Screening method for autonomous landing candidate area of ​​unmanned aerial vehicles in complex scenes without preset targets

A technology for complex scenes and candidate areas, applied in scene recognition, computer parts, instruments, etc., can solve problems such as not being widely popularized and reducing the flexibility of autonomous landing of UAVs
CN108256491BActive Publication Date: 2020-08-04NORTH CHINA UNIVERSITY OF TECHNOLOGY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NORTH CHINA UNIVERSITY OF TECHNOLOGY
Publication Date
2020-08-04

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Abstract

The present invention proposes a screening method for autonomous landing candidate areas of unmanned aerial vehicles in complex scenes without preset targets. The method processes the images collected in real time in the landing area. Firstly, the flatness calculation of the landing field of view based on the gradient modulus is performed on the collected images, and then the flattened area is used as the basis for processing to realize the preliminary generation of landing candidate areas. Then, comprehensively use the color tone and high confidence of the candidate area to make a comprehensive judgment on the preliminary candidate area and screen the landing candidate area. This method has good adaptability to complex scene areas, does not depend on the pre-laying of targets, is weakly dependent on the landing environment, and has good universality. In addition, the candidate area automatically screened by this method will usually include several landing areas, which can realize the maximum simultaneous autonomous landing of multiple targets under cluster conditions, and has regional adaptability, which greatly improves the autonomous landing of UAVs. Scope of application and degree of automation.
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Description

technical field

[0001] The invention belongs to the application field of image processing drones. It involves an efficient and reliable screening method for UAV autonomous landing candidate areas based on image processing without preset targets. Background technique

[0002] At present, drones play a very important role in various military and civilian fields. The main applications in the civilian field include: environmental monitoring, express delivery, film and television shooting, post-disaster rescue, remote sensing mapping, agricultural plant protection, etc. The main applications in the military field include: combat material delivery, battlefield search and rescue, reconnaissance and early warning, tracking and positioning, etc. In autonomous UAV missions, autonomous landing has become one of the research hotspots. Autonomous landing is one of the key technologies to realize fully autonomous flight of the above applications and improve work efficiency.

[0003] Ho...

Claims

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