CN106127201A - 一种基于视觉定位降落末端的无人机降落方法 - Google Patents
一种基于视觉定位降落末端的无人机降落方法 Download PDFInfo
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- CN106127201A CN106127201A CN201610454292.5A CN201610454292A CN106127201A CN 106127201 A CN106127201 A CN 106127201A CN 201610454292 A CN201610454292 A CN 201610454292A CN 106127201 A CN106127201 A CN 106127201A
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- 238000001514 detection method Methods 0.000 claims description 3
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/24—Aligning, centring, orientation detection or correction of the image
- G06V10/245—Aligning, centring, orientation detection or correction of the image by locating a pattern; Special marks for positioning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Cited By (20)
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CN106527487A (zh) * | 2016-12-23 | 2017-03-22 | 北京理工大学 | 一种运动平台上无人机自主精确着陆***及着陆方法 |
CN107066981A (zh) * | 2017-04-20 | 2017-08-18 | 上海博历机械科技有限公司 | 针对小型无人机自主降落的视觉分级地标定位识别*** |
CN107450590A (zh) * | 2017-08-07 | 2017-12-08 | 深圳市科卫泰实业发展有限公司 | 一种无人机辅助降落方法 |
CN107578236A (zh) * | 2017-10-20 | 2018-01-12 | 天津航佳机场设备科技有限公司 | 一种基于飞机号的桥载设备计量结算管理***及管理方法 |
CN108121360A (zh) * | 2017-12-19 | 2018-06-05 | 歌尔科技有限公司 | 一种无人机定位控制方法及货运*** |
CN109739257A (zh) * | 2018-12-21 | 2019-05-10 | 中科院合肥技术创新工程院 | 融合卫星导航与视觉感知的巡检无人机停机方法及*** |
JP2019077446A (ja) * | 2017-03-06 | 2019-05-23 | 株式会社Spiral | 飛行体の制御システムおよび目印部 |
CN109823552A (zh) * | 2019-02-14 | 2019-05-31 | 深圳市多翼创新科技有限公司 | 基于视觉的无人机精确降落方法、存储介质、装置及*** |
CN109901620A (zh) * | 2019-04-01 | 2019-06-18 | 西安因诺航空科技有限公司 | 一种多架无人机协同***及编队方法 |
CN110221625A (zh) * | 2019-05-27 | 2019-09-10 | 北京交通大学 | 无人机精确位置的自主降落导引方法 |
CN110989674A (zh) * | 2019-12-16 | 2020-04-10 | 西安因诺航空科技有限公司 | 一种基于ArUco标签的无人机视觉引导降落方法 |
WO2020211812A1 (zh) * | 2019-04-19 | 2020-10-22 | 深圳市道通智能航空技术有限公司 | 一种飞行器降落方法及装置 |
CN112198894A (zh) * | 2020-07-31 | 2021-01-08 | 北京理工大学 | 旋翼无人机自主移动降落制导方法及*** |
CN113377118A (zh) * | 2021-07-14 | 2021-09-10 | 中国计量大学 | 一种基于视觉的无人机机库多阶段精确降落方法 |
CN113597591A (zh) * | 2019-03-21 | 2021-11-02 | Wing航空有限责任公司 | 用于无人飞行器导航的地理基准 |
CN113655806A (zh) * | 2021-07-01 | 2021-11-16 | 中国人民解放军战略支援部队信息工程大学 | 一种无人机群辅助降落方法 |
CN114815905A (zh) * | 2022-06-29 | 2022-07-29 | 中国航空工业集团公司沈阳飞机设计研究所 | 一种多机连续着陆引导控制方法及装置 |
CN114935946A (zh) * | 2022-07-21 | 2022-08-23 | 浙江这里飞科技有限公司 | 一种无人机降落方法及装置 |
WO2022261901A1 (zh) * | 2021-06-17 | 2022-12-22 | 深圳市大疆创新科技有限公司 | 无人机降落控制方法、装置、无人机、***及存储介质 |
WO2023274321A1 (zh) * | 2021-07-02 | 2023-01-05 | 北京三快在线科技有限公司 | 信标、信标生成方法、信标生成装置和设备 |
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CN103226356A (zh) * | 2013-02-27 | 2013-07-31 | 广东工业大学 | 基于图像处理的无人机精确位置降落方法 |
CN104166854A (zh) * | 2014-08-03 | 2014-11-26 | 浙江大学 | 针对小型无人机自主降落的视觉分级地标定位识别方法 |
WO2015108588A3 (en) * | 2013-10-21 | 2015-10-08 | Kespry, Inc. | Systems and methods for unmanned aerial vehicle landing |
US20160122038A1 (en) * | 2014-02-25 | 2016-05-05 | Singularity University | Optically assisted landing of autonomous unmanned aircraft |
CN105676873A (zh) * | 2016-03-08 | 2016-06-15 | 览意科技(上海)有限公司 | 无人机的自动降落方法及其控制*** |
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2016
- 2016-06-21 CN CN201610454292.5A patent/CN106127201B/zh active Active
Patent Citations (5)
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CN103226356A (zh) * | 2013-02-27 | 2013-07-31 | 广东工业大学 | 基于图像处理的无人机精确位置降落方法 |
WO2015108588A3 (en) * | 2013-10-21 | 2015-10-08 | Kespry, Inc. | Systems and methods for unmanned aerial vehicle landing |
US20160122038A1 (en) * | 2014-02-25 | 2016-05-05 | Singularity University | Optically assisted landing of autonomous unmanned aircraft |
CN104166854A (zh) * | 2014-08-03 | 2014-11-26 | 浙江大学 | 针对小型无人机自主降落的视觉分级地标定位识别方法 |
CN105676873A (zh) * | 2016-03-08 | 2016-06-15 | 览意科技(上海)有限公司 | 无人机的自动降落方法及其控制*** |
Cited By (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106527487A (zh) * | 2016-12-23 | 2017-03-22 | 北京理工大学 | 一种运动平台上无人机自主精确着陆***及着陆方法 |
JP2019077446A (ja) * | 2017-03-06 | 2019-05-23 | 株式会社Spiral | 飛行体の制御システムおよび目印部 |
CN107066981A (zh) * | 2017-04-20 | 2017-08-18 | 上海博历机械科技有限公司 | 针对小型无人机自主降落的视觉分级地标定位识别*** |
CN107450590A (zh) * | 2017-08-07 | 2017-12-08 | 深圳市科卫泰实业发展有限公司 | 一种无人机辅助降落方法 |
CN107578236A (zh) * | 2017-10-20 | 2018-01-12 | 天津航佳机场设备科技有限公司 | 一种基于飞机号的桥载设备计量结算管理***及管理方法 |
CN108121360A (zh) * | 2017-12-19 | 2018-06-05 | 歌尔科技有限公司 | 一种无人机定位控制方法及货运*** |
CN108121360B (zh) * | 2017-12-19 | 2023-07-21 | 歌尔科技有限公司 | 一种无人机定位控制方法及货运*** |
CN109739257A (zh) * | 2018-12-21 | 2019-05-10 | 中科院合肥技术创新工程院 | 融合卫星导航与视觉感知的巡检无人机停机方法及*** |
CN109823552A (zh) * | 2019-02-14 | 2019-05-31 | 深圳市多翼创新科技有限公司 | 基于视觉的无人机精确降落方法、存储介质、装置及*** |
CN113597591B (zh) * | 2019-03-21 | 2024-05-10 | Wing航空有限责任公司 | 用于无人飞行器导航的地理基准 |
CN113597591A (zh) * | 2019-03-21 | 2021-11-02 | Wing航空有限责任公司 | 用于无人飞行器导航的地理基准 |
CN109901620A (zh) * | 2019-04-01 | 2019-06-18 | 西安因诺航空科技有限公司 | 一种多架无人机协同***及编队方法 |
WO2020211812A1 (zh) * | 2019-04-19 | 2020-10-22 | 深圳市道通智能航空技术有限公司 | 一种飞行器降落方法及装置 |
CN110221625A (zh) * | 2019-05-27 | 2019-09-10 | 北京交通大学 | 无人机精确位置的自主降落导引方法 |
CN110221625B (zh) * | 2019-05-27 | 2021-08-03 | 北京交通大学 | 无人机精确位置的自主降落导引方法 |
CN110989674A (zh) * | 2019-12-16 | 2020-04-10 | 西安因诺航空科技有限公司 | 一种基于ArUco标签的无人机视觉引导降落方法 |
CN110989674B (zh) * | 2019-12-16 | 2023-03-31 | 西安因诺航空科技有限公司 | 一种基于ArUco标签的无人机视觉引导降落方法 |
CN112198894A (zh) * | 2020-07-31 | 2021-01-08 | 北京理工大学 | 旋翼无人机自主移动降落制导方法及*** |
WO2022261901A1 (zh) * | 2021-06-17 | 2022-12-22 | 深圳市大疆创新科技有限公司 | 无人机降落控制方法、装置、无人机、***及存储介质 |
CN113655806A (zh) * | 2021-07-01 | 2021-11-16 | 中国人民解放军战略支援部队信息工程大学 | 一种无人机群辅助降落方法 |
CN113655806B (zh) * | 2021-07-01 | 2023-08-08 | 中国人民解放军战略支援部队信息工程大学 | 一种无人机群辅助降落方法 |
WO2023274321A1 (zh) * | 2021-07-02 | 2023-01-05 | 北京三快在线科技有限公司 | 信标、信标生成方法、信标生成装置和设备 |
EP4273748A4 (en) * | 2021-07-02 | 2024-07-17 | Beijing Sankuai Online Tech Co Ltd | BEACON, BEACON PRODUCTION METHOD, BEACON PRODUCTION DEVICE AND APPARATUS |
CN113377118A (zh) * | 2021-07-14 | 2021-09-10 | 中国计量大学 | 一种基于视觉的无人机机库多阶段精确降落方法 |
CN114815905B (zh) * | 2022-06-29 | 2022-09-20 | 中国航空工业集团公司沈阳飞机设计研究所 | 一种多机连续着陆引导控制方法及装置 |
CN114815905A (zh) * | 2022-06-29 | 2022-07-29 | 中国航空工业集团公司沈阳飞机设计研究所 | 一种多机连续着陆引导控制方法及装置 |
CN114935946A (zh) * | 2022-07-21 | 2022-08-23 | 浙江这里飞科技有限公司 | 一种无人机降落方法及装置 |
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