UAV landing method, UAV landing device and computer-readable storage medium

A drone and landing point technology, applied in the field of mobile Internet, can solve the problems of complex coding and recognition process of cooperative tags, unrecognized cooperative tags, long time-consuming calculation, etc., and achieve the effect of simple and efficient autonomous landing

Active Publication Date: 2022-04-26
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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Problems solved by technology

[0004] However, the position-based visual servo control method requires a complete two-dimensional code cooperative label coding system and the corresponding recognition algorithm. The cooperative label coding and recognition process is relatively complicated, the calculation time is long, and the real-time performance is poor. The robustness of abnormal conditions is poor, and it is easy to fail to recognize the cooperative label, resulting in positioning failure

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  • UAV landing method, UAV landing device and computer-readable storage medium
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  • UAV landing method, UAV landing device and computer-readable storage medium

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Embodiment Construction

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0041] figure 1 A schematic diagram showing a multi-rotor drone and a ground cooperation tag. A camera is fixed under the body of the multi-rotor UAV, and the multi-rotor UAV is also equipped with an on-board processor. The UAV obtains the center pixel position information of the ground cooperation...

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Abstract

The invention discloses a drone landing method, a drone landing device and a computer-readable storage medium, and relates to the technical field of drones. The UAV landing method includes: determining the deviation between the vertical mapping point of the UAV on the ground and the UAV landing point, the deviation includes the deviation in the horizontal axis direction and the vertical axis direction of the camera coordinate system; The deviation in the direction of the horizontal axis and the deviation in the direction of the vertical axis are generated by the controller to control the speed of the drone in the direction of the horizontal axis and the direction of the vertical axis of the camera coordinate system. The invention provides a simpler and more efficient method for landing the drone.

Description

technical field [0001] The invention relates to the technical field of mobile Internet, in particular to a method for landing a drone, a landing device for a drone, and a computer-readable storage medium. Background technique [0002] UAVs use many technical means in the process of autonomous landing. Typical technical means include GPS / inertial integrated navigation, wireless positioning technology, position-based visual servo control, and so on. [0003] The position-based visual servo control method uses a specially designed two-dimensional code type cooperative label and the corresponding label recognition algorithm. By locating the corner position of the two-dimensional code label, it can calculate the relative position of the UAV airborne camera relative to the cooperative label. Using the calculated relative pose information to select an appropriate control law to generate flight control quantities, guide the UAV to complete the autonomous landing process. [0004] H...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/0676B64C39/024B64D45/08B64U2101/30B64U70/00G05D1/102G05D3/20B64U2201/104
Inventor 门春雷张永伟
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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