Precise landing control method for unmanned aerial vehicle

A control method and UAV technology, applied in the direction of finding the target control, etc., can solve the problems that the UAV landing cannot be accurately controlled, the landing position judgment accuracy is poor, and it is difficult to find the bottom base station, so as to improve stability and reliability Strong, visible light effect with little interference

Inactive Publication Date: 2016-10-12
南京奇蛙智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a precise landing control method for unmanned aerial vehicles, which solves the technical problems in the prior art that the landing of automatic flying unmanned aerial vehicles cannot be accurately controlled, it is difficult to find base stations on the bottom surface, and the accuracy of landing position judgment is poor

Method used

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  • Precise landing control method for unmanned aerial vehicle

Examples

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Effect test

Embodiment 1

[0044] Such as figure 1 As shown, the control method for the precise landing of the UAV, the UAV includes a flight control system, a camera, and a positioning module, and the flight control system is electrically connected to the camera and the positioning module; the main frequency of the central processor of the flight control system is 1.2 Above GHz, the drone hovers in the air to find a base station that can be landed among the multiple base stations on the ground, and lands accurately. The control method includes the following steps:

[0045] Step 1, the UAV executes the command to prepare for landing, and the command is sent by the aircraft control system or the remote control device on the ground;

[0046] Step 2: The UAV starts to circle around to find the base station, shoots the base station through the camera, and transmits the captured image to the UAV control system; each base station is provided with multiple signal transmitters, and the images captured by the ca...

Embodiment 2

[0065] In this embodiment, in the third step, the captured image is denoised by first corroding and then dilating the image. The denoising process can reduce the influence of other interference factors on the UAV's judgment of the reliability of the base station. Other steps are the same as in Example 1.

Embodiment 3

[0067] In this embodiment, the pattern recognition of suspicious points in step 3 is to judge whether the flickering frequency of the infrared signal sent by the suspicious point is the same as the preset signal flickering frequency in the UAV flight control system: when the infrared signal sent by the suspicious point If the signal flashing frequency is different from the preset signal flashing frequency in the UAV flight control system, it means that the base station is a non-landing base station, and go to step 2; If the preset signal flashing frequency in the system is the same, then these suspicious points will be marked as target points, and a landing request will be sent to the base station. Other steps are the same as in Embodiment 1 or 2.

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Abstract

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.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and in particular relates to a precise landing control method of an unmanned aerial vehicle. Background technique [0002] With the development of science and technology, unmanned aerial vehicles are more and more favored by the public and applied in many fields. In the existing technology, the flight of unmanned aerial vehicles must be controlled by professional operators using control equipment, whether it is long-distance or short-distance , this kind of unmanned aerial vehicle has a low degree of intelligence, but in some dangerous application fields, such as the detection of certain gas or liquid leakage in some large chemical plants and storage bins, the unmanned aerial vehicle needs to automatically take off, perform tasks, Automatically land to complete the mission. At present, the landing of automatic flying drones cannot be precisely controlled, it is difficult ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 雷增荣段文博郭力高月山张伟
Owner 南京奇蛙智能科技有限公司
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