A UAV landing method based on visual positioning of the landing end

A visual positioning and drone technology, applied in computer parts, three-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problem of not being able to land multiple aircraft at the same time, and achieve the effect of good promotion prospects

Active Publication Date: 2019-02-15
西安因诺航空科技有限公司
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, the above landing sites are often only designed for one aircraft, and it is impossible to land multiple aircrafts at the same time, and the UAV can only perform relative positioning on itself when it reaches a small range above the landing site

Method used

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  • A UAV landing method based on visual positioning of the landing end
  • A UAV landing method based on visual positioning of the landing end
  • A UAV landing method based on visual positioning of the landing end

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Embodiment Construction

[0045] In accordance with the above technical solution, as shown in the accompanying drawings, the present invention provides a method for landing a drone based on visual positioning of the landing end, including the following steps:

[0046] Step 1: Build a Drone Airport

[0047] The UAV airport of the present invention is made up of a plurality of Markers (other iconic landmarks can also be used), and each parking stand Marker has distinctive features, and can carry out binary coding through light and dark stripes, and can Obtain its ID information; the UAV obtains the parking position Marker in the field of view through the airborne image device, calculates and verifies the ID of each parking position Marker through binary coding, and performs fitting with the corresponding three-dimensional point in the global coordinate system Compute pose to get a good estimate of your own position for precise landing.

[0048]The parking position Marker is a square structure composed o...

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Abstract

The invention discloses a UAV landing method based on visual positioning landing end. The UAV airport used in the method is composed of a plurality of parking stand Markers, and the UAV obtains the Markers in the visual range through a visual module and Verify the ID of each Marker within the visual range, so as to estimate the precise landing of its own position. The UAV airport provided by the present invention can provide landing services for multiple different UAVs, and can also provide stand-alone docking platforms on various small platforms such as roofs and balcony lights. Fully autonomous flight and landing in aircraft dispatching has a good promotion prospect.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to a method for landing an unmanned aerial vehicle based on visual positioning of a landing end. Background technique [0002] In recent years, due to its small size, light weight, and good concealment, micro-UAVs have been widely used in various fields such as photography, monitoring, investigation, tracking, and mapping, and opened the era of UAV technology explosion. The new requirements for the use of civilian drones such as the recycling of shooting equipment by tiny platforms (such as car roofs) during dynamic tracking and shooting, and the fixed-point delivery of items in the express industry, all pose new challenges to the automatic landing technology of micro-UAVs. [0003] At the 2016 International Consumer Electronics Show (CES), the new drones exhibited by well-known drone companies such as DJI, Zero, and Yihang all use automatic landing of drones...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/32G05D1/10
CPCG05D1/101G06V10/245
Inventor 布树辉杨君赵勇张臻炜
Owner 西安因诺航空科技有限公司
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