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Unmanned aerial vehicle autonomous landing method used for tilted non-stationary platform

A UAV, non-stationary technology, applied in non-electric variable control, instrument, attitude control, etc., can solve problems such as rollover and damage, and achieve the effect of avoiding collision

Inactive Publication Date: 2018-09-14
HARBIN INST OF TECH AT WEIHAI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the unmanned aerial vehicle will roll over and be damaged when it lands on an inclined non-stable platform by using the existing landing method, and provides a method for autonomous landing of the unmanned aerial vehicle on an inclined non-stable platform

Method used

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  • Unmanned aerial vehicle autonomous landing method used for tilted non-stationary platform
  • Unmanned aerial vehicle autonomous landing method used for tilted non-stationary platform
  • Unmanned aerial vehicle autonomous landing method used for tilted non-stationary platform

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specific Embodiment approach 1

[0016] Specific implementation mode one: the following combination figure 2 Describe this embodiment, the autonomous landing method of the unmanned aerial vehicle for tilting non-stationary platform described in this embodiment, the autonomous landing method is:

[0017] Spray or paste a specific pattern logo on the landing field, which is a specific pattern that can reflect the pitch angle information of the landing field after image collection and processing;

[0018] Add image acquisition devices and processors to drones;

[0019] The image acquisition device obtains the pattern identification of the landing field, and sends the collected image to the processor, and the processor obtains the pitch angle data of the UAV relative to the landing field according to the image perspective information, and the UAV dynamically adjusts the flight in real time according to the pitch angle data Attitude, make the landing gear parallel to the landing field, repeat the process until t...

specific Embodiment approach 2

[0021] Specific implementation mode two: the following combination image 3 , Figure 4 and Figure 5 Describe this embodiment. This embodiment will further explain Embodiment 1. After image acquisition and processing, the specific patterns that reflect the pitch angle information of the landing field include nested circles, nested squares, and mixed nested circles and squares. .

[0022] In this embodiment, the specific patterns that can reflect the pitch angle information of the landing site after image collection and processing are not only nested circles, nested squares, and mixed nested circles and squares, but also such patterns .

specific Embodiment approach 3

[0023] Specific implementation mode three: the following combination figure 2 This embodiment will be described. This embodiment will further describe Embodiment 1. The image acquisition device is installed vertically downward on the drone.

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Abstract

The invention relates to an unmanned aerial vehicle autonomous landing method used for a tilted non-stationary platform and belongs to the technical field of unmanned aerial vehicles. The problem is solved that unmanned aerial vehicles can fall laterally and be damaged when landing on tilted non-stationary platforms according to existing landing methods. The autonomous landing method specificallyincludes the steps of spraying or pasting specific pattern marks on a landing field, wherein the pattern marks are specific patterns capable of reflecting pitch angle information of the landing fieldafter images are collected and processed; additionally arranging an image collecting device and a processor on an unmanned aerial vehicle; obtaining the pattern makers of the landing field through theimage collecting device, sending the collected images to the processor, obtaining pitch angle data of the unmanned aerial vehicle relative to the landing field through the processor according to image perspective information, dynamically adjusting the flight attitude in real time through the unmanned aerial vehicle according to the pitch angle data to make a landing frame parallel to the landingfield, and repeatedly executing the processes until the unmanned aerial vehicle is steadily landed. The method is used for landing of the unmanned aerial vehicles.

Description

technical field [0001] The invention relates to an autonomous landing method for an unmanned aerial vehicle facing an inclined non-stationary platform, and belongs to the technical field of unmanned aerial vehicles. Background technique [0002] With its excellent maneuverability, drones play an important role in many industries and fields. UAVs are most prone to accidents during the landing phase, and autonomous landing technology has become the key to UAV control technology. [0003] The existing UAV autonomous landing generally faces the land and other horizontal landing fields, and realizes landing with a stable horizontal plane as the reference. Under many special conditions, drones need to land on inclined and non-stable platforms, such as ships, ocean floating platforms, sloped roofs, hillsides, etc. [0004] Taking ocean buoys as an example, the buoys are distributed in the open ocean. As the sea water surges and sways, the tilt angle of the landing surface changes...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 周志权赵占锋赵宜楠姜佩贺
Owner HARBIN INST OF TECH AT WEIHAI