CN111176323A - Radar and infrared integrated unmanned aerial vehicle landing control method and device - Google Patents
Radar and infrared integrated unmanned aerial vehicle landing control method and device Download PDFInfo
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Abstract
The invention discloses a radar and infrared integrated unmanned aerial vehicle landing control method and device, and the method comprises the following steps: s1, arranging horizontal infrared beacons and vertical infrared beacons in the horizontal direction of each area to be landed, and arranging radars on an unmanned aerial vehicle; s2, when the unmanned aerial vehicle needs to land in the flying process, controlling the unmanned aerial vehicle to fly to a designated landing starting point near a target landing area and then starting to land, and executing the step S3; s3, controlling the unmanned aerial vehicle to fly from the landing starting point, judging the deviation degree of the position of the unmanned aerial vehicle and acquiring the height information of the unmanned aerial vehicle by a radar according to the position relation between the horizontal infrared beacon and the vertical infrared beacon in the target landing area in the flying process, and controlling and adjusting the course of the unmanned aerial vehicle according to the deviation degree of the position of the unmanned aerial vehicle and the height information of the unmanned aerial vehicle until the unmanned aerial vehicle lands to the target landing point. The invention has the advantages of simple implementation method, low implementation cost, high control efficiency and precision and the like.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a radar and infrared integrated unmanned aerial vehicle landing control method and device.
Background
By using the unmanned aerial vehicle, various matters with difficulty and danger can be executed, so that the unmanned aerial vehicle is gradually and widely applied to various fields, such as dangerous case checking in fire, high-altitude line patrol work of power cables, personnel searching in geological disasters, dangerous case checking, cargo distribution of the unmanned aerial vehicle and the like.
At present, the course of an unmanned aerial vehicle depends on a compass, the unmanned aerial vehicle depends on a GPS signal in the processes of taking off and landing, particularly in the process of landing, the GPS signal must be ensured to be accurate when the unmanned aerial vehicle accurately lands to a specified position, the positioning accuracy of a common GPS is generally about 2 to 3 meters, although the accuracy of a differential GPS is higher and is in the centimeter level, the cost is high, the cost of a single module is very high, the GPS module is generally required to be vacant when the GPS is ensured to be accurate, when the flight environment of the unmanned aerial vehicle is complex, such as flight in a building group with more buildings, the distance between the buildings is shorter, the GPS signal is generally poorer and unstable, the GPS coordinate is easy to drift, and part of areas can not even acquire the GPS signal, so that the unmanned aerial vehicle can land depending on the GPS signal to cause unstable flight in the process, or the landing position is inaccurate, and the GPS signal can not be found, even lead to unmanned aerial vehicle to lead to near situation such as explode the quick-witted danger from peripheral barrier, can't ensure the stable accurate descending of unmanned aerial vehicle.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the radar and infrared integrated unmanned aerial vehicle landing control method and device which are simple in implementation method, low in implementation cost and high in control efficiency and precision.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a radar and infrared integrated unmanned aerial vehicle landing control method comprises the following steps:
s1, arranging horizontal infrared beacons with vertical radiation directions in the horizontal direction of each area to be landed, arranging vertical infrared beacons with horizontal radiation directions in the vertical direction, and arranging radars with a ranging function on an unmanned aerial vehicle;
s2, landing starting: when the unmanned aerial vehicle needs to land in the flying process, controlling the unmanned aerial vehicle to fly to a designated landing starting point near a target landing area and then starting to land, and executing the step S3;
s3, landing control: controlling the unmanned aerial vehicle to follow the landing starting point begins to fly, and the flight in-process is according to in the target landing area the offset degree of unmanned aerial vehicle position is judged to the position relation between horizontal infrared beacon, perpendicular infrared beacon and the unmanned aerial vehicle and by the radar acquires unmanned aerial vehicle's height information, according to the offset degree of unmanned aerial vehicle position, unmanned aerial vehicle's height information control adjustment unmanned aerial vehicle's course, until descending to the target landing point.
Further, in the flight control process of step S3, through discerning horizontal infrared beacon, vertical infrared beacon, judge unmanned aerial vehicle respectively for the degree of deviation of horizontal infrared beacon, vertical infrared beacon to confirm the distance size that unmanned aerial vehicle need adjust in level, vertical direction respectively, and by the radar acquires unmanned aerial vehicle' S height information in order to confirm the distance that unmanned aerial vehicle descends perpendicularly.
Further, still include in advance respectively the fuselage side assigned position of unmanned aerial vehicle arranges the first image acquisition equipment that the horizontal direction was gathered and arranges the second image acquisition equipment that the vertical direction was gathered in bottom assigned position for the corresponding collection the image of vertical infrared beacon, horizontal infrared beacon is in order to confirm the position relation between infrared beacon and the unmanned aerial vehicle.
Further, in step S3, the radar is started to measure a distance, the vertical infrared beacon is searched by the first image acquisition device, and if the height information matches and the vertical infrared beacon is searched, it is determined whether an imaging position of the vertical infrared beacon in the first image acquisition device is in a central area, if not, the heading of the unmanned aerial vehicle is adjusted until the imaging in the first image acquisition device is in the central area; and searching the horizontal infrared beacon through the second image acquisition equipment, if the horizontal infrared beacon is searched, judging whether an image in the second image acquisition equipment is in a central area, if not, adjusting the course of the unmanned aerial vehicle until the image in the second image acquisition equipment is in the central area, and finally controlling the unmanned aerial vehicle to descend to a target landing point according to the height information of the unmanned aerial vehicle obtained by the radar.
Further, the specific step of step S3 is:
s31, when the unmanned aerial vehicle flies to the landing starting point, starting the radar to measure distance in the direction X, Z, and controlling and adjusting the direction of the unmanned aerial vehicle to enable the first image acquisition equipment to face a target landing area;
s32, obtaining distances X1 and Z1 which are required by the unmanned aerial vehicle to fly in the X, Z axis direction according to the radar measurement;
s33, controlling the unmanned aerial vehicle to fly along the Y-axis direction, continuously judging whether the image in the first image acquisition equipment is on a vertical central line in the flying process, and if not, adjusting the course of the unmanned aerial vehicle until the image in the first image acquisition equipment is on the vertical central line;
s33, controlling the unmanned aerial vehicle to fly for a distance of X1 along the X-axis direction, continuously judging whether the image in the second image acquisition equipment is in a vertical central area in the flying process, and if not, adjusting the course of the unmanned aerial vehicle until the image in the second image acquisition equipment is in the vertical central area;
s34, controlling the unmanned aerial vehicle to fly for a Z1 distance along the Z-axis direction, continuously judging whether an image in the second image acquisition equipment is in a vertical central area or not in the flying process, and if not, adjusting the course of the unmanned aerial vehicle until the image in the second image acquisition equipment is in the vertical central area so that the unmanned aerial vehicle vertically descends from above the horizontal infrared beacon;
and S35, controlling the radar to descend to a target landing point according to the distance relation between the unmanned aerial vehicle and the horizontal infrared beacon and the unmanned aerial vehicle height information acquired by the radar.
The method further comprises the step of calibrating imaging of the image acquisition equipment to obtain the relationship between imaging data of the infrared beacon in the image acquisition equipment and the distance of the image acquisition equipment so as to adjust the course of the unmanned aerial vehicle, wherein when the flight course is adjusted, a closed loop is formed by the actual distance of the unmanned aerial vehicle in flight and the target distance according to the corresponding relationship between the imaging data obtained by calibration and the distance of the image acquisition equipment.
Further, in step S3, a synthetic route from the designated landing start point to the destination landing point is formed according to the position relationship between the designated landing start point and the destination landing point, the position relationship between the horizontal infrared beacon, the vertical infrared beacon and the unmanned aerial vehicle, and the altitude information of the unmanned aerial vehicle obtained by the radar, and the unmanned aerial vehicle is controlled to fly to the destination landing point according to the synthetic route.
Further, step S3 is followed by a step of guiding the unmanned aerial vehicle to take off, and the specific steps include: and after the unmanned aerial vehicle is controlled to take off from the landing point, controlling the unmanned aerial vehicle to keep vertical upward displacement according to the position relation between the horizontal infrared beacon and the unmanned aerial vehicle so as to guide the unmanned aerial vehicle to fly to the height of the original landing starting point, and controlling the unmanned aerial vehicle to fly to the original landing starting point and then finish taking off.
The utility model provides a radar and infrared unmanned aerial vehicle landing control device who fuses, includes:
the system comprises horizontal infrared beacons with vertical radiation directions, vertical infrared beacons with horizontal radiation directions and arranged in the horizontal direction of each area to be landed, and radars with ranging functions, wherein the radars are arranged on an unmanned aerial vehicle;
the landing starting module is used for controlling the unmanned aerial vehicle to fly to a designated landing starting point near a target landing area and then start landing when the unmanned aerial vehicle needs to land in the flying process, and then the unmanned aerial vehicle is shifted to the landing execution control module;
descending control module for control unmanned aerial vehicle follows the descending starting point begins to fly, in the flight process according to the target landing zone in the skew degree of unmanned aerial vehicle position is judged to the position relation between horizontal infrared beacon, perpendicular infrared beacon and the unmanned aerial vehicle and by unmanned aerial vehicle's altitude information is acquireed to the radar, according to unmanned aerial vehicle's the course is adjusted to the skew degree of unmanned aerial vehicle position, unmanned aerial vehicle's altitude information control, until descending to the target landing point.
The landing control module is used for adjusting the flight course according to the corresponding relation between the imaging data obtained by calibration in the calibration data storage module and the distance of the image acquisition equipment and controlling the landing control module by forming a closed loop by the actual distance of the unmanned aerial vehicle flying and the target distance.
Further, still include the first image acquisition equipment that the horizontal direction that unmanned aerial vehicle's fuselage side assigned position arranged was gathered and the second image acquisition equipment that the vertical direction that arranges at bottom assigned position gathered for the corresponding collection the image of perpendicular infrared beacon, horizontal infrared beacon is in order to confirm the position relation between infrared beacon and the unmanned aerial vehicle.
Compared with the prior art, the invention has the advantages that:
1. according to the invention, the horizontal infrared beacons and the vertical infrared beacons are arranged in each area to be landed, the ranging radar is arranged on the unmanned aerial vehicle, the unmanned aerial vehicle is guided to land by fusing the arranged infrared beacons and the radar, the deviation degree of the position of the unmanned aerial vehicle is judged by the position relation between the infrared beacons and the unmanned aerial vehicle in the landing process of the unmanned aerial vehicle, the height information of the unmanned aerial vehicle is obtained by the radar in real time, the course of the unmanned aerial vehicle is controlled and adjusted by integrating the deviation degree of the position of the unmanned aerial vehicle and the height information of the unmanned aerial vehicle, the precise landing control of the unmanned aerial vehicle can be realized by fusing the radar and the infrared, the landing control process does not need to depend on a GPS signal, the realization cost is low, and the method can be conveniently.
2. In the process that the unmanned aerial vehicle flies from a landing starting point to a target landing point, the deviation degree between the unmanned aerial vehicle and the horizontal infrared beacon and the deviation degree between the unmanned aerial vehicle and the vertical infrared beacon are judged by searching the positions of the horizontal infrared beacon and the vertical infrared beacon, whether the unmanned aerial vehicle deviates or not can be judged in real time, the flying course is adjusted when the deviation is judged, and meanwhile, the height between the unmanned aerial vehicle and the landing point can be determined in real time by combining the height information of the unmanned aerial vehicle obtained by a radar, so that the unmanned aerial vehicle can be safely and accurately controlled to land to the target landing point.
3. According to the invention, the image acquisition equipment is further arranged on the unmanned aerial vehicle to acquire the image of the infrared beacon, the imaging position of the infrared beacon in the image acquisition equipment is utilized to judge the relation between the unmanned aerial vehicle and the infrared beacon, and whether the unmanned aerial vehicle deviates or not can be quickly and accurately judged according to whether the imaging position of the beacon is in the central position, so that the course of the unmanned aerial vehicle is accurately controlled and adjusted, and the control efficiency and precision can be further improved.
Drawings
Fig. 1 is a schematic diagram of an implementation process of the unmanned aerial vehicle landing control method based on radar and infrared fusion in the embodiment.
Fig. 2 is a schematic diagram of a first infrared beacon arrangement in a specific application embodiment.
Fig. 3 is a schematic diagram of a second infrared beacon arrangement in a specific application embodiment.
Fig. 4 is a front view of the unmanned aerial vehicle head in this embodiment.
Fig. 5 is a bottom view of the drone in this embodiment.
Fig. 6 is a schematic flow chart of the unmanned aerial vehicle landing control implemented in the present embodiment.
Fig. 7 is a detailed flow diagram illustrating the implementation of the unmanned aerial vehicle landing control in an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments of the description, without thereby limiting the scope of protection of the invention.
As shown in fig. 1, the method for controlling the unmanned aerial vehicle landing by combining the radar and the infrared includes the following steps:
s1, arranging horizontal infrared beacons with vertical radiation directions in the horizontal direction of each area to be landed, arranging vertical infrared beacons with horizontal radiation directions in the vertical direction, and arranging radars with a ranging function on an unmanned aerial vehicle;
s2, landing starting: when the unmanned aerial vehicle needs to land in the flying process, controlling the unmanned aerial vehicle to fly to a designated landing starting point near a target landing area and then starting to land, and executing the step S3;
s3, landing control: controlling the unmanned aerial vehicle to start flying from the landing starting point, judging the deviation degree of the position of the unmanned aerial vehicle and acquiring the height information of the unmanned aerial vehicle by a radar according to the position relation between the horizontal infrared beacon, the vertical infrared beacon and the unmanned aerial vehicle in the target landing area in the flying process, and controlling and adjusting the course of the unmanned aerial vehicle according to the deviation degree of the position of the unmanned aerial vehicle and the height information of the unmanned aerial vehicle until landing to the target landing point.
This embodiment is through arranging horizontal infrared beacon in each needs descending region, perpendicular infrared beacon and arrange the range finding radar on unmanned aerial vehicle, fuse the infrared beacon of arranging, the radar guides unmanned aerial vehicle to descend, the skew degree of unmanned aerial vehicle position is judged by the position relation between infrared beacon and the unmanned aerial vehicle to the unmanned aerial vehicle descending in-process, acquire unmanned aerial vehicle's height information in real time by the radar, synthesize the skew degree of unmanned aerial vehicle position and unmanned aerial vehicle's height information control adjustment unmanned aerial vehicle course, can fuse radar and infrared realization unmanned aerial vehicle accurate landing control, need not to rely on the GPS signal among the descending control process, and realize with low costs, can be convenient, nimble being applied to and being not convenient for to acquire and stabilize unmanned aerial vehicle landing control in all kinds of application scenes such as GPS signal.
In this embodiment, the horizontal infrared beacon is specifically configured in an "H" shape, the radiation direction is vertical upward, i.e., the direction opposite to the gravity direction, the emission range is a 135 ° field angle, and the horizontal direction is a cone with a vertex, and the emission power of the infrared beacon is adjustable, so that the vertical height (i.e., the gravity direction) required for the radiation to the unmanned aerial vehicle landing can be adjusted; the vertical infrared beacon is specifically configured into a V shape, the radiation direction is horizontally outward, the emission range is 135 degrees of field angle, a cone taking the vertical direction as a vertex is adopted, the emission power of the infrared beacon is adjustable, and the horizontal distance (namely the horizontal direction perpendicular to the gravity direction) required by the radiation of the infrared beacon to the landing of the unmanned aerial vehicle can be adjusted.
Taking unmanned aerial vehicle to realize the delivery in the building as an example, as shown in fig. 2, horizontal infrared beacon of above-mentioned "H" shape is arranged horizontally on each target building that needs to descend, and the radiation direction is vertical upwards to and arrange the vertical infrared beacon of above-mentioned "V" shape vertically, the radiation direction is perpendicular to the building outwards, when unmanned aerial vehicle needs to descend to appointed position in this building, by the horizontal infrared beacon of above-mentioned "H" shape of arranging, "V" shape vertical infrared beacon as the position reference guide unmanned aerial vehicle to descend. It is further possible to arrange a horizontal infrared beacon in the shape of an "H" on the top floor of the building to simultaneously act as an emergency landing point, as shown in fig. 3.
The shapes of the horizontal infrared beacon and the vertical infrared beacon can be any other shapes which are convenient to identify and distinguish according to actual requirements.
The infrared beacon can be configured to transmit and modulate in a specific modulation mode so as to distinguish the infrared signal in the background and ensure that the unmanned aerial vehicle can stably and effectively receive the infrared beacon signal.
As shown in fig. 4 and 5, in this embodiment, 4 radars are arranged at 90-degree intervals around the specific unmanned aerial vehicle, and the measurement range of each radar is a radar in a 90-degree sector area, so as to realize 360-degree coverage of a circular area, and the radar faces the horizontal direction. Of course, the rotary radar can be selected according to actual requirements, and can rotate 360 degrees to realize ranging. The radar can be a radar with the functions of distance measurement and obstacle avoidance, has the capability of obstacle avoidance and obstacle distance measurement, and can be a radar made of millimeter wave radar and the like.
This embodiment can number for all landing points in advance to each landing point is determined uniquely, and when needing to descend in the unmanned aerial vehicle flight process in step S2, specifically send the landing instruction by unmanned aerial vehicle ground satellite station monitored control system, include landing point number, the landing start GPS coordinate that corresponds, the altitude information of landing point etc. in the landing instruction, control unmanned aerial vehicle flight to start to descend after the landing start.
In the flight control process of the step S3, the deviation degree of the unmanned aerial vehicle relative to the horizontal infrared beacon and the vertical infrared beacon is determined by identifying the horizontal infrared beacon and the vertical infrared beacon, so as to determine the distance of the unmanned aerial vehicle to be adjusted in the horizontal and vertical directions, and the height information of the unmanned aerial vehicle is acquired by a radar so as to determine the vertical descending distance of the unmanned aerial vehicle. The GPS coordinates at the position of the landing starting point may not be accurate, and it is difficult to ensure that the unmanned aerial vehicle can accurately land to the landing point by directly determining the landing route according to the coordinates. This embodiment flies to the purpose landing point in-process from the descending starting point at unmanned aerial vehicle flight, through seeking horizontal infrared beacon, the position of perpendicular infrared beacon, judge unmanned aerial vehicle and horizontal infrared beacon, the skew degree between the perpendicular infrared beacon, can judge whether the unmanned aerial vehicle position squints in real time, adjust flight course when judging to taking place the skew, the unmanned aerial vehicle height information who combines the radar to acquire simultaneously, can confirm the height between the unmanned aerial vehicle distance landing point in real time, thereby can be safe, accurate control unmanned aerial vehicle descends to the target landing point.
In this embodiment, still include in advance respectively at the fuselage side assigned position of unmanned aerial vehicle and arrange the first image acquisition equipment of horizontal direction collection and arrange the second image acquisition equipment of vertical direction collection at the bottom assigned position for the image of corresponding collection vertical infrared beacon, horizontal infrared beacon is in order to confirm the positional relationship between infrared beacon and the unmanned aerial vehicle. When the infrared beacon and the light sensing chip in the visual camera module are just right to the time, the pixel point that the infrared beacon appears on the pixel is the biggest, the position is also just the position placed in the middle in the pixel matrix, if the formation of image of infrared beacon image in image acquisition equipment is in central point, it indicates that unmanned aerial vehicle has aimed at the infrared beacon promptly, if not in central point, then can adjust unmanned aerial vehicle course according to the skew direction of formation of image position. The embodiment utilizes the imaging position of infrared beacon in image acquisition equipment to judge the relation between unmanned aerial vehicle and the infrared beacon, is in central point by the imaging position of beacon and puts, and the judgement unmanned aerial vehicle that can be accurate whether squints to accurate control adjustment unmanned aerial vehicle course can further improve control efficiency and precision.
The above-mentioned image acquisition equipment of this embodiment specifically adopts the vision camera module, installs the vision camera module respectively (look sideways at the vision camera module, look down the vision camera module) in unmanned aerial vehicle fuselage side and bottom promptly, as shown in fig. 4, 5, has the sensitization chip in the vision camera module, the cooperation takes the camera lens of specific wavelength filter. When the vision camera module aims at the infrared beacon, the infrared beacon formation of image is on the sensitization chip, through the distance between adjustment vision camera module and the infrared beacon, can adjust the image definition degree that the infrared beacon appears on the sensitization chip, if the vision camera module is perpendicular to the other side with the beacon, when the distance is far away, the beacon appears a less quantized spot that is on the sensitization chip, along with the vision camera module is slowly close to the infrared beacon, the infrared beacon shape (H or V) is presented to the definition that the sensitization chip can be slow, can realize through adjustment vision camera module camera lens formation of image focus. When the unmanned aerial vehicle lands on the horizontal infrared beacon, the focal length of a lens of the bottom vision camera module (downward vision camera module) is adjusted, so that the bottom vision camera module can clearly present an H shape on the photosensitive chip; the focal length of the lens of the side-view visual camera module (side-view visual camera module) of the body is adjusted according to the horizontal and vertical distances between the landing point and the vertical infrared beacon, so that the V-shaped image can be clearly displayed on the photosensitive chip.
In step S3 of this embodiment, specifically, the radar is started to measure a distance, then the first image acquisition device (side view visual camera module) searches for the vertical infrared beacon, and if the height information matches and finds the vertical infrared beacon, it is determined whether an imaging position of the vertical infrared beacon in the first image acquisition device (side view visual camera module) is in the central region, if not, the heading of the unmanned aerial vehicle is adjusted until an image in the first image acquisition device (side view visual camera module) is in the central region; and searching a horizontal infrared beacon by second image acquisition equipment (downward vision camera module), if the horizontal infrared beacon is searched, judging whether an image in the second image acquisition equipment (downward vision camera module) is in a central area, if not, adjusting the course of the unmanned aerial vehicle until the image in the second image acquisition equipment (downward vision camera module) is in the central area, and finally controlling the unmanned aerial vehicle to descend to a target landing point according to the height information of the unmanned aerial vehicle acquired by the radar, so that the unmanned aerial vehicle can be quickly and accurately controlled to descend to the landing point by fusing the radar and the infrared.
As shown in fig. 6, in the specific application embodiment, when the landing control is executed in step S3, the unmanned aerial vehicle flies to the designated course planning GPS coordinate point and the altitude point (landing start point), the unmanned aerial vehicle is kept flying the GPS coordinate point, the unmanned aerial vehicle is controlled to start the descent control, the radar is started to avoid the obstacle, and the heading of the unmanned aerial vehicle is adjusted so that the altitude of the unmanned aerial vehicle is consistent and the vertical infrared beacon can be found; then, the unmanned aerial vehicle flies towards the direction of the vertical beacon, the vertical infrared beacon is searched through the side-looking visual camera module, the position of the vertical infrared beacon in the visual field of the camera is judged, corresponding compensation is carried out according to the offset position, if the vertical infrared beacon deviates from the left, the right compensation is carried out, if the vertical infrared beacon deviates from the right, the left compensation is carried out, if the vertical infrared beacon deviates from the right, the lower compensation is carried out, and if the vertical infrared beacon deviates from the right, the higher compensation is carried out until the image of the vertical infrared beacon is located; then judging that a horizontal infrared beacon is searched through the downward-looking visual camera module, judging the position of the horizontal infrared beacon in the visual field of the downward-looking visual camera module, performing corresponding compensation according to the offset position, performing right compensation if the horizontal infrared beacon deviates from the left, performing left compensation if the horizontal infrared beacon deviates from the right, performing low compensation if the horizontal infrared beacon deviates from the high, and performing high compensation if the horizontal infrared beacon deviates from the low until the image of the horizontal infrared beacon is located in a central area; and finally, reading the height information of the unmanned aerial vehicle detected by the radar, controlling the unmanned aerial vehicle to vertically descend to the height of a target lowering point according to the height information, and starting an obstacle avoidance function by the radar in the descending process until the unmanned aerial vehicle finishes descending.
Further, in this embodiment, when the step S3 is used to control the unmanned aerial vehicle to land, the step-by-step execution may be further adopted, that is, the step-by-step control is performed according to the X, Y, Z-axis direction, as shown in fig. 7, the specific steps are as follows:
s31, when the unmanned aerial vehicle flies to a landing starting point, starting a radar to measure distance in the direction X, Z, and controlling and adjusting the direction of the unmanned aerial vehicle to enable the first image acquisition equipment to face a target landing area;
s32, obtaining distances X1 and Z1 which are required to fly by the unmanned aerial vehicle in the X, Z axis direction according to radar measurement;
s33, controlling the unmanned aerial vehicle to fly along the Y-axis direction, continuously judging whether the image in the first image acquisition equipment is on a vertical central line or not in the flying process, and if not, adjusting the course of the unmanned aerial vehicle until the image in the first image acquisition equipment is on the vertical central line;
s33, controlling the unmanned aerial vehicle to fly for a distance of X1 along the X-axis direction, continuously judging whether the image in the second image acquisition equipment is in a vertical central area or not in the flying process, and if not, adjusting the course of the unmanned aerial vehicle until the image in the second image acquisition equipment is in the vertical central area;
s34, controlling the unmanned aerial vehicle to fly for a Z1 distance along the Z-axis direction, continuously judging whether an image in the second image acquisition equipment is in a vertical central area or not in the flying process, and if not, adjusting the course of the unmanned aerial vehicle until the image in the second image acquisition equipment is in the vertical central area so that the unmanned aerial vehicle vertically descends from above the horizontal infrared beacon;
and S35, controlling the radar to descend to a target landing point according to the distance relation between the unmanned aerial vehicle and the horizontal infrared beacon and the unmanned aerial vehicle height information acquired by the radar.
This embodiment is through deriving the distance that unmanned aerial vehicle need fly in X, Z axle directions earlier by radar preliminary survey, at unmanned aerial vehicle along X, Y, Z axle direction flight in-process, the horizontal infrared coordinate of rethread discernment, the position of perpendicular infrared beacon in image acquisition equipment, confirm the position relation between infrared beacon and the unmanned aerial vehicle, can judge in real time whether the unmanned aerial vehicle shifts in position when flying along X, Y, Z axle, adjust flight course when judging to taking place the skew, if the left side then adjust unmanned aerial vehicle gesture left side and compensate, if the right side then adjust unmanned aerial vehicle gesture right side and compensate, thereby combine radar and infrared realization unmanned aerial vehicle descending's high efficiency, accurate control.
When the above-mentioned control unmanned aerial vehicle of this embodiment descends, through carrying out flight control along X, Y, Z axles substeps, whether the unmanned aerial vehicle position squints according to the position relation between vertical infrared beacon, horizontal infrared beacon and the unmanned aerial vehicle respectively along each axle flight in-process to adjust unmanned aerial vehicle's course, make unmanned aerial vehicle finally can aim at the accurate descending of infrared beacon to the landing point, substep control realizes simply, easily realizes the operation. The above distribution control may be configured to fly along the X-axis direction, then fly along the Y-axis direction, and finally fly along the Z-axis direction according to actual requirements, or may be configured to other control sequences.
In the embodiment, the method further comprises the step of calibrating imaging of the image acquisition equipment to obtain the relationship between imaging data of the infrared beacon in the image acquisition equipment and the distance of the image acquisition equipment so as to adjust the course of the unmanned aerial vehicle, and the step of controlling the flight course according to the corresponding relationship between the imaging data obtained by calibration and the distance of the image acquisition equipment and forming a closed loop by the actual distance of the unmanned aerial vehicle in flight and the target distance. Through demarcating image acquisition equipment in advance, can establish the corresponding relation between imaging data and the image acquisition equipment distance, at control unmanned aerial vehicle flight in-process, can confirm the position relation between unmanned aerial vehicle and the infrared beacon based on among the calibration data after obtaining the real-time distance data of unmanned aerial vehicle to judge whether the unmanned aerial vehicle position squints and the skew direction, form the course that control closed loop constantly adjusted unmanned aerial vehicle with actual distance, until adjusting to imaging data at central point, aim at infrared beacon promptly. In a specific application embodiment, the calibration data can be stored, the actual distance of the unmanned aerial vehicle is determined by a table look-up mode according to the real-time distance of the unmanned aerial vehicle in the flight process of the unmanned aerial vehicle, and then a control closed loop is formed by the actual distance of the unmanned aerial vehicle and the target distance (the image is formed in the central position, namely, no offset position) to control and adjust the course of the unmanned aerial vehicle.
In this embodiment, the specific steps for calibration are as follows: starting from a facing position where a pixel point is maximum and an imaging position is centered in a pixel matrix when an infrared beacon images in an image acquisition device, keeping a facing position relation between the infrared beacon and the image acquisition device, retreating the image acquisition device or the infrared beacon at a constant speed, acquiring image data and a corresponding image acquisition device distance to obtain a corresponding relation between imaging data of the infrared beacon in the image acquisition device in a facing direction and the image acquisition device distance, taking the facing position as an acquisition starting point, respectively moving backwards after upwards, and obtaining the corresponding relation between the imaging data of the infrared beacons in the 4 directions and the distance of the image acquisition equipment and the corresponding relation between the imaging data and the deviation distance in the image acquisition equipment according to downward and upward movement, left and backward movement and right and backward movement.
In a specific application embodiment, the detailed calibration steps when the image acquisition equipment adopts the visual camera module are as follows:
step 1, calibrating the opposite direction: the camera module is just opposite to the infrared beacon, the focal length of the lens is adjusted, the position of a needed pixel point displayed on a pixel by the infrared beacon is the largest, the position is just at the middle position in the pixel matrix, the visual camera is used for collecting pixel data, the focal length is just opposite to the focal length, the visual camera or the beacon moves backwards at a constant speed (the speed slower than that of an unmanned aerial vehicle is specifically adopted), the pixel data is collected and stored, and the camera stops after the pixel is collected until just one bright spot can be displayed.
Step 2, 4 direction calibration:
(1) and the vision camera module slowly moves upwards and backwards by taking the dead angle as an acquisition starting point, and provides data acquired by the computer until the infrared beacon spots cannot be seen in the upward direction.
(2) And the vision camera module slowly moves downwards and backwards by taking the opposite direction as a collection starting point, and provides computer collection data until the infrared beacon spots cannot be seen in the downward direction.
(3) And the vision camera module slowly moves leftwards and backwards by taking the dead angle as an acquisition starting point, and provides computer acquisition data until the infrared beacon spots cannot be seen in the left direction.
(4) And the vision camera shooting module slowly moves towards the right and backwards by taking the dead angle as an acquisition starting point, and provides computer acquisition data until the infrared beacon spots cannot be seen towards the right direction.
In the embodiment, the one-to-one correspondence between the imaging pixels and the distance is acquired from the opposite direction by acquiring the data of the opposite direction and 4 directions, and the other 4 directions include the corresponding opposite distance relationship and the corresponding beacon imaging deviation relationship (deviation distance), so that the pixels can be divided into 4 intervals, and the course of the unmanned aerial vehicle can be adjusted based on the 4 intervals.
The above-mentioned at the in-process of data acquisition demarcation, every pixel map of simultaneous recording corresponds distance information, stores in the computer and forms the table, utilizes the look-up table contrast to realize the control to unmanned aerial vehicle partial deviation and distance when follow-up unmanned aerial vehicle descends control. The calibration process can of course acquire data in more directions according to actual requirements to further improve the precision.
The present invention will be further described below with reference to the example of using the above-described step-by-step landing control method to implement landing control of an unmanned aerial vehicle when the unmanned aerial vehicle is used for distribution between buildings in a specific application embodiment.
Assuming that the distance of a GPS coordinate point of each landing initial point relative to the horizontal X axis of the building is a meter, the distance from the GPS coordinate point to the landing platform is b meters, and each landing initial point can see a horizontal infrared beacon and a vertical infrared beacon, the detailed steps for realizing the unmanned aerial vehicle guided landing control are as follows:
step 1, the unmanned aerial vehicle flies to a designated landing point of air route planning, and the current flying height is determined by GPS positioning coordinate points and Z-direction radar ranging.
And 2, starting the X-direction radar ranging and the Z-direction radar ranging by taking the current coordinate as the origin of the reference point.
And 3, forming a control closed loop by the relative distance and the actual distance of the unmanned aerial vehicle flying relative to the reference original point, and forming a control closed loop by the first image acquisition equipment (side-looking visual camera module), the second image acquisition equipment (downward-looking visual camera module) and the unmanned aerial vehicle flying distance (namely, controlling and adjusting the unmanned aerial vehicle flying distance until imaging to the central position by the imaging position in the image acquisition equipment).
And 4, respectively calculating distances X1 and Z1 required to fly in the direction of X, Z by the unmanned aerial vehicle, adjusting the course of the unmanned aerial vehicle, and enabling the first image acquisition equipment (side-looking visual camera module) to be over against the target building.
Step 5, the unmanned aerial vehicle flies and moves along the Y axis, whether imaging in the first image acquisition equipment (side-looking visual camera module) is on a vertical central line is checked in real time in the flying process, if not, the course of the unmanned aerial vehicle is adjusted until imaging is on the vertical central line.
And 6, flying the unmanned aerial vehicle along the X axis to carry out X1, and checking whether the imaging in the second image acquisition equipment (downward vision camera module) is in the center or not in real time in the flying moving process, if not, adjusting the course of the unmanned aerial vehicle until the unmanned aerial vehicle is in the vertical center.
Step 7, the unmanned aerial vehicle descends along the Z axis to fly Z1, whether the imaging in the second image acquisition equipment (downward vision camera module) is in the center or not is checked in real time in the flying moving process, if the imaging is not in the center, the flying track of the unmanned aerial vehicle is adjusted, so that the infrared beacon is placed horizontally to descend, and whether the imaging in the first image acquisition equipment (horizontal vision camera module) is from bottom to top and the imaging experience center is checked at the same time.
Step 8, the unmanned aerial vehicle slowly descends in-process, relies on the size of formation of image in Z direction radar range finding data and the second image acquisition equipment (look down the vision camera module), control unmanned aerial vehicle and descend to the purpose landing point, accomplish unmanned aerial vehicle's landing control.
In another embodiment, the step S3 may further include: and forming a synthetic route from the designated landing starting point to the target landing point according to the position relationship between the designated landing starting point and the target landing point, the position relationship between the horizontal infrared beacon and the unmanned aerial vehicle, the position relationship between the vertical infrared beacon and the unmanned aerial vehicle, and the height information of the unmanned aerial vehicle obtained by the radar, and controlling the unmanned aerial vehicle to fly to the target landing point according to the synthetic route. After the positions of the horizontal infrared beacon and the vertical infrared beacon are identified at the landing starting point, the position relation between the horizontal infrared beacon and the unmanned aerial vehicle and the position relation between the vertical infrared beacon and the unmanned aerial vehicle are integrated to determine whether the unmanned aerial vehicle deviates and the direction of the deviation, the synthetic route flying to a target landing point is calculated through the height information of the integrated unmanned aerial vehicle according to the direction of the deviation, step-by-step control is not needed, and landing control can be achieved more quickly and efficiently. Taking the above specific embodiment as an example, the steps 4 to 7 may be performed as follows: and (4) calculating the distance between the XZ and the two directions, synthesizing the actual flight direction of the unmanned aerial vehicle by using the two XZ axes, and completing landing control by matching with the closed loop formed in the step (3).
In this embodiment, step S3 is followed by a step of guiding the unmanned aerial vehicle to take off, and the specific steps include: after the unmanned aerial vehicle is controlled to take off from the landing point, the unmanned aerial vehicle is controlled to keep vertical upward displacement according to the position relation between the horizontal infrared beacon and the unmanned aerial vehicle so as to guide the unmanned aerial vehicle to fly to the height of the original landing starting point. After unmanned aerial vehicle accomplished to land according to the aforesaid, then can directly follow the landing point vertical takeoff to former landing starting point during follow-up take-off control, this in-process judges whether unmanned aerial vehicle squints according to second image acquisition equipment (downward vision camera module), if the skew then adjusts unmanned aerial vehicle course to ensure the accurate vertical takeoff of unmanned aerial vehicle to the height of former landing starting point, realize unmanned aerial vehicle take-off control.
In a specific application embodiment, when the unmanned aerial vehicle takes off and controls, the unmanned aerial vehicle is navigated to a GPS signal by using the second image acquisition device (downward vision camera module) or the radar, the unmanned aerial vehicle keeps a flight course, the displacement in the X direction and the Y direction is ensured to be 0, the displacement in the Z direction is kept vertically upward, the height measured by the radar altimeter is a closed loop, meanwhile, the unmanned aerial vehicle detects an imaging position of a beacon on a photosensitive chip merchant by using the second image acquisition device (downward vision camera module), the unmanned aerial vehicle keeps the take-off posture of the unmanned aerial vehicle as the closed loop by using the unmanned aerial vehicle as a center (namely, if the imaging position is not the center position, the direction of the unmanned aerial vehicle is adjusted until the unmanned aerial vehicle images at the center position), the photosensitive chip detects the height information corresponding to the size of a display pixel and the height measured by the radar altimeter as the closed loop, starting GPS signal search, judging whether the current GPS coordinate is a GPS coordinate point of the starting landing point, if not, navigating to the starting landing GPS point, and finishing take-off. Certainly, in the process of takeoff control of the unmanned aerial vehicle, after the unmanned aerial vehicle flies to the height of the original landing starting point, the unmanned aerial vehicle can fly for the distances of X1 and Y1 along the direction of the X, Y axis respectively in a mode opposite to the landing control until the unmanned aerial vehicle flies to the original landing starting point, and takeoff is completed.
This embodiment radar and infrared unmanned aerial vehicle that fuses descend controlling means includes:
the system comprises horizontal infrared beacons with vertical radiation directions, vertical infrared beacons with horizontal radiation directions and arranged in the horizontal direction of each area to be landed, and radars with ranging functions, wherein the radars are arranged on an unmanned aerial vehicle;
the landing starting module is used for controlling the unmanned aerial vehicle to fly to a designated landing starting point near a target landing area and then start landing when the unmanned aerial vehicle needs to land in the flying process, and then the unmanned aerial vehicle is shifted to the landing execution control module;
descending control module for control unmanned aerial vehicle begins the flight from descending the starting point, the flight in-process according to the target landing area in the horizontal infrared beacon, the vertical infrared beacon and the unmanned aerial vehicle between the position relation judge the skew degree of unmanned aerial vehicle position and acquire unmanned aerial vehicle's height information by the radar, according to the skew degree of unmanned aerial vehicle position, unmanned aerial vehicle's height information control adjustment unmanned aerial vehicle's course, until descending to the purpose landing point.
In this embodiment, among the above-mentioned descending control module control flight process, through discernment horizontal infrared beacon, perpendicular infrared beacon, judge the skew degree of unmanned aerial vehicle respectively for horizontal infrared beacon, perpendicular infrared beacon to confirm the distance size that unmanned aerial vehicle need adjust on level, the vertical direction respectively, and acquire unmanned aerial vehicle's height information by the radar in order to confirm the distance that unmanned aerial vehicle descends perpendicularly.
The landing control module of this embodiment corresponds to the landing control step one-to-one in the unmanned aerial vehicle landing control method of the above-mentioned radar and infrared fusion, and it is not repeated here one by one.
In this embodiment, the system further includes a calibration data storage module for storing calibration data of the imaging of the image acquisition device, the obtained calibration data of the relationship between the imaging data of the infrared beacon in the image acquisition device and the distance from the image acquisition device is used for adjusting the course of the unmanned aerial vehicle, and a closed loop is formed by the actual distance of the unmanned aerial vehicle flying and the target distance for controlling according to the corresponding relationship between the imaging data obtained by calibration in the calibration data storage module and the distance from the image acquisition device when the flight course is adjusted in the landing control module.
In this embodiment, still include the first image acquisition equipment of the horizontal direction collection that arranges at the fuselage side assigned position of unmanned aerial vehicle and the second image acquisition equipment of the vertical direction collection that arranges at the bottom assigned position for correspond the image of gathering vertical infrared beacon, horizontal infrared beacon in order to confirm the positional relationship between infrared beacon and the unmanned aerial vehicle. Specifically as shown in fig. 4 ~ 7, install respectively in unmanned aerial vehicle fuselage side and bottom and look sideways at visual camera module, look down visual camera module. The principle that utilizes image acquisition equipment to carry out landing control among this embodiment radar and the unmanned aerial vehicle landing control device of infrared integration is as above, no longer gives unnecessary details here.
The foregoing is considered as illustrative of the preferred embodiments of the invention and is not to be construed as limiting the invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (11)
1. The landing control method of the unmanned aerial vehicle with the integration of the radar and the infrared is characterized by comprising the following steps:
s1, arranging a horizontal infrared beacon with a vertical radiation direction in the horizontal direction of each area to be landed, arranging a vertical infrared beacon with a horizontal radiation direction in the vertical direction, and arranging a radar with a ranging function on the unmanned aerial vehicle;
s2, landing start: when the unmanned aerial vehicle needs to land in the flying process, controlling the unmanned aerial vehicle to fly to a designated landing starting point near a target landing area and then starting to land, and executing the step S3;
s3 landing control: controlling the unmanned aerial vehicle to follow the landing starting point begins to fly, and the flight in-process is according to in the target landing area the offset degree of unmanned aerial vehicle position is judged to the position relation between horizontal infrared beacon, perpendicular infrared beacon and the unmanned aerial vehicle and by the radar acquires unmanned aerial vehicle's height information, according to the offset degree of unmanned aerial vehicle position, unmanned aerial vehicle's height information control adjustment unmanned aerial vehicle's course, until descending to the target landing point.
2. The radar and infrared integrated unmanned aerial vehicle landing control method according to claim 1, wherein in the step S3, during the flight control, the horizontal infrared beacon and the vertical infrared beacon are identified to determine the deviation degree of the unmanned aerial vehicle with respect to the horizontal infrared beacon and the vertical infrared beacon, respectively, so as to determine the distance of the unmanned aerial vehicle to be adjusted in the horizontal and vertical directions, respectively, and the radar obtains the height information of the unmanned aerial vehicle to determine the distance of the unmanned aerial vehicle to vertically descend.
3. The radar and infrared integrated unmanned aerial vehicle landing control method according to claim 2, further comprising a first image acquisition device for acquiring images in a horizontal direction and a second image acquisition device for acquiring images in a vertical direction are arranged at designated positions on a body side and a bottom of the unmanned aerial vehicle respectively, and the first image acquisition devices and the second image acquisition devices are used for correspondingly acquiring images of the vertical infrared beacon and the horizontal infrared beacon so as to determine a position relationship between the infrared beacon and the unmanned aerial vehicle.
4. The radar and infrared integrated unmanned aerial vehicle landing control method according to claim 3, wherein in step S3, the radar is started to measure a distance, the first image acquisition device is used to search for the vertical infrared beacon, and if the height information matches and finds the vertical infrared beacon, it is determined whether an imaging position of the vertical infrared beacon in the first image acquisition device is in a central area, and if not, the heading of the unmanned aerial vehicle is adjusted until the imaging in the first image acquisition device is in the central area; and searching the horizontal infrared beacon through the second image acquisition equipment, if the horizontal infrared beacon is searched, judging whether an image in the second image acquisition equipment is in a central area, if not, adjusting the course of the unmanned aerial vehicle until the image in the second image acquisition equipment is in the central area, and finally controlling the unmanned aerial vehicle to descend to a target landing point according to the height information of the unmanned aerial vehicle obtained by the radar.
5. The radar and infrared integrated unmanned aerial vehicle landing control method according to claim 4, wherein the specific steps of the step S3 are as follows:
s31, when the unmanned aerial vehicle flies to the landing starting point, starting the radar to measure distance in the X, Z direction, and controlling and adjusting the direction of the unmanned aerial vehicle to enable the first image acquisition equipment to face the target landing area;
s32, obtaining distances X1 and Z1 which the unmanned aerial vehicle needs to fly in the X, Z axis direction according to the radar measurement;
s33, controlling the unmanned aerial vehicle to fly along the Y-axis direction, continuously judging whether the image in the first image acquisition equipment is on the vertical central line in the flying process, and if not, adjusting the course of the unmanned aerial vehicle until the image in the first image acquisition equipment is on the vertical central line;
s33, controlling the unmanned aerial vehicle to fly for an X1 distance along the X-axis direction, continuously judging whether the image in the second image acquisition equipment is in a vertical central area in the flying process, and if not, adjusting the course of the unmanned aerial vehicle until the image in the second image acquisition equipment is in the vertical central area;
s34, controlling the unmanned aerial vehicle to fly for a Z1 distance along the Z-axis direction, continuously judging whether the image in the second image acquisition equipment is in a vertical central area or not in the flying process, and if not, adjusting the course of the unmanned aerial vehicle until the image in the second image acquisition equipment is in the vertical central area so that the unmanned aerial vehicle vertically descends from above the horizontal infrared beacon;
and S35, controlling the radar to descend to a target landing point according to the distance relation between the unmanned aerial vehicle and the horizontal infrared beacon and the height information of the unmanned aerial vehicle acquired by the radar.
6. The radar and infrared fusion unmanned aerial vehicle landing control method according to claim 3, 4 or 5, further comprising a step of calibrating imaging of the image acquisition device to obtain a relationship between imaging data of the infrared beacon in the image acquisition device and a distance of the image acquisition device for adjusting a heading of the unmanned aerial vehicle, wherein the control is performed by forming a closed loop by an actual distance of the unmanned aerial vehicle flying and a target distance according to a corresponding relationship between the imaging data obtained by calibration and the distance of the image acquisition device when the flight heading is adjusted.
7. The radar and infrared integrated unmanned aerial vehicle landing control method according to claim 1 or 2, wherein in step S3, a synthetic route from the designated landing start point to the destination landing point is formed according to the position relationship between the designated landing start point and the destination landing point, the position relationship between the horizontal infrared beacon, the vertical infrared beacon and the unmanned aerial vehicle, and the unmanned aerial vehicle height information obtained by the radar, and the unmanned aerial vehicle is controlled to fly to the destination landing point according to the synthetic route.
8. The radar and infrared integrated unmanned aerial vehicle landing control method according to any one of claims 1 to 5, wherein the step S3 is followed by a step of guiding the unmanned aerial vehicle to take off, and the specific steps include: and after the unmanned aerial vehicle is controlled to take off from the landing point, controlling the unmanned aerial vehicle to keep vertical upward displacement according to the position relation between the horizontal infrared beacon and the unmanned aerial vehicle so as to guide the unmanned aerial vehicle to fly to the height of the original landing starting point, and controlling the unmanned aerial vehicle to fly to the original landing starting point and then finish taking off.
9. The utility model provides an unmanned aerial vehicle landing control device of radar and infrared integration, its characterized in that includes:
the system comprises horizontal infrared beacons with vertical radiation directions, vertical infrared beacons with horizontal radiation directions and arranged in the horizontal direction of each area to be landed, and radars with ranging functions, wherein the radars are arranged on an unmanned aerial vehicle;
the landing starting module is used for controlling the unmanned aerial vehicle to fly to a designated landing starting point near a target landing area and then start landing when the unmanned aerial vehicle needs to land in the flying process, and then the unmanned aerial vehicle is shifted to the landing execution control module;
descending control module for control unmanned aerial vehicle follows the descending starting point begins to fly, in the flight process according to the target landing zone in the skew degree of unmanned aerial vehicle position is judged to the position relation between horizontal infrared beacon, perpendicular infrared beacon and the unmanned aerial vehicle and by unmanned aerial vehicle's altitude information is acquireed to the radar, according to unmanned aerial vehicle's the course is adjusted to the skew degree of unmanned aerial vehicle position, unmanned aerial vehicle's altitude information control, until descending to the target landing point.
10. The radar and infrared integrated unmanned aerial vehicle landing control device according to claim 9, further comprising a calibration data storage module, configured to store imaging data of the image acquisition device for calibration, wherein the obtained calibration data of the relationship between the imaging data of the infrared beacon in the image acquisition device and the distance from the image acquisition device is used to adjust the heading of the unmanned aerial vehicle, and when the landing control module adjusts the flight heading, the landing control module forms a closed loop with the actual distance at which the unmanned aerial vehicle flies and the target distance according to the corresponding relationship between the imaging data obtained by calibration in the calibration data storage module and the distance from the image acquisition device for control.
11. The radar and infrared integrated unmanned aerial vehicle landing control device of claim 9 or 10, further comprising a first image acquisition device arranged at a designated position on the side of the unmanned aerial vehicle body and used for acquiring images of the vertical infrared beacon and the horizontal infrared beacon correspondingly so as to determine the position relationship between the infrared beacon and the unmanned aerial vehicle, and a second image acquisition device arranged at a designated position on the bottom and used for acquiring images of the vertical infrared beacon and the horizontal infrared beacon horizontally.
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| CN111766896A (en) * | 2020-07-10 | 2020-10-13 | 珠海紫燕无人飞行器有限公司 | Unmanned aerial vehicle control method and system based on movable base |
| CN111766896B (en) * | 2020-07-10 | 2023-12-29 | 珠海紫燕无人飞行器有限公司 | Unmanned aerial vehicle control method and system based on movable base |
| CN113311868A (en) * | 2021-05-28 | 2021-08-27 | 南京先飞机器人技术有限公司 | Self-protection method of unmanned aerial vehicle under GNSS interference |
| CN113359804A (en) * | 2021-07-12 | 2021-09-07 | 福建中量智汇科技有限公司 | Unmanned aerial vehicle landing method and device based on mobile parking apron |
| CN113448351A (en) * | 2021-08-30 | 2021-09-28 | 广州知行机器人科技有限公司 | Method and device for guiding unmanned aerial vehicle to land accurately and unmanned aerial vehicle hangar |
| CN113917948A (en) * | 2021-12-15 | 2022-01-11 | 北京航空航天大学 | Low-visual-environment unmanned aerial vehicle foundation auxiliary landing method |
| CN113917948B (en) * | 2021-12-15 | 2022-07-26 | 北京航空航天大学 | Low-visual-environment unmanned aerial vehicle foundation auxiliary landing method |
| CN115202375A (en) * | 2022-07-20 | 2022-10-18 | 广西电网有限责任公司电力科学研究院 | Two-section type accurate landing guiding method and system for wireless charging of unmanned aerial vehicle |
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Application publication date: 20200519 |