, the second two-dimensional code, and the third two-dimensional code respectively comprises:
The first two-dimensional code, the second two-dimensional code and the third two-dimensional code are all provided with two-dimensional code ID data, the three two-dimensional codes are identified, the two-dimensional code ID data of the three two-dimensional codes are obtained, the first two-dimensional code, the second two-dimensional code and the third two-dimensional code are confirmed according to the two-dimensional code ID data of the three two-dimensional codes, the pixel coordinates of four vertexes of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code are respectively obtained, and then the center point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code are calculated.
6. The unmanned aerial vehicle landing position monitoring method of claim 4, wherein the method further comprises:
if the landing position of the unmanned aerial vehicle is judged to be deviated, outputting an alarm signal related to the deviation of the landing position of the unmanned aerial vehicle;
if the landing position of the unmanned aerial vehicle is judged not to deviate, a prompt signal related to the landing position of the unmanned aerial vehicle is output.
7. A system for monitoring the landing position of an unmanned aerial vehicle, wherein the method for monitoring the landing position of an unmanned aerial vehicle according to any one of claims 1 to 6 is used, comprising:
The acquisition module comprises a first two-dimensional code and a second two-dimensional code which are arranged at any two opposite and parallel boundaries of the unmanned aerial vehicle parking apron, a third two-dimensional code which is arranged on the unmanned aerial vehicle, a camera, and a plurality of film pressure sensors which are arranged on the unmanned aerial vehicle parking apron, wherein the film pressure sensors are uniformly distributed on a target safe parking area of the unmanned aerial vehicle parking apron, the camera is used for shooting the first two-dimensional code, the second two-dimensional code and the third two-dimensional code simultaneously when the unmanned aerial vehicle falls onto the unmanned aerial vehicle parking apron, and the film pressure sensors are used for acquiring weight data;
The control module is used for calculating the center point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code respectively; or the weight data acquired by each film pressure sensor is acquired, and then the sum of the weight data acquired by each film pressure sensor is calculated and recorded as first total weight data; or the method is used for judging whether the landing position of the unmanned aerial vehicle is deviated or not according to the central point pixel coordinates of the first two-dimensional code, the second two-dimensional code and the third two-dimensional code and the first total weight data.
8. An electronic device, comprising:
A memory; and a processor having stored thereon computer readable instructions which when executed by the processor implement the unmanned aerial vehicle landing position monitoring method according to any one of claims 1 to 6.
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