Method for safe landing area searching of mini-type unmanned autogyro through adoption of monocular focus-adjustable liquid state lens

A technology for autogyro and safe landing, applied in the field of unmanned aerial vehicles, can solve problems such as damage of unmanned aerial vehicles, and achieve the effects of fast focusing speed, simple structure, and simple and effective algorithm implementation.

Active Publication Date: 2017-12-05
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The stability and adaptability of UAV landing are always important indicators for UAV performance evaluation. Landing stability plays a key role in the loss and service life of UAV. Landing on uneven ground will make UAV The fuselage and propeller hit the ground and caused damage to the drone

Method used

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  • Method for safe landing area searching of mini-type unmanned autogyro through adoption of monocular focus-adjustable liquid state lens
  • Method for safe landing area searching of mini-type unmanned autogyro through adoption of monocular focus-adjustable liquid state lens
  • Method for safe landing area searching of mini-type unmanned autogyro through adoption of monocular focus-adjustable liquid state lens

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Experimental program
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Effect test

Embodiment 1

[0030] see figure 1 ~ image 3 , the method for finding a safe landing area with a monocular electric adjustable focus liquid lens for a small unmanned autogyro is characterized in that it uses an airborne camera equipped with a monocular electric adjustable focus liquid lens to solve the problem of discriminating and selecting when the rotorcraft lands. The problem of landing in a flat area, to avoid landing on an uneven ground will cause the drone's fuselage and propeller to touch the ground and cause damage to the drone; the implementation steps are as follows:

[0031] (1) Obtain the sharpness values ​​of the four areas of the surface collected by the lens at each focal length: the autonomous landing drone hovers at an appropriate distance over the candidate landing area, and the field of view of the liquid adjustable focus lens is divided into upper left and lower left , upper right, and lower right areas, collect images and use the sharpness evaluation function to eval...

Embodiment 2

[0034] This embodiment is basically the same as Embodiment 1, and the special case is as follows:

[0035] The steps (1) to obtain the sharpness values ​​of the four areas of the surface photos collected by the lens at each focal length are as follows:

[0036] (1-1) When the small unmanned autogyro completes a specific task and prepares to land, it hovers within 1 to 3 meters above the alternative landing ground;

[0037] (1-2) Monocular liquid focusable lens collects one frame of surface image;

[0038] (1-3) Using the image segmentation algorithm in the image pixel resolution ( ) width and middle point, divide the image into four areas A, B, C, and D symmetrically;

[0039] (1-4) Use the sharpness evaluation function to calculate the sharpness values ​​of the current A, B, C, and D four area surface images respectively, and save the current value of the current lens drive and the sharpness values ​​​​of the four areas correspondingly ;

[0040] (1-5) Change the driving...

Embodiment 3

[0048] An embodiment of the present invention provides a method for finding a suitable landing area with a monocular electric adjustable focus liquid lens for a small unmanned autogyro, including:

[0049] see Figure 3a ,

[0050] 10: Obtain the sharpness values ​​of the four areas of the surface photos collected by the lens at each focal length.

[0051] include:

[0052] 101: The self-landing UAV hovers at an appropriate distance (1-3 meters) above the candidate landing area, and divides the field of view of the liquid adjustable focus lens into four areas: A, B, C, and D;

[0053] Wherein, the specific implementation 101 includes: the UAV hovers in the air at a proper distance. It is to provide a unified environmental condition for traversing the focal length of the lens to obtain the image sharpness value later.

[0054] 102: Traverse the focal length of the liquid adjustable focus lens, collect a frame of ground surface image at each focal length, divide the image in...

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Abstract

The present invention relates to a method for safe landing area searching of a mini-type unmanned autogyro through adoption of a monocular focus-adjustable liquid state lens. The realization operation steps comprise: (1) an autonomous landing unmanned aerial vehicle is hovered at a proper distance above an alternative landing area, the liquid state focus-adjustable lens view field is divided into an upper left area, a lower left area, an upper right area and a lower right area, images are collected and a sharpness evaluation function is employed to perform evaluation of the sharpness values of the images of the four areas, the focal length of the lens is traversed, driving current corresponding to different lens focal lengths and image sharpness values of the corresponding four areas are stored and recorded; and (2) data stored in the step (1) is inquired, a current value corresponding to the maximum value of the sharpness of the four areas is compared so as to determine whether a selected area is suitable for landing or not. The method employs a monocular focus-adjustable liquid state lens, is simple in structure, small in power consumption, fast in focusing speed and simple and effective of the realization of the algorithm. The method provided by the invention can satisfy the searching of a proper landing area in the autonomous landing process of the mini-type unmanned autogyro.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, especially a method for finding a safe landing area with a monocular adjustable focus liquid lens for a small unmanned autogyro, focusing on judging the ground tilt based on the visual information of the monocular adjustable focus liquid lens Choose a suitable surface area for landing. technical background [0002] Due to its simple structure, flexible control, and the ability to move freely in space and hover stably, small rotorcraft are widely used in aerial photography, detection, surveying and mapping, and plant protection. The stability and adaptability of UAV landing are always important indicators for UAV performance evaluation. Landing stability plays a key role in the loss and service life of UAV. Landing on uneven ground will make UAV The fuselage and propeller hit the ground and caused damage to the drone. Therefore, in order for the UAV to achieve autonomous landing...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00H04N5/232
CPCG06V20/10H04N23/67
Inventor 李恒宇袁泽峰程洪涛谢少荣罗均
Owner SHANGHAI UNIV
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