CN107450590A - A kind of unmanned plane auxiliary landing method - Google Patents
A kind of unmanned plane auxiliary landing method Download PDFInfo
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- CN107450590A CN107450590A CN201710667279.2A CN201710667279A CN107450590A CN 107450590 A CN107450590 A CN 107450590A CN 201710667279 A CN201710667279 A CN 201710667279A CN 107450590 A CN107450590 A CN 107450590A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 11
- 238000012216 screening Methods 0.000 claims description 7
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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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
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Abstract
The invention provides a kind of unmanned plane auxiliary landing method, including step：In place to be landed, image is set；Described image is gathered by unmanned generator terminal, the image collected handled using image processing algorithm, and generates position and direction coordinate corresponding with image location, then sends the coordinates to flight control terminal；Flight control terminal carries out landing control according to coordinate pair unmanned plane, it is dropped to floor area to be landed.The present invention is shot vertically downward using the airborne camera of unmanned plane, to obtain the Quick Response Code and identity code image in the drop zone of ground, it is corresponding to obtain pixel coordinate and direction by carrying out image algorithm processing to Quick Response Code and identity code, so as to control aircraft precisely to be landed.Compared with prior art, the present invention realizes the accurate landing of unmanned plane, the reliability of the degree of accuracy, security and landing when improving unmanned plane landing.
Description
Technical field
The present invention relates to unmanned plane land technology, and in particular to be a kind of unmanned plane auxiliary landing method, be mainly used in
Improve degree of accuracy when unmanned plane lands and security.
Background technology
In recent years, as unmanned plane industry develops rapidly, the flight safety of unmanned plane is particularly important.Unmanned plane landing rank
Section is the stage occurred frequently of accident, and for the industry unmanned plane that volume is big, weight is big, cost is high, they generally exist
Than performing task under relatively rugged environment, such as, it is necessary to accurate and safe landing on the larger ship of stormy waves.
The content of the invention
Therefore, it is an object of the invention to provide a kind of degree of accuracy improved when unmanned plane lands and the unmanned plane of security
Auxiliary landing method.
The purpose of the present invention is achieved through the following technical solutions.
A kind of unmanned plane auxiliary landing method, including step：
In place to be landed, image is set；
Described image is gathered by unmanned generator terminal, the image collected handled using image processing algorithm, and it is raw
Into position and direction coordinate corresponding with image location, flight control terminal is then sent the coordinates to；
Flight control terminal carries out landing control according to coordinate pair unmanned plane, it is dropped to floor area to be landed.
Preferably, include Quick Response Code in described image, gather the Quick Response Code and image procossing is carried out to it.
Preferably, carrying out image procossing to Quick Response Code includes：
Image gray processing and binary conversion treatment are carried out to Quick Response Code；
The profile in binary map is extracted, and screening removal is carried out to profile；
The positive direction of Quick Response Code is calculated relative to the angle of the X/Y axles of image；
Calculate landing point coordinates.
Preferably, the profile in binary map is extracted, and the method for profile screen removal includes：
According to contour shape, polygonal approximation is carried out to profile, the profile for being unsatisfactory for quadrangle is removed；
According to profile size, when being less than given threshold to profile unit pixel, judge that it, for noise profile, is removed.
Preferably, calculate the positive direction of Quick Response Code includes relative to the angle of the X/Y axles of image：
Quick Response Code profile is subjected to perspective transform, recovers the square shape of Quick Response Code script, then Quick Response Code is carried out
Decoding.
Preferably, calculating landing point coordinates includes：
To the Quick Response Code profile after profile screens, polygonal approximation is carried out again, obtains four summits of quadrangle；
The geometric center that four summits of quadrangle surround is defined as final coordinate point.
Preferably, include identity code in the Quick Response Code, gather the identity code and image procossing is carried out to it.
Preferably, carrying out image procossing to identity code includes：
Image gray processing and binary conversion treatment are carried out to identity code；
The profile in binary map is extracted, and screening removal is carried out to profile；
The positive direction of calculation flag code；
Calculate landing point coordinates.
Preferably, the positive direction of calculation flag code includes：
In mark of the one black round dot of identity code inner setting as judgement symbol code direction；
Polygonal approximation is carried out to the identity code profile of acquisition, obtains four summits of quadrangle；
Area-of-interest is set around each summit, contour detecting is then carried out again to each area-of-interest,
Circular contour is such as detected, then the then summit neighbouring for round dot of the summit corresponding to the region.
Preferably, calculating landing point coordinates includes：
Identity code is arranged to length-width ratio as 3:1 rectangle；
Identity code geometric center point translates 1/6 long back gauge as landing coordinate to the neighbouring short side direction of black round dot
Point.
Unmanned plane auxiliary landing method provided by the invention, in unmanned plane descent, airborne using unmanned plane is taken the photograph
As head is shot vertically downward, to obtain the Quick Response Code and identity code image in the drop zone of ground, by Quick Response Code and mark
Code carries out image algorithm processing, corresponding to obtain pixel coordinate and direction, then feeds back to flight control terminal, flight control terminal according to
To ground level, the camera angle of visual field, camera focus information, horizontal range and direction of the aircraft relative to code are calculated, control flies
Machine is precisely landed.Compared with prior art, the present invention realizes the accurate landing of unmanned plane, when improving unmanned plane landing
The degree of accuracy, the reliability of security and landing.
Brief description of the drawings
Fig. 1 is auxiliary landing schematic diagram of a scenario of the present invention；
Fig. 2 is Quick Response Code schematic diagram of the present invention；
Fig. 3 is identity code schematic diagram of the present invention；
Fig. 4 is image in 2 D code process chart of the present invention；
Fig. 5 is identity code image processing flow figure of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention utilizes image processing techniques, in the landing mark of landing place design specialized；Landing phases, by nobody
The airborne end camera collection image of machine is simultaneously handled in real time, and result is fed back into flight control terminal, is controlled eventually through flight
End controls and reaches the purpose for making unmanned plane stable landing.
The algorithm platform of the present invention is the chip of FPGA+ARM frameworks, and computationally intensive image pretreatment operation is transplanted to
Run on FPGA, and ARM part run higher image processing algorithm, with reach unmanned plane to IMAQ, processing
Requirement of real-time.
Refer to shown in Fig. 1~Fig. 5, the invention provides a kind of unmanned plane auxiliary landing method, including step：
Image (the black region image in see Fig. 1 in landing platform) is set in place to be landed first, wherein the figure
Include special Quick Response Code (see Fig. 2) as in, a small identity code is included in special Quick Response Code (see Fig. 3).
Described image (two dimension is gathered by way of vertically taking pictures secondly by the camera device on unmanned plane
Code or identity code), the image (Quick Response Code or identity code) collected is handled using image processing algorithm, and generate and scheme
The position and direction coordinate as corresponding to (Quick Response Code or identity code) location, then sends the coordinates to flight control terminal.
Wherein carrying out processing to the image collected using image processing algorithm includes two kinds of different modes, and one kind is nothing
It is man-machine with landing the distance between place farther out (i.e. height is higher) when, because field range is larger, tracking can be used two-dimentional
The strategy of code, generate position and direction coordinate corresponding with Quick Response Code location (see Fig. 4).
Strategy for tracking Quick Response Code, specifically using Preprocessing Algorithm, contours extract and filtering algorithm and two dimension
Code coordinate, the mode of direction calculating.
First, image procossing is carried out to Quick Response Code.Image gray processing and binary conversion treatment are carried out to Quick Response Code, input is schemed
As gray processing and binaryzation, wherein binaryzation uses local auto-adaptive binaryzation, it is therefore an objective to removes the influence of illumination.
Secondly, the profile in binary map is extracted, and screening removal is carried out to profile；Specifically minimizing technology is：First, basis
Contour shape：Polygonal approximation is carried out to profile, the profile for being unsatisfactory for quadrangle is removed；Second, according to profile size：
Many noise profiles are relative to Quick Response Code very little.When profile size (unit is pixel) is less than given threshold value, it is believed that be noise
Profile, it is removed.
Then, the positive direction of Quick Response Code is calculated relative to the angle of the X/Y axles of image.Enter firstly the need of by Quick Response Code profile
Row perspective transform, recover the square shape of Quick Response Code script, then Quick Response Code is decoded.Quick Response Code is encoded to 7*7 grid,
Center 5*5 grid is made up of 5 basic ID, is made a circle in week as black border.Before decoding, first detect in profile close to edge
Whether one circle is black border, and then center 5*5 grid is decoded again.Herein it is noted that in order to decode, it is necessary to pros
The Quick Response Code of shape rotates four angles, the Hamming distance between each angle computation grid coding and basic ID, the minimum Chinese
Angle corresponding to prescribed distance is Quick Response Code positive direction, can now obtain the angle of Quick Response Code positive direction and image x/y axles.
Finally, landing point coordinates is calculated.Screened by profile, obtain the profile for belonging to Quick Response Code.To this profile again
Polygonal approximation is carried out, obtains four summits of quadrangle.Final coordinate point is the geometric center for the quadrangle that four points surround.
When another is the distance between unmanned plane and landing place relatively nearly (i.e. highly relatively low), because field range becomes
It is small, the strategy of tracking mark code can be used, generate position and direction coordinate corresponding with identity code location (see Fig. 5).
For the strategy of tracking mark code, the present invention specifically uses Preprocessing Algorithm, contours extract and filtering algorithm and mark
Will code coordinate, the mode of direction calculating.
First, image gray processing and binary conversion treatment are carried out to identity code, mode to Quick Response Code with carrying out image procossing phase
Together.
Secondly, the profile in binary map is extracted, and screening removal is carried out to profile；Mode to Quick Response Code to profile with carrying out
Screening removes identical.
Then, the positive direction of calculation flag code.Identity code (small code) is rectangle, near some angle inside identity code,
Increase a round dot, as the mark for judging small code direction.After identity code profile is obtained, this profile is carried out again polygon
Shape is approximate, obtains four summits of quadrangle.For each summit, area-of-interest is set around it, then for each
Region carries out contour detecting again, if detecting circular contour, then the summit corresponding to this region is that round dot institute is adjacent
Near summit.
Finally, landing point coordinates is calculated.Simultaneously non-sum level point center is overlapping for the geometric center of identity code, and identity code is regarded as
One length-width ratio 3:1 rectangle, landing point coordinates are put down for identity code geometric center point to the neighbouring short side direction of black round dot
Move the point of 1/6 long back gauge.
For the present embodiment, when being in different landing distance for aircraft, can use to Quick Response Code and mark
Will code detection combine mode, first obtain Quick Response Code position coordinates and direction, then again when aircraft close to it is certain away from
From rear, the position coordinates of identity code and direction are being obtained, this makes it possible to enter by flight control terminal according to coordinate pair unmanned plane
Row landing control, enables unmanned plane to drop to floor area to be landed exactly.
The present invention by way of image procossing, obtains the side of degree of precision by aircraft end camera collection image
Position information, so as to improve the precision of aircraft landing and security.During aircraft landing, camera is mounted to aircraft head,
Clap vertically downward.After the position (pixel coordinate) and direction of code is obtained, these information are sent to winged control in real time, fly control basis
To ground level, the camera angle of visual field, camera focus information, horizontal range and direction of the aircraft relative to code are calculated, control flies
Machine is precisely landed., can be according to the height of plane distance landing platform, the inspection of real-time converted magnitude code in descent
Survey pattern, so as to ensure in certain altitude, aircraft can carry out effective detection to mark, improve reliability.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
- A kind of 1. unmanned plane auxiliary landing method, it is characterised in that including step：In place to be landed, image is set；By unmanned generator terminal gather described image, the image collected is handled using image processing algorithm, and generate with Position and direction coordinate corresponding to image location, then sends the coordinates to flight control terminal；Flight control terminal carries out landing control according to coordinate pair unmanned plane, it is dropped to floor area to be landed.
- 2. unmanned plane auxiliary landing method as claimed in claim 1, it is characterised in that include Quick Response Code in described image, Gather the Quick Response Code and image procossing is carried out to it.
- 3. unmanned plane auxiliary landing method as claimed in claim 2, it is characterised in that image procossing bag is carried out to Quick Response Code Include：Image gray processing and binary conversion treatment are carried out to Quick Response Code；The profile in binary map is extracted, and screening removal is carried out to profile；The positive direction of Quick Response Code is calculated relative to the angle of the X/Y axles of image；Calculate landing point coordinates.
- 4. unmanned plane auxiliary landing method as claimed in claim 3, it is characterised in that the profile in extraction binary map, and it is right The method that profile screen removal includes：According to contour shape, polygonal approximation is carried out to profile, the profile for being unsatisfactory for quadrangle is removed；According to profile size, when being less than given threshold to profile unit pixel, judge that it, for noise profile, is removed.
- 5. unmanned plane auxiliary landing method as claimed in claim 4, it is characterised in that calculate the positive direction of Quick Response Code relative to The angle of the X/Y axles of image includes：Quick Response Code profile is subjected to perspective transform, recovers the square shape of Quick Response Code script, then Quick Response Code is decoded.
- 6. unmanned plane auxiliary landing method as claimed in claim 5, it is characterised in that calculating landing point coordinates includes：To the Quick Response Code profile after profile screens, polygonal approximation is carried out again, obtains four summits of quadrangle；The geometric center that four summits of quadrangle surround is defined as final coordinate point.
- 7. unmanned plane auxiliary landing method as claimed in claim 6, it is characterised in that include mark in the Quick Response Code Code, gathers the identity code and carries out image procossing to it.
- 8. unmanned plane auxiliary landing method as claimed in claim 7, it is characterised in that image procossing bag is carried out to identity code Include：Image gray processing and binary conversion treatment are carried out to identity code；The profile in binary map is extracted, and screening removal is carried out to profile；The positive direction of calculation flag code；Calculate landing point coordinates.
- 9. unmanned plane auxiliary landing method as claimed in claim 8, it is characterised in that the positive direction of calculation flag code includes：In mark of the one black round dot of identity code inner setting as judgement symbol code direction；Polygonal approximation is carried out to the identity code profile of acquisition, obtains four summits of quadrangle；Area-of-interest is set around each summit, contour detecting is then carried out again to each area-of-interest, is such as examined Circular contour is measured, then the then summit neighbouring for round dot of the summit corresponding to the region.
- 10. unmanned plane auxiliary landing method as claimed in claim 9, it is characterised in that calculating landing point coordinates includes：Identity code is arranged to length-width ratio as 3:1 rectangle；Identity code geometric center point translates 1/6 long back gauge as landing coordinate points to the neighbouring short side direction of black round dot.
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Cited By (15)
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| CN108216624A (en) * | 2017-12-25 | 2018-06-29 | 上海歌尔泰克机器人有限公司 | A kind of method, apparatus and unmanned plane for controlling unmanned plane landing |
| CN108287562A (en) * | 2018-01-08 | 2018-07-17 | 深圳市科卫泰实业发展有限公司 | It is a kind of can be from steady unmanned plane multisensor avoidance range-measurement system and method |
| CN108345304A (en) * | 2018-01-29 | 2018-07-31 | 星视创（长沙）智能装备有限公司 | Intelligent transfer robot positioning system and localization method |
| CN108873943A (en) * | 2018-07-20 | 2018-11-23 | 南京奇蛙智能科技有限公司 | A kind of image processing method that unmanned plane Centimeter Level is precisely landed |
| CN108981705A (en) * | 2018-07-19 | 2018-12-11 | 北京三快在线科技有限公司 | Position reference unit |
| CN109703491A (en) * | 2018-11-16 | 2019-05-03 | 天津大学 | A kind of safety is parked method |
| CN110336809A (en) * | 2019-06-28 | 2019-10-15 | 国网内蒙古东部电力有限公司 | A kind of method that airborne FPGA accelerates image analysis processing system parallel |
| CN110456806A (en) * | 2019-06-27 | 2019-11-15 | 安徽科力信息产业有限责任公司 | A kind of unmanned plane landing method and device |
| CN110673612A (en) * | 2019-10-21 | 2020-01-10 | 重庆邮电大学 | Two-dimensional code guide control method for autonomous mobile robot |
| CN110703807A (en) * | 2019-11-18 | 2020-01-17 | 西安君晖航空科技有限公司 | Landmark design method for large and small two-dimensional code mixed image and landmark identification method for unmanned aerial vehicle |
| CN111310695A (en) * | 2020-02-26 | 2020-06-19 | 酷黑科技（北京）有限公司 | Forced landing method and device and electronic equipment |
| CN112789571A (en) * | 2018-07-05 | 2021-05-11 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle landing method and device and unmanned aerial vehicle |
| CN112859888A (en) * | 2021-01-18 | 2021-05-28 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Landing method and device for auxiliary vertical take-off and landing machine, computer equipment and storage medium |
| CN113759943A (en) * | 2021-10-13 | 2021-12-07 | 北京理工大学重庆创新中心 | Unmanned aerial vehicle landing platform, identification method, landing method and flight operation system |
| CN115790610A (en) * | 2023-02-06 | 2023-03-14 | 北京历正飞控科技有限公司 | System and method for accurately positioning unmanned aerial vehicle |
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| CN108873943B (en) * | 2018-07-20 | 2021-06-29 | 南京奇蛙智能科技有限公司 | Image processing method for centimeter-level accurate landing of unmanned aerial vehicle |
| CN109703491A (en) * | 2018-11-16 | 2019-05-03 | 天津大学 | A kind of safety is parked method |
| CN110456806A (en) * | 2019-06-27 | 2019-11-15 | 安徽科力信息产业有限责任公司 | A kind of unmanned plane landing method and device |
| CN110336809A (en) * | 2019-06-28 | 2019-10-15 | 国网内蒙古东部电力有限公司 | A kind of method that airborne FPGA accelerates image analysis processing system parallel |
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| CN110673612A (en) * | 2019-10-21 | 2020-01-10 | 重庆邮电大学 | Two-dimensional code guide control method for autonomous mobile robot |
| CN110703807A (en) * | 2019-11-18 | 2020-01-17 | 西安君晖航空科技有限公司 | Landmark design method for large and small two-dimensional code mixed image and landmark identification method for unmanned aerial vehicle |
| CN111310695A (en) * | 2020-02-26 | 2020-06-19 | 酷黑科技（北京）有限公司 | Forced landing method and device and electronic equipment |
| CN111310695B (en) * | 2020-02-26 | 2023-11-24 | 酷黑科技（北京）有限公司 | Forced landing method and device and electronic equipment |
| CN112859888A (en) * | 2021-01-18 | 2021-05-28 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Landing method and device for auxiliary vertical take-off and landing machine, computer equipment and storage medium |
| CN112859888B (en) * | 2021-01-18 | 2023-09-12 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Landing method and device for auxiliary vertical takeoff and landing machine, computer equipment and storage medium |
| CN113759943A (en) * | 2021-10-13 | 2021-12-07 | 北京理工大学重庆创新中心 | Unmanned aerial vehicle landing platform, identification method, landing method and flight operation system |
| CN115790610A (en) * | 2023-02-06 | 2023-03-14 | 北京历正飞控科技有限公司 | System and method for accurately positioning unmanned aerial vehicle |
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