CN109407700A - A kind of unmanned plane independent landing method and its implementing device guided using image - Google Patents
A kind of unmanned plane independent landing method and its implementing device guided using image Download PDFInfo
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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
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
- G08G5/025—Navigation or guidance aids
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Abstract
The present invention is suitable for UAV Landing technical field, provide a kind of unmanned plane independent landing method and its implementing device guided using image, landing concept is specifically, when unmanned plane independent landing, unmanned plane is first under the guidance of GPS signal, it flies to the overhead with a certain distance from level point, the included Airborne camera of unmanned plane can identify the level point on ground at this time；Unmanned plane according to several lamp groups being located in level point at dot matrix brightness the pulse signal that constitutes of variation, flight is adjusted to the surface in level point；Then unmanned plane independently declines, during unmanned plane declines, can according to several lamp groups at the direction of pattern of dot matrix adjust itself posture；Finally, unmanned plane drop to by several lamp groups at lattice diagram central point, complete landing；The present invention is at low cost, precision is high, and unmanned plane can be made precisely to land in the case where level point environment difference.
Description
Technical field
The invention belongs to UAV Landing technical field more particularly to a kind of unmanned plane independent landings guided using image
Method and its implementing device.
Background technique
Since the error of GPS civil signal is meter level, and the influence vulnerable to periphery high-lager building causes unmanned plane to land
Position deviation is larger；DGPS Receiver and the cost at difference station are very high, and common user is difficult to bear；Immediately positioning with
Map reconstruction technique algorithm is complicated, computationally intensive, and the requirement for calculated performance is very high, increases cell load and airborne meter
The weight of calculation machine shortens the flight time of unmanned plane；
Positioning method based on pattern identification, it will usually two dimensional code or additional character are covered in level point, use airborne camera shooting
Machine finds specified landing place；Higher positioning accuracy can be provided for the landing of unmanned plane, and can designed at low cost
Honest and clean, the lesser algorithm of calculation amount, but there are problems that following aspect: first, when between unmanned plane and level point more than a spacing
From rear, pattern identification is difficult to be identified, and unmanned plane is caused to can not find touchdown area.Second, undesirable meteorological condition (such as haze
Weather) visibility that Airborne camera can be weakened, it easily causes pattern identification that can not identify, leads to the failure of such method；Third,
Due to the variation of shooting angle, the deformation of pattern identification can cause biggish difficulty for identification；4th, around level point
There is the figure similar on level point in environment, unmanned plane is directed to the landing place of mistake.
Summary of the invention
The present invention provide it is a kind of using image guide unmanned plane independent landing method, it is intended to solve in the prior art nobody
Machine is difficult to be difficult to figure in the case where level point condition difference, and is easy the problem of accidentally dropping.
The present invention also provides a kind of implementing devices of unmanned plane independent landing method using image guidance.
The invention is realized in this way a kind of unmanned plane independent landing method guided using image, comprising:
(1) in unmanned plane independent landing, unmanned plane is first under the guidance of GPS signal, and flight is to a certain distance from level point
Overhead, the included Airborne camera of unmanned plane can identify the level point on ground at this time；
(2) unmanned plane according to be located at level point in several lamp groups at dot matrix brightness variation constitute pulse signal, fly
Row is adjusted to the surface in level point；
(3) then unmanned plane independently declines, during unmanned plane declines, can according to several lamp groups at dot matrix pattern
Direction adjusts itself posture；
(4) finally, unmanned plane drop to by several lamp groups at lattice diagram central point, complete landing.
Further, step (2) process includes:
Unmanned plane keeps floating state after reaching the overhead with a certain distance from level point, while starting to acquire using Airborne camera
Image in the region of underface；
Searched in the image of acquisition several lamp groups at the changed region of dot matrix brightness, lasting records each region
The frequency of interior brightness change and the control device for being sent to unmanned plane；
Unmanned aerial vehicle (UAV) control device according to several lamp groups at dot matrix bright pulse signal, adjust the skyborne position of unmanned plane
Set, make center at Airborne camera image taking and several lamp groups at dot matrix center it is consistent, adjustment finishes
Unmanned plane starts to land afterwards.
Further, the unmanned aerial vehicle (UAV) control device according to several lamp groups at the bright pulse signal of dot matrix also wrap
It includes:
Compared with the brightness change frequency for comparing set in unmanned aerial vehicle (UAV) control device in advance；
Judge whether the brightness change frequency of the two is identical；
Judging result be it is yes, then continue landing process；
Judging result be it is no, then report a mistake, terminate landing process.
Further, step (3) process includes:
Airborne camera clearly capture several lamp groups at level point at dot matrix brightness change any one pattern when, solution
The coding for analysing pattern, obtains the placing direction of pattern, and unmanned aerial vehicle (UAV) control device adjusts head side according to the placing direction of pattern
To.
Further, it is described parse several lamp groups at lattice diagram coding further include:
Whether judgement and the coding prestored in unmanned aerial vehicle (UAV) control device are consistent；
Judging result be it is yes, then continue landing process；
Judging result be it is no, then stop landing process, return step (2).
Further, include: between the step (3) and step (4)
Airborne camera read several by several lamp groups at lattice diagram when, unmanned aerial vehicle (UAV) control device with priority most
High pattern be correct pattern, adjust Airborne camera image taking at center and several lamp groups at lattice diagram
Central point it is consistent, and continue during continuous decrease to identify several lamp groups at lattice diagram.
The present invention also provides a kind of implementing device of unmanned plane independent landing method using image guidance, feature exists
In, comprising:
Be provided with by several lamp groups at dot matrix level point；
And it is provided with the unmanned plane of Airborne camera and GPS receiver；
The dot matrix includes flash pattern and display pattern, and the flash pattern and display pattern carry out simultaneously, by the set time
The pattern that interval circulation flashing display is pre-set, the Airborne camera and GPS receiver are separately connected the control of unmanned plane
Device processed, control device can identify the lattice diagram taken by Airborne camera.
Further, the pattern of the lattice display shares several, and several pattern is successively in regular intervals
Circulation display.
Further, the pattern of the lattice display is functionally divided into using two dimensional code as the pattern of core and with landing
Point identification is the pattern of core；The pattern of the lattice display is divided into neighboring area, white space and nucleus in structure,
The neighboring area by opening a part of lamp in dot matrix at random, for guaranteeing the luminance balance of dot matrix totality；Nucleus
It is made of two dimensional code or landing point identification, provides orientation and location information for unmanned plane；White space is used for neighboring area
It is separated with nucleus.
Beneficial effects of the present invention: using level point setting by several lamp groups at dot matrix, can by unmanned plane essence
It really guides to drop zone；As a kind of localization method based on pattern identification, the cost having is low, feature with high accuracy, solution
Landing errors problem caused by GPS location precision of having determined is not high；When the Airborne camera that unmanned plane carries can not identify pattern,
Can by analyze several lamp groups at dot matrix brightness change constitute pulse signal come positioning landing point；Meanwhile several lamps
The dot matrix bright pulse signal of composition can overcome On The Deterioration of Visibility Over caused by bad-weather condition, Yi Jiji to a certain extent
Pattern identification difficulty is big caused by carrying video camera shooting angle problem；Several lamp groups at the core of lattice diagram use
Two dimensional code, so that the probability of level point false retrieval is very low.
Detailed description of the invention
Fig. 1 is a kind of unmanned plane independent landing method schematic diagram guided using image provided by the invention.
Fig. 2 is a kind of unmanned plane independent landing method dot matrix timing diagram guided using image provided by the invention.
Fig. 3 is a kind of unmanned plane independent landing method dot pattern structure chart guided using image provided by the invention.
In figure: the level point 1-；2- dot matrix；3- unmanned plane；The neighboring area 4-；5- white space；6- nucleus.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
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.
Embodiment one
As shown in Figure 1, a kind of unmanned plane independent landing method guided using image, comprising:
(1) when 3 independent landing of unmanned plane, unmanned plane 3 is first under the guidance of GPS signal, and flight is to a certain distance from level point 1
Overhead, the included Airborne camera of unmanned plane 3 can identify the level point on ground at this time；
(2) unmanned plane 3 according to be located at level point in several lamp groups at 2 brightness of dot matrix variation constitute pulse signal,
Flight is adjusted to the surface in level point 1；
(3) then unmanned plane 3 independently decline, unmanned plane 3 decline during, can according to several lamp groups at dot matrix 2 figure
The direction of sample adjusts itself posture；
Several lamp groups at 2 pattern of dot matrix can be arranged by fixed direction, when unmanned plane 3 Airborne camera institute it is collected
Several lamp groups at 2 pattern of dot matrix when, unmanned plane 3 control device analysis several collected lamp groups at dot matrix 2
Pattern direction, and control unmanned plane 3 adjust Handpiece Location and several lamp groups at 2 pattern direction of dot matrix it is consistent；
(4) finally, unmanned plane 3 drop to by several lamp groups at lattice diagram central point, complete landing.
Embodiment two
Step (2) process includes:
Unmanned plane 3 keeps floating state after reaching the overhead with a certain distance from level point, while starting to adopt using Airborne camera
Image immediately below collection in region；
Searched in the image of acquisition several lamp groups at the changed region of 2 brightness of dot matrix, lasting records each area
The frequency of brightness change and the control device of unmanned plane 3 is sent in domain；
3 control device of unmanned plane according to several lamp groups at dot matrix 2 bright pulse signal, adjustment unmanned plane 3 it is skyborne
Position, make center at Airborne camera image taking and several lamp groups at 2 center of dot matrix it is consistent, adjusted
Unmanned plane 3 starts to land after finishing.
Embodiment three
3 control device of unmanned plane according to several lamp groups at dot matrix 2 bright pulse signal further include:
Compared with the brightness change frequency for comparing set in 3 control device of unmanned plane in advance；
Judge whether the brightness change frequency of the two is identical；
Judging result be it is yes, then continue landing process；
Judging result be it is no, then report a mistake, terminate landing process.
Since unmanned plane 3 has certain height distance poor from level point at this time, i.e., can not collect it is identifiable several
Lamp group at dot matrix 2 shown by specific pattern, at this time by by several collected lamp groups of Airborne camera at dot matrix 2
Flash pattern in 3 control device of unmanned plane it is pre-stored for comparison flash pattern compare, judge that the position is
No is landing point.
Example IV
Step (3) process includes:
Airborne camera clearly capture several lamp groups at level point at 2 brightness change of dot matrix any one pattern when,
The coding for parsing pattern, obtains the placing direction of pattern, and 3 control device of unmanned plane adjusts head according to the placing direction of pattern
Direction.
3 control device of unmanned plane according to several lamp groups at 2 pattern of dot matrix placing direction, adjust unmanned plane 3 machine
Head direction；3 control device of unmanned plane by identify collected at this time several lamp groups at 2 pattern of dot matrix direction, and it is pre-
First set for comparison pattern direction make comparisons, adjust unmanned plane 3 heading and several lamp groups at 2 figure of dot matrix
Sample prescription is to consistent.
Embodiment five
It is described parse several lamp groups at 2 pattern of dot matrix coding further include:
Whether judgement and the coding prestored in unmanned aerial vehicle (UAV) control device are consistent；
Judging result be it is yes, then continue landing process；
Judging result be it is no, then stop landing process, return step (2).
3 control device of unmanned plane according to identify collected at this time several lamp groups at 2 pattern of dot matrix content, and it is pre-
The pattern content for comparison first set verifies, for judging whether the level point found according to flash pattern is regulation
Landing place.
Embodiment six
Between the step (3) and step (4) further include:
Airborne camera read several by several lamp groups at 2 pattern of dot matrix when, 3 control device of unmanned plane is with priority
Highest pattern be correct pattern, adjust Airborne camera image taking at center and several lamp groups at dot matrix 2
The central point of pattern is consistent, and continue during continuous decrease to identify several lamp groups at 2 pattern of dot matrix.
In the case where unmanned plane captures multiple patterns, 3 control device of unmanned plane finds highest priority in multiple patterns
Pattern, the priority of pattern is related to its area, and the smaller pattern of area occupied on dot matrix 2, priority is higher, read it is excellent
The encoded content of the first highest pattern of grade judges the approximate distance between level point 1 for 3 control device of unmanned plane, when
Unmanned plane 3 can correctly identify lesser pattern, then unmanned plane has descended to lower height, and priority pattern is encoded
Content is that immobilized substance and its sequencing are set in advance in 3 control device of unmanned plane, it is specified that preferential in all patterns
Next pattern after the highest pattern of grade is landing dot pattern, i.e., the final pattern for determining landing, the work for the dot pattern that lands
With being to allow what unmanned plane 3 can be more accurate to drop to specified landing place.
Embodiment seven
As Figure 1-Figure 2, the present invention also provides it is a kind of using image guidance unmanned plane independent landing method implementing device,
Include:
Be provided with by several lamp groups at dot matrix 2 level point 1；
And it is provided with the unmanned plane 3 of Airborne camera and GPS receiver；
The dot matrix 2 includes flash pattern and display pattern, and the flash pattern and display pattern carry out simultaneously, by the set time
The pattern that pre-sets of interval circulation flashing display, flash pattern refer to that all lamps that a certain pattern is formed on dot matrix 2 can be with
It according to certain timing, opens simultaneously or closes, wherein dot matrix 2 is powered by external power supply；Display pattern, which refers to, passes through setting
Lamp turns on or off on different location on dot matrix 2, can show that specified figure, and shown by the switching of dynamic
The control device of unmanned plane 3 is electrically connected in the content of pattern, the Airborne camera and GPS receiver；The dot matrix 2
Work is totally independent of the descent of unmanned plane 3, and any type of two-way communication does not occur therebetween.
Embodiment eight
As shown in Fig. 2, the pattern of the display of the dot matrix 2 shares several, several pattern successively follows in regular intervals
Ring shows that dot matrix 2 flashes pattern while showing pattern, i.e. the brightness of dot matrix 2 flickers with fixed time interval.
Embodiment nine
As shown in figure 3, the pattern of the display of the dot matrix 2 is functionally divided into using two dimensional code as the pattern of core and with level point
It is identified as the pattern of core, circuits sequentially display using two dimensional code as the pattern of core and with the pattern that level point is identified as core；
The pattern of the display of the dot matrix 2 is divided into neighboring area 4, white space 5 and nucleus 6, the neighboring area 4 in structure
By opening a part of lamp in dot matrix 2 at random, for guaranteeing the overall luminance balance of dot matrix 2；Nucleus 5 is compiled by two dimensional code
Code or landing point identification composition, provide orientation and location information for unmanned plane 3；White space 5 is used for neighboring area 4 and core
Heart district domain 6 separates, and the two dimensional code pattern in the dot matrix 2 has used Data Matrix to encode.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. a kind of unmanned plane independent landing method guided using image characterized by comprising
(1) in unmanned plane independent landing, unmanned plane is first under the guidance of GPS signal, and flight is to a certain distance from level point
Overhead, the included Airborne camera of unmanned plane can identify the level point on ground at this time；
(2) unmanned plane according to be located at level point in several lamp groups at dot matrix brightness variation constitute pulse signal, fly
Row is adjusted to the surface in level point；
(3) then unmanned plane independently declines, during unmanned plane declines, can according to several lamp groups at dot matrix pattern
Direction adjusts itself posture；
(4) finally, unmanned plane drop to by several lamp groups at lattice diagram central point, complete landing.
2. a kind of unmanned plane independent landing method guided using image according to claim 1, which is characterized in that described
Step (2) process includes:
Unmanned plane keeps floating state after reaching the overhead with a certain distance from level point, while starting to acquire using Airborne camera
Image in the region of underface；
Searched in the image of acquisition several lamp groups at the changed region of dot matrix brightness, lasting records each region
The frequency of interior brightness change and the control device for being sent to unmanned plane；
Unmanned aerial vehicle (UAV) control device according to several lamp groups at dot matrix bright pulse signal, adjust the skyborne position of unmanned plane
Set, make center at Airborne camera image taking and several lamp groups at dot matrix center it is consistent, adjustment finishes
Unmanned plane starts to land afterwards.
3. a kind of unmanned plane independent landing method guided using image according to claim 2, which is characterized in that described
Unmanned aerial vehicle (UAV) control device according to several lamp groups at dot matrix bright pulse signal further include:
Compared with the brightness change frequency for comparing set in unmanned aerial vehicle (UAV) control device in advance；
Judge whether the brightness change frequency of the two is identical；
Judging result be it is yes, then continue landing process；
Judging result be it is no, then report a mistake, terminate landing process.
4. a kind of unmanned plane independent landing method guided using image according to claim 1, which is characterized in that described
Step (3) process includes:
Airborne camera clearly capture several lamp groups at level point at dot matrix brightness change any one pattern when, solution
The coding for analysing pattern, obtains the placing direction of pattern, and unmanned aerial vehicle (UAV) control device adjusts head side according to the placing direction of pattern
To.
5. a kind of unmanned plane independent landing method guided using image according to claim 4, which is characterized in that described
Parse several lamp groups at lattice diagram coding further include:
Whether judgement and the coding prestored in unmanned aerial vehicle (UAV) control device are consistent；
Judging result be it is yes, then continue landing process；
Judging result be it is no, then stop landing process, return step (2).
6. a kind of unmanned plane independent landing method guided using image according to claim 1, which is characterized in that described
Include: between step (3) and step (4)
Airborne camera read several by several lamp groups at lattice diagram when, unmanned aerial vehicle (UAV) control device with priority most
High pattern be correct pattern, adjust Airborne camera image taking at center and several lamp groups at lattice diagram
Central point it is consistent, and continue during continuous decrease to identify several lamp groups at lattice diagram.
7. a kind of implementing device of unmanned plane independent landing method using image guidance as described in claim 1-6, special
Sign is, comprising:
Be provided with by several lamp groups at dot matrix level point；
And it is provided with the unmanned plane of Airborne camera and GPS receiver；
The Airborne camera and GPS receiver are separately connected the control device of unmanned plane；
Control device can identify the lattice diagram taken by Airborne camera.
8. a kind of implementing device of unmanned plane independent landing method using image guidance as claimed in claim 7, feature
It is, the dot matrix includes flash pattern and display pattern, and the flash pattern and display pattern carry out simultaneously, by the set time
The pattern that pre-sets of interval circulation flashing display, the pattern of the lattice display share several, and several pattern is successively
Circulation display in regular intervals.
9. a kind of implementing device of unmanned plane independent landing method using image guidance as claimed in claim 8, feature
It is, the pattern of the lattice display is functionally divided into using two dimensional code as the pattern of core and is identified as core with level point
Pattern；The pattern of the lattice display is divided into neighboring area, white space and nucleus in structure, and the neighboring area is logical
The random a part of lamp opened in dot matrix is crossed, for guaranteeing the luminance balance of dot matrix totality；Nucleus is by two dimensional code or drop
Drop point mark composition, provides orientation and location information for unmanned plane；White space is used to divide neighboring area and nucleus
It opens.
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| CN110968112A (en) * | 2019-12-12 | 2020-04-07 | 哈尔滨工程大学 | Unmanned aerial vehicle autonomous landing system and method based on monocular vision |
| CN111506091A (en) * | 2020-05-07 | 2020-08-07 | 山东力阳智能科技有限公司 | Unmanned aerial vehicle accurate landing control system and method based on dynamic two-dimensional code |
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