Autonomous landing and charging method and system of full-automatic micro quadrotor

Abstract

The invention belongs to the technical field of information processing and control, and discloses an autonomous landing and charging method and system of a full-automatic micro quadrotor. The autonomous landing and charging method of the full-automatic micro quadrotor comprises the following steps: electric quantity pre-warning of the micro quadrotor is carried out, and the micro quadrotor is made to fly to the position above a ground relay station through GPS positioning; a camera shoots the micro quadrotor for background subtraction, positioned catching and tracking of the micro quadrotor; and the micro quadrotor is combined with differential GPS information returned from the ground, the height of the micro quadrotor is read for 3D positioning, and autonomous landing of the micro quadrotor is guided. The method can automatically control taking-off and landing of the micro quadrotor to save the labor force; meanwhile, an opening / closing device and a frame can guarantee no damage of the micro quadrotor in special weathers; taking-off and landing of most traditional inland unmanned aerial vehicles are finished on the ground; and no fixed lifting opening / closing structures can guarantee preservation and stable taking-off of the unmanned aerial vehicles.

Description

technical field [0001] The invention belongs to the technical field of information processing and control, and in particular relates to a method and system for automatic landing and charging of a miniature four-rotor. Background technique [0002] At this stage, there are two major limitations of micro quadrotors: short battery life and high additional labor costs, which fundamentally limit the large-scale use and application fields of micro quadrotors. If the micro-quadrotor can independently find the nearest ground relay station for wireless charging when the battery is in the early warning, and automatically return to the flight line after the charging is completed, and continue to carry out unattended operations, the entire process can be fully automated. In order for the micro-quadrotor to complete wireless charging autonomously, it is necessary to complete the outdoor autonomous landing of the micro-quadrotor. Most commercial drones on the market use GPS for positioni...

AI Technical Summary

Problems solved by technology

[0003] To sum up, the problems existing in the existing technology are: the system composition of the first technology is cumbersome and complicated, and it has a high dependence on the hardware configuration of the UAV, which leads to the high overall cost of the UAV and is difficult to popularize; the second technology is now There are high requirements for the computing power of the UAV system and high power consumption, resulting in a decrease in the endurance of the UAV, which restricts its flight distance and limits the application field

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