CN108828500A - Unmanned plane accurately lands bootstrap technique and Related product - Google Patents
Unmanned plane accurately lands bootstrap technique and Related product Download PDFInfo
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- CN108828500A CN108828500A CN201810654505.8A CN201810654505A CN108828500A CN 108828500 A CN108828500 A CN 108828500A CN 201810654505 A CN201810654505 A CN 201810654505A CN 108828500 A CN108828500 A CN 108828500A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
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Abstract
The present invention, which discloses, provides a kind of unmanned plane accurately landing method and Related product, and described method includes following steps：Unmanned plane during flying is to drop zone；Compared with rise from unmanned plane detects infrared beacon by infrared camera, and the frequency for detecting infrared beacon belongs to setpoint frequency；Unmanned plane is controlled such that infrared beacon is located at the middle position of shooting picture to direction；When closer from the ground, unmanned plane detects Marker step by step by camera to judge position and slowly land.Technical solution provided by the present application has the advantages that high reliablity, landing are with high accuracy.
Description
Technical field
The present invention relates to communication and air vehicle technique fields, and in particular to a kind of unmanned plane accurately lands bootstrap technique
And Related product.
Background technique
There are high requirements on the autostop level ground of unmanned plane to the accurate landing of unmanned plane, and traditional GNSS precision is inadequate, i.e.,
It is also to require have open environment using RTK Differential positioning.The landing precision of unmanned plane is higher, and airplane parking area area is smaller, system
Cause this and transportation cost lower, unmanned plane itself is also safer.The precision of existing unmanned plane is difficult to ensure, and reliability
It is low.
Summary of the invention
Accurately land bootstrap technique and Related product the embodiment of the invention provides a kind of unmanned plane, nobody may be implemented
The accurate landing of machine, the advantages of improving the precision of landing, be also equipped with higher reliability.
In a first aspect, the embodiment of the present invention provides a kind of landing bootstrap technique of unmanned plane, the method includes：
When the position of unmanned plane is located above drop zone, by the first camera on the unmanned plane to ground
The infrared beacon of preset wavelength is detected, and first camera is infrared camera；
When detecting the infrared beacon of the preset wavelength, according to the infrared beacon in the position of first camera
It sets the guidance unmanned plane to fly downwards, and realtime graphic is carried out to ground object by the second camera on the unmanned plane
Acquisition, identifies the subject image of acquisition；
When recognizing preset self-identifying indicia patterns in the subject image, the mark of each self-identifying label is obtained
Mark, position and label number guidance institute according to the self-identifying indicia patterns recognized in the second camera
State unmanned plane landing on the ground.
Second aspect, provides a kind of landing guide device of unmanned plane, and described device includes：
Infrared beacon detection unit, for when the position of unmanned plane is located above the drop zone, by it is described nobody
The first camera on machine detects the infrared beacon of ground preset wavelength, and first camera is infrared camera；
Detection unit is marked, for existing according to the infrared beacon when detecting the infrared beacon of the preset wavelength
The position of first camera guides the unmanned plane to fly downwards, and over the ground by the second camera on the unmanned plane
Face object carries out real time image collection, identifies to the subject image of acquisition；And landing guidance unit, for when described
When recognizing preset self-identifying indicia patterns in subject image, the label number of each self-identifying label is obtained, according to recognizing
The self-identifying indicia patterns dropped in the position of the second camera and the label number guidance unmanned plane
On ground.
The third aspect provides a kind of computer readable storage medium, and storage is used for the program of electronic data interchange,
In, described program makes terminal execute the method that first aspect provides.
Implement the embodiment of the present invention, has the advantages that：
As can be seen that UAV flight's common camera and being assembled with the infrared of infrared fileter through the embodiment of the present invention
Camera identifies the infrared beacon of ground specific frequency, when unmanned plane drops to lower height when unmanned plane is in high height
When spending, the Marker marker on ground is identified, and determine aircraft direction, it is progressive, realize round-the-clock reliability high-precision
Landing.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of structural schematic diagram of unmanned plane.
Fig. 2 is that a kind of unmanned plane accurately lands the flow diagram of bootstrap technique.
Fig. 3 is that unmanned plane provided in an embodiment of the present invention accurately lands bootstrap technique schematic diagram.
Fig. 4 is Marker schematic diagram provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Description and claims of this specification and term " first ", " second ", " third " and " in the attached drawing
Four " etc. are not use to describe a particular order for distinguishing different objects.In addition, term " includes " and " having " and it
Any deformation, it is intended that cover and non-exclusive include.Such as it contains the process, method of a series of steps or units, be
System, product or equipment are not limited to listed step or unit, but optionally further comprising the step of not listing or list
Member, or optionally further comprising other step or units intrinsic for these process, methods, product or equipment.
Referenced herein " embodiment " is it is meant that the special characteristic, result or the characteristic that describe can wrap in conjunction with the embodiments
Containing at least one embodiment of the present invention.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
In the method that first aspect provides, the control unmanned plane gradually decreases to ground and includes：
The distance of unmanned machine testing from the ground, if the distance is in the first set interval, using first set interval pair
The Marker positioning answered is positioned if the distance is in the second set interval using the corresponding Marker of the second set interval, thus
Realize gradually step by step positioning landing on ground.
In the method that first aspect provides, controls the infrared beacon and emit to preset direction, with default flicker frequency
Wavelength is the infrared light of 850nm or 940nm.
In the method that first aspect provides, when detecting the infrared beacon of the preset wavelength, according to described infrared
Beacon the step of the position of first camera guides the unmanned plane downward flight, including：
When detecting the infrared light of the 850nm or 940nm, detect the infrared light flicker frequency whether
For the default flicker frequency；
When the flicker frequency is the default flicker frequency, the infrared beacon is located in the infrared camera
Camera lens center, guide the unmanned plane to fly downwards.
In the method that first aspect provides, the label number for obtaining each self-identifying label, according to the institute recognized
It states self-identifying indicia patterns and drops to ground in the position of the second camera and the label number guidance unmanned plane
On step, including：
The label number for obtaining each self-identifying label, is detected in the label number of acquisition with the presence or absence of the first priority mark
Mark；
When there are the first priority label, by the corresponding self-identifying label figure of first priority label number
Case is located in the camera lens center of the second camera, guides the unmanned plane to fly downwards, and the label that real-time detection obtains
With the presence or absence of the second priority label number in number；
When there are the second priority label, by the corresponding self-identifying label figure of second priority label number
Case is located in the camera lens center of the second camera, and the unmanned plane is guided to fly downwards, until the unmanned plane drops to
On ground.
Refering to fig. 1, Fig. 1 is a kind of terminal structure schematic diagram, as shown in Figure 1, the terminal may include unmanned plane etc., in order to
Above-mentioned terminal is known as user equipment (User equipment, UE) or terminal in following example by the convenience of description.Certainly exist
In practical application, above-mentioned user equipment is also not necessarily limited to above-mentioned realization form.As shown in Figure 1, the unmanned plane includes：Navigation and control
Module 101, infrared camera 102.
Referring to Fig.2, Fig. 2 provides a kind of unmanned plane, accurately landing method, this method can be by terminals as shown in Figure 1
It executes, this method is as shown in Fig. 2, include the following steps：
Step S201, it when the position of unmanned plane is located above drop zone, is taken the photograph by first on the unmanned plane
As infrared beacon of the head to ground preset wavelength detects, first camera is infrared camera；
Step S202, when detecting the infrared beacon of the preset wavelength, according to the infrared beacon described first
The position of camera guides the unmanned plane to fly downwards, and by the second camera on the unmanned plane to ground object into
Row real time image collection identifies the subject image of acquisition；
Step S203, it when recognizing preset self-identifying indicia patterns in the subject image, obtains each from knowledge
The label number not marked, position and the mark according to the self-identifying indicia patterns recognized in the second camera
Mark guides the unmanned plane landing on the ground；
Step S204, when unmanned plane is in set distance from the ground, detection Marker judges position, detects multiple
When Marker, preferentially positioned using the higher Marker of ID, and control unmanned plane and gradually decrease to ground.
UAV flight's common camera and the infrared camera for being assembled with infrared fileter, when unmanned plane is in higher
When spending, the infrared beacon of ground specific frequency is identified, when unmanned plane drops to lower height, identify the Marker mark on ground
Object, and determine aircraft direction, it is progressive, realize the landing of round-the-clock reliability high-precision.
Optionally, above-mentioned beacon is Marker marker, and the beacon includes：Using the red of transmitting 850nm or 940nm
UV light-emitting diode array.Refering to Fig. 4, Fig. 4 is a kind of Marker schematic diagram, as shown in figure 4, wherein the ID of MarkerA is 11,
The ID of MarkerB be 66, recognize MarkerA when unmanned plane height is higher, positioned by MarkerA, drop to compared with
When low clearance, positioned by MarkerB.It is preferentially biggish using ID if recognize MarkerA and MarkerB simultaneously, i.e.,
It is preferentially positioned, realize successively progressive identification and landed using MarkerB, to reach layer-by-layer precise positioning guidance landing.
Optionally, unmanned plane is controlled such that infrared beacon specifically can wrap positioned at the centre of shooting picture to direction
It includes：A picture is shot, binaryzation is done to picture, then does median filtering and eliminates small noise, noise is removed in sampling still further below, and
The discontinuous cavity that target is eliminated using expansive working, is then found profile and calculates mass center, can be obtained the phase of infrared beacon
It is not the centre for shooting picture to position, such as relative position, adjustment unmanned plane is until the relative position of the infrared beacon is located at
The centre of the shooting picture.
It is that the present invention provides a kind of method refering to Fig. 3, Fig. 3, the present invention provides a kind of method, and UAV flight commonly images
Head and the infrared camera for being assembled with infrared fileter identify the red of ground specific frequency when unmanned plane is in high height
Outer beacon identifies the Marker marker on ground, and determine aircraft direction, passs layer by layer when unmanned plane drops to lower height
Into realizing the landing of round-the-clock reliability high-precision.
Infrared beacon has controlled flashing by single-chip microcontroller using the infrared light-emitting diode array of transmitting 850nm or 940nm
Frequency is interfered to prevent.
Infrared camera need to arrange in pairs or groups corresponding infrared fileter, that is to say, that only allow the wave based on 850nm or 940nm
It is long to enter camera.
The image that infrared camera captures need to regulate focal length and exposure setting, it is ensured that normal according to the actual situation
In the case of, when from 10 meters of infrared beacon or so, it can only see bright infrared beacon hot spot.It can easily find out at this time red
Outer beacon is in the position of camera, and there are many methods, and the present invention does binaryzation to image first by taking openCV as an example
(threshold), then the small noise of median filtering (smooth) elimination is done, samples (PyrDown) still further below and removes noise, and benefit
The discontinuous cavity for eliminating target is operated with expansion (dilation), is then found profile (findContours) and is calculated matter
The heart can be obtained relative position.
Marker beacon can be used various ways and realize, such as ArUco, AprilTag, ArToolKit+, ARTAG,
CHILITAGS etc., the present invention is by taking ArUco as an example.
ArUco has stronger fault-tolerance, can also obtain the relative position and direction of camera, which can be used for determining nothing
Man-machine position and orientation.
When unmanned plane lands, recognize ground Marker beacon be by small and big, if Marker beacon is too big, nothing
When man-machine closer from the ground, Marker beacon can occupy camera larger area, or even exceed camera range, and it is fixed to lead to not
Position influences precision, if Marker beacon is too small, when unmanned plane is higher from the ground, camera is difficult to.
The present invention makes full use of the fault-tolerance and ID number of ArUco, in such a way that size is nested, insertion among ArUco
High ID number pattern, unmanned plane can be appreciated that the slightly larger ArUco pattern of size first when landing, and when height is lower, can recognize interior
The ArUco pattern of embedding high ID number, unmanned plane can be preferentially using the ArUco pattern of high ID number as positioning, so layer by layer
It is progressive, unmanned plane can be allowed to identify in high height, can also be identified in near-earth, it is ensured that whole higher positioning accuracy.
See schematic diagram.Unmanned plane is liftoff it is higher when, can only recognize biggish ArUco pattern, ID 11, terrain clearance compared with
When low, intermediate lesser ArUco pattern, ID 66, at this time preferentially using this ArUco pattern as positioning can be recognized.
The application method of specific ArUco calls directly the included program library of ArUco, can directly export relative coordinate
And position, the present invention do not run business into particular one and state.
In view of the stability of control, it is sent to the beacon object coordinate for flying control, winged control inside should be integrated into and participate in operation
Kalman filtering in.
Further use case：
Unmanned plane passes through GNSS navigation flight to band drop zone.
Airborne infrared camera detects infrared beacon, and the infrared beacon flicker frequency is in order, and is shown to be true
Real infrared beacon and non-interference.
According to the position for recognizing beacon, unmanned plane is controlled, so that infrared beacon is located at the middle of infrared camera.
Unmanned plane is begun to decline, and when landing also ensures that infrared beacon is located at the middle of infrared camera.
Decline always, until airborne common camera recognizes Marker beacon.Stop the guidance of infrared beacon at this time
Landing is changed to carry out positioning landing by Marker beacon.
Decline always, until airborne common camera recognizes multiple Marker beacons, at this time according to each Marker
The judgement of beacon ID value size, preferential selection carry out positioning landing with the biggish Marker beacon of ID value.
Unmanned plane continues to decline, and has landed until unmanned plane itself detects.
The embodiment of the present invention also provides a kind of computer storage medium, wherein computer storage medium storage is for electricity
The computer program of subdata exchange, it is as any in recorded in above method embodiment which execute computer
A kind of some or all of the accurate landing method of unmanned plane step.
The embodiment of the present invention also provides a kind of computer program product, and the computer program product includes storing calculating
The non-transient computer readable storage medium of machine program, the computer program are operable to that computer is made to execute such as above-mentioned side
Some or all of the accurate landing method of any unmanned plane recorded in method embodiment step.
It should be noted that for the various method embodiments described above, for simple description, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described because
According to the present invention, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know
It knows, embodiment described in this description belongs to alternative embodiment, and related actions and modules is not necessarily of the invention
It is necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed device, it can be by another way
It realizes.For example, unmanned plane is controlled such that infrared beacon is located at the middle position of shooting picture to direction, examine in actual implementation
Consider different installation sites, the infrared beacon being also possible to is located at the other positions of shooting picture.For another example of the present invention
Method be to be identified step by step by the ID size of Marker, in actual implementation in view of identification difficulty, can also pass through
Other corresponding numbers of Marker are identified that core of the present invention is the layer-by-layer nested of Marker and according to unmanned plane height step by step
Degree identifies Marker step by step.
The embodiment of the present invention has been described in detail above, specific case used herein to the principle of the present invention and
Embodiment is expounded, and the above description of the embodiment is only used to help understand the method for the present invention and its core ideas；
At the same time, for those skilled in the art can in specific embodiments and applications according to the thought of the present invention
There is change place, in conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of landing bootstrap technique of unmanned plane, which is characterized in that described method includes following steps：
It is default to ground by the first camera on the unmanned plane when the position of unmanned plane is located above drop zone
The infrared beacon of wavelength is detected, and first camera is infrared camera；
When detecting the infrared beacon of the preset wavelength, drawn according to the infrared beacon in the position of first camera
It leads the unmanned plane to fly downwards, and realtime graphic is carried out to ground object by the second camera on the unmanned plane and is adopted
Collection, identifies the subject image of acquisition；
When recognizing preset self-identifying indicia patterns in the subject image, the label of each self-identifying label is obtained
Number, according to the self-identifying indicia patterns recognized the second camera position and it is described label number guidance described in
Unmanned plane lands on the ground.
2. the method as described in claim 1, which is characterized in that pre- to ground by the first camera on the unmanned plane
If before the step of infrared beacon of wavelength is detected, the method also includes：
Control the infrared light that the infrared beacon is 850nm or 940nm to preset direction, with default flicker frequency launch wavelength
Line.
3. method according to claim 2, which is characterized in that when detecting the infrared beacon of the preset wavelength, according to
The infrared beacon the step of position of first camera guides the unmanned plane downward flight, including：
When detecting the infrared light of the 850nm or 940nm, whether the flicker frequency for detecting the infrared light is institute
State default flicker frequency；
When the flicker frequency is the default flicker frequency, the infrared beacon is located in the mirror of the infrared camera
Head center, guides the unmanned plane to fly downwards.
4. the method as described in claim 1, which is characterized in that the label number for obtaining each self-identifying label, according to knowledge
Position and the label number guidance unmanned plane drop of the self-identifying indicia patterns being clipped in the second camera
The step of falling on the ground, including：
The label number for obtaining each self-identifying label, detects in the label number of acquisition and marks with the presence or absence of the first priority
Number；
When there are the first priority label, a first priority label number corresponding self-identifying indicia patterns are determined
Position guides the unmanned plane to fly downwards in the camera lens center of the second camera, and in the label number of real-time detection acquisition
With the presence or absence of the second priority label number；
When there are the second priority label, a second priority label number corresponding self-identifying indicia patterns are determined
Position guides the unmanned plane to fly downwards in the camera lens center of the second camera, until the unmanned plane drops to ground
On.
5. a kind of landing guide device of unmanned plane, which is characterized in that described device includes：
Infrared beacon detection unit, for when the position of unmanned plane is located at when the top of drop zone, by the unmanned plane
The first camera the infrared beacon of ground preset wavelength is detected, first camera be infrared camera；
Detection unit is marked, for when detecting the infrared beacon of the preset wavelength, according to the infrared beacon described
The position of first camera guides the unmanned plane to fly downwards, and by the second camera on the unmanned plane to ground object
Body carries out real time image collection, identifies to the subject image of acquisition；And
Land guidance unit, each for obtaining when recognizing preset self-identifying indicia patterns in the subject image
The label number of self-identifying label, position and institute according to the self-identifying indicia patterns recognized in the second camera
State the label number guidance unmanned plane landing on the ground.
6. device as claimed in claim 5, which is characterized in that described device further includes：
Infrared light transmitter elements are for controlling the infrared beacon to preset direction, with default flicker frequency launch wavelength
The infrared light of 850nm or 940nm.
7. device as claimed in claim 6, which is characterized in that the label detection unit includes：
Frequency detecting unit, for detecting the infrared light when detecting the infrared light of the 850nm or 940nm
Flicker frequency whether be the default flicker frequency；And
Flight guidance unit, for when the flicker frequency is the default flicker frequency, the infrared beacon to be located in
The camera lens center of the infrared camera, guides the unmanned plane to fly downwards.
8. device as claimed in claim 5, which is characterized in that the landing guidance unit includes：
First label detection unit detects in the label number of acquisition for obtaining the label number of each self-identifying label
With the presence or absence of the first priority label number；
Second label detection unit, for when there are the first priority label, first priority to be marked
Number corresponding self-identifying indicia patterns are located in the camera lens center of the second camera, and the unmanned plane is guided to fly downwards,
And with the presence or absence of the second priority label number in the label number of real-time detection acquisition；And
Guidance subelement is reduced, for when there are the second priority label, it is number right that second priority is marked
The self-identifying indicia patterns answered are located in the camera lens center of the second camera, and the unmanned plane is guided to fly downwards, until
The unmanned plane landing is on the ground.
9. a kind of unmanned plane, including memory, processor and storage can transport in the memory and on the processor
Capable computer program, which is characterized in that the processor realizes that Claims 1-4 such as is appointed when executing the computer program
The step of one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as Claims 1-4 of realization the method.
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