Precise landing identification module for unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle accurate landing identification module which comprises a support, a laser ranging module and a visual processor board card are fixedly installed on one side of the support, and a camera is fixedly installed on one side of the visual processor board card; a fisheye lens is fixedly mounted on the camera; an infrared band-pass optical filter is fixedly mounted on one side, close to the fisheye lens, of the camera; the side, away from the laser ranging module, of the support is evenly and fixedly connected with connecting blocks. A threaded groove is formed in the connecting block; the laser ranging module is used for measuring the actual distance between the unmanned aerial vehicle and the beacon light panel; according to the accurate landing identification module for the unmanned aerial vehicle, the laser ranging module, the visual processor board card and the camera are arranged on the support, so that accurate landing of the unmanned aerial vehicle can work at night and is not affected by illumination intensity, and therefore the working efficiency of the unmanned aerial vehicle during task execution at night is improved, and the working efficiency of the unmanned aerial vehicle is improved. And the applicability and the flexibility of the unmanned aerial vehicle precise landing identification module are improved.

Description

Technical Field

[0001] The present invention relates to the technical fields of UAV navigation and computer recognition algorithms, and specifically to a precise landing recognition module for UAVs. Background Art

[0002] As is well known, in the rapid development and wide application of UAV technology, precise landing has always been a key challenge. Traditional landing methods often rely on the Global Positioning System or other external signals. However, these methods have obvious limitations in environments such as urban high-rise buildings, mountainous areas, or signal-free areas, and cannot provide stable and precise guidance. Current technologies for UAV landing mainly rely on image recognition or ground markers, but in complex and changing environments, factors such as lighting, terrain, and climate will affect the recognition accuracy, resulting in a decrease in landing accuracy or even failure.

[0003] In view of the limitations of the prior art, the present invention emerges as the times require. The design concept of the precise landing recognition module for UAVs aims to overcome the deficiencies of traditional landing methods. By comprehensively utilizing various technical means such as visual recognition, laser ranging, and gyroscopes, precise landing in various complex environments can be achieved. The module combines key components such as a camera, a fish-eye lens, an infrared band-pass filter, a laser rangefinder, and a gyroscope, providing a novel and efficient landing solution for UAVs.

[0004] By means of the visual processor performing real-time recognition on the beacon light board, the laser rangefinder measuring the distance, and the gyroscope compensating the tilt angle in real time, the module can accurately calculate the relative position between the UAV and the landing area, providing accurate guidance for the safe landing of the UAV. This innovative technology not only improves the accuracy and stability of landing, but also can cope with complex environments such as night, bad weather, or unstable signals, providing reliable technical support for the safe operation and wide application of UAVs.

[0005] The above information disclosed in the background art section is only used to enhance the understanding of the background of the present disclosure, and thus it may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0006] The purpose of the present invention is to provide a precise landing recognition module for UAVs to solve the problems raised in the above background art.

[0007] To achieve the above purpose, the present invention provides the following technical solution: A precise landing recognition module for UAVs, comprising: a bracket, on one side of which a laser ranging module and a visual processor board are respectively fixedly installed, and a camera is fixedly installed on one side of the visual processor board.

[0008] By adopting the above technical solutions, the camera and the vision processor board can identify and output the pixel coordinates of the square target that meets specific requirements in the image field of view. And by calculating the deviation pixels between the center of the color block and the center of the image, the drone can determine the relative position information with respect to the beacon light board. Additionally, the laser ranging module can, based on measuring the height, also ensure the matching of the height position of the drone with the size of the beacon to improve the system reliability and the accuracy of landing guidance.

[0009] Preferably, a fish-eye lens is fixedly installed on the camera.

[0010] By adopting the above technical solutions, it is possible to perform angle compensation using the attitude information provided by the gyroscope. Thus, according to the known field of view angle of the fish-eye lens and the known image pixel size, the number of pixels corresponding to each degree of angle can be obtained, and then the pixel value corresponding to the tilt angle can be subtracted proportionally. Furthermore, it is possible to offset the influence of the drone's attitude, thereby effectively eliminating the influence of the tilt angle on the recognition accuracy and ensuring that the beacon coordinates can correctly reflect the position of the aircraft even when the drone is tilted.

[0011] Preferably, an infrared band-pass filter is fixedly installed on the side of the camera close to the fish-eye lens.

[0012] By adopting the above technical solutions, it can effectively reduce the sunlight interference received by the camera and ensure that the beacon light board is clearly distinguishable in the image under outdoor sunlight conditions.

[0013] Preferably, connection blocks are evenly and fixedly connected to the side of the bracket away from the laser ranging module.

[0014] By adopting the above technical solutions, it is convenient to install the bracket on the drone body.

[0015] Preferably, a threaded groove is formed inside the connection block.

[0016] By adopting the above technical solutions, the bracket and the drone body can be fixed by screwing a bolt into the threaded groove.

[0017] Preferably, the laser ranging module is used to measure the actual distance between the drone and the beacon light board.

[0018] By adopting the above technical solutions, real-time verification and data support during the drone's landing process can be achieved.

[0019] In summary, the present application includes at least one of the following beneficial technical effects:

[0020] The precise landing recognition module of this drone enables the drone to land precisely at night by separately arranging a laser ranging mold, a vision processor board, and a camera on the bracket, and is not affected by the light intensity, thereby improving the working efficiency of the drone when performing tasks at night, and further enhancing the applicability and flexibility of the precise landing recognition module of the drone. Brief Description of the Drawings

[0021] Figure 1 is a schematic structural diagram of the precise landing recognition module of the drone of the present invention;

[0022] Figure 2 is a schematic structural diagram of the connecting block and the threaded groove in the precise landing recognition module of the drone of the present invention;

[0023] Figure 3 is a schematic structural diagram of the vision processor board and the camera in the precise landing recognition module of the drone of the present invention.

[0024] In the figure: 1, bracket; 2, laser ranging module; 3, vision processor board; 4, camera; 5, connecting block; 6, threaded groove. Detailed Embodiment

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] Please refer to Figures 1 - 3 , the present invention provides a technical solution: a precise landing recognition module for a drone, including: a bracket 1;

[0027] First, in order for the camera 4 and the vision processor board 3 to recognize and output the pixel coordinates of a square target that meets specific requirements in the image field of view, and by calculating the deviation pixels between the center of the color block and the center of the image, the drone can determine the relative position information with the beacon light board. In addition, the laser ranging module 2 can ensure the matching of the height position of the drone and the size of the beacon on the basis of measuring the height, so as to improve the system reliability and the accuracy of landing guidance; on one side of the bracket 1, a laser ranging module 2 and a vision processor board 3 are respectively fixedly installed, and on one side of the vision processor board 3, a camera 4 is fixedly installed;

[0028] Secondly, in order to utilize the attitude information provided by the gyroscope for angle compensation, so as to obtain the number of pixels corresponding to each degree of angle based on the known field of view angle of the fisheye lens and the known image pixel size, and then subtract the pixel value corresponding to the tilt angle proportionally, thereby being able to cancel the influence of the UAV attitude, and effectively eliminate the influence of the tilt angle on the recognition accuracy, ensuring that the beacon coordinates can correctly reflect the position of the aircraft even when the UAV is tilted. A fisheye lens is fixedly installed on the camera 4; in order to effectively reduce the sunlight interference received by the camera and ensure that the beacon light board is clearly distinguishable in the image under outdoor sunlight conditions, an infrared band-pass filter is fixedly installed on the side of the camera 4 close to the fisheye lens; in order to facilitate the installation of the bracket 1 and the UAV body, connecting blocks 5 are uniformly fixedly connected to the side of the bracket 1 away from the laser ranging module 2; in order to be able to fix the bracket 1 and the UAV body by screwing bolts into the threaded grooves 6, threaded grooves 6 are opened inside the connecting blocks 5; in order to be able to realize real-time verification and data support during the landing process of the UAV, the laser ranging module 2 is used to measure the actual distance between the UAV and the beacon light board.

[0029] It should be noted that: the ground beacon light board is a square structure of 5x5 cm, composed of 144 micro infrared LEDs in 12 rows and 12 columns, and is mounted by a PCB board; and, using the find_blobs color block recognition algorithm of the computer vision library OpenMV, the camera 4 can identify and output the pixel coordinates of the square target that meets specific requirements in the image field of view; by analyzing the output color block object, the system will select the square with the largest area and the aspect ratio closest to 1 as the final effective output; in addition, when three ground beacon light boards are deployed, the rotation angle of the current module relative to the ground landing platform can be output by means of the directions of the three target square patterns, and the alignment of the UAV rotation azimuth and the landing platform can be realized.

[0030] It should also be noted that the overall working process of the recognition algorithm of the present invention is as follows: first, the camera 4 collects images, then uses find_blobs to search for all data, and then screens out the color block with the largest area and the aspect ratio closest to 1 as the effective target; according to the distance data of the rangefinder, it is judged whether the pixel size of the target is within a reasonable range, and according to the target pixel size, the conversion coefficient K between the pixel and the real distance is calculated by converting the known real size of 5 cm, and the pixel deviation is obtained by subtracting the pitch and roll tilt angles collected by the gyroscope; according to the deviation between the target and the image center, the relative coordinates of the UAV are calculated by multiplying by K, with the unit of centimeter, and sent to the UAV.

[0031] Summarize and sort out the working steps of this solution according to the above technical solution: When in use, the camera 4 and the vision processor board 3 can identify and output the pixel coordinates of the square target that meets specific requirements in the image field of view, and by calculating the deviation pixels between the center of the color block and the center of the image, the drone can determine the relative position information with the beacon light board. In addition, the laser ranging module 2 can not only measure the height but also ensure the matching of the height position of the drone with the size of the beacon to improve the system reliability and the accuracy of landing guidance.

[0032] In summary: This precise landing recognition module of the drone enables the precise landing of the drone to work at night by respectively arranging the laser ranging mold, the vision processor board 3 and the camera 4 on the bracket 1, and is not affected by the light intensity, thereby improving the working efficiency of the drone when performing tasks at night, and further improving the applicability and flexibility of the precise landing recognition module of the drone.

[0033] Parts not involved in the present invention are the same as or can be implemented by the prior art. Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A precise landing recognition module for a drone, characterized in that, Including: A bracket (1), on one side of the bracket (1), a laser ranging module (2) and a vision processor board (3) are respectively fixedly installed, and a camera (4) is fixedly installed on one side of the vision processor board (3).

2. The precise landing recognition module of an unmanned aerial vehicle according to claim 1, wherein: A fish-eye lens is fixedly installed on the camera (4).

3. The precise landing recognition module for a drone according to claim 2, characterized in that: An infrared band-pass filter is fixedly installed on one side of the camera (4) close to the fish-eye lens.

4. The precise landing recognition module for an unmanned aerial vehicle according to claim 1, wherein: On the side of the bracket (1) away from the laser ranging module (2), connection blocks (5) are evenly and fixedly connected.

5. The accurate landing recognition module of a drone according to claim 4, characterized in that: A threaded groove (6) is formed inside the connection block (5).

6. The accurate landing recognition module of an unmanned aerial vehicle according to claim 1, characterized in that: The laser ranging module (2) is used to measure the actual distance between the drone and the beacon light board.

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