Unmanned aerial vehicle mobile platform landing method and system based on rotating frame detection and positioning

Abstract

The invention discloses an unmanned aerial vehicle mobile platform landing method and system based on rotating frame detection and positioning, relates to the technical field of unmanned aerial vehicle landing, and is used for solving the problem of landing failure caused by the fact that an existing unmanned aerial vehicle cannot obtain the accurate position of a ground mobile platform when landing the ground mobile platform. The method comprises the following steps: covering, searching and collecting images in an area where a ground mobile platform is located through an unmanned aerial vehicle airborne camera; the real-time position of the ground mobile platform in the image is obtained based on a rotating frame detection algorithm, and the real-time relative distance between the unmanned aerial vehicle and the ground mobile platform is obtained according to the coordinate conversion relation; dynamically planning the advancing path of the unmanned aerial vehicle according to the real-time relative distance, so that the unmanned aerial vehicle gets close to the ground mobile platform according to the planned advancing path, and starting to land when the real-time relative distance reaches a preset distance threshold value; the flight speed of the unmanned aerial vehicle is adjusted according to the real-time relative distance in the landing process. The method has good fitting performance for detection frame selection of the ground platform in any direction.

Description

technical field [0001] The invention relates to the technical field of UAV landing, in particular to a UAV mobile platform landing method and system based on rotating frame detection and positioning. Background technique [0002] Multi-rotor drones have been widely used in public security, space mapping, energy exploration, power inspection and other industries. In practical applications, due to the limitations of drone load and battery capacity, the endurance of drones often becomes The main factor that limits the ability of UAVs. A common solution is to use ground vehicles and UAVs to perform tasks cooperatively. When the power of the UAV is low or the current task is completed, return to the vehicle to replace the battery or stand by to protect the unmanned. ability of the machine to continue performing its mission. [0003] During the execution of multi-machine missions, ground vehicles often have to provide endurance support and ground command for multiple UAVs. UAVs ...

AI Technical Summary

Problems solved by technology

[0004] In view of the above problems, the present invention proposes a UAV mobile platform landing method and system based on rotating frame detection and positioning to solve the problem that the existing UAV cannot obtain the accurate position of the ground mobile platform when it lands on the ground mobile platform. The problem that caused the landing to fail

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