WO2018024069A1 - 用于引导无人机降落的方法、装置和*** - Google Patents
用于引导无人机降落的方法、装置和*** Download PDFInfo
- Publication number
- WO2018024069A1 WO2018024069A1 PCT/CN2017/091781 CN2017091781W WO2018024069A1 WO 2018024069 A1 WO2018024069 A1 WO 2018024069A1 CN 2017091781 W CN2017091781 W CN 2017091781W WO 2018024069 A1 WO2018024069 A1 WO 2018024069A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- landing
- pattern
- drone
- platform
- indication
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 239000000284 extract Substances 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 19
- 238000012545 processing Methods 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 239000010432 diamond Substances 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/18—Visual or acoustic landing aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/90—Launching from or landing on platforms
- B64U70/95—Means for guiding the landing UAV towards the platform, e.g. lighting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/761—Proximity, similarity or dissimilarity measures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/17—Terrestrial scenes taken from planes or by drones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
Definitions
- the present invention relates to the field of flight navigation, and more particularly to a method, apparatus and system for guiding a drone to land.
- the current method is to identify the specific target on the ground by the drone, and combine the geometric positioning algorithm to calculate the position coordinates of the specific target, and then guide the drone to land according to the position coordinate.
- a method for guiding a drone to land comprising:
- the drone is guided to land on the landing target with a landing pattern and eventually land on the landing platform.
- landing success information is sent to the landing platform to cause the landing platform to cancel the landing pattern display.
- the landing indication includes a pattern identification such that the landing pattern displayed by the landing platform corresponds to the pattern identification.
- image scanning of the ground to identify the landing pattern includes:
- the matching pattern is used as a landing pattern.
- the step of transmitting a landing indication to the ground is re-executed, wherein the landing indication includes a reselected pattern identification so that the landing platform displays a corresponding to the reselected pattern identification. Landing pattern.
- a landing indication is sent to the ground.
- a landing indication is sent to the ground.
- a method for guiding a drone to land comprising:
- a landing pattern is displayed on the landing platform upon receipt of the landing indication so that the drone can land as a landing target with a landing pattern.
- the landing pattern display is cancelled upon receipt of landing success information transmitted by the navigation device in the drone.
- the step of displaying the landing pattern upon receipt of the landing indication comprises:
- a landing pattern corresponding to the pattern identification is displayed.
- the landing platform is a mobile platform.
- a navigation apparatus for guiding a drone to land including a transmitting unit, an image scanning unit, and a landing control unit, wherein:
- a sending unit configured to send a landing indication to the ground, so that the landing platform receiving the landing indication displays a landing pattern
- An image scanning unit for performing image scanning on the ground to identify a landing pattern
- a landing control unit that directs the drone to land as a landing target with a landing pattern and eventually land on the landing platform.
- the landing control unit is further configured to instruct the transmitting unit to transmit landing success information to the landing platform after the drone landed on the landing platform, so that the landing platform cancels the landing pattern display.
- the landing indication includes a pattern identification such that the landing pattern displayed by the landing platform corresponds to the pattern identification.
- the image scanning unit specifically recognizes the matching pattern corresponding to the pattern identification by performing image scanning on the ground, and in the case where there is only one matching pattern, the matching pattern is used as a landing pattern.
- the image scanning unit is further configured to: in the case that there are multiple matching patterns, instruct the sending unit to resend the landing indication to the ground, wherein the landing indication includes the reselected pattern identifier for landing platform display and reselection The pattern identifies the corresponding landing pattern.
- the navigation device further includes an area identifying unit, wherein:
- An area identification unit for identifying an area where the drone is currently located
- the landing control unit specifically transmits a landing indication to the ground after the area identification unit determines that the drone arrives at the designated area.
- the navigation device further includes a receiving unit, wherein:
- a receiving unit configured to receive broadcast information sent by the landing platform
- the landing control unit sends a landing indication to the ground after the receiving unit receives the broadcast information sent by the landing platform.
- a navigation device for guiding a drone to land including a memory and a processor, wherein:
- a memory for storing instructions
- a processor coupled to the memory, the processor being configured to perform the method performed by the navigation device involved in any of the above embodiments, based on the instructions stored in the memory.
- a drone including the navigation device of any of the above embodiments.
- a landing platform for guiding a drone to land including a receiving module, a display control module, and a display module, wherein:
- a receiving module configured to receive a landing instruction sent by a navigation device in the drone
- the display control module is configured to display a landing pattern on the display module after the receiving module receives the landing instruction, so that the drone descends for the landing target with the landing pattern.
- the display control module is further configured to cancel the landing pattern display after the receiving module receives the landing success information sent by the navigation device in the drone.
- the display control module extracts the pattern identifier from the landing indication after the receiving module receives the landing instruction, and displays a landing pattern corresponding to the pattern identifier on the display module.
- the landing platform is a mobile platform.
- a landing platform for guiding a drone to land comprising a memory and a processor, wherein:
- a memory for storing instructions
- a processor coupled to the memory, the processor being configured to perform the method performed by the landing platform involved in any of the above embodiments, based on the instructions stored by the memory.
- a UAV navigation system comprising the UAV according to any of the above embodiments, and the landing platform according to any of the above embodiments.
- Figure 1 is a schematic illustration of one embodiment of a method for directing a drone to land in accordance with the present invention.
- FIG. 2 is a schematic view of another embodiment of a method for guiding a drone to land in accordance with the present invention.
- FIG. 3 is a schematic diagram of still another embodiment of a method for guiding a drone to land in accordance with the present invention.
- FIG. 4 is a schematic diagram of an embodiment of a navigation device for guiding a drone to land in accordance with the present invention.
- FIG. 5 is a schematic diagram of another embodiment of a navigation device for guiding a drone to land in accordance with the present invention.
- FIG. 6 is a schematic diagram of still another embodiment of a navigation device for guiding a drone to land.
- FIG. 7 is a schematic diagram of still another embodiment of a navigation device for guiding a drone to land.
- Figure 8 is a schematic illustration of one embodiment of a drone of the present invention.
- Figure 9 is a schematic illustration of one embodiment of a landing platform for directing a drone to land.
- Figure 10 is a schematic illustration of another embodiment of a landing platform for directing a drone to land.
- FIG. 11 is a schematic diagram of an embodiment of a UAV navigation system of the present invention.
- FIG. 12 is a schematic diagram of an embodiment of a navigation control of a drone according to the present invention.
- FIG. 13 is a schematic diagram of another embodiment of the navigation control of the drone of the present invention.
- Figure 1 is a schematic illustration of one embodiment of a method for directing a drone to land in accordance with the present invention.
- the embodiment Method steps can be performed by a navigation device disposed on the drone. among them:
- step 101 a landing indication is sent to the ground so that the landing platform receiving the landing indication displays the landing pattern.
- the navigation device can send a landing indication directly to the ground.
- the landing platform continuously transmits broadcast information, and when the navigation device of the drone receives the broadcast information, it can be determined that the landing platform is at a certain position in the nearby area. A landing indication can be sent to the ground at this time.
- step 102 an image scan is performed on the ground to identify a landing pattern.
- the landing indication includes a pattern identification such that the landing pattern displayed by the landing platform corresponds to the pattern identification. Therefore, the pattern corresponding to the pattern identification can be used as a landing pattern by image scanning and image recognition.
- step 103 the drone is guided to land the landing target with a landing pattern and finally land on the landing platform.
- landing success information is sent to the landing platform to cancel the landing pattern display on the landing platform.
- a method for guiding a drone to land based on the above-described embodiments of the present invention by transmitting a landing indication to a landing platform, so that the landing platform displays a corresponding landing pattern according to the indication, so that the drone descends with the landing pattern as a landing target This allows the drone to land quickly and easily without extensive calculations.
- FIG. 2 is a schematic view of another embodiment of a method for guiding a drone to land in accordance with the present invention.
- the method steps of the embodiment may be performed by a navigation device disposed on the drone. among them:
- step 201 a landing indication is sent to the ground so that the landing platform receiving the landing indication displays the landing pattern.
- the landing indication includes a pattern identifier, so that the landing pattern displayed by the landing platform corresponds to the pattern identifier.
- Step 202 by performing image scanning on the ground to identify a matching pattern corresponding to the pattern identification.
- step 203 it is determined whether there is only one matching pattern. If there is only one matching pattern, step 204 is performed; if there are multiple matching patterns, step 201 is repeatedly performed, wherein the landing indication includes a reselected pattern identifier, so that the landing platform displays and reselects the pattern identifier. Corresponding landing pattern.
- step 204 the matching pattern is used as a landing pattern.
- step 205 the drone is guided to land with the landing pattern as a landing target, and finally landed on the landing platform.
- Step 206 After the drone landed on the landing platform, send landing success information to the landing platform, so that the landing platform cancels the landing pattern display.
- the landing instruction sent by the navigation device to the ground carries the No. 1 pattern identifier, and after receiving the landing instruction, the landing platform displays a set of concentric circles according to the No. 1 pattern identifier. Take as a landing pattern. If the landscape lighting on the nearby building is turned on, a set of concentric circles similar to the landing pattern is formed from a top view. At this time, the navigation device performs image scanning and image recognition on the ground, and it is found that there are two matching images corresponding to the No. 1 pattern identifier, so the navigation device can only distinguish which landing image is displayed on the landing platform only through the image. Which is the image formed by the landscape lighting on the building.
- the present invention proposes that after the above situation occurs, the landing indication can be sent again to the ground, wherein the landing indication is carried with the No. 2 pattern identification.
- the landing platform After receiving the landing indication, the landing platform displays a set of diamonds as a landing pattern according to the pattern designation No. 2, whereby the navigation device can land the diamond pattern as a landing target.
- the navigation device on the drone may transmit a landing indication to the landing platform using infrared or other wireless means.
- FIG. 3 is a schematic diagram of still another embodiment of a method for guiding a drone to land in accordance with the present invention.
- the method steps of this embodiment may be performed by a landing platform. among them:
- Step 301 Receive a landing instruction sent by a navigation device in the drone.
- Step 302 Display a landing pattern on the landing platform after receiving the landing indication so that the drone can land for the landing target with the landing pattern.
- the pattern identifier may be extracted from the landing indication to display a landing pattern corresponding to the pattern identifier.
- the landing pattern display can be cancelled.
- the landing platform can be fixed to the ground or a movable platform.
- the landing platform can be an unmanned vehicle, a towed vehicle, or the like. Therefore, the drone descends on the landing platform, and the landing platform can directly send the articles directly to the target warehouse, the recipient, and the like, thereby saving the staff to carry out related operations such as loading the articles transported by the drone.
- the navigation device may include a transmitting unit 401, an image scanning unit 402, and a landing control unit 403. among them:
- the transmitting unit 401 transmits a landing indication to the ground so that the landing platform receiving the landing indication displays the landing pattern.
- the landing indication includes a pattern identification such that the landing pattern displayed by the landing platform corresponds to the pattern identification.
- the image scanning unit 402 performs image scanning on the ground to recognize the landing pattern.
- the landing control unit 403 directs the drone to land for the landing target in the landing pattern and eventually land on the landing platform.
- the landing control unit 403 is further configured to: after the drone landed on the landing platform, instruct the sending unit 401 to send landing success information to the landing platform, so that the landing platform cancels the landing pattern display.
- the navigation device for guiding the drone landing by transmitting a landing instruction to the landing platform, so that the landing platform displays the corresponding landing pattern according to the indication, so that the drone performs the landing pattern as the landing target. Landing allows the drone to land quickly and easily without extensive calculations.
- the image scanning unit 402 performs image scanning on the ground to identify a matching pattern corresponding to the pattern identifier.
- the matching pattern is used as a landing pattern;
- the indication transmitting unit 401 resends the landing indication to the ground, wherein the landing indication includes a reselected pattern identification so that the landing platform displays a landing pattern corresponding to the reselected pattern identification.
- the navigation device resends the landing indication to the landing platform to instruct the landing platform to display the corresponding pattern in accordance with the re-selected pattern.
- the landing pattern can effectively avoid the influence of the outside world on determining the landing pattern.
- the navigation device may send a landing indication to the ground in a different manner.
- a landing indication for example, in the schematic diagram of the navigation device for guiding the drone landing shown in FIG. 5, in addition to the transmitting unit 501, the image scanning unit 502, and the landing control unit 503, an area identifying unit 504 is further included. among them:
- the area identification unit 504 is for identifying the area in which the drone is currently located.
- the landing control unit 503 transmits a landing instruction to the ground after the area identifying unit 504 determines that the drone has reached the designated area.
- a receiving unit 604 is further included. among them:
- the receiving unit 604 is configured to receive the broadcast information sent by the landing platform, and the landing control unit 603 specifically sends the landing instruction to the ground after the receiving unit 604 receives the broadcast information sent by the landing platform.
- FIG. 7 is a schematic diagram of still another embodiment of a navigation device for guiding a drone to land.
- the navigation device can include a memory 701 and a processor 702. among them:
- Memory 701 is for storing instructions
- processor 702 is coupled to memory 701
- processor 702 is configured to perform the methods involved in any of the embodiments of FIGS. 1 and 2 based on instructions stored by memory 701.
- the navigation device further includes a communication interface 703 for performing information interaction with other devices.
- the apparatus further includes a bus 704, and the processor 702, the communication interface 703, and the memory 701 complete communication with each other via the bus 704.
- the present invention also relates to a drone 801 in which a navigation device 802 is provided. Its The navigation device 802 can be the navigation device shown in any of the embodiments of FIG. 4 to FIG.
- FIG. 9 is a schematic illustration of one embodiment of a landing platform for directing a drone to land.
- the landing platform includes a receiving module 901, a display control module 902, and a display module 903, wherein:
- the receiving module 901 is configured to receive a landing indication sent by the navigation device in the drone. After the receiving module 901 receives the landing instruction, the display control module 902 displays the landing pattern through the display module 903 so that the drone can land for the landing target with the landing pattern.
- the display control module 902 extracts the pattern identifier from the landing instruction, and displays a landing pattern corresponding to the pattern identifier on the display module 903.
- the display control module 902 is further configured to cancel the landing pattern display after the receiving module 901 receives the landing success information sent by the navigation device in the drone.
- the landing platform can be fixed to the ground or a movable platform.
- the landing platform can be an unmanned vehicle, a towed vehicle, or the like. Therefore, the drone descends on the landing platform, and the landing platform can directly send the articles directly to the target warehouse, the recipient, and the like, thereby saving the staff to carry out related operations such as loading the articles transported by the drone.
- Figure 10 is a schematic illustration of yet another embodiment of a landing platform for directing a drone to land.
- the navigation device can include a memory 1001 and a processor 1002. among them:
- the memory 1001 is for storing instructions
- the processor 1002 is coupled to the memory 1001, and the processor 1002 is configured to perform the method of any of the embodiments of FIG. 3 based on instructions stored by the memory 1001.
- the navigation device further includes a communication interface 1003 for performing information interaction with other devices.
- the apparatus further includes a bus 1004, and the processor 1002, the communication interface 1003, and the memory 1001 complete communication with each other via the bus 1004.
- the memory 701 in FIG. 7 and the memory 1001 in FIG. 10 may include a high speed RAM memory, and may further include a non-volatile memory, such as at least one disk memory.
- Memory 701 and memory 1001 may also be memory arrays.
- the memory 701 and the memory 1001 may also be partitioned, and the blocks may be combined into a virtual volume according to certain rules.
- processor 702 in FIG. 7 and the processor 1002 in FIG. 10 may be a central processing unit CPU, or may be an application specific integrated circuit (ASIC), or configured to implement the embodiment of the present invention.
- ASIC application specific integrated circuit
- FIG. 11 is a schematic diagram of an embodiment of a UAV navigation system of the present invention. As shown in Figure 11, the system includes no one The machine 1101 and the landing platform 1102, wherein the drone 1101 is a drone according to any of the embodiments of FIG. 8, the landing platform 1102 is a landing platform according to any of the embodiments of FIGS. 9 and 10.
- the drone transmits a landing indication to the landing platform, so that the landing platform displays a corresponding landing pattern according to the indication, so that the drone descends with the landing pattern as a landing target, so that The drone can be quickly and easily landed without extensive calculations.
- FIG. 12 is a schematic diagram of an embodiment of a navigation control of a drone according to the present invention.
- the navigation device on the drone sends a landing indication to the ground. among them:
- step 1201 during the flight of the drone, the navigation device on the drone determines the area where the drone is currently located.
- Step 1202 After the drone arrives at the designated area, the navigation device sends a landing indication to the ground.
- Step 1203 After receiving the landing instruction, the movable landing platform extracts the pattern identifier from the landing instruction.
- step 1204 the landing platform displays a landing pattern corresponding to the pattern identification.
- step 1205 the navigation device performs an image scan on the ground to identify the landing pattern.
- step 1206 the navigation device directs the drone to land for the landing target with the landing pattern.
- step 1207 after the drone successfully landed on the landing platform, the navigation device sends a landing success message to the landing platform.
- step 1208 the landing platform cancels the landing pattern display after receiving the landing success information.
- step 1209 the landing platform is brought to the designated location by means of self-movement or traction.
- FIG. 13 is a schematic diagram of another embodiment of the navigation control of the drone of the present invention.
- the landing platform continuously sends broadcast information outwards so that the drone receiving the broadcast information sends a landing indication to the ground.
- Step 1301a during the flight of the drone, the navigation device on the drone determines whether the broadcast information transmitted by the mobile landing platform can be received.
- step 1301b the landing platform continuously sends broadcast information outward.
- Step 1302 If the navigation device on the drone receives the broadcast information, indicating that the drone is close to the area where the landing platform is located, the navigation device sends a landing indication to the ground.
- Step 1303 after receiving the landing instruction, the landing platform extracts the pattern identifier from the landing instruction.
- Step 1304 the landing platform displays a landing pattern corresponding to the pattern identification.
- the navigation device scans the ground for an image to identify the landing pattern.
- step 1306 the navigation device directs the drone to land the landing target with the landing pattern.
- Step 1307 after the drone successfully landed on the landing platform, the navigation device sends a landing success message to the landing platform.
- Step 1308 the landing platform cancels the landing pattern display after receiving the landing success information.
- step 1309 the landing platform is brought to the designated location by means of self-movement or traction.
- the drone sends a landing indication to the landing platform, so that the landing platform displays the corresponding landing pattern according to the indication, so that the drone descends with the landing pattern as the landing target, so that the drone is convenient without a large amount of calculation. Landing quickly and quickly. Thereby greatly reducing the computational processing pressure of the drone and reducing the hardware configuration requirements of the drone.
- the landing platform is a mobile platform, so the items placed on it can be directly sent to the target warehouse and other places, thereby saving the staff to carry the related items such as handling and loading of the items transported by the drone, thereby effectively reducing Manual intervention has significantly reduced the cost of item delivery.
- the landing platform displays the corresponding landing pattern according to the landing instruction sent by the drone, so the landing pattern can be dynamically changed according to the indication, thereby effectively preventing the displayed landing pattern from being confused with other illuminants or images in the same area.
- embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code. .
- the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
- the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
- These computer program instructions can also be loaded onto a computer or other programmable data processing device such that the computer Or performing a series of operational steps on other programmable devices to produce computer-implemented processing such that instructions executed on a computer or other programmable device are provided for implementing a block in a flow or a flow and/or block diagram of the flowchart Or the steps of the function specified in multiple boxes.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Data Mining & Analysis (AREA)
- Astronomy & Astrophysics (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Databases & Information Systems (AREA)
- Computing Systems (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Bioinformatics & Computational Biology (AREA)
- Evolutionary Biology (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Acoustics & Sound (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (25)
- 一种用于引导无人机降落的方法,其特征在于,包括:向地面发送着陆指示,以便接收到所述着陆指示的着陆平台显示着陆图案;对地面进行图像扫描以识别出所述着陆图案;引导无人机以所述着陆图案为着陆目标进行降落,并最终降落在所述着陆平台上。
- 根据权利要求1所述的方法,其特征在于,在无人机降落在所述着陆平台后,向所述着陆平台发送着陆成功信息,以便所述着陆平台取消着陆图案显示。
- 根据权利要求1或2所述的方法,其特征在于,所述着陆指示中包括图案标识,以便着陆平台显示的所述着陆图案与所述图案标识相对应。
- 根据权利要求3所述的方法,其特征在于,对地面进行图像扫描以识别出所述着陆图案包括:通过对地面进行图像扫描以识别出与所述图案标识相对应的匹配图案;在所述匹配图案仅有一个的情况下,将所述匹配图案作为着陆图案。
- 根据权利要求4所述的方法,其特征在于,在所述匹配图案有多个的情况下,重新执行向地面发送着陆指示的步骤,其中着陆指示中包括重新选择的图案标识,以便着陆平台显示与所述重新选择的图案标识相对应的着陆图案。
- 根据权利要求1或2所述的方法,其特征在于,还包括:在无人机到达指定的区域后,向地面发送着陆指示;或者,在接收到所述着陆平台发送的广播信息后,向地面发送着陆指示。
- 一种用于引导无人机降落的方法,其特征在于,包括:接收无人机中的导航设备发送的着陆指示;在接收到所述着陆指示后在着陆平台上显示着陆图案,以便无人机以所述着陆图案为着陆目标进行降落。
- 根据权利要求7所述的方法,其特征在于,还包括:在接收到所述无人机中的导航设备发送的着陆成功信息后,取消着陆图案显示。
- 根据权利要求7或8所述的方法,其特征在于,在接收到所述着陆指示后显示着陆图案的步骤包括:在接收到所述着陆指示后,从所述着陆指示中提取出图案标识;显示与所述图案标识相对应的着陆图案。
- 根据权利要求7或8所述的方法,其特征在于,所述着陆平台为可移动平台。
- 一种用于引导无人机降落的导航设备,其特征在于,包括发送单元、图像扫描单元和着陆控制单元,其中:发送单元,用于向地面发送着陆指示,以便接收到所述着陆指示的着陆平台显示着陆图案;图像扫描单元,用于对地面进行图像扫描以识别出所述着陆图案;着陆控制单元,用于引导无人机以所述着陆图案为着陆目标进行降落,并最终降落在所述着陆平台上。
- 根据权利要求11所述的导航设备,其特征在于,着陆控制单元还用于在无人机降落在所述着陆平台后,指示发送单元向所述着陆平台发送着陆成功信息,以便所述着陆平台取消着陆图案显示。
- 根据权利要求11或12所述的导航设备,其特征在于,所述着陆指示中包括图案标识,以便着陆平台显示的所述着陆图案与所述图案标识相对应。
- 根据权利要求13所述的导航设备,其特征在于,图像扫描单元具体通过对地面进行图像扫描以识别出与所述图案标识相对应的匹配图案,在所述匹配图案仅有一个的情况下,将所述匹配图案作为着陆图案。
- 根据权利要求14所述的导航设备,其特征在于,图像扫描单元还用于在所述匹配图案有多个的情况下,指示发送单元重新向地面发送着陆指示,其中着陆指示中包括重新选择的图案标识,以便着陆平台显示与所述重新选择的图案标识相对应的着陆图案。
- 根据权利要求11或12所述的导航设备,其特征在于,还包括区域识别单元,其中:区域识别单元,用于识别无人机当前所处的区域;着陆控制单元具体在区域识别单元确定无人机到达指定的区域后,向地面发送着陆指示。
- 根据权利要求11或12所述的导航设备,其特征在于,还包括接收单元,其中:接收单元,用于接收所述着陆平台发送的广播信息;着陆控制单元具体在接收单元接收到所述着陆平台发送的广播信息后,向地面发送着陆指示。
- 一种用于引导无人机降落的导航设备,其特征在于,包括存储器和处理器,其中:存储器,用于存储指令;处理器,耦合到所述存储器,所述处理器被配置为基于所述存储器存储的指令执行实现如权利要求1-6中任一项所述的方法。
- 一种无人机,其特征在于,包括如权利要求11-18中任一项所述的导航设备。
- 一种用于引导无人机降落的着陆平台,其特征在于,包括接收模块、显示控制模块和显示模块,其中:接收模块,用于接收无人机中的导航设备发送的着陆指示;显示控制模块,用于在接收模块接收到所述着陆指示后在显示模块上显示着陆图案,以便无人机以所述着陆图案为着陆目标进行降落。
- 根据权利要求20所述的着陆平台,其特征在于,显示控制模块还用于在接收模块接收到所述无人机中的导航设备发送的着陆成功信息后,取消着陆图案显示。
- 根据权利要求20或21所述的着陆平台,其特征在于,显示控制模块具体在接收模块接收到所述着陆指示后,从所述着陆指示中提取出图案标识,在显示模块上显示与所述图案标识相对应的着陆图案。
- 根据权利要求20或21所述的着陆平台,其特征在于,所述着陆平台为可移动平台。
- 一种用于引导无人机降落的着陆平台,其特征在于,包括存储器和处理器,其中:存储器,用于存储指令;处理器,耦合到所述存储器,所述处理器被配置为基于所述存储器存储的指令执行实现如权利要求7-10中任一项所述的方法。
- 一种无人机导航***,其特征在于,包括如权利要求19所述的无人机,以及如权利要求20-24中任一项所述的着陆平台。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/323,137 US11383857B2 (en) | 2016-08-04 | 2017-07-05 | Method, device and system for guiding unmanned aerial vehicle to land |
AU2017306320A AU2017306320B2 (en) | 2016-08-04 | 2017-07-05 | Method, device and system for guiding unmanned aerial vehicle to land |
CA3032874A CA3032874C (en) | 2016-08-04 | 2017-07-05 | Method, device and system for guiding unmanned aerial vehicle to land |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610632597.0 | 2016-08-04 | ||
CN201610632597.0A CN106143931B (zh) | 2016-08-04 | 2016-08-04 | 用于引导无人机降落的方法、装置和*** |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2018024069A1 true WO2018024069A1 (zh) | 2018-02-08 |
Family
ID=57329016
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2017/091781 WO2018024069A1 (zh) | 2016-08-04 | 2017-07-05 | 用于引导无人机降落的方法、装置和*** |
Country Status (5)
Country | Link |
---|---|
US (1) | US11383857B2 (zh) |
CN (1) | CN106143931B (zh) |
AU (1) | AU2017306320B2 (zh) |
CA (1) | CA3032874C (zh) |
WO (1) | WO2018024069A1 (zh) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106143931B (zh) | 2016-08-04 | 2018-10-02 | 北京京东尚科信息技术有限公司 | 用于引导无人机降落的方法、装置和*** |
CN106598076A (zh) * | 2016-11-24 | 2017-04-26 | 苏州佳世达电通有限公司 | 无人载具控制方法及无人载具控制*** |
CN106921193B (zh) * | 2017-03-09 | 2020-09-25 | 深圳大学 | 一种无人机的充电方法及停机坪 |
CN106686597A (zh) * | 2017-03-17 | 2017-05-17 | 深圳丹勋科技有限公司 | 一种无人机近场识别手机用户身份的方法 |
CN108694728A (zh) * | 2017-04-11 | 2018-10-23 | 北京乐普盛通信息技术有限公司 | 无人机引导降落方法、装置及*** |
CN108216624A (zh) * | 2017-12-25 | 2018-06-29 | 上海歌尔泰克机器人有限公司 | 一种控制无人机降落的方法、装置及无人机 |
EP3738114A1 (en) * | 2018-01-10 | 2020-11-18 | Qualcomm Incorporated | Identifying landing zones for landing of a robotic vehicle |
CN109521789A (zh) * | 2018-09-28 | 2019-03-26 | 易瓦特科技股份公司 | 标识方法及装置 |
CN109521787A (zh) * | 2018-09-28 | 2019-03-26 | 易瓦特科技股份公司 | 用于飞行器标识降落的方法及装置 |
CN109521799A (zh) * | 2018-09-28 | 2019-03-26 | 易瓦特科技股份公司 | 基于地面标识进行识别的飞行控制方法及装置 |
CN111061290A (zh) * | 2018-09-28 | 2020-04-24 | 易瓦特科技股份公司 | 用于无人机降落标识的方法及装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2302318A (en) * | 1995-06-14 | 1997-01-15 | Bodenseewerk Geraetetech | Aircraft landing procedure |
CN105000194A (zh) * | 2015-08-13 | 2015-10-28 | 史彩成 | 基于地面合作标志的无人机助降视觉引导方法及机载*** |
CN105151309A (zh) * | 2015-09-18 | 2015-12-16 | 施国樑 | 依靠图像识别定位和降落的无人机 |
CN106143931A (zh) * | 2016-08-04 | 2016-11-23 | 北京京东尚科信息技术有限公司 | 用于引导无人机降落的方法、装置和*** |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1772789B1 (en) * | 2005-10-07 | 2011-07-27 | Saab Ab | Method and apparatus for generating a route |
NO332165B1 (no) * | 2009-12-14 | 2012-07-09 | Torgeir Espedal | Posisjoneringsreferansesystem for samt framgangsmate ved tildanning av landingsposisjoneringsreferanser pa omrade for landing av et helikopter eller last hengende fra et helikopter |
JP5775354B2 (ja) * | 2011-04-28 | 2015-09-09 | 株式会社トプコン | 離着陸ターゲット装置及び自動離着陸システム |
TR201806953T4 (tr) * | 2011-11-08 | 2018-06-21 | Saab Ab | Bir ateşleyicinin konumunun belirlenmesine yönelik yöntem, bir tehditten kaçınmak için rota planlamasına yönelik yöntem ve sistem. |
US9830572B2 (en) | 2012-03-29 | 2017-11-28 | Amazon Technologies, Inc. | Pickup locations |
US8880328B2 (en) * | 2012-11-02 | 2014-11-04 | Ge Aviation Systems Llc | Method of optically locating an aircraft relative to an airport |
US9382016B2 (en) * | 2014-06-24 | 2016-07-05 | Sikorsky Aircraft Corporation | Aircraft landing monitor |
US20170015438A1 (en) * | 2014-07-19 | 2017-01-19 | Jonathan Matthew Harding | Wireless portable landing zone |
WO2016019564A1 (en) * | 2014-08-08 | 2016-02-11 | SZ DJI Technology Co., Ltd. | Multi-zone battery exchange system |
US9836053B2 (en) * | 2015-01-04 | 2017-12-05 | Zero Zero Robotics Inc. | System and method for automated aerial system operation |
US10078808B1 (en) * | 2015-09-21 | 2018-09-18 | Amazon Technologies, Inc. | On-demand designated delivery locator |
US9454154B1 (en) * | 2016-03-07 | 2016-09-27 | Amazon Technologies, Inc. | Incident light sensor on autonomous vehicle |
-
2016
- 2016-08-04 CN CN201610632597.0A patent/CN106143931B/zh active Active
-
2017
- 2017-07-05 US US16/323,137 patent/US11383857B2/en active Active
- 2017-07-05 AU AU2017306320A patent/AU2017306320B2/en active Active
- 2017-07-05 CA CA3032874A patent/CA3032874C/en active Active
- 2017-07-05 WO PCT/CN2017/091781 patent/WO2018024069A1/zh active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2302318A (en) * | 1995-06-14 | 1997-01-15 | Bodenseewerk Geraetetech | Aircraft landing procedure |
CN105000194A (zh) * | 2015-08-13 | 2015-10-28 | 史彩成 | 基于地面合作标志的无人机助降视觉引导方法及机载*** |
CN105151309A (zh) * | 2015-09-18 | 2015-12-16 | 施国樑 | 依靠图像识别定位和降落的无人机 |
CN106143931A (zh) * | 2016-08-04 | 2016-11-23 | 北京京东尚科信息技术有限公司 | 用于引导无人机降落的方法、装置和*** |
Also Published As
Publication number | Publication date |
---|---|
AU2017306320B2 (en) | 2020-07-02 |
US20190168889A1 (en) | 2019-06-06 |
US11383857B2 (en) | 2022-07-12 |
CN106143931A (zh) | 2016-11-23 |
CN106143931B (zh) | 2018-10-02 |
CA3032874C (en) | 2021-10-26 |
AU2017306320A1 (en) | 2019-03-21 |
CA3032874A1 (en) | 2018-02-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2018024069A1 (zh) | 用于引导无人机降落的方法、装置和*** | |
JP7179192B2 (ja) | ロボット支援人員ルーティング | |
US10134293B2 (en) | Systems and methods for autonomous drone navigation | |
JP7199003B2 (ja) | 搬送装置、受信機能付き搬送装置、搬送システム、上位システム、搬送装置の制御方法、及びプログラム | |
US20190367278A1 (en) | System and method for automated product sorting and coordinated delivery using autonomous delivery vehicles within a facility | |
US20200246972A1 (en) | Robot congestion management | |
KR20170110341A (ko) | 무인배송로봇의 사용자 식별을 통한 배송 방법 | |
WO2019169643A1 (zh) | 行李运输方法、运输***、机器人、终端设备及存储介质 | |
JP6556532B2 (ja) | 通信装置、搬送補助具、および搬送システム | |
CN111523835B (zh) | 智能装货方法、装置、***和计算机可读存储介质 | |
EP3903163B1 (en) | Proximate robot object detection and avoidance | |
JP2023134605A (ja) | 搬送システム、制御装置、搬送方法及びプログラム | |
US10445791B2 (en) | Systems and methods for autonomous assistance and routing | |
WO2021039595A1 (ja) | 搬送システム、制御装置、搬送方法、及びプログラム | |
JP2021093024A (ja) | 制御装置、制御装置のプログラム、及び端末装置のプログラム | |
WO2018194903A1 (en) | A hybrid remote retrieval system | |
JP7422326B2 (ja) | 搬送制御方法、プログラム、及び搬送システム | |
WO2021039212A1 (ja) | システム、位置情報管理装置、位置特定方法及びプログラム | |
CN112396503A (zh) | 一种分离式结算***、方法、存储介质及电子设备 | |
CN109858848A (zh) | 一种仓库寻货*** |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17836251 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 3032874 Country of ref document: CA |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2017306320 Country of ref document: AU Date of ref document: 20170705 Kind code of ref document: A |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 23.05.2019) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 17836251 Country of ref document: EP Kind code of ref document: A1 |