Vehicle trunk-based unmanned aerial vehicle take-off and landing control system and take-off and landing control method

Abstract

The application relates to the technical field of unmanned plane control, and provides an unmanned plane take-off and landing control system based on a vehicle trunk, the system comprising: a vehicle, a lifting position identifier for identifying the lifting position of an unmanned plane is arranged on the ground of the vehicle trunk, and a first positioning unit for vehicle positioning; an unmanned plane, a second positioning unit for unmanned plane positioning and a camera for lifting position identification shooting and recognition are integrated on the unmanned plane; and the unmanned plane and the vehicle are in wireless communication connection. The unmanned plane take-off and landing control in the vehicle trunk is realized through the positioning and image recognition mode, and the convenience and flexibility of the unmanned plane application are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle control, and provides an unmanned aerial vehicle take-off and landing control system based on a vehicle trunk, a take-off control method and a landing control method. BACKGROUND

[0002] Unmanned aerial vehicles are increasingly applied in the fields of transportation, security, forestry, power supply, and oil industry, and it is particularly important to realize long-distance, large-range, and high-frequency operation survey and monitoring of unmanned aerial vehicles. With the continuous improvement of unmanned aerial vehicle control technology, it is particularly important to minimize human involvement, save labor costs, and realize the demand for unmanned aerial vehicle autonomous task execution.

[0003] Currently, to ensure that unmanned aerial vehicles can quickly reach the designated location for operation, many users set the parking apron of the unmanned aerial vehicle on a movable carrier such as a vehicle or a ship, and then transport the unmanned aerial vehicle to the vicinity of the task execution site by the movable carrier and fly to the task execution site to execute the task.

[0004] Since the unmanned aerial vehicle generally takes off and lands in a vertical manner, the take-off and landing path needs to be ensured to be free of obstacles in a certain area, and therefore the parking apron is generally set in a relatively open area, and the vehicle can only choose a delivery vehicle. Since the trunk door of a passenger vehicle with a trunk blocks the way, the existing vertical take-off and landing method cannot be applied to the take-off and landing of the trunk of the vehicle. SUMMARY

[0005] In view of this, the present application provides an unmanned aerial vehicle take-off and landing control system based on a vehicle trunk, which aims to improve the above problems.

[0006] Specifically, the technical scheme includes the following:

[0007] On the one hand, the present application provides an unmanned aerial vehicle take-off and landing control system based on a vehicle trunk, which includes:

[0008] a vehicle, the ground of the trunk of the vehicle is provided with a lifting position identifier for identifying the lifting position of the unmanned aerial vehicle, and a first positioning unit for positioning the vehicle;

[0009] an unmanned aerial vehicle, the unmanned aerial vehicle is integrated with a second positioning unit for positioning the unmanned aerial vehicle and a camera for photographing and identifying the lifting position identifier;

[0010] the unmanned aerial vehicle and the vehicle are wirelessly connected.

[0011] In some embodiments, the positioning accuracy of the second positioning unit is higher than that of the first positioning unit.

[0012] In one aspect, the embodiment of the present application provides a take-off control method of a UAV take-off and landing control system based on a vehicle trunk, and the method specifically includes the following steps.

[0013] The UAV is at a lifting position mark of the trunk, and based on a take-off instruction, the UAV is controlled to vertically take off and rise to a first set height, the first set height is lower than a trunk door set height, the UAV is controlled to move against the vehicle head by a set distance, and then the UAV is controlled to vertically rise to a height higher than the trunk door set height, thereby completing the take-off of the UAV in the vehicle trunk.

[0014] In some embodiments, the take-off instruction is sent by the vehicle.

[0015] In one aspect, the embodiment of the present application provides a landing control method of a UAV take-off and landing control system based on a vehicle trunk, and the method specifically includes the following steps.

[0016] S1, based on a landing instruction, the UAV is controlled to be at a set height and behind the vehicle trunk;

[0017] S2, a recognition area of a lifting position mark of the UAV at a current height is determined;

[0018] S3, the UAV is controlled to drive a camera to shoot an image in the recognition area, and the lifting position mark in the image is recognized, if the lifting position mark is successfully recognized, step S4 is entered;

[0019] S4, based on the relative position between the lifting position mark and the UAV, a coordinate A2(x2, y2, z2) of the lifting position mark in a world coordinate system is corrected, a flight path of the UAV from a current position to the lifting position mark is planned, and the UAV is landed in the trunk based on the flight path.

[0020] In some embodiments, if the lifting position mark is not successfully recognized, the following steps are performed:

[0021] The flight height of the UAV is lowered, and step S2 is performed until the UAV is lowered to a safe flight height.

[0022] In some embodiments, the recognition area needs to meet the following conditions:

[0023] Condition 1: when the trunk door is in a fully open state, an angle between a straight line passing through a midpoint of the trunk door and a center of the first positioning unit and a bottom surface of the trunk becomes a trunk door angle, and an angle of view of the camera in the recognition area is less than the trunk door angle;

[0024] Condition 2: an angle of a shooting angle of the lifting position mark in the recognition area deviating from a vertical line passing through a center of the lifting position mark is less than an angle threshold.

[0025] In some embodiments, the lifting position identifier is a two-dimensional code.

[0026] In some embodiments, the lifting position identifier in the world coordinate A2(x2, y2, z2) is revised as follows:

[0027] The relative position between the lifting position identifier and the unmanned aerial vehicle is determined, and the coordinate A2'(x'2, y'2, z'2) of the lifting position identifier in the world coordinate system is obtained based on the positioning coordinate of the second positioning unit, A2'(x'2, y'2, z'2) being the coordinate after the revision of the coordinate A2(x2, y2, z2);

[0028] The lifting position identifier in the world coordinate A2(x2, y2, z2) is obtained based on the positioning coordinate of the first positioning unit.

[0029] In some embodiments, the landing instruction is issued by the vehicle.

[0030] The present application realizes the take-off and landing control of the unmanned aerial vehicle in the trunk of the vehicle through positioning and image recognition, and improves the convenience and flexibility of the application of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0032] Figure 1 The structure diagram of the unmanned aerial vehicle take-off and landing control system based on the trunk of the vehicle provided by the embodiments of the present application is shown in the following figure:

[0033] Figure 2 The flow chart of the unmanned aerial vehicle landing control method based on the trunk of the vehicle provided by the embodiments of the present application is shown in the following figure:

[0034] The above figures have shown the specific embodiments of the present application, and will be described in more detail in the following. These figures and textual descriptions are not intended to limit the scope of the concept of the present application by any means, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0036] Unless otherwise defined, all technical terms used in the embodiments of the present application have the same meanings as commonly understood by those of ordinary skill in the art.

[0037] Figure 1 The structural schematic diagram of the unmanned aerial vehicle take-off control system based on the vehicle trunk provided in the embodiments of the present application is shown, only the parts related to the embodiments of the present application are shown for the convenience of description. The system comprises:

[0038] The vehicle, the ground of the vehicle trunk is provided with a lifting position identifier for identifying the unmanned aerial vehicle lifting position, and a first positioning unit for vehicle positioning;

[0039] The unmanned aerial vehicle, the unmanned aerial vehicle is integrated with a second positioning unit for unmanned aerial vehicle positioning and a camera for lifting position identification shooting and identification;

[0040] The unmanned aerial vehicle and the vehicle are wirelessly connected.

[0041] In the embodiments of the present application, since the positioning accuracy required by the unmanned aerial vehicle is higher than the positioning accuracy of the vehicle, the positioning accuracy of the second positioning unit is higher than that of the first positioning unit, for example, the second positioning unit adopts a double-mode RTX shark fin antenna, and the first positioning unit adopts GPS.

[0042] The unmanned aerial vehicle take-off control method based on the vehicle trunk comprises the following steps:

[0043] Before take-off, the unmanned aerial vehicle is at the lifting position identifier of the trunk, based on the take-off instruction, the unmanned aerial vehicle is controlled to take off vertically, and after rising to a set height, the set height is lower than the door height of the trunk by a set distance, the unmanned aerial vehicle is controlled to move in the reverse direction along the X axis of the vehicle coordinate system by a set distance, and then the unmanned aerial vehicle is controlled to vertically rise until it is higher than the set height of the trunk door, thereby completing the take-off of the unmanned aerial vehicle in the trunk of the vehicle.

[0044] The first positioning unit obtains the coordinates A0(x0, y0, z0) of the vehicle in the world coordinate system in real time, since the positions of the first positioning unit and the lifting position identifier on the vehicle are fixed, the relative position of the two is fixed, and the coordinates A2(x2, y2, z2) of the lifting position identifier in the world coordinate system are also determined.

[0045] The vehicle coordinate system takes the first positioning unit as the origin, the front of the vehicle head as the positive direction of the X-axis of the vehicle coordinate system, the extension direction of the driving side outward as the Y-axis, and the direction perpendicular to the ground as the Z-axis.

[0046] (II) The flow chart of the UAV landing control method based on the vehicle trunk is shown in Figure 2 The UAV landing control method is as follows:

[0047] S1, based on the landing instruction, control the UAV to be at a set height and behind the vehicle trunk;

[0048] Receive the landing instruction, and the UAV detects whether the current flight height is lower than the set height based on the landing instruction. If the detection result is yes, control the UAV to ascend to the set height, and if the detection result is no, control the UAV to descend to the set height. The set height is set based on the size of the lifting position mark, and is usually set to the maximum height that can identify the lifting position mark.

[0049] Determine whether the UAV is behind the trunk, that is, detect whether the X-axis coordinate of the UAV is less than the X-axis coordinate of the edge of the vehicle trunk door. If the result is yes, it is determined that the UAV is behind the trunk.

[0050] S2, determine the identification area of the lifting position mark of the UAV at the current height, and the identification area is the best area of the lifting position mark;

[0051] In the embodiment of the application, the identification area needs to meet the following conditions:

[0052] Condition 1: When the trunk door is in a fully open state, the angle between the straight line passing through the midpoint of the trunk door and the center of the first positioning unit and the bottom surface of the trunk, referred to as the trunk door angle, is less than the camera shooting angle in the identification area.

[0053] Condition 2: The shooting angle of the lifting position mark in the identification area deviates from the angle of the vertical line passing through the center of the lifting position mark by an angle less than an angle threshold value, which is generally set to 42 degrees. When the deviation angle is greater than the angle threshold value, the collected lifting position mark is severely deformed, and after perspective transformation, the identification of the lifting position mark cannot be completed. It should be noted that the lifting position mark can be a two-dimensional code or an image, and a two-dimensional code is usually selected as the lifting position mark.

[0054] The identification area corresponding to the corresponding height is the best area of the lifting position mark of the UAV at the height, and by determining the best area, the scanning area of the UAV is reduced to quickly find or identify the lifting position mark.

[0055] S3, control the unmanned aerial vehicle in the identification area, drive the camera to shoot the image, and identify the lifting position mark, if the lifting position mark is not successfully identified, step S4 is entered, if the lifting position mark is successfully identified, step S5 is entered;

[0056] In the embodiment of the application, since the positioning accuracy of the first positioning unit on the vehicle is lower than the positioning accuracy of the second positioning unit of the unmanned aerial vehicle, the coordinates A2(x2, y2, z2) of the lifting position mark in the world coordinate system are obtained based on the positioning coordinates of the first positioning unit, and there is a certain error, in order to reduce the deviation of the identification area caused by the positioning accuracy, the identification area is expanded, the unmanned aerial vehicle is controlled to take a ring shot with the center of the identification area as the center, and the lifting position mark is identified based on the shot image.

[0057] S4, the flight height of the unmanned aerial vehicle is lowered, and step S2 is executed until the unmanned aerial vehicle is lowered to a safe flight height, if the unmanned aerial vehicle still cannot identify the lifting position mark after being lowered to the safe flight height, a landing failure prompt of the unmanned aerial vehicle is sent to the vehicle.

[0058] S5, the coordinates of the lifting position mark in the world coordinate system are corrected based on the relative position of the lifting position mark and the unmanned aerial vehicle, a flight path of the unmanned aerial vehicle from the current position to the lifting position mark is planned, and the landing of the unmanned aerial vehicle is completed based on the flight path.

[0059] In the embodiment of the application, since the coordinates A2(x2, y2, z2) of the lifting position mark in the world coordinate system have a certain error, the relative position of the lifting position mark and the unmanned aerial vehicle is determined first, and then the coordinates A2'(x'2, y'2, z'2) of the lifting position mark in the world coordinate system are obtained based on the positioning coordinates of the second positioning unit, the world coordinates A2'(x'2, y'2, z'2) of the lifting position mark are more accurate than the coordinates A2(x2, y2, z2), that is, the coordinates A2(x2, y2, z2) are corrected, and the world coordinates of the corrected lifting position mark are A2'(x'2, y'2, z'2).

[0060] In the embodiment of the application, the flight path planning method is as follows:

[0061] The current coordinates A3(x3, y3, z3) of the unmanned aerial vehicle in the world coordinate system are taken as the starting position of the flight path, the coordinates A2'(x'2, y'2, z'2) are taken as the terminal position of the flight path, and the flight path from the starting position to the terminal position is planned based on the existing obstacle avoidance strategy.

[0062] In the embodiment of the present application, the UAV is sent the take-off instruction and the landing instruction based on the vehicle end, and the height of the trunk door when the trunk is opened is determined based on the vehicle type, and the trunk door height needs to be calibrated in advance.

[0063] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope of the application being indicated by the following claims.

[0064] It is to be understood that the application is not limited to the precise structures hereinabove described and shown in the drawings, for purposes of illustration and description, specific embodiments have been set forth, and described. The scope of the application is not to be limited to only these described embodiments. The scope of the application is limited only by the claims that follow.

Claims

1. A vehicle trunk-based drone takeoff control method, characterized in that, The method specifically comprises the following steps: The UAV is in the lifting position mark of the trunk, and based on the take-off instruction, the UAV is controlled to take off vertically, rise to a first set height, the first set height is lower than the set height of the trunk door, the UAV is controlled to move against the direction of the vehicle head by a set distance, and then the UAV is controlled to rise vertically, rise to a height higher than the set height of the trunk door, and the take-off of the UAV in the trunk of the vehicle is completed. The method specifically comprises the following steps: S1, based on the landing instruction, the UAV is controlled to be at a set height and behind the trunk of the vehicle; S2, the identification area of the lifting position mark at the current height of the UAV is determined; S3, the driving camera in the UAV is controlled to shoot an image, and the lifting position mark in the image is identified, if the identification of the lifting position mark is successful, step S4 is entered; S4, the coordinates A2(x2, y2, z2) of the lifting position mark in the world coordinate system are calculated based on the relative position of the lifting position mark and the UAV, the flight path of the UAV from the current position to the lifting position mark is planned, and the landing of the UAV in the trunk is completed based on the flight path. 2.The method of claim 1, wherein, The UAV take-off and landing control system based on the trunk of the vehicle comprises: A vehicle, the ground of the trunk of the vehicle is provided with a lifting position mark for marking the lifting position of the UAV, and a first positioning unit for positioning the vehicle; A UAV, the UAV is integrated with a second positioning unit for positioning the UAV and a camera for shooting and identifying the lifting position mark; The UAV and the vehicle are wirelessly connected.

3. The UAV takeoff control method based on a vehicle trunk of claim 2, wherein, The positioning accuracy of the second positioning unit is higher than that of the first positioning unit. 4.The method of claim 1, wherein, The take-off instruction is issued by the vehicle. 5.The method of claim 1, wherein, If the identification of the lifting position mark is not successful, the following steps are performed: Lower the flight height of the UAV, and perform step S2 until the UAV is lowered to a safe flight height. 6.The method of claim 2, wherein, The identification area needs to meet the following conditions: Condition 1: when the trunk door is in a fully open state, the angle between the straight line passing through the midpoint of the trunk door and the center of the first positioning unit and the bottom surface of the trunk becomes the trunk door angle, and the shooting angle of the camera in the identification area is less than the trunk door angle; Condition 2: the shooting angle of the lifting position mark in the identification area deviates from the vertical line passing through the center of the lifting position mark by an angle less than an angle threshold. 7.The method of claim 1, wherein, The lifting position mark is a two-dimensional code. 8.The method of claim 3, wherein the UAV is launched by a user. The world coordinates A2(x2, y2, z2) of the lifting position mark are revised as follows: The relative position of the lifting position mark and the UAV is determined, and the coordinates A2'(x2', y2', z2') of the lifting position mark in the world coordinate system are obtained based on the positioning coordinates of the second positioning unit. The world coordinates A2(x2, y2, z2) of the lifting position mark are obtained based on the positioning coordinates of the first positioning unit. 9.The method of claim 1, wherein, The landing instruction is issued by the vehicle.

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