Unmanned aerial vehicle autonomous landing system and method based on monocular vision

A monocular vision and unmanned aerial vehicle technology, applied in the direction of finding the target control, etc., can solve the problems of poor real-time performance, achieve the effect of small data volume, reduce signal reciprocating transmission, and control strategy quickly and effectively

Active Publication Date: 2020-04-07
HARBIN ENG UNIV
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Problems solved by technology

[0005] In order to solve the shortcomings of poor real-time performance and excessive human intervention in the prior art, the purpose of the present invention is to provide a simple and efficient UAV autonomous landing system based on monocular vision that satisfies system real-time performance and environmental adaptability. method

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  • Unmanned aerial vehicle autonomous landing system and method based on monocular vision

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Embodiment Construction

[0033] The present invention will be further described below in conjunction with the accompanying drawings.

[0034] The UAV carries an on-board image acquisition and processing module, which can independently identify and judge the landing area and control the landing without the participation of the operator. The image acquisition processing module includes: a monocular image acquisition unit and an image processing unit, wherein the monocular image acquisition unit acquires ground distribution information, and sends the acquired ground image information to the image processing unit, and the image processing unit utilizes image processing technology Calculate the landing area on the ground with the search strategy, formulate flight adjustment instructions based on the landing coordinates and the relative position vector of the fuselage, and perform attitude adjustment and height control of the UAV to achieve autonomous landing. The image acquisition unit adopts a monocular c...

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Abstract

The invention belongs to the field of unmanned aerial vehicle control systems and methods, and particularly relates to an unmanned aerial vehicle autonomous landing system and method based on monocular vision. The method comprises the steps of: by adopting a monocular camera mounted at the lower position of the unmanned aerial vehicle body and the gravity characteristic of the monocular camera, capturing the ground environment image below the unmanned aerial vehicle; adopting an OpenCV computer vision library to achieve identification of image features to obtain the image features; and searching the safe landing area through a designed maximum inscribed square search algorithm, continuously outputting coordinates of a priority landing area to an unmanned aerial vehicle controller in real time, and guiding the unmanned aerial vehicle to land to a target area. The unmanned aerial vehicle autonomous landing system and method have high environmental adaptability, the real-time performanceof the system is improved, electric power is saved, and the requirement of the unmanned aerial vehicle for the cruising ability is met. According to the unmanned aerial vehicle autonomous landing system, comprehensive performance improvement of the unmanned aerial vehicle autonomous landing system can be achieved, the applicability, practicability and real-time performance of the system are improved to a great extent, and the unmanned aerial vehicle autonomous landing system has the high engineering application value.

Description

technical field [0001] The invention belongs to the field of UAV control systems and methods, in particular to a monocular vision-based autonomous landing system and method for UAVs. Background technique [0002] An unmanned aerial vehicle (UAV) is an unmanned aircraft operated by radio remote control equipment and its own program control device, or operated completely or intermittently autonomously by an on-board computer. At present, the application in the fields of agricultural plant protection, film and television aerial photography, disaster rescue, terrain surveying and mapping, power inspection and so on has greatly expanded the use of UAV itself, and various regions are actively developing UAV technology. [0003] UAV landing technology has always been an important component in the field of UAV control. With the development of visual navigation technology, research on how to integrate vision technology into UAV landing system is the application direction of UAV auton...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12
CPCG05D1/12Y02T10/40
Inventor 吉明梁文鹏梁利华宋吉广张松涛史洪宇王经甫路宝国
Owner HARBIN ENG UNIV
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