CN205644286U - Unmanned aerial vehicle independently lands based on vision assistive technology - Google Patents
Unmanned aerial vehicle independently lands based on vision assistive technology Download PDFInfo
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- CN205644286U CN205644286U CN201620443696.XU CN201620443696U CN205644286U CN 205644286 U CN205644286 U CN 205644286U CN 201620443696 U CN201620443696 U CN 201620443696U CN 205644286 U CN205644286 U CN 205644286U
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- unmanned plane
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Abstract
The utility model discloses an unmanned aerial vehicle independently lands based on vision assistive technology, including unmanned aerial vehicle organism and autonomic landing system, independently landing system includes DSP treater, GPS orientation module, camera module, image processing module, flight control, power module, GPS orientation module, camera module, image processing module, flight control respectively with the DSP treater links to each other, power module still includes the landing light for the autonomic landing system of whole unmanned aerial vehicle provides the power, the landing light with the DSP treater links to each other. The utility model provides high accuracy of landing to also can realize accurate landing at night.
Description
Technical field
This utility model relates to unmanned air vehicle technique field, particularly relates to the autonomous of a kind of view-based access control model ancillary technique
Land unmanned plane.
Background technology
Unmanned plane (UAV) i.e. UAV (Unmanned Aerial Vehicle), mainly by unmanned plane
Body, dynamical system, navigation and control system, take off and the composition such as retracting device and associated electronic device.
Compared with manned aircraft: unmanned plane can realize hovering, VTOL, cruising time length, flight
Apart from the feature such as remote, lightweight, cost is little.Meanwhile, the low speed of unmanned plane, low altitude flight, be conducive to obtaining height
Resolution, clearly Aerial Images plurality of advantages so that it is favourably welcome at dual-use aspect.Such as scout
The military uses such as supervision, target location, combat assessment, pinpoint bombing, precision strike, meet modern war
" noncontact " and " zero injures and deaths " feature.Also can be applicable to place monitoring, meteorological detection, highway tour, survey
Detection is painted, aeroplane photography, floods supervision, traffic administration, anti-, electric power is rescued in forest fire and circuit looks into the people such as patrolling
With in work.In a word, the application prospect of unmanned plane is the most wide.
The fast development of unmanned plane, we are undeniable.But still there is a lot of problem, it would be highly desirable to solve.Allusion quotation
The problem of type is exactly independent landing technology.Unmanned plane independent landing refer to unmanned plane rely on airborne navigator and
Flight control system carries out location navigation and finally controls unmanned plane and drop to the process in regulation place.Nothing at present
Man-machine Autonomous landing mainly has four kinds of modes: inertial navigation system (INS:Inertial Navigation
System) navigation, GPS navigation, the navigation of INS/GPS integrated navigation system and visual system navigation.Wherein base
In the independent navigation of computer vision technique, have economy, acquisition information comprehensively and not by Electromagnetic Interference,
The advantages such as regional impact, in recent years, enjoy the concern of scholar.The shortcoming of inertial navigation system maximum is that error is tired out
Long-pending, along with the growth of flight time, its navigation error constantly increases, and is unfavorable for precision navigation.And GPS navigation
Although compensate for the deficiency of error accumulation, by regional impact.Such as, on indoor or that signal is the most smooth ground
Conveniently cannot normally work, and it is completely controlled by the U.S., is unfavorable for that the military uses.
Utility model content
In view of this, to be to provide the independent landing of a kind of view-based access control model ancillary technique unmanned for the purpose of this utility model
Machine, it is possible to overcome the defect that can not precisely land.
This utility model is by the techniques below means above-mentioned technical problem of solution:
The independent landing unmanned plane of a kind of view-based access control model ancillary technique, including unmanned plane body and independent landing system
System, described independent landing system includes dsp processor, GPS locating module, photographing module, image procossing mould
Block, flight control system, power module, described GPS locating module, photographing module, image processing module,
Flight control system is connected with described dsp processor respectively, and described power module is whole unmanned plane independent landing
System provides power supply, also includes that landing light, described landing light are connected with described dsp processor.
Reach has the technical effect that, utilizes GPS navigation independent landing technology, in conjunction with computer vision technique, real
The independent landing of existing view-based access control model assisting navigation.When aircraft relies on GPS locating module to arrive in ground by plane, DSP
Processor controls aircraft control system and realizes unmanned plane hovering, and finds terrestrial reference by photographing module, once finds
Terrestrial reference, picture passed to dsp processor by photographing module, and dsp processor will control image processing module to mesh
Logo image carries out Image semantic classification, and this process is referred to as the target search stage；Treat dsp processor identification terrestrial reference it
After, flight control system according to the located in connection parameter after image procossing, constantly adjust UAV Attitude and to
Advancing in terrestrial reference orientation, until arriving in certain altitude above terrestrial reference by plane, and keeps floating state, and this process is referred to as rail
Mark tracking phase；And then dsp processor is according to the relevant parameter of output after image procossing, carries out unmanned plane state
Estimate and control, thus constantly adjusting the state of unmanned plane, making unmanned plane realize steady uniform descent, finally real
Existing independent landing, this process is the Autonomous landing stage；Landing light is for permissible when night or insufficient light
The image that second camera module collection becomes apparent from.
Further, described flight control system includes that sensing system, described sensing system include that three axles accelerate
Degree meter, gyroscope, baroceptor and magnetic compass, described magnetic compass is arranged on unmanned plane engine body exterior, described
Three axis accelerometer, gyroscope and baroceptor are arranged on unmanned plane internal body.Three axis accelerometer is used for
Measuring the acceleration of unmanned plane, gyroscope is for detecting the angle of pitch of unmanned plane, roll angle, and baroceptor is used
In detection outside pressure, magnetic compass is used for detecting yaw angle.
Further, described landing light is arranged on the bottom of described unmanned plane body vertically downward, described landing light with
Described unmanned plane body is fixing to be connected.Described landing light irradiates ground, landing light when night or insufficient light
The picture that photographing module can be made to collect becomes apparent from, and can improve the degree of accuracy of UAV Landing.
Further, described landing light being provided with focusing ring, described focusing ring is positioned at the front end of described landing light.
Described landing light can change the intensity of illumination of landing light with the intensity of regulating illumination by regulation focusing ring.
Further, also including motor, focusing ring described in described driven by motor rotates, described motor and described DSP
Processor is connected.Described motor can drive the rotation of described focusing ring, and then regulating illumination intensity.
Further, also include that optical sensor, described optical sensor are arranged on unmanned plane body, described light
It is connected with described dsp processor according to sensor.Described optical sensor can detect background illumination intensity, works as illumination
Time not enough, dsp processor can control landing light and open.
Further, described optical sensor includes optical sensor one and optical sensor two, and described illumination senses
Device one and optical sensor two are separately positioned on side and the bottom of described unmanned plane body.Described optical sensor
One for detecting the background illumination intensity of unmanned plane surrounding, and described optical sensor two is used for detecting unmanned plane bottom
Background illumination intensity, can complete detection background illumination intensity.
The beneficial effects of the utility model: vision technique is combined by (1) with traditional GPS navigation mode, carries
The high degree of accuracy landed；(2) landing light is set bottom unmanned plane and gathers more clear in order to second camera module
Clear photo, makes unmanned plane can also precisely land when night and insufficient light.
Accompanying drawing explanation
Fig. 1 is block schematic illustration of the present utility model；
Fig. 2 is structural representation of the present utility model.
Detailed description of the invention
Below with reference to accompanying drawing, this utility model is described in detail:
As shown in Figure 1-2:
The independent landing unmanned plane of a kind of view-based access control model ancillary technique, including unmanned plane body 1 and independent landing system
System, described independent landing system includes at dsp processor 2, GPS locating module 3, photographing module 4, image
Reason module 5, flight control system 6, power module 7, described GPS locating module 3, photographing module 4, figure
As processing module 5, flight control system 6 are connected with described dsp processor 2 respectively, described power module 7
There is provided power supply for whole unmanned plane independent landing system, also include landing light 8, described landing light 8 and described DSP
Processor 2 is connected.
Described flight control system 6 include sensing system, described sensing system include three axis accelerometer,
Gyroscope, baroceptor and magnetic compass, it is outside that described magnetic compass is arranged on unmanned plane body 1, described three axles
It is internal that accelerometer, gyroscope and baroceptor are arranged on unmanned plane body 1.
Described landing light 8 is arranged on the bottom of described unmanned plane body 1, described landing light 8 and institute vertically downward
Stating the fixing connection of unmanned plane body 1, the front end of described landing light 8 is provided with focusing ring, also includes motor, light
According to sensor one and optical sensor two, described motor, optical sensor one and optical sensor two respectively with institute
Stating dsp processor 2 to be connected, focusing ring described in described driven by motor rotates, described optical sensor one and illumination
Sensor two is separately positioned on side and the bottom of described unmanned plane body 1.
Above example is only in order to illustrate the technical solution of the utility model and unrestricted, although with reference to preferably implementing
This utility model has been described in detail by example, it will be understood by those within the art that, can be to this reality
Modify or equivalent by novel technical scheme, without deviating from the objective of technical solutions of the utility model
And scope, it all should be contained in the middle of right of the present utility model.
Claims (7)
1. the independent landing unmanned plane of a view-based access control model ancillary technique, it is characterised in that: include unmanned plane body
(1) and independent landing system, described independent landing system includes dsp processor (2), GPS locating module
(3), photographing module (4), image processing module (5), flight control system (6), power module (7),
Described GPS locating module (3), photographing module (4), image processing module (5), flight control system (6)
Being connected with described dsp processor (2) respectively, described power module (7) is whole unmanned plane independent landing system
System provides power supply, also includes that landing light (8), described landing light (8) are connected with described dsp processor (2).
The independent landing unmanned plane of a kind of view-based access control model ancillary technique the most according to claim 1, its feature
It is: described flight control system (6) includes that sensing system, described sensing system include that three axles accelerate
Degree meter, gyroscope, baroceptor and magnetic compass, it is outside that described magnetic compass is arranged on unmanned plane body (1),
It is internal that described three axis accelerometer, gyroscope and baroceptor are arranged on unmanned plane body (1).
The independent landing unmanned plane of a kind of view-based access control model ancillary technique the most according to claim 1, its feature
It is: described landing light (8) is arranged on the bottom of described unmanned plane body (1), described landing vertically downward
Lamp (8) is fixing with described unmanned plane body (1) to be connected.
The independent landing unmanned plane of a kind of view-based access control model ancillary technique the most according to claim 3, its feature
It is: on described landing light (8), be provided with focusing ring, before described focusing ring is positioned at described landing light (8)
End.
The independent landing unmanned plane of a kind of view-based access control model ancillary technique the most according to claim 4, its feature
Being: also include motor, focusing ring described in described driven by motor rotates, described motor and described dsp processor
(2) it is connected.
The independent landing unmanned plane of a kind of view-based access control model ancillary technique the most according to claim 1, its feature
It is: also include that optical sensor, described optical sensor are arranged on unmanned plane body (1), described light
It is connected with described dsp processor (2) according to sensor.
The independent landing unmanned plane of a kind of view-based access control model ancillary technique the most according to claim 6, its feature
It is: described optical sensor includes optical sensor one and optical sensor two, described optical sensor one He
Optical sensor two is separately positioned on side and the bottom of described unmanned plane body (1).
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| CN201620443696.XU CN205644286U (en) | 2016-05-16 | 2016-05-16 | Unmanned aerial vehicle independently lands based on vision assistive technology |
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| CN201620443696.XU CN205644286U (en) | 2016-05-16 | 2016-05-16 | Unmanned aerial vehicle independently lands based on vision assistive technology |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371447A (en) * | 2016-10-25 | 2017-02-01 | 南京奇蛙智能科技有限公司 | Controlling method for all-weather precision landing of unmanned aerial vehicle |
| CN106557089A (en) * | 2016-11-21 | 2017-04-05 | 北京中飞艾维航空科技有限公司 | A kind of control method and device of unmanned plane independent landing |
| CN107140145A (en) * | 2017-04-27 | 2017-09-08 | 上海大学 | A kind of unmanned boat folding and unfolding unmanned plane device |
| CN108286964A (en) * | 2017-12-29 | 2018-07-17 | 河南三和航空工业有限公司 | A kind of air navigation aid during aircraft landing |
| CN110632945A (en) * | 2018-06-21 | 2019-12-31 | 深圳联合飞机科技有限公司 | Helicopter landing method and system |
| CN111003192A (en) * | 2019-12-30 | 2020-04-14 | 南京信息工程大学 | Unmanned aerial vehicle autonomous landing system and landing method based on GPS and vision |
| CN112180978A (en) * | 2020-10-13 | 2021-01-05 | 南京理工大学 | Four-rotor unmanned aerial vehicle autonomous landing control system and method based on airship platform |
| CN113848971A (en) * | 2017-07-10 | 2021-12-28 | 深圳市道通智能航空技术股份有限公司 | Aircraft control method and device and aircraft |
-
2016
- 2016-05-16 CN CN201620443696.XU patent/CN205644286U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371447A (en) * | 2016-10-25 | 2017-02-01 | 南京奇蛙智能科技有限公司 | Controlling method for all-weather precision landing of unmanned aerial vehicle |
| CN106557089A (en) * | 2016-11-21 | 2017-04-05 | 北京中飞艾维航空科技有限公司 | A kind of control method and device of unmanned plane independent landing |
| CN106557089B (en) * | 2016-11-21 | 2019-11-01 | 北京中飞艾维航空科技有限公司 | A kind of control method and device of unmanned plane independent landing |
| CN107140145A (en) * | 2017-04-27 | 2017-09-08 | 上海大学 | A kind of unmanned boat folding and unfolding unmanned plane device |
| CN113848971A (en) * | 2017-07-10 | 2021-12-28 | 深圳市道通智能航空技术股份有限公司 | Aircraft control method and device and aircraft |
| CN108286964A (en) * | 2017-12-29 | 2018-07-17 | 河南三和航空工业有限公司 | A kind of air navigation aid during aircraft landing |
| CN110632945A (en) * | 2018-06-21 | 2019-12-31 | 深圳联合飞机科技有限公司 | Helicopter landing method and system |
| CN111003192A (en) * | 2019-12-30 | 2020-04-14 | 南京信息工程大学 | Unmanned aerial vehicle autonomous landing system and landing method based on GPS and vision |
| CN112180978A (en) * | 2020-10-13 | 2021-01-05 | 南京理工大学 | Four-rotor unmanned aerial vehicle autonomous landing control system and method based on airship platform |
| CN112180978B (en) * | 2020-10-13 | 2023-08-22 | 南京理工大学 | Four-rotor unmanned aerial vehicle autonomous landing control system and method based on airship platform |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161012 Termination date: 20170516 |
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| CF01 | Termination of patent right due to non-payment of annual fee |