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A method and device for measuring the flight speed of an unmanned aerial vehicle

A technology of flight speed and measurement method, applied in the field of unmanned aerial vehicles, can solve the problems of slow image movement, slow calculation speed, and inability to calculate flight speed, etc., to achieve the effect of improving measurement accuracy and calculation speed, and improving measurement accuracy

Active Publication Date: 2019-11-01
SHANGHAI TOPXGUN ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the existing technology, the block matching method can only measure the accuracy of one pixel at least, and the actual flight speed cannot be calculated when the drone is moving at a low speed; the pyramid optical flow algorithm is suitable for small movements, and the image changes over time. The movement is relatively slow. When the drone moves at a high speed, the calculation speed is slow, and the speed measurement range is small, which cannot meet the actual application situation

Method used

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  • A method and device for measuring the flight speed of an unmanned aerial vehicle
  • A method and device for measuring the flight speed of an unmanned aerial vehicle
  • A method and device for measuring the flight speed of an unmanned aerial vehicle

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Embodiment 1

[0066] figure 1 It is a flow chart of a method for measuring the flight speed of a drone provided by Embodiment 1 of the present invention. It should be noted that if there are substantially the same results, the method of the present invention does not figure 1 The flow sequence shown is limited. Such as figure 1 As shown, the method specifically includes:

[0067] S110: Obtain image information, and perform grayscale processing to obtain an image grayscale image.

[0068] Wherein, the real-time image information of the ground is acquired by the image sensor, and the acquired real-time image information is grayscaled to obtain continuous image grayscale images.

[0069] S120: Obtain the optical flow velocity by using the pyramid optical flow algorithm, and acquire the flight speed of the drone according to the optical flow velocity and the height data of the drone.

[0070] It should be noted that the pyramid optical flow algorithm connects the two-dimensional velocity ...

Embodiment 2

[0132] Due to the large amount of calculation of the pyramid optical flow algorithm, the image frequency or processor will also affect the speed at which the pyramid optical flow algorithm obtains the optical flow velocity. When the frequency reaches a certain threshold, the delay of the optical flow velocity calculated by the pyramid optical flow algorithm will be longer, and the calculation speed will be slower. In the absence of GPS, when relying on the flight speed to achieve the positioning of the drone, the delay will be long, which will seriously affect the positioning accuracy of the drone.

[0133] In view of the above problems, this embodiment proposes the following solution on the basis of Embodiment 1, Figure 7 A flow chart of a method for measuring the flight speed of a drone provided in Embodiment 2 of the present invention, specifically including:

[0134] Obtain image information, and perform grayscale processing to obtain image grayscale images;

[0135] Ob...

Embodiment 3

[0163] This embodiment provides a measuring device for the flying speed of a drone, including:

[0164] an image sensor for acquiring images;

[0165] Altitude sensor, used to collect the altitude data of the UAV;

[0166] A processor is electrically connected to the image sensor / the gyroscope and the altimeter, and the processor is used to execute computer instructions to grayscale the image information acquired by the image sensor to obtain image grayscale In the figure, the optical flow velocity is obtained by using the pyramid optical flow algorithm, the flight speed of the drone is obtained according to the optical flow velocity and the height data of the drone, the grayscale image of the image is updated, and at the same time, it is judged whether the flight speed is greater than the first threshold , when the flight speed is greater than the first threshold, switch to the block matching optical flow algorithm to obtain the optical flow speed, otherwise, continue to use...

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Abstract

The invention relates to the technical field of unmanned aerial vehicles (UAV), and specifically to a method for measuring the flight speed of a UAV. The method includes the steps of S1, acquiring image information, and performing grayscale processing to acquire an image grayscale map; S2, acquiring the optical flow speed using a pyramid optical flow algorithm, and acquiring the flight speed of a UAV according to the optical flow speed and height data of the UAV; S3, updating the image grayscale map and meanwhile, judging whether the flight speed is greater than a first threshold; S4, when the flight speed is greater than the first threshold, transforming to a block matching optical flow algorithm to acquire the optical flow speed, and otherwise, continuing with the pyramid optical flow algorithm to acquire the optical flow speed; S5, acquiring the flight speed of the UAV according to the optical flow speed in the step S4 and the height data of the UAV; and S6, repeating the steps S3 to S5. In this way, the method of the invention can improve the accuracy and precision of the measurement of the flight speed for the UAV and the calculating speed.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and device for measuring the flight speed of an unmanned aerial vehicle. Background technique [0002] UAV is an unmanned aircraft operated by radio remote control equipment and self-contained program control device. In general, the combination of GPS positioning system and inertial measurement system is used to realize the flight control of UAV. In the absence of GPS, it is necessary to obtain the flight speed of UAV to control the flight state of UAV. [0003] At present, in the absence of GPS, the camera installed at the bottom of the drone is used to collect image data, and then the pyramid optical flow algorithm or block matching optical flow algorithm is used to calculate the motion vector of the two frames of images, and then the optical flow velocity is obtained, and finally according to The altitude measurement sensor can obtain the altitude an...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/246G01P3/36
CPCG01P3/36G06T2207/20016
Inventor 尹亮亮薛全华李少斌张羽
Owner SHANGHAI TOPXGUN ROBOT CO LTD