Visual servo-based illegal aircraft strike method and robot

A visual servo and aircraft technology, applied in the direction of instruments, non-electric variable control, control/regulation systems, etc., can solve civil aviation, sensitive targets and major event safety hazards, illegal aircraft intrusion cannot be early warning, interference with public order, etc. problems, to achieve the effects of wide coverage area, lower deployment and maintenance costs, and labor costs

Inactive Publication Date: 2021-06-11
QILU UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] With the rapid growth of the UAV market, incidents of UAVs flying randomly to interfere with public order have occurred frequently, which has brought serious safety hazards to the safety of civil aviation, sensitive targets and major events.
At present, my country's airport airspace detection methods are mainly based on the visual detection of tower commanders or pilots who are performing flight missions. There is no early warning of the invasion of illegal aircraft, and there are serious security loopholes.

Method used

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  • Visual servo-based illegal aircraft strike method and robot
  • Visual servo-based illegal aircraft strike method and robot
  • Visual servo-based illegal aircraft strike method and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] In order to realize the automatic inspection of illegal aircraft, and the positioning, tracking and combating of illegal aircraft during the automatic inspection process, a method for combating illegal aircraft based on visual servoing is disclosed in this embodiment, including:

[0034] During the automatic cruising process of the robot, the inspection image is collected;

[0035] Judging whether there are illegal aircraft in the collected inspection images;

[0036] When it is judged that there is an illegal aircraft in multiple frames of continuous inspection images, control the rotation of the gimbal to locate and track the illegal aircraft;

[0037] After the gimbal can stably track the illegal aircraft, activate the striking device to attack the illegal aircraft.

[0038] Further, the collected inspection images are input into the trained detection network model to judge whether there are illegal aircraft in the inspection images.

[0039] Further, by calculatin...

Embodiment 2

[0054] In this embodiment, a visual servo-based strike robot for illegal aircraft is disclosed, including: a mobile chassis, a pan-tilt and a host computer mounted on the mobile chassis, a fixed image acquisition device and a strike device on the pan-tilt, an image capture device and a strike The device rotates with the gimbal;

[0055] An image acquisition device, used for collecting inspection images and inspection images;

[0056] Strike device, used to strike illegal aircraft;

[0057] The upper computer is used to control the movement of the mobile chassis. During the movement, it judges whether there is an illegal aircraft in the collected inspection image. When it is judged that there is an illegal aircraft in the inspection image, it controls the rotation of the gimbal. Positioning, tracking and combating the illegal aircraft.

[0058] Such as image 3 As shown, a visual servo-based illegal aircraft strike robot includes: a mobile chassis 1, on which a radar 2, a cl...

Embodiment 3

[0063] In this embodiment, an electronic device is disclosed, including a memory, a processor, and computer instructions stored in the memory and executed on the processor. When the computer instructions are executed by the processor, a method disclosed in Embodiment 1 is completed. The steps described in a method for striking illegal aircraft based on visual servoing.

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Abstract

The invention discloses a visual servo-based illegal aircraft strike method and a robot, and the method comprises the steps: collecting an inspection image in the automatic cruise process of the robot; judging whether an illegal aircraft exists in the collected inspection image or not; when the illegal aircraft is judged to exist in the continuous multi-frame inspection images, controlling a cradle head to rotate to position and track the illegal aircraft; after the cradle head can stably track the illegal aircraft, starting the striking device to strike the illegal aircraft. The method has an automatic cruise function, and achieves positioning, tracking and striking of illegal aircrafts in the cruise process.

Description

technical field [0001] The invention relates to the technical field of combating illegal aircraft, in particular to a method and robot for combating illegal aircraft based on visual servoing. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] With the rapid growth of the UAV market, incidents of UAVs flying randomly to interfere with public order have occurred frequently, which has brought serious safety hazards to the security of civil aviation, sensitive targets, and major events. At present, my country's airport airspace detection methods are mainly based on the visual detection of tower commanders or pilots who are performing flight missions. There is no early warning of the invasion of illegal aircraft, and there are serious security loopholes. Contents of the invention [0004] In order to solve the above-mentioned problems, the pre...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 纪鹏李超旭马凤英曹茂永张慧
Owner QILU UNIV OF TECH
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