228results about How to "Precision landing" patented technology

The invention discloses a multi-rotor unmanned aerial vehicle (UAV) pose acquisition method based on markers in shape of a large and a small square. The method is as below: first determining target markers based on the relative height of the UAV and the markers, wherein the markers comprise a small square and a large square with side length 10 times of that of the small square; second, according to the determined target markers, establishing a relationship model between a CCD camera of the UAV and the target markers; and finally, according to the established model, employing a direct linear transformation method to obtain an azimuth angle of the UAV and location information of the UAV at the corresponding time. The method can accurately obtain the pose of the UAV.

The invention discloses a quick charging system for an unmanned aerial vehicle and a charging method thereof, wherein the quick charging system and the charging method belong to the field of unmanned aerial vehicle charging. The quick charging system for the unmanned aerial vehicle comprises a supporting module, a positioning module and a charging module. The supporting module is used for assisting the unmanned aerial vehicle body in landing and supporting the unmanned aerial vehicle body. The positioning module is used for performing return positioning on the unmanned aerial vehicle body so that the unmanned aerial vehicle body lands on the supporting module. The charging module is used for controlling a charging process. The charging method according to the quick charging system comprises an unmanned aerial vehicle body returning step, an image acquiring and positioning step, a quick landing step, a charging step, etc. The charging process comprises three periods, namely pre-charging, multi-step constant-current charging and pulse charging. According to the quick charging system, the supporting module is combined with other modules for forming a complete charging system, so that the unmanned aerial vehicle body can accurately and quickly land on the supporting module, thereby greatly improving charging efficiency and realizing high autonomy and convenient use.

The present invention provides a cargo transport system and method based on an UAV. The cargo transport system includes an UAV (50) and a vehicle (10) that can send and receive the UAV, so that cargos can be transported between the vehicle (10) and another terminal (60) by the UAV (50); the UAV (50) is provided with a navigation system that guides the UAV (50) to fly between the vehicle (10) and the another terminal (60); the vehicle (10) includes: an UAV accommodating device (40) arranged at a top surface of the vehicle (10); an UAV sending controller (20) and an UAV receiving controller (30), which are arranged at the vehicle (10); and the UAV receiving controller (30) includes an identity verification unit (301) and a short distance guide unit (302). According to the cargo transport system based on an UAV of the present invention, the sending and receiving of the UAV (50) can be controlled by the vehicle (10), and the UAV (50) is accommodated in the UAV accommodating device (40). In addition, the vehicle (10) may also provide the identity verification information and the short distance guide information to the UAV (50) by the identity verification unit (301) and the short distance guide unit (302), so that the UAV (50) can determine a target vehicle and accurately land on the target vehicle.

The invention discloses an autonomous landing visual positioning system for an unmanned aerial vehicle. When the unmanned aerial vehicle is close to a landing point and enters an effective range, the relative position and attitude between the unmanned aerial vehicle and the landing point can be accurately estimated by virtue of visual computation and transmitted to a control mechanism of the unmanned aerial vehicle, so that the unmanned aerial vehicle is guided to accurately land to a designated place. The autonomous visual positioning system for the unmanned aerial vehicle, provided by the invention, comprises an unmanned aerial vehicle body, a GPS receiver and an inertia measurement device arranged on the unmanned aerial vehicle body, and an embedded image computer, wherein a photoelectric reconnaissance platform is arranged at the bottom of the unmanned aerial vehicle body; a first camera and a second camera are arranged on the photoelectric reconnaissance platform; the embedded image computer is respectively connected with the first camera and the second camera and is also connected with a flight control computer; and the flight control computer is respectively connected with the GPS receiver and the inertia measurement device.

The invention provides a control method of accurate landing of an unmanned aerial vehicle. The control method is used for controlling the unmanned aerial vehicle to reach a present landing point. The control method is characterized by comprising the following steps that 1 a sound source is placed at the landing point, regular-tetrahedron-shaped microphone arrays are placed on the unmanned aerial vehicle and a signal amplification circuit and a filtering circuit are arranged at the signal output end of each microphone; 2 GPS navigation is used for controlling the unmanned aerial vehicle to reach the range which is ten meters away from the landing point; 3 a processor on the unmanned aerial vehicle is used for calculating delay generated when sound source signals reach the second microphone, the third microphone, the fourth microphone and the first microphone; 4 the yaw angle and the pitch angle of the unmanned aerial vehicle are calculated through the processor according to the spatial geometric relationship of the sound source and the microphone arrays and delay values; 5 the unmanned aerial vehicle is navigated to the position over the landing point according to the yaw angle and the pitch angle; 6 an air pressure height sensor is used for enabling the unmanned aerial vehicle to be landed at the landing point accurately.

The invention discloses a flight control system and method for ship-borne unmanned aerial vehicle autonomous landing. The method comprises the steps that the precise height of an unmanned aerial vehicle can be obtained through data fusion of a laser height sensor and an atmospheric pressure altimeter, the relative positions of the unmanned aerial vehicle and a ship-borne platform can be obtained through a differential GPS, the ship-borne flight control system can work out the size of a flapped foil, the size of an elevator, the size of an accelerator and the size of a rudder according to the information and the expected flight path of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to land according to the preset track. According to the control scheme, the height of the unmanned aerial vehicle can be obtained through data fusion of the laser height sensor and the atmospheric pressure altimeter; compared with a traditional atmospheric pressure altimeter, the height is measured more rapidly and more accurately; compared with a traditional single-input and single-output controller, a total energy control system with pitch angle negative feedback is adopted for the flight control law, and the height and the speed are more precisely controlled; compared with a total energy control system with no pitch angle negative feedback, the flight control system has the advantages that the glide and landing attitudes of the unmanned aerial vehicle can be controlled, and the flight safety of the unmanned aerial vehicle is ensured.

The invention discloses a UAV (unmanned aerial vehicle) landing method and system. The method comprises steps as follows: the flight height of a UAV is acquired; a template image corresponding to the flight height is acquired according to the flight height of the UAV; a scene picture is shot by a camera device of the UAV, and the shot picture is acquired; the shot picture is matched with the template image corresponding to the flight height, and the position where the UAV deviates from the target landing site is obtained; the UAV is controlled to fly to the target landing site on the basis of the position where the UAV deviates from the target landing site and controlled to land at the target landing site. By means of the UAV landing method and system, the UAV accurately lands without GPS positioning or position estimation.

The invention belongs to the technical field of vehicle-mounted retracting equipment for an unmanned aerial vehicle, and particularly relates to a vehicle-mounted taking off and landing platform for the unmanned aerial vehicle. The vehicle-mounted landing platform comprises a bracket connected with a roof rack, and the bracket is provided with an unmanned aerial vehicle retracting mechanism, a battery replacing mechanism and a control mechanism correspondingly; the unmanned aerial vehicle retracting mechanism comprises an unmanned aerial vehicle accommodating bin disposed above the bracket, a slide rail is fixedly arranged at the top end of the side wall of the unmanned aerial vehicle accommodating bin, a slide cover for covering an opening of the unmanned aerial vehicle accommodating bin is arranged on the slide rail, and the slide cover is driven by a motor to slide; a bottom plate is arranged at the bottom of the unmanned aerial vehicle accommodating bin, and an electromagnet for absorbing the bracket of the unmanned aerial vehicle is arranged in the middle of the bottom plate; the battery replacing mechanism is located below the unmanned aerial vehicle accommodating bin; and the control mechanism comprises a microprocessor, and a GPS module and a radio wave transmitting module which are electrically connected with the microprocessor. The vehicle-mounted taking off and landing platform for the unmanned aerial vehicle is smooth in the unmanned aerial vehicle taking off and landing, and accurate in positioning and quick in battery replacing.

The invention relates to a UAV image-guided landing method of an unmanned ship shipborne platform. An UAV is provided with an airborne controller and an image scanner which are connected with each other, the image scanner is arranged at the bottom part of the UAV, an unmanned ship is provided with a shipborne controller and an image display screen which are connected with each other, the image display screen is arranged on the shipborne platform, the airborne controller and the shipborne controller can exchange information, and when the airborne controller receives an automatic landing instruction, accurate landing of the UAV on the unmanned ship shipborne platform is achieved through adopting the image-guided landing method. The UAV image-guided landing method can overcome waggle of the unmanned ship shipborne platform, and guide the UAV to land in a target region safely and reliably.

The invention discloses a complete autonomous super remote distance flight system for an unmanned plane, and a control method thereof. The complete autonomous super remote distance flight system for an unmanned plane includes an unmanned plane and a plurality of charging base stations. The control method of the complete autonomous super remote distance flight system includes the steps: 1) when battery capacity is less than 10%, a flight control system determines the charging base station being nearest to the unmanned plane; 2) the flight control system controls the vertical height between the unmanned plane and the charging base station within the range of h-H meter, and a camera shoots the charging base station; 3) the flight control system performs RGB identification on the shot image, and capturing a landing point; 4) the flight control system controls the unmanned plane to land, and exchanges the battery, and then controls the unmanned plane to take off again; and 5) the step 1 to the step 4 are repeated until super remote distance flight is completed. During the flying process of the unmanned plane, the flight control system monitors the battery capacity in real time, and when the battery capacity is less than 10%, the unmanned plane selects the nearest charging base station to land, and then the battery is exchanged so that super remote distance flight of the unmanned plane is realized. For the complete autonomous super remote distance flight system for an unmanned plane and the control method thereof, a solar cell panel is utilized to charge the battery, so that the complete autonomous super remote distance flight system for an unmanned plane and the control method thereof use green energy and are environmentally friendly.

The invention discloses a wireless ultraviolet light-based helicopter landing boosting system. The system comprises an emission end and a receiving end; the emission end and the receiving end are communicated by an atmosphere channel; the emission end is arranged at the floor of a landing field; voice data image input equipment is integrated in the emission end and is connected with a coder; the coder is in control connection with an ultraviolet LED (light emitting diode) light source by a driving circuit; the receiving end is mounted on a helicopter and comprises a photoelectric detector connected with a photoelectric converter; the photoelectric converter is connected with voice data image output equipment by a decoder. The wireless ultraviolet light-based helicopter landing boosting system and landing boosting method have the advantages of strong antijamming capability, good hidden performance, portability, wide view field receiving and the like by using the ultraviolet communication technology, and can perform all weather operation.

The invention provides a parachute fixed-wing unmanned aerial vehicle (UAV) autonomous fixed-point recovery method comprising the following steps: setting a recovery point and a recovery course, and judging whether the setting has recovery conditions; when autonomous recovery is needed, generating an approach descending route and making an aircraft fly along the approach descending route; generating a recovery route, and making the aircraft fly along the recovery route; correcting the recovery route according to the measured wind speed and direction on the aircraft, and making the aircraft fly along the corrected recovery route; and finally, making an engine stop and opening a parachute when the aircraft approaches the recovery point. By adopting the method of the invention, the procedure of aircraft recovery operation is simplified greatly, the operating burden of UAV operators is lightened, the autonomy of UAVs is enhanced, and the dependence of UAVs on communication conditions is reduced.

The invention discloses a precise landing control method for an unmanned aerial vehicle. The method comprises the steps that 1, the unmanned aerial vehicle executes landing preparing; 2, the unmanned aerial vehicle starts hovering and shoots a base station through a camera; 3, an unmanned aerial vehicle control system conducts denoising processing and binarization processing on a shot image, a central point is determined by adopting a central method, when the central point is marked as a suspicious point, mode recognition is conducted on the suspicious point, and when mode matching is successful, an unmanned aerial vehicle flying control system controls the unmanned aerial vehicle to land; 4, in the landing process of the unmanned aerial vehicle, the flying control system controls the flying attitude of the unmanned aerial vehicle according to the offset; 5, the unmanned aerial vehicle precisely lands on the base station for landing. According to the method, an influence of interference factors on base station seeking is reduced by adopting denoising processing, binarization processing and mode recognition, and the control precision is high; in the landing process of the unmanned aerial vehicle, the flying attitude of the unmanned aerial vehicle is adjusted in real time, and it is guaranteed that the unmanned aerial vehicle precisely lands on the base station.

The invention belongs to the technical field of unmanned planes, in particular to an automatic landing system for an unmanned plane. The system comprises the unmanned plane and a landing platform comprising a ground wireless communication unit, a plurality of ultrasonic emission probes and supersonic wave pulse signal control units. The unmanned plane comprises an airborne radio communication unit, a supersonic wave reception probe, a supersonic wave signal processing unit and a flight control unit.The invention further provides an automatic landing method of the unmanned plane. The automatic landing system and method for the unmanned plane have following beneficial effects: by guiding of the multiple ultrasonic emission probes on the landing platform, the unmanned plane can precisely land with stable performance and high anti-interference capability by adoption of the principle that ultrasonic wave transmission speed is far lower than radio propagation speed.

The invention relates to a novel thin-interbedded horizontal well landing geosteering method. The horizontal well landing geosteering method includes the following steps: (1) constructing a horizontal well landing geosteering comparison model; (2) vertically correcting an LWD (Logging While Drilling) curve of a curve section; (3) carrying out error judgement and determining structure errors in real time by means of the fine comparison of the landing geosteering comparison model; and (4) determining a trajectory adjustment according to the structure errors scheme. The method realizes the transformation from conventional mark comparison to digitalized continuous comparison, and has the dual characteristics of real-timeliness and accuracy; and the digitized comparison profile of a landing section is established before drilling, the LWD curve is digitized in real time in the process of landing, and is finely compared with the profile after the vertical depth is corrected, the structure is corrected in real time, a result is judged according to the structure errors, the trajectory design is updated in real time, and thereby accurate landing can be realized.

The invention discloses a helicopter guiding system based on wireless ultraviolet light and multi-dimensional codes. The helicopter guiding system comprises four emitting ends and four corresponding receiving ends based on the wireless ultraviolet light and the multi-dimensional codes, and all the emitting ends and the receiving ends communicate correspondingly through atmosphere channels. The invention further discloses a helicopter guiding method based on the wireless ultraviolet light and the multi-dimensional codes. According to the helicopter guiding device and method, the ultraviolet light is used for positioning and guiding in the landing process of a helicopter, the ground gradient, wind speed, the wind direction, ground constitution, barriers and other environment information are sent to a helicopterist through the portable emitting ends to help the helicopter to land smoothly, the limitation that landing conditions are judged only by the helicopterist in the air through the eyes is broken through, a guarantee is added for safe landing of the helicopter, and the helicopterist is helped to safely and accurately land the helicopter under complex environment conditions.

The invention discloses a parachuting method and device of an unmanned aerial vehicle. The method comprises the steps of detecting the current wind speed and the current wind direction of the current environment of the unmanned aerial vehicle when the unmanned aerial vehicle enters a parachute opening zone; controlling the unmanned aerial vehicle to fly in the parachute opening zone according to the preset airline, flying height and flying speed, wherein the flying direction of the unmanned aerial vehicle in the airline is opposite to the current wind direction; determining the location of a parachuting point of the unmanned aerial vehicle, wherein the location of the parachuting point of the unmanned aerial vehicle is a preset landing location of the unmanned aerial vehicle; determining the parachute opening location of the unmanned aerial vehicle according to the current wind speed, the flying height, the flying speed and the location of the parachuting point; opening the parachute of the unmanned aerial vehicle when the unmanned aerial vehicle arrives at the parachute opening location. With the adoption of the method and the device, the problem that the unmanned aerial vehicle cannot accurately land in a preset zone can be solved, and the effect that the unmanned aerial vehicle accurately lands in the preset zone can be achieved.

The invention discloses an unmanned aerial vehicle precise landing method integrating H pattern recognition and AprilTag two-dimensional code recognition. The method comprises the steps: making a target recognition image which comprises a two-dimensional code label and a target graph, and setting the target recognition image at a target landing point; controlling the unmanned aerial vehicle to stop above the target landing point, and adjusting the camera to a downward vertical direction to enable the target recognition image to appear in the view field range of the camera; and before and afterthe unmanned aerial vehicle lands to a specified height, respectively identifying the offset of the unmanned aerial vehicle relative to the target graph and the two-dimensional code label, judging whether the offset meets a preset error range value or not, adjusting the horizontal distance and the positive direction angle, and executing landing to a target landing point. Performance balance during image recognition is guaranteed, the influence of wind disturbance is avoided during landing, and high precision, stability and reliability of the whole landing process are guaranteed.

The invention belongs to the distance measurement navigation application and unmanned plane technology field and discloses a self-driving tour control system and method based on an unmanned plane. The system comprises a user terminal, a vehicle roof rising and landing platform and an unmanned plane terminal. According to the system, unmanned plane high precision position determination is realized through multi-point optimization configuration UWB high precision distance measurement, an unmanned plane docking platform is constructed, autonomous docking of the unmanned plane is realized, and autonomous flight is further realized; based on the docking platform, intercommunication between the platform and a handset is further realized, and intercommunication of data and images acquired by the unmanned plane with the user handset is realized; through a connection function between the platform and the handset, accurate landing, cruising and destination picture taking of the unmanned plane can be accurately commanded by a user through a handset map; autonomous charging of the unmanned plane can be realized through platform docking. The system is advantaged in that the required equipment volume is smaller, mass is lighter, power consumption is lower, improvement of travel experience of a driver can be facilitated, and self-driving tour contents are enriched.