CN113568427B - Unmanned aerial vehicle autonomous landing mobile platform method and system - Google Patents
Unmanned aerial vehicle autonomous landing mobile platform method and system Download PDFInfo
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Abstract
The invention relates to a method and a system for an unmanned aerial vehicle to autonomously land on a mobile platform, wherein an unmanned aerial vehicle camera tracks the mobile platform matched with the unmanned aerial vehicle camera, relative coordinate information of the mobile platform and the unmanned aerial vehicle is obtained in real time, the unmanned aerial vehicle autonomously adjusts self flight track and speed according to the relative coordinate information, so that the unmanned aerial vehicle and the mobile platform are kept at the same relative speed, and under the condition of stable relative speed, the unmanned aerial vehicle performs autonomous landing of a target position on the mobile platform. Reduces the management and operation cost, simultaneously realizes the automation of the unmanned aerial vehicle task execution and the safety thereof, introduces artificial intelligence to the automatic accurate landing of the unmanned aerial vehicle, helps the unmanned aerial vehicle to quickly and accurately land on a movable platform on the basis of the original GPS, automatic quick charge is carried out to unmanned aerial vehicle through wireless charging's mode, realizes unmanned aerial vehicle one-machine multi-purpose, quick migration park and energy replenishment, reduces the human input cost, unmanned aerial vehicle realizes in moving platform safety, independently, accurate landing.
Description
Technical Field
The invention relates to an unmanned aerial vehicle technology, in particular to a method and a system for an unmanned aerial vehicle to autonomously land on a mobile platform.
Background
The development of unmanned aerial vehicles has matured over the past 10 years because of the rapid migration deployment, flexible remote control and customizable nature of unmanned aerial vehicles, providing an advantageous solution for continuous flight and performance of specific tasks. Unmanned aerial vehicles are also an important auxiliary means in the fields of industry, military and the like. However, in most cases, the unmanned aerial vehicle flies by being assisted by a remote control by a flying hand, and after a specific task is completed, the unmanned aerial vehicle is returned to a designated parking area by manually controlling return or automatically returning through one key. Because of the individuation of unmanned aerial vehicle design, different unmanned aerial vehicles have different flight duration restrictions, and unmanned aerial vehicle needs to carry out the return voyage of high frequency, is continued to accomplish specific task by "flying hand" manual change battery. In the process of the unmanned aerial vehicle descending in a back-navigation way, the flying hands are used for auxiliary landing, so that most of time of the flying hands is spent on the safe descending and battery replacement of the unmanned aerial vehicle. Adopt the function of automatic returning to carry out unmanned aerial vehicle and return to the home, often lead to unmanned aerial vehicle unable accurate landing owing to GPS and weather's change, lead to unmanned aerial vehicle abnormal conditions to take place.
Disclosure of Invention
In order to further improve the utilization ratio of the unmanned aerial vehicle, the method and the system for automatically landing the mobile platform of the unmanned aerial vehicle are provided, management and operation costs are reduced, automation of unmanned aerial vehicle task execution and safety of the unmanned aerial vehicle are realized, artificial intelligence is introduced to automatic accurate landing of the unmanned aerial vehicle, on the basis of an original GPS, the unmanned aerial vehicle is helped to quickly and accurately land on the mobile platform, automatic quick charge is carried out on the unmanned aerial vehicle in a wireless charging mode, one-machine-multiple-purpose, quick migration parking and energy supplement of the unmanned aerial vehicle are realized, labor input cost is reduced, and the unmanned aerial vehicle realizes safe, autonomous and accurate landing on the mobile platform.
The technical scheme of the invention is as follows: the unmanned aerial vehicle autonomous landing mobile platform method includes that an unmanned aerial vehicle camera tracks a mobile platform matched with the unmanned aerial vehicle camera, relative coordinate information of the mobile platform and the unmanned aerial vehicle is obtained in real time, the unmanned aerial vehicle autonomously adjusts own flight track and speed according to the relative coordinate information, so that the unmanned aerial vehicle and the mobile platform are kept at the same relative speed, and under the condition of stable relative speed, the unmanned aerial vehicle performs autonomous landing of a target position on the mobile platform.
The system comprises an unmanned aerial vehicle autonomous landing mobile platform, an unmanned aerial vehicle and tracking unit, a transmitting and receiving unit, a remote monitoring unit and an unmanned aerial vehicle mobile parking unit;
the unmanned aerial vehicle tracking unit is used for tracking the mobile platform in real time;
the unmanned aerial vehicle mobile parking unit is used for assisting the unmanned aerial vehicle to safely rest on the mobile platform;
the transmitting and receiving unit is used for transmitting the real-time state information of the unmanned aerial vehicle to the remote monitoring unit and receiving the processing conclusion and the processing scheme of the remote monitoring unit;
the data processing module in the remote monitoring unit is used for analyzing flight data of the unmanned aerial vehicle and predicting a path; the unmanned aerial vehicle flight path, the GPS navigation path, the log information and the work task information data are stored on a remote storage module, the data processing module performs cluster processing, analyzes the unmanned aerial vehicle flight data and predicts the unmanned aerial vehicle and the mobile platform path;
and the data storage module in the remote monitoring unit is used for storing the results of the flight data analysis and the path prediction of the unmanned aerial vehicle.
Preferably, the unmanned aerial vehicle tracking unit includes: the unmanned aerial vehicle comprises a moving target tracking module, an unmanned aerial vehicle autonomous speed changing module, an unmanned aerial vehicle height acquisition module, a relative coordinate calculation module, a flight track prediction module and a data sharing module;
a moving target tracking module: the method comprises the steps that through a computer vision information processing technology and a target detection and target tracking technology, real-time tracking and locking of a mobile platform in high-altitude flight of an unmanned aerial vehicle are completed;
unmanned aerial vehicle autonomous speed change module: the speed and the gesture of the target mobile platform are adjusted by acquiring the change speed of the target mobile platform, so that the target mobile platform is kept at the center of the snapshot image of the camera of the unmanned aerial vehicle, and the tracking of the mobile platform is completed;
unmanned aerial vehicle height acquisition module: the device is used for acquiring the height relative to the ground, acquiring the relative height by using an air pressure sensor in high altitude, and acquiring the accurate low-altitude flying height by using a high-precision laser range finder in low altitude;
the relative coordinate calculation module: acquiring a right triangle constructed by taking the center of the unmanned aerial vehicle as an origin, the relative distance of a traveling mobile platform on a ground plane and the flying height of the unmanned aerial vehicle by utilizing the laser radar technology of the unmanned aerial vehicle, and calculating the relative information of two world coordinate systems of the mobile platform and the unmanned aerial vehicle for the unmanned aerial vehicle to accurately approach the mobile platform;
a flight trajectory prediction module: the unmanned aerial vehicle flight path is predicted by utilizing the acquired data of the sensor of the unmanned aerial vehicle, the visual angle image of the camera, the laser radar and the laser ranging to be fused;
and a data sharing module: data acquired by the unmanned aerial vehicle clusters, information acquired by each unmanned aerial vehicle and the relative position between each unmanned aerial vehicle and the target platform are shared through WIFI, so that data experience and flight tracks of other unmanned aerial vehicles are shared.
Preferably, the unmanned aerial vehicle mobile parking unit includes: the system comprises a parking area image real-time acquisition module, a relative descending speed calculation module and a successful parking information report sending module;
the parking area image real-time acquisition module is used for: the system is used for freely dispatching by using the cameras, overlooking and capturing patterns of the parking areas, calculating and adjusting the angle of the unmanned aerial vehicle, and correcting the descending track of the unmanned aerial vehicle in real time;
a relative descent speed calculation module: the camera ranging and the high-precision range finder are utilized for comprehensively utilizing data, and the relative distance between the unmanned aerial vehicle and the mobile platform is calculated in real time in a cooperative mode, so that the unmanned aerial vehicle is stably and safely lowered;
successful parking information report sending module: and sending the model of the successfully lowered mobile platform and the relative coordinates of the parking points on the mobile platform to a remote monitoring unit, so that other unmanned aerial vehicles can plan other parking areas of the mobile platform conveniently.
The invention has the beneficial effects that: according to the method and the system for automatically landing the unmanned aerial vehicle on the mobile platform, disclosed by the invention, the traditional unmanned aerial vehicle is assisted to safely descend by an artificial intelligence technology, the state of the whole unmanned aerial vehicle is visualized in real time, and the task of a worker is simplified. Unmanned aerial vehicle realizes no fixed point and parks the function, only follows mobile platform's removal and parks, and when a plurality of unmanned aerial vehicle stopped, mobile platform need not frequently to stop to wait for every unmanned safety to descend, but independently accurate descending by unmanned aerial vehicle gives it unmanned intelligent decision-making's ability for unmanned aerial vehicle's task is more focused on the important task of enterprise, has reduced the assistance of manpower maintenance and flight, has improved business work efficiency and unmanned aerial vehicle flight duration utilization ratio.
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FIG. 1 is a schematic diagram of a method of an unmanned aerial vehicle autonomous landing mobile platform based on artificial intelligence;
fig. 2 is a schematic diagram of an unmanned aerial vehicle autonomous landing mobile platform system architecture based on artificial intelligence.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
The schematic diagram of a method principle of an unmanned aerial vehicle autonomous landing mobile platform based on artificial intelligence as shown in fig. 1 aims at realizing stable and safe parking of the unmanned aerial vehicle to a designated area. The unmanned aerial vehicle camera tracks the mobile platform matched with the unmanned aerial vehicle camera, relative coordinate information of the mobile platform and the unmanned aerial vehicle is obtained in real time, the unmanned aerial vehicle carries out autonomous adjustment on the self flight track and speed according to the relative coordinate information, so that the unmanned aerial vehicle and the mobile platform are guaranteed to be in the same relative speed, and under the condition of stable relative speed, the unmanned aerial vehicle carries out autonomous landing of a target position on the mobile platform.
The system architecture schematic of the unmanned aerial vehicle autonomous landing mobile platform based on artificial intelligence as shown in fig. 2 comprises an unmanned aerial vehicle and tracking unit, a transmitting and receiving unit, a remote monitoring unit and an unmanned aerial vehicle mobile parking unit.
1. The unmanned aerial vehicle tracking unit is used for tracking the mobile platform in real time; the unmanned aerial vehicle tracking unit mostly adopts methods such as target tracking, target detection of artificial intelligence technology, and unmanned aerial vehicle of auxiliary flight acquires the real-time position information of mobile platform. For example, the translational speed of the mobile platform, the coordinates of the mobile platform in a world coordinate system, the prediction of the running direction of the mobile platform, the relative height of the unmanned aerial vehicle per se relative to the mobile platform, and other state information.
2. And the unmanned aerial vehicle mobile parking unit is used for assisting the unmanned aerial vehicle to safely park on the mobile platform. And the unmanned aerial vehicle is adjusted to be synchronous with the mobile platform by utilizing the image processing method and the multi-sensor parameter fusion, and accurately parked on the appointed position of the mobile platform, so that the mobile platform carries the unmanned aerial vehicle to safely run.
3. The transmitting and receiving unit is used for transmitting the real-time state information of the unmanned aerial vehicle to the remote monitoring unit and receiving the processing conclusion and the processing scheme of the remote monitoring unit; the sending and receiving unit can be an internet network card, a GSM communication module, a 5G communication module and the like; the unmanned aerial vehicle can acquire the running speed of mobile platform to the monitoring center through the sending and receiving unit, if the running speed of mobile platform exceeds the maximum speed of unmanned aerial vehicle flight, unmanned aerial vehicle will request mobile platform to slow down to unmanned aerial vehicle current trackable range speed to go on the low-speed running to remote monitoring unit application for unmanned aerial vehicle remaining electric quantity can satisfy current unmanned aerial vehicle and track flight and park to mobile platform's energy needs safely. The sending and receiving unit can be in communication connection with a mobile phone of a user through a network, and a worker can check the result of the task completion of each unmanned aerial vehicle on the mobile phone or a computer, such as the specific position of the current unmanned aerial vehicle, the acquired data, the picture captured by the current camera and the picture of the detected image and the accurate parking of the unmanned aerial vehicle. If a single unmanned aerial vehicle fails, the sending and receiving unit distributes unfinished tasks to other unmanned aerial vehicles and sends rescue short messages to mobile phones of staff.
4. The data processing module is arranged in the remote monitoring unit and used for analyzing flight data and predicting a path of the unmanned aerial vehicle; and storing the data such as the flight trajectory, the GPS navigation path, the log information, the work task information and the like of the unmanned aerial vehicle on a remote storage module. Carrying out cluster processing by utilizing a data processing module, and predicting a future path of the unmanned aerial vehicle; the unmanned aerial vehicle predicts the path planning of the mobile platform for a few seconds in the future according to the tracking track of the mobile platform, selects proper speed and gesture to carry out safe landing, avoids the sudden change of the mobile platform in the landing process and causes inconsistent flying direction and moving direction of the mobile platform, and the unmanned aerial vehicle prediction data are sent to the data processing module which combines the prediction data and the landing scheme data for analysis.
5. The data storage module is arranged on the remote monitoring unit and used for storing the flight data analysis and prediction results of the unmanned aerial vehicle; the unmanned aerial vehicle monitoring system is favorable for storing historical information of the unmanned aerial vehicle to carry out visual display, is convenient for workers to check and analyze the working state of the unmanned aerial vehicle, maintains and improves the unmanned aerial vehicle, rapidly positions the unmanned aerial vehicle with faults and prevents risks.
According to the scheme, the data processing module and the storage module are arranged in the remote monitoring unit, on one hand, data sharing can be achieved, on the other hand, the data processing module and the storage module arranged in the remote monitoring unit can be used for simultaneously processing and storing the read data and pictures of a plurality of unmanned aerial vehicles, meanwhile, the processing efficiency is high, the data processing module and the storage module which are advanced for each unmanned aerial vehicle are not needed, the flight experience of a single unmanned aerial vehicle can be shared with other unmanned aerial vehicles, the server cluster is used for carrying out calculation processing, efficiency is improved, design cost and electric quantity of the unmanned aerial vehicle are saved, and reliability is improved.
In practical application, unmanned aerial vehicle tracking unit includes:
1. and the mobile target tracking module is used for completing real-time tracking and locking of a mobile platform in the high-altitude flight of the unmanned aerial vehicle by utilizing a target detection and target tracking technology through a computer vision information processing technology.
2. And the unmanned aerial vehicle autonomous speed change module adjusts the speed and the gesture of the target mobile platform by acquiring the change speed of the target mobile platform, so that the target mobile platform is kept at the center of the snapshot image of the camera of the unmanned aerial vehicle, and the tracking of the mobile platform is completed.
3. The unmanned aerial vehicle height acquisition module is used for acquiring the height relative to the ground, acquiring the relative height by using the air pressure sensor in the high altitude, and acquiring the accurate low-altitude flying height by using the high-precision laser range finder in the low altitude.
4. The relative coordinate calculation module is used for acquiring a right triangle which is constructed by taking the center of the unmanned aerial vehicle as an origin, the relative distance of the traveling mobile platform on the ground plane and the flying height of the unmanned aerial vehicle by utilizing the laser radar technology of the unmanned aerial vehicle, and calculating the relative information of two world coordinate systems of the mobile platform and the unmanned aerial vehicle so as to ensure that the unmanned aerial vehicle is accurately close to the mobile platform.
5. And the flight track prediction module is used for predicting the flight track of the unmanned aerial vehicle by fusing acquired data of the self sensor of the unmanned aerial vehicle, the visual angle image of the camera, the laser radar and the laser ranging.
6. And the data sharing module is used for sharing the acquired data of the unmanned aerial vehicle clusters, the acquired information of each unmanned aerial vehicle and the relative position of each unmanned aerial vehicle from the target platform through WIFI, so that other unmanned aerial vehicles share the data experience and the flight track.
In practical application, unmanned aerial vehicle mobile parking unit includes:
1. the parking area image real-time acquisition module is characterized in that the cameras on the unmanned aerial vehicle can be freely scheduled, when the unmanned aerial vehicle flies on the mobile platform, the mobile platform can be predicted to travel without direction change in the duration in advance, and the unmanned aerial vehicle can concentrate on safety descent at the moment. And (3) overlooking and snapshot patterns of the parking area by using the camera, calculating and adjusting the angle of the unmanned aerial vehicle by using an image means, and correcting the descending track of the unmanned aerial vehicle in real time.
2. The relative descending speed calculation module utilizes the comprehensive application of the camera ranging and the data of the high-precision range finder to cooperatively calculate the relative distance between the unmanned aerial vehicle and the mobile platform in real time, so that the unmanned aerial vehicle descends stably and safely.
3. And the successful parking information report sending module is used for sending the model of the successfully-lowered mobile platform and the relative coordinates of the parking points on the mobile platform to the remote monitoring unit, so that other unmanned aerial vehicles can plan other parking areas of the mobile platform conveniently.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (2)
1. The system is characterized by comprising an unmanned aerial vehicle tracking unit, a transmitting and receiving unit, a remote monitoring unit and an unmanned aerial vehicle mobile parking unit;
the unmanned aerial vehicle tracking unit is used for tracking the mobile platform in real time;
the unmanned aerial vehicle mobile parking unit is used for assisting the unmanned aerial vehicle to safely rest on the mobile platform;
the transmitting and receiving unit is used for transmitting the real-time state information of the unmanned aerial vehicle to the remote monitoring unit and receiving the processing conclusion and the processing scheme of the remote monitoring unit;
the data processing module in the remote monitoring unit is used for analyzing flight data of the unmanned aerial vehicle and predicting a path; the unmanned aerial vehicle flight path, the GPS navigation path, the log information and the work task information data are stored on a remote storage module, the data processing module performs cluster processing, analyzes the unmanned aerial vehicle flight data and predicts the unmanned aerial vehicle and the mobile platform path;
the data storage module in the remote monitoring unit is used for storing the results of flight data analysis and path prediction of the unmanned aerial vehicle;
the unmanned aerial vehicle tracking unit includes: the unmanned aerial vehicle comprises a moving target tracking module, an unmanned aerial vehicle autonomous speed changing module, an unmanned aerial vehicle height acquisition module, a relative coordinate calculation module, a flight track prediction module and a data sharing module;
a moving target tracking module: the method comprises the steps that through a computer vision information processing technology and a target detection and target tracking technology, real-time tracking and locking of a mobile platform in high-altitude flight of an unmanned aerial vehicle are completed;
unmanned aerial vehicle autonomous speed change module: the speed and the gesture of the target mobile platform are adjusted by acquiring the change speed of the target mobile platform, so that the target mobile platform is kept at the center of the snapshot image of the camera of the unmanned aerial vehicle, and the tracking of the mobile platform is completed;
unmanned aerial vehicle height acquisition module: the device is used for acquiring the height relative to the ground, acquiring the relative height by using an air pressure sensor in high altitude, and acquiring the accurate low-altitude flying height by using a high-precision laser range finder in low altitude;
the relative coordinate calculation module: acquiring a right triangle constructed by taking the center of the unmanned aerial vehicle as an origin, the relative distance of a traveling mobile platform on a ground plane and the flying height of the unmanned aerial vehicle by utilizing the laser radar technology of the unmanned aerial vehicle, and calculating the relative information of two world coordinate systems of the mobile platform and the unmanned aerial vehicle for the unmanned aerial vehicle to accurately approach the mobile platform;
a flight trajectory prediction module: the unmanned aerial vehicle flight path is predicted by utilizing the acquired data of the sensor of the unmanned aerial vehicle, the visual angle image of the camera, the laser radar and the laser ranging to be fused;
and a data sharing module: data acquired by the unmanned aerial vehicle clusters, information acquired by each unmanned aerial vehicle and the relative position between each unmanned aerial vehicle and the target platform are shared through WIFI, so that data experience and flight tracks of other unmanned aerial vehicles are shared.
2. The unmanned aerial vehicle autonomous landing mobile platform system of claim 1, wherein the unmanned aerial vehicle mobile parking unit comprises: the system comprises a parking area image real-time acquisition module, a relative descending speed calculation module and a successful parking information report sending module;
the parking area image real-time acquisition module is used for: the system is used for freely dispatching by using the cameras, overlooking and capturing patterns of the parking areas, calculating and adjusting the angle of the unmanned aerial vehicle, and correcting the descending track of the unmanned aerial vehicle in real time;
a relative descent speed calculation module: the camera ranging and the high-precision range finder are utilized for comprehensively utilizing data, and the relative distance between the unmanned aerial vehicle and the mobile platform is calculated in real time in a cooperative mode, so that the unmanned aerial vehicle is stably and safely lowered;
successful parking information report sending module: and sending the model of the successfully lowered mobile platform and the relative coordinates of the parking points on the mobile platform to a remote monitoring unit, so that other unmanned aerial vehicles can plan other parking areas of the mobile platform conveniently.
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| CN114384925B (en) * | 2022-01-12 | 2024-04-12 | 上海赫千电子科技有限公司 | Lifting method and pairing method for vehicle-mounted unmanned aerial vehicle |
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