TWM645018U - UAV Vision Guidance Landing System - Google Patents

Abstract

A UAV visual guidance and landing system, suitable for ships. The UAV visual guidance and landing system includes: a UAV, including: an image capture unit; an altitude detection unit; a first positioning sensing unit; and a first wireless communication unit; And a control module, including a processing unit. When the drone obtains the return command, it automatically flies to a visual distance from the global positioning system coordinates, and then uses the control module to make the drone continue to move and lower its flight altitude, while receiving the information obtained by the drone. The ship image is recognized through the processing unit, and the ship identity information and ship attitude information are generated, and the landing command is sent to the drone to perform the landing procedure, so that the drone adjusts the landing attitude of the drone during the landing process based on the ship attitude information.

Description

UAV visual guidance landing system

This new creation is a visual guidance and landing system for UAVs, in particular, it relates to a visual guidance and landing system for UAVs that automatically identifies the relative positions of UAVs and ships through images to control the landing of UAVs.

Since the unmanned aerial vehicle (UAV, abbreviated as drone) made a splash at the Consumer Electronics Show (CES), which is known as the global technology trendsetter, in 2015, its development and application have been the focus of much attention and hot discussion. The focus of drones has been widely used in various fields. Since the Ukraine-Russia War, military drones have attracted international attention due to their good combat effectiveness. Countries have also actively invested in drones for military, commercial, agricultural, Procurement and research and development in various fields such as transportation, and are used in patrol monitoring, disaster relief applications, and even extended to private consumer entertainment applications for aerial photography and VLOG production. Its technology can reach places that are difficult for humans to reach. In the future It will and is expected to create unlimited possibilities in transportation, medical, logistics and other fields.

When a ship is sailing at sea, the hull often swings in six axes due to the ups and downs of the waves, making it impossible for the drone to land as smoothly as on land. In addition, when the GPS system on the drone is used on land, because With the assistance of other communication systems, for example, two or more observation stations can use relative positioning or differential methods, so the positioning error can be reduced to less than 10 meters without interference. However, the error is caused by geographical restrictions at sea. The changes are increasing, which may cause an error value of at least 30 meters to more than 100 meters. In addition, the ship is constantly moving, and the original flight landing point (or home point) will even cause the drone to change due to changes. The mother ship cannot be found when returning, or when multiple operating ships appear in the fishing area at the same time, the drone cannot effectively identify the mother ship, and therefore cannot land correctly, causing it to fall into the sea and be damaged.

The purpose of this new creation is to provide a visual guidance landing system for UAVs, which can instantly calculate the relative height, relative distance and relative angle between the UAV and the ship through image recognition, and control the UAV to move forward and backward, lower the height, follow the direction, etc. landing attitude to control the drone to perform the landing procedure.

In order to achieve the above purpose, this new creation provides a UAV visual guidance landing system, which is suitable for a ship. The UAV visual guidance landing system includes: a UAV, including: an image capture unit, used to obtain a ship Image; an altitude detection unit used to detect the altitude of the drone and generate an altitude signal; a first positioning sensing unit used to obtain the positioning information of the drone; a first wireless communication unit , the ship is connected by telecommunications to obtain a global positioning system coordinate of the ship and transmit images of the ship; and a control module includes a processing unit, the control module is provided on the ship and is connected to the drone by telecommunications When the UAV obtains a return command, it automatically flies to a visual distance from the global positioning system coordinates, and then uses the control module to continuously move the UAV and lower its flight altitude, while receiving the information obtained by the UAV. The ship image is recognized through the processing unit, and a ship identity information and a ship attitude information are generated. Based on the ship identity information, it is determined whether it is a target ship. When the ship is the target ship, a landing command is sent to it. The UAV performs a landing procedure so that the UAV adjusts a landing attitude of the UAV during the landing process based on the attitude information of the ship.

In one embodiment of the invention, the above-mentioned ship has a ship characteristic or a graphic identity code placed on the ship and a landing platform.

In one embodiment of the present invention, the above-mentioned control module obtains a real-time relative image including the characteristics of the ship or the graphic identity code (such as QR Code or other graphics) placed on the ship based on the ship image, for Obtain the identity information of the ship, and based on the real-time relative image, compare the characteristics of the ship or the size, position, and orientation of the graphic identity code placed on the ship to calculate the relative height, relative distance, and The ship attitude information of the relative angle is then sent to a guidance command to control the landing attitude of the UAV to move forward and backward, lower the height, follow the direction, etc., so as to control the UAV to perform the landing procedure.

In an embodiment of the present invention, the above-mentioned ship further includes a second positioning sensing unit and a second wireless communication unit. The second positioning sensing unit is used to obtain the global positioning system coordinates, and the second positioning sensing unit is used to obtain the global positioning system coordinates. The wireless communication unit is used for telecommunications connection with the first wireless communication unit of the drone and exchanges information.

In one embodiment of the present invention, the above-mentioned drone continuously transmits the positioning information to the second wireless communication unit of the ship, and compares it with the global positioning system coordinates through the control module to determine the positioning information. When the distance between the drone and the ship is less than or equal to the visual distance, the control module is used to remotely guide the movement of the drone.

In one embodiment of the present invention, the above-mentioned remote guidance method of the control module includes but is not limited to sending the coordinate direction of the global positioning system or being guided by the direction of radio wave strength.

In one embodiment of the present invention, the above-mentioned altitude detection unit is an altitude sensor for sensing the real-time altitude status of the drone.

In an embodiment of the present invention, the above-mentioned drone further includes a motor, a propeller, an aircraft speed control module, and a motor drive module and are electrically connected to each other.

In one embodiment of the present invention, the above-mentioned motor is connected to the propeller through a main shaft, and the aircraft speed control module can control the motor drive module to control the motor to change the rotation speed of the propeller, and can be used to control the unmanned aerial vehicle. aircraft flight direction.

This new creation also proposes a take-off and landing method of a drone visual guidance and landing system. Through the above-mentioned drone visual guidance and landing system, it includes: a telecommunications connection between a drone and a ship; when the drone obtains a When the return command is given, after automatically flying to a visible distance from the GPS coordinates of the ship, the UAV is continuously moved and lowered through a control module; and at the same time, an image of the ship obtained by the UAV is received. And recognize the ship image through a processing unit of the control module, generate a ship identity information and a ship attitude information; determine whether it is a target ship based on the ship identity information, and when the ship is the target ship, send a landing Instruct the UAV to perform the landing procedure; and enable the UAV to adjust a landing attitude of the UAV during the landing process based on the attitude information of the ship.

The newly created UAV visual guidance and landing system has at least the following characteristics: the image returned by the UAV is compared with the characteristics of the ship or the size, position, and orientation of the graphic identity code placed on the ship to calculate the distance between the UAV and the mother ship. height, distance and angle, and then send guidance instructions to move forward and backward, lower the height, follow the direction, and control the UAV to perform the landing process. The UAV can dynamically and real-time adjust the UAV during landing based on the ship's attitude information during the landing process. The landing attitude during the process allows the drone to accurately land on the ship, avoiding damage caused by falling into the sea due to failure to land correctly.

In order to make the above-mentioned features and advantages of the present invention more obvious and easy to understand, the following embodiments are specifically cited in conjunction with the accompanying drawings. In addition to these detailed descriptions, the new invention can also be widely implemented in other embodiments. , any easy substitutions, modifications, and equivalent changes of the embodiments are included in the scope of the invention, and shall be subject to the scope of the patent application.

In the description of the specification, many specific details are provided to enable readers to have a more complete understanding of the invention; however, the invention may still be implemented with some or all of the specific details omitted. In addition, well-known steps or components are not described in detail to avoid unnecessary limitations on the present invention. The same or similar elements in the drawings will be represented by the same or similar symbols. Please note that the drawings are for illustrative purposes only and do not represent the actual size or quantity of components. Some details may not be fully drawn in order to keep the drawings concise. Detailed descriptions are as follows.

The following descriptions of the embodiments refer to the attached drawings to illustrate specific embodiments according to which the invention can be implemented. The directional terms mentioned in this new creation, such as "up", "down", "front", "back", "left", "right", "inside", "outside", "side", etc., are only Refer to attached drawing for directions. Therefore, the directional terms used are used to explain and understand the present application, rather than to limit the present application. Additionally, in the specification, unless expressly described to the contrary, the word "comprising" will be understood to mean the inclusion of stated elements but not the exclusion of any other elements.

Please refer to Figures 1 and 2 at the same time. Figure 1 is a block diagram of a UAV visual guidance landing system created according to the present invention; and Figure 2 is a schematic diagram of a UAV visual guidance landing system created according to the present invention. As shown in the figure, a UAV visual guidance landing system 1 is suitable for a ship 2. The UAV visual guidance landing system 1 includes: a UAV 11, including: an image capture unit 111 to obtain A ship image; an altitude detection unit 112 for detecting the altitude of the UAV 11 and generating an altitude signal; a first positioning sensing unit 113 for obtaining the positioning information of the UAV 11; A first wireless communication unit 114 is connected to the ship 2 by telecommunications to obtain a global positioning system coordinate of the ship 2 and transmit images of the ship; and a control module 12 includes a processing unit 121. The control module 12 is installed on the ship 2 and is connected to the unmanned aerial vehicle 11 via telecommunications. When the unmanned aerial vehicle 11 obtains a return command, it automatically flies to a visible distance from the global positioning system coordinates, and then controls the unmanned aerial vehicle 11 through the control module 12 The drone 11 continues to move and lower its flight altitude, while receiving the ship image obtained by the UAV 11, and identifying the ship image through the processing unit 121, generating a ship identity information and a ship attitude information, and judging whether or not based on the ship identity information. is a target ship. When the ship 2 is the target ship, a landing command is sent to the UAV 11 to perform the landing procedure, so that the UAV 11 adjusts the UAV 11 during the landing process based on the attitude information of the ship. A landing posture.

In this embodiment, the first positioning sensing unit 113 may be but is not limited to a Global Positioning System (GPS), and is suitable for receiving a Global Positioning System (GPS) signal in real time. The Global Positioning System (GPS) signal includes The coordinates of the UAV 11 relative to the location of an area.

Wherein, the Global Positioning System (GPS) is coupled with a GPS antenna.

In this embodiment, the ship 2 has a ship characteristic or a graphic identity code 21 placed on the ship and a landing platform.

Among them, the control module 12 obtains a real-time relative image including the characteristics of the ship or the graphic identity code 21 placed on the ship based on the ship image, and based on the real-time relative image, compares the characteristics of the ship or the graphics placed on the ship. The size, position, and orientation of the identity code 21 are used to calculate the attitude information of the ship including the relative height, relative distance, and relative angle between the UAV 11 and the ship 2, and then send a guidance command to control the UAV 11 to move forward and backward. , lower the altitude, follow the landing posture, etc., to control the UAV 11 to perform the landing procedure.

Among them, the characteristics of the ship or the graphic identity code 21 placed on the ship is a unique identification code for each ship 2, and its graphics and font size have a unified format.

In this embodiment, the ship 2 further includes a second positioning sensing unit and a second wireless communication unit. The second positioning sensing unit is used to obtain the global positioning system coordinates, and the second wireless communication unit is used to obtain the global positioning system coordinates. To communicate with the first wireless communication unit 114 of the drone 11 and exchange information.

Among them, the UAV 11 continuously transmits the positioning information to the second wireless communication unit of the ship 2, and compares the UAV 11 with the global positioning system coordinates through the control module 12 to determine whether the UAV 11 is the same as the ship. When the distance of 2 is less than or equal to the visual distance, the UAV 11 is remotely guided to move through the control module 12 .

Among them, the visual distance is 300m to 500m.

Among them, the remote guidance method of the control module 12 includes but is not limited to sending the coordinate direction of the global positioning system or being guided by the direction of radio wave strength.

In this embodiment, the processing unit 121 includes, but is not limited to, a central processing unit 121 (Central Processing Unit, CPU), or other programmable general-purpose or special-purpose microprocessor (Microprocessor), digital signal processing Digital Signal Processor (DSP), programmable controller, Application Specific Integrated Circuits (ASIC), Programmable Logic Device (PLD), other similar processors or components of these devices combination.

In this embodiment, the altitude detection unit 112 is an altitude sensor for sensing the real-time altitude status of the drone 11 .

In this embodiment, the drone 11 further includes a motor, a propeller, an aircraft speed control module 12, and a motor drive module and are electrically connected to each other.

The motor is connected to the propeller through a main shaft, and the aircraft speed control module 12 can control the motor drive module to control the motor to change the rotation speed of the propeller, and can be used to control the flight direction of the drone 11 .

Figure 3 is a flow chart of the landing steps of a drone visual guidance landing system created according to the present invention. The steps are as follows:

Step S310: Establish telecommunications connection with the ship through the drone.

Step S320: When the UAV obtains the return command, it automatically flies to a visual distance from the GPS coordinates of the ship, and then uses the control module to continuously move the UAV and lower its flight altitude.

Step S330: Simultaneously receive the ship image obtained by the drone, and identify the ship image through the processing unit of the control module to generate ship identity information and ship attitude information.

Step S340: Determine whether the ship is a target ship based on the ship's identity information. When the ship is the target ship, send a landing command to the UAV to perform the landing procedure.

Step S350: Make the UAV adjust the landing attitude of the UAV during the landing process according to the ship attitude information.

In this embodiment, the UAV includes: an image capture unit, used to obtain ship images; an altitude detection unit, used to detect the altitude of the UAV and generate an altitude signal; a first positioning sensing unit, It is used to obtain the positioning information of the drone; the first wireless communication unit is connected to the ship by telecommunications, and is used to obtain the global positioning system coordinates of the ship and transmit images of the ship.

In this embodiment, the control module includes a processing unit. The control module is installed on the ship and is connected to the drone via telecommunications. When the drone obtains a return command, it automatically flies to a visible distance from the global positioning system coordinates. After a certain distance, the control module is used to make the drone continue to move and lower its flight altitude. At the same time, the image of the ship obtained by the drone is received, and the processing unit is used to identify the image of the ship and generate the identity information and attitude information of the ship. According to The ship's identity information is used to determine whether it is a target ship. When the ship is the target ship, a landing command is sent to the UAV to perform the landing procedure, so that the UAV adjusts the UAV's position during the landing process based on the ship's attitude information. Landing attitude.

In this embodiment, the first positioning sensing unit may be but is not limited to a Global Positioning System (GPS), and is suitable for receiving a Global Positioning System (GPS) signal in real time. The Global Positioning System (GPS) signal includes the The coordinates of the drone's location in an area.

Wherein, the Global Positioning System (GPS) is coupled with a GPS antenna.

In this embodiment, the ship has a ship characteristic or a graphic identity code placed on the ship and a landing platform.

Among them, the control module obtains a real-time relative image including the characteristics of the ship or the graphic identity code placed on the ship based on the ship image to obtain the identity information of the ship, and compares the characteristics of the ship based on the real-time relative image Or the size, position, and orientation of the graphic identity code placed on the ship, calculate the attitude information of the ship including the relative height, relative distance, and relative angle between the UAV and the ship, and then send a guidance command to control the UAV. The landing attitude of the drone is to move forward and backward, lower the height, follow the direction, etc. to control the drone to perform the landing procedure.

Among them, the characteristics of the ship or the graphic identity code placed on the ship is a unique identification code for each ship, and the size of the graphic has a uniform format.

In this embodiment, the ship further includes a second positioning sensing unit and a second wireless communication unit. The second positioning sensing unit is used to obtain the global positioning system coordinates, and the second wireless communication unit is used to obtain the global positioning system coordinates. Telecommunications connection with the first wireless communication unit of the drone and exchange of information.

Among them, the drone continuously transmits the positioning information to the second wireless communication unit of the ship, and compares it with the global positioning system coordinates through the control module to determine that the distance between the drone and the ship is less than or equal to At this visual distance, the drone is remotely guided to move through the control module.

Among them, the visual distance is 300m to 500m.

Among them, the remote guidance method of the control module includes but is not limited to sending the coordinate direction of the global positioning system or being guided by the direction of the strength of the radio wave.

In this embodiment, the processing unit includes, but is not limited to, a central processing unit (CPU), or other programmable general-purpose or special-purpose microprocessor (Microprocessor), digital signal processor ( Digital Signal Processor (DSP), programmable controller, Application Specific Integrated Circuits (ASIC), Programmable Logic Device (PLD), other similar processors or a combination of these devices.

In this embodiment, the altitude detection unit is an altitude sensor for sensing the real-time altitude status of the drone.

In this embodiment, the drone further includes a motor, a propeller, an aircraft speed control module, and a motor drive module and are electrically connected to each other.

The motor is connected to the propeller through a main shaft, and the aircraft speed control module can control the motor drive module to control the motor to change the rotation speed of the propeller, and can be used to control the flight direction of the drone.

To sum up, the newly created UAV visual guidance landing system has at least the following characteristics: the image returned by the UAV is compared with the characteristics of the ship or the size, position and orientation of the graphic identity code placed on the ship to calculate The height, distance and angle between the drone and the mother ship are then sent to the guidance command to move forward and backward, lower the height, follow the direction, and control the drone to perform the landing procedure. This allows the drone to dynamically and real-time respond based on the ship's attitude information during the landing process. Adjust the landing attitude of the drone during the landing process so that the drone can accurately land on the ship to avoid damage caused by falling into the sea due to failure to land correctly.

The implementation forms disclosed above are only illustrative to illustrate the principles, characteristics and functions of the present invention, and are not intended to limit the scope of implementation of the present invention. Anyone familiar with this art can implement the invention without violating the spirit and effect of the present invention. Under the category, the above embodiments are modified and changed. Any equivalent changes and modifications accomplished by applying the contents disclosed in this new creation shall still be covered by the following patent application scope.

1: UAV visual guidance landing system

11: Drone

111:Image capture unit

112:Height detection unit

113: First positioning sensing unit

114: First wireless communication unit

12:Control module

121: Processing unit

2:Ship

21: Ship characteristics or graphic identification code placed on the ship

S310~S350: step process

Figure 1 is a block diagram of a drone visual guidance landing system created according to the present invention;

Figure 2 is a schematic diagram of a drone visual guidance landing system created according to the present invention;

Figure 3 is a flow chart of the landing steps of a drone vision-guided landing system created according to the present invention.

1: UAV visual guidance landing system

11: Drone

111:Image capture unit

112:Height detection unit

113: First positioning sensing unit

114: First wireless communication unit

12:Control module

121: Processing unit

Claims (9)

A UAV visual guidance landing system, suitable for a ship, the UAV visual guidance landing system includes: One drone, including: An image capture unit is used to obtain a ship image; An altitude detection unit used to detect the altitude of the drone and generate an altitude signal; a first positioning sensing unit used to obtain positioning information of the drone; A first wireless communication unit is connected to the ship via telecommunications to obtain a global positioning system coordinate of the ship and transmit images of the ship; and A control module includes a processing unit. The control module is installed on the ship and is connected to the drone via telecommunications. When the drone obtains a return command, it automatically flies to a visual distance from the global positioning system coordinates. , through the control module, the UAV continues to move and lower its flight altitude, while receiving the image of the ship obtained by the UAV, and identifying the image of the ship through the processing unit to generate a ship identity information and a ship attitude information, according to The ship's identity information is used to determine whether it is a target ship. When the ship is the target ship, a landing command is sent to the drone to perform the landing procedure, so that the drone adjusts the landing process of the drone based on the ship's attitude information. A landing posture. The drone visual guidance landing system as described in claim 1, wherein the ship has a ship characteristic or a graphic identity code placed on the ship and a landing platform. The UAV visual guidance landing system as described in claim 2, wherein the control module obtains a real-time relative image including the characteristics of the ship or the graphic identity code placed on the ship based on the ship image to obtain the ship Identity information, and based on the real-time relative image, compare the size, position, and orientation of the graphic identity code to calculate the attitude information of the ship including the relative height, relative distance, and relative angle between the UAV and the ship, and then send a guidance The pilot command controls the landing attitude of the UAV to move forward and backward, lower the height, follow the direction, etc., so as to control the UAV to perform the landing procedure. The drone visual guidance landing system as described in claim 1, wherein the ship further includes a second positioning sensing unit and a second wireless communication unit, the second positioning sensing unit is used to obtain the global positioning system coordinates , and the second wireless communication unit is used for telecommunication connection and information exchange with the first wireless communication unit of the drone. The drone visual guidance landing system as described in claim 4, wherein the drone continuously transmits the positioning information to the second wireless communication unit of the ship, and communicates with the global positioning system coordinates through the control module. After comparison, when it is determined that the distance between the drone and the ship is less than or equal to the visual distance, the drone is remotely guided to move through the control module. As for the UAV visual guidance landing system described in claim 5, the remote guidance method of the control module includes but is not limited to sending the coordinate direction of the global positioning system or being guided by the direction of radio wave strength. The drone visual guidance landing system as described in claim 1, wherein the altitude detection unit is an altitude sensor for sensing the real-time altitude status of the drone. The UAV visual guidance landing system as described in claim 1, wherein the UAV further includes a motor, a propeller, an aircraft speed control module, and a motor drive module and are electrically connected to each other. The UAV visual guidance landing system as described in claim 8, wherein the motor is connected to the propeller through a main shaft, and the aircraft speed control module can control the motor drive module to control the motor to change the rotation speed of the propeller, and Can be used to control the flight direction of the drone.