Multi-rotor drone autonomous landing method based on monocular vision and fuzzy control

A multi-rotor unmanned aerial vehicle, fuzzy control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as inability to achieve precise landing, achieve continuous speed, improve control accuracy, and pose detection high precision effect

Inactive Publication Date: 2019-06-14
NANKAI UNIV
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AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a visual pose detection and positioning algorithm and a fuzzy control speed planning algorithm to solve the problem that existing multi-rotor UAVs cannot achieve precise landing by relying solely on GPS
Effectively solve the problem of safety and accuracy in the landing process of multi-rotor drones

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  • Multi-rotor drone autonomous landing method based on monocular vision and fuzzy control
  • Multi-rotor drone autonomous landing method based on monocular vision and fuzzy control
  • Multi-rotor drone autonomous landing method based on monocular vision and fuzzy control

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Embodiment

[0023] The embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, so that the protection scope of the present invention can be defined more clearly.

[0024] A method for autonomous landing of multi-rotor UAV based on monocular vision and fuzzy control, the process of the method is as follows figure 1 As shown, the specific steps are as follows:

[0025] Step 1. Use the GPS navigation system to guide the multi-rotor UAV to fly near the landing gear of the landing sign;

[0026] The landing gear of the landing sign is as Figure 5 As shown, mark the expected landing position of the drone, which is a square AprilTag QR code with a side length of 1m, a black grid outside, a 6×6 code inside, and the geometric center is the expected landing position of the drone;

[0027] Step 2: Use the downward-loo...

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Abstract

The invention discloses a multi-rotor drone autonomous landing method based on monocular vision and fuzzy control. A landing gear printed with a two-dimensional code identifier is deployed in a targetlanding area of the drone, the drone returns to the vicinity of the target area by means of GPS navigation and searches and detects the identifier based on the monocular visual information to obtainan identifier relative spatial pose and a two-dimensional code identifier sequence ID value. Based on the fuzzy control method and visual image feedback information, autonomous landing planning and control is carried out for the drone. In order to ensure the safety in the narrow takeoff and landing space, the inverted cone safety area is designed as the space position constraint of the drone landing. The drone is smoothly and safely landed on the landing gear where the target identifier is located in a smooth and efficient manner. The method overcomes the defect that the landing accuracy is insufficient due to the GPS positioning alone, has low cost, overcomes the problem of overshoot and relying on the accurate mathematical model common in PID control by fuzzy control, is safe and reliable in flight area and convenient in application, and has important engineering value.

Description

technical field [0001] The invention relates to a multi-rotor drone autonomous landing method based on monocular vision and fuzzy control, which can be used for autonomous navigation and control of multi-rotor drones, and is especially suitable for applications that require repeated traversal coverage, fixed landing points, and high navigation accuracy requirements task. Background technique [0002] In recent years, the technology of multi-rotor drones has developed rapidly and is widely used in military affairs, power line inspection, agricultural plant protection, forest fire prevention, etc. It is more and more favored by civil and scientific research institutions. The take-off and flight navigation system of multi-rotor UAV has been studied in depth, and good results have been achieved, but the safety and accuracy during landing are still urgent problems to be solved. An accurate position and attitude positioning system is the prerequisite for stable and accurate cont...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05B13/02
Inventor 王鸿鹏何树宝张世勇
Owner NANKAI UNIV
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