UAV Visual Landing Control Without QR-Code Recognition
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Solution Overview
Problem
The position-based visual servo control method for UAVs is complex, time-consuming, and has poor real-time performance, with limited robustness to abnormal situations like tag occlusion, leading to positioning failures during autonomous landing.
Innovation Solution
A control method that directly calculates flight control amounts based on image-derived position deviations using a simplified image visual servo control system, eliminating the need for complex QR-code cooperative label encoding and recognition, and employing a PID controller to generate speed control amounts for horizontal and vertical axis directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position-based visual servo control method using QR code recognition is used, then positioning accuracy is improved, but system complexity and processing time increase
Solution Approach 1:
The patent extracts only the essential function of visual servo control (calculating position deviation from image coordinates) while removing the complex QR code recognition system. This allows maintaining positioning accuracy through direct image coordinate-to-camera coordinate transformation while significantly reducing system complexity and processing time.
Solution Approach 2:
Instead of using QR code patterns to encode position information and then decoding them, the patent inverts the approach by directly using the natural image coordinates of the visual target and transforming them into camera coordinate system deviations. This eliminates the encoding/decoding complexity while preserving measurement precision.
2Measurement precision
If QR code tag recognition algorithm is used, then positioning accuracy is improved, but real-time performance deteriorates
Solution Approach 1:
The patent removes the time-consuming QR code recognition and decoding steps from the system, keeping only the essential image coordinate capture and transformation functions. This extraction maintains positioning accuracy while dramatically improving real-time performance by reducing computational overhead.
Solution Approach 2:
The patent skips the intermediate steps of QR code encoding, detection, and decoding that inherently slow down processing. By directly calculating position deviation from image coordinates through coordinate transformation, the system rushes through the positioning process much faster while maintaining accuracy.
3Measurement precision
If QR code cooperative label system is used, then positioning accuracy is improved, but robustness to occlusion deteriorates
Solution Approach 1:
The patent removes the QR code cooperative label system entirely, replacing it with a simpler direct visual targeting approach. This extraction eliminates the vulnerability to QR code occlusion while maintaining positioning accuracy through robust coordinate transformation methods that can handle various viewing conditions.
Solution Approach 2:
The system uses the natural visual features of the target itself (its position in the image plane) rather than requiring an external QR code label. This self-service approach makes the system inherently more robust to occlusion since it relies on the target's own visual signature rather than a separate coded label that can be blocked.
Data Source
AI summary
The present disclosure provides a control method of a UAV, a control device of a UAV, and a computer-readable storage medium, and relates to the technical field of UAVs. The control method of a UAV includes: determining a deviation between a vertical mapping point on the ground and a landing point of the UAV, the deviation comprising a deviation in a horizontal axis direction of a camera coordinate system and a deviation in a vertical axis direction of the camera coordinate system; and generating speed control amounts of the UAV in the horizontal axis direction and the vertical axis direction of the camera coordinate system by a controller, using the deviation in the horizontal axis direction and the deviation in the vertical axis direction.