CN113946157A - Fixed-point unmanned aerial vehicle landing method and system based on multifunctional identification and positioning - Google Patents
Fixed-point unmanned aerial vehicle landing method and system based on multifunctional identification and positioning Download PDFInfo
- Publication number
- CN113946157A CN113946157A CN202111431486.0A CN202111431486A CN113946157A CN 113946157 A CN113946157 A CN 113946157A CN 202111431486 A CN202111431486 A CN 202111431486A CN 113946157 A CN113946157 A CN 113946157A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- drone
- platform
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to the technical field of unmanned aerial vehicle positioning, and particularly provides a fixed-point landing unmanned aerial vehicle method and system based on multifunctional identification and positioning, wherein the method comprises S1, an unmanned aerial vehicle receives an automatic return flight instruction of a control end positioned on a platform to be landed, and returns to hover at a first preset distance height above the platform to be landed according to GPS navigation; s2, the unmanned aerial vehicle acquires data information of a lower image in real time through the double cameras and transmits the data information to the control end, and the control end identifies and locks a target on the platform to be landed through a contour extraction method so as to guide the unmanned aerial vehicle to gradually lower; when unmanned aerial vehicle is located the target center top second and predetermines apart from the height, the fixed point is descended to the completion of automatic descending. The fixed point landing of the vehicle-mounted platform or other mobile platforms can be realized by the scheme, the precision is high, the time consumed for landing is short, and the practical use value is wide.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle positioning, in particular to a method and a system for landing an unmanned aerial vehicle at a fixed point based on multifunctional identification and positioning.
Background
Unmanned aerial vehicle uses more and more extensively in each trade of real life, and unmanned aerial vehicle is very important in the safe return journey landing after using, mainly realizes through flight control system. The flight control system is equivalent to the heart part of the unmanned aerial vehicle system and is also a core component of the unmanned aerial vehicle. Flight control has important influence to stability of unmanned aerial vehicle, data transmission's reliability, accuracy, real-time etc. all, plays decisive effect to its flight performance.
The current unmanned aerial vehicle positioning system mainly relies on Global Positioning System (GPS) to obtain self position, receives under weather and the influence of geographical environment, and GPS's positioning accuracy is about the meter level, and such precision probably is enough to general task, but to the landing of some fixed point small platform or on-vehicle mobile platform, GPS's precision is unable to realize safe and reliable's landing. The existing unmanned aerial vehicle can not meet the requirements by combining the application scenes and requirements of the unmanned aerial vehicle and simply depending on a GPS to carry out fixed-point landing, and optimization and improvement on a fixed-point landing mode method are needed.
Patent publication is CN211207175U, discloses an autonomic descending system of unmanned aerial vehicle accurate position and direction is patrolled and examined to mine power transmission line, and unmanned aerial vehicle descending system includes raspberry group module, and raspberry group module input is connected with Camera module, IMU module, first GPS module and laser rangefinder module. The unmanned aerial vehicle finds the initial position of the shutdown platform through the first GPS module, and then indicates the position of a landing point to accurately land by combining the LED dot matrix display module acquired by the Camera module. But how to carry out accurate parking is not further detailed, and the parking accuracy cannot be guaranteed.
Disclosure of Invention
The invention aims to solve the technical problem of low fixed-point landing precision of the unmanned aerial vehicle in the prior art.
The invention provides a method for landing an unmanned aerial vehicle at a fixed point based on multifunctional identification and positioning, which comprises the following steps:
s1, the unmanned aerial vehicle receives an automatic return flight instruction of a control end on the platform to be landed, and returns to a first preset distance height above the platform to be landed to hover according to GPS navigation;
s2, the unmanned aerial vehicle acquires data information of a lower image in real time through the double cameras and transmits the data information to the control end, and the control end identifies and locks a target on the platform to be landed through a contour extraction method so as to guide the unmanned aerial vehicle to gradually lower; when unmanned aerial vehicle is located the target center top second and predetermines apart from the height, the fixed point is descended to the completion of automatic descending.
Preferably, the communication mode between the unmanned aerial vehicle and the control end specifically includes:
when the distance between the unmanned aerial vehicle and the control end is larger than a preset value, data communication is carried out in a Lora communication mode;
when the distance between unmanned aerial vehicle and the control end is not more than the default, carry out data communication through the wiFi communication mode.
Preferably, the S2 specifically includes:
the method comprises the following steps: acquiring a target image, and acquiring a region boundary through Hough transformation;
step two: detecting whether a rectangular frame exists or not aiming at the region boundary, and if so, obtaining the central position of the rectangular frame;
step three: clustering is carried out on the center position information by a meanshift clustering method, and the category with the largest number in the clusters is obtained and is used as a target center;
step four: the unmanned aerial vehicle flies according to the center of the target until the deviation is smaller than a preset range, and starts to land step by step;
step five: and repeating the first step to the fourth step after landing for one time step by step, monitoring the height of the unmanned aerial vehicle from the target in real time, and automatically landing when the height of the unmanned aerial vehicle from the target is less than a second preset distance height.
Preferably, the third step specifically includes:
and filtering the graph with a small area aiming at the central position information, then filtering out non-convex shapes to obtain polygons, and searching the class which is closest to the center through a clustering method to be used as the target center.
Preferably, the value of the preset range in the third step is 10 cm.
Preferably, the first preset distance height is 5m, and the second preset distance height is 0.5 m.
Preferably, the S1 specifically includes:
the method comprises the steps of adopting a compass and a thermometer to assist GPS positioning, obtaining longitude and latitude information of an airplane, and determining the position of the unmanned aerial vehicle;
measuring the atmospheric pressure of the current position of the unmanned aerial vehicle by using a barometer to obtain flight height information;
an IMU inertia measurement unit comprising a three-axis accelerometer and a three-axis gyroscope is adopted to measure the angular velocity and the acceleration of the airplane in a three-dimensional space, and the real-time attitude of the unmanned aerial vehicle is calculated according to the angular velocity and the acceleration.
The invention also provides a system for realizing the fixed-point unmanned aerial vehicle landing method based on multifunctional identification and positioning, which comprises the following steps:
the system comprises an unmanned aerial vehicle and a platform to be landed, wherein the platform to be landed comprises a target and a control end;
the unmanned aerial vehicle receives an automatic return command of a control end on the platform to be landed and returns to hover at a first preset distance height above the platform to be landed according to GPS navigation; the data information of the lower image is acquired in real time through the double cameras and is transmitted to the control end;
the control end identifies and locks the target on the platform to be landed through a contour extraction method so as to guide the unmanned aerial vehicle to gradually lower; when unmanned aerial vehicle is located the target center top second and predetermines apart from the height, the fixed point is descended to the completion of automatic descending.
The invention also provides electronic equipment which comprises a memory and a processor, wherein the processor is used for realizing the steps of the fixed-point unmanned aerial vehicle landing method based on the multifunctional identification and positioning when executing the computer management program stored in the memory.
The invention also provides a computer readable storage medium on which a computer management program is stored, wherein the computer management program realizes the steps of the fixed-point unmanned aerial vehicle landing method based on multifunctional identification and positioning when being executed by a processor.
Has the advantages that: the invention provides a fixed-point landing unmanned aerial vehicle method and system based on multifunctional identification and positioning, wherein the method comprises S1, an unmanned aerial vehicle receives an automatic return command of a control end positioned on a platform to be landed, and returns to hover at a first preset distance height above the platform to be landed according to GPS navigation; s2, the unmanned aerial vehicle acquires data information of a lower image in real time through the double cameras and transmits the data information to the control end, and the control end identifies and locks a target on the platform to be landed through a contour extraction method so as to guide the unmanned aerial vehicle to gradually lower; when unmanned aerial vehicle is located the target center top second and predetermines apart from the height, the fixed point is descended to the completion of automatic descending. The fixed point landing of the vehicle-mounted platform or other mobile platforms can be realized by the scheme, the precision is high, the time consumed for landing is short, and the practical use value is wide.
Drawings
Fig. 1 is a flowchart of a method for landing an unmanned aerial vehicle at a fixed point based on multifunctional identification and positioning provided by the invention;
FIG. 2 is a schematic diagram of a hardware structure of a possible electronic device provided in the present invention;
FIG. 3 is a schematic diagram of a hardware structure of a possible computer-readable storage medium provided by the present invention;
fig. 4 is a schematic diagram of a fixed-point landing unmanned aerial vehicle system based on multifunctional identification and positioning provided by the invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a method and a system for fixed-point landing of an unmanned aerial vehicle based on multifunctional recognition and positioning, where the method includes S1, where the unmanned aerial vehicle receives an automatic return command from a control end located on a platform to be landed, and returns to hover at a first preset distance height above the platform to be landed according to GPS navigation; s2, the unmanned aerial vehicle acquires data information of a lower image in real time through the double cameras and transmits the data information to the control end, and the control end identifies and locks a target on the platform to be landed through a contour extraction method so as to guide the unmanned aerial vehicle to gradually lower; when unmanned aerial vehicle is located the target center top second and predetermines apart from the height, the fixed point is descended to the completion of automatic descending. The fixed point landing of the vehicle-mounted platform or other mobile platforms can be realized by the scheme, the precision is high, the time consumed for landing is short, and the practical use value is wide.
The specific operation steps are as follows:
1. the control end sends an unmanned aerial vehicle return command, and the unmanned aerial vehicle returns to the mobile small platform to be landed or the vehicle-mounted platform to hover at a height of about 5 meters above the platform according to GPS navigation.
2. The unmanned aerial vehicle obtains the auxiliary landing target of the unmanned aerial vehicle through a contour extraction method, fits polygons, gathers the polygons into one class through similarity, and matches and identifies the target of the landing platform.
3. After the target is identified and locked, the interference of noise and the like is avoided, the graph with smaller filtering area is needed, then the non-convex graph is filtered, the obtained quadrangle is obtained, the class with the nearest center distance is searched by a clustering method, and the unmanned aerial vehicle is gradually lowered.
4. On the basis of multiple wireless communication assistance in a short distance, when the target is close to the center of the target by 0.5m, the target automatically descends to finish fixed-point descending.
The contour extraction method specifically comprises the following steps:
the method comprises the following steps: obtaining a target image, and obtaining a region boundary through Hough transformation
Step two: detecting whether a rectangular frame exists or not aiming at the boundary of the region, and if so, obtaining the central position of the rectangular frame
Step three: clustering is carried out on the information of the central position point by a meanshift clustering method, the category with the largest number in the clusters is obtained and is used as the target center
Step four: the drone flies in accordance with the target centre until the deviation is less than a certain range, for example 10 cm.
Step five: and (4) detecting the height of the unmanned aerial vehicle, starting landing when the height is higher than 0.5m, and continuing to execute the step one.
The Bluetooth of the flight control end is used for short-distance auxiliary communication; the GPS module of the unmanned aerial vehicle flight control end is used for space positioning of the unmanned aerial vehicle; a compass thermometer and the like of the flight control end of the unmanned aerial vehicle are used for GPS auxiliary positioning, so that longitude and latitude information of the aircraft is obtained, and the position of the unmanned aerial vehicle is determined; the barometer at the flight control end of the unmanned aerial vehicle is used for measuring the current atmospheric pressure and acquiring the altitude information of the aircraft; the IMU inertia measurement unit of the unmanned aerial vehicle flight control end comprises a three-axis accelerometer and a three-axis gyroscope, and is used for measuring the angular velocity and the acceleration of the aircraft in a three-dimensional space and calculating the attitude of an object according to the angular velocity and the acceleration.
Wherein, the microcontroller of the flight control end is a Pixhawk4 flight controller; the visual image processing system of the unmanned aerial vehicle flight control end is used for machine vision tracking and landing landmark identification, the machine vision is bionic simulation in the process of observing objects by human eyes, the two cameras are used for collecting and identifying images, and the distance of a target is judged according to distance measurement; and the image sending module of the unmanned aerial vehicle flight control end sends flight image video data. And finally, the image video data is transmitted to the control end and then is processed and analyzed, and then according to the result, the control end controls the unmanned aerial vehicle to further land. The Lora communication module of the flight control end is used for the unmanned aerial vehicle to communicate remotely; the WiFi communication module of the unmanned aerial vehicle flight control end is used for short-distance landing auxiliary communication in the unmanned aerial vehicle, and landing precision and real-time control are improved.
The Bluetooth of the flight control end is used for short-distance auxiliary communication; the GPS module of the unmanned aerial vehicle flight control end is used for space positioning of the unmanned aerial vehicle; a compass, a thermometer and the like of the flight control end of the unmanned aerial vehicle are used for GPS auxiliary positioning, so that longitude and latitude information of the aircraft is obtained, and the position of the unmanned aerial vehicle is determined; the barometer at the flight control end of the unmanned aerial vehicle is used for measuring the current atmospheric pressure and acquiring the altitude information of the aircraft; the IMU inertia measurement unit of the unmanned aerial vehicle flight control end comprises a three-axis accelerometer and a three-axis gyroscope, and is used for measuring the angular velocity and the acceleration of the aircraft in a three-dimensional space and calculating the attitude of an object according to the angular velocity and the acceleration.
The router of the control end is mainly used for communication control data interaction and transmission of image video data of the unmanned aerial vehicle; the raspberry group at the unmanned aerial vehicle control end is mainly used for processing image data of the unmanned aerial vehicle; the image receiver of the unmanned aerial vehicle control end is mainly used for receiving and transmitting unmanned aerial vehicle image data.
As shown in fig. 4, the present invention further provides a system for implementing a method for landing a drone at a fixed point based on multifunctional recognition and positioning, including:
the system comprises an unmanned aerial vehicle and a platform to be landed, wherein the platform to be landed comprises a target and a control end;
the unmanned aerial vehicle receives an automatic return command of a control end on the platform to be landed and returns to hover at a first preset distance height above the platform to be landed according to GPS navigation; the data information of the lower image is acquired in real time through the double cameras and is transmitted to the control end;
the control end identifies and locks the target on the platform to be landed through a contour extraction method so as to guide the unmanned aerial vehicle to gradually lower; when unmanned aerial vehicle is located the target center top second and predetermines apart from the height, the fixed point is descended to the completion of automatic descending.
Specifically, the flight control end comprises a microcontroller, a visual image processing module, an image sending module, a WiFi communication module, a Lora communication module, Bluetooth, a GPS module, a compass and the like. The microcontroller of the flight control end is a Pixhawk4 flight controller; the visual image processing system of the unmanned aerial vehicle flight control end is used for machine vision tracking and landing landmark identification, the machine vision is bionic simulation in the process of observing objects by human eyes, the two cameras are used for collecting and identifying images, and the distance of a target is judged according to distance measurement; and the image sending module of the unmanned aerial vehicle flight control end sends flight image video data. The Lora communication module of the flight control end is used for the unmanned aerial vehicle to communicate remotely; the WiFi communication module of the unmanned aerial vehicle flight control end is used for short-distance landing auxiliary communication in the unmanned aerial vehicle, and landing precision and real-time control are improved. The Bluetooth of the flight control end is used for short-distance auxiliary communication; the GPS module of the unmanned aerial vehicle flight control end is used for space positioning of the unmanned aerial vehicle; a compass thermometer and the like of the flight control end of the unmanned aerial vehicle are used for GPS auxiliary positioning, so that longitude and latitude information of the aircraft is obtained, and the position of the unmanned aerial vehicle is determined; the barometer at the flight control end of the unmanned aerial vehicle is used for measuring the current atmospheric pressure and acquiring the altitude information of the aircraft; the IMU inertia measurement unit of the unmanned aerial vehicle flight control end comprises a three-axis accelerometer and a three-axis gyroscope, and is used for measuring the angular velocity and the acceleration of the aircraft in a three-dimensional space and calculating the attitude of an object according to the angular velocity and the acceleration.
The control end is installed on the mobile platform and comprises a main control unit, a router, a Lora communication module, a raspberry group, an image receiving machine and the like. The main controller of the control end is an STM32F407 chip system and serves as a server center of the control end of the unmanned aerial vehicle; the router of the unmanned aerial vehicle control end is mainly used for communication control data interaction and transmission of unmanned aerial vehicle image video data; the raspberry group at the unmanned aerial vehicle control end is mainly used for processing image data of the unmanned aerial vehicle; the image receiver of the unmanned aerial vehicle control end is mainly used for receiving and transmitting unmanned aerial vehicle image data.
Fig. 2 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 2, an embodiment of the present invention provides an electronic device, which includes a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1310 and executable on the processor 1320, where the processor 1320 executes the computer program 1311 to implement the following steps: s1, the unmanned aerial vehicle receives an automatic return flight instruction of a control end on the platform to be landed, and returns to a first preset distance height above the platform to be landed to hover according to GPS navigation;
s2, the unmanned aerial vehicle acquires data information of a lower image in real time through the double cameras and transmits the data information to the control end, and the control end identifies and locks a target on the platform to be landed through a contour extraction method so as to guide the unmanned aerial vehicle to gradually lower; when unmanned aerial vehicle is located the target center top second and predetermines apart from the height, the fixed point is descended to the completion of automatic descending.
Please refer to fig. 3, which is a schematic diagram of an embodiment of a computer-readable storage medium according to the present invention. As shown in fig. 3, the present embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored, which computer program 1411, when executed by a processor, implements the steps of: s1, the unmanned aerial vehicle receives an automatic return flight instruction of a control end on the platform to be landed, and returns to a first preset distance height above the platform to be landed to hover according to GPS navigation;
s2, the unmanned aerial vehicle acquires data information of a lower image in real time through the double cameras and transmits the data information to the control end, and the control end identifies and locks a target on the platform to be landed through a contour extraction method so as to guide the unmanned aerial vehicle to gradually lower; when unmanned aerial vehicle is located the target center top second and predetermines apart from the height, the fixed point is descended to the completion of automatic descending.
Has the advantages that:
(1) automatic back sailing of unmanned aerial vehicle: the control end part adopts STM32F407 as a main control server, and is the core for controlling the whole unmanned aerial vehicle. The communication of unmanned aerial vehicle and server adopts long-range communication mode in the Lora, carries GPS and compass simultaneously, and the unmanned aerial vehicle of being convenient for is automatic according to GPS and back a journey.
(2) Unmanned aerial vehicle fixed point descends: when the unmanned aerial vehicle is close to the vehicle-mounted server, the unmanned aerial vehicle is automatically identified through WiFi communication, the unmanned aerial vehicle is guided to be accurately close to the landmark representing pattern, accurate landing is achieved under the combination of auxiliary communication and a vision identification system, and errors are controllable in centimeter level.
(3) Data real-time transmission: the image collected by the unmanned aerial vehicle is sent to an image receiver in the cabin through an image sender, the image receiver obtains the image and then converts the image into RTSP image flow through a raspberry dispatching system, the server is matched with an existing vehicle-mounted image communication interface, and the image flow can be obtained in real time and uploaded to a control end to be subjected to image data processing.
(4) And (3) monitoring the state in real time: through multiple communication means and sensor detection, the unmanned aerial vehicle flight state of accurate control.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111431486.0A CN113946157A (en) | 2021-11-29 | 2021-11-29 | Fixed-point unmanned aerial vehicle landing method and system based on multifunctional identification and positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111431486.0A CN113946157A (en) | 2021-11-29 | 2021-11-29 | Fixed-point unmanned aerial vehicle landing method and system based on multifunctional identification and positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113946157A true CN113946157A (en) | 2022-01-18 |
Family
ID=79338986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111431486.0A Pending CN113946157A (en) | 2021-11-29 | 2021-11-29 | Fixed-point unmanned aerial vehicle landing method and system based on multifunctional identification and positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113946157A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114527792A (en) * | 2022-01-25 | 2022-05-24 | 武汉飞流智能技术有限公司 | Unmanned aerial vehicle landing guiding method, device, equipment and storage medium |
| CN119987425A (en) * | 2025-02-24 | 2025-05-13 | 广东电网有限责任公司湛江供电局 | Method, equipment and medium for fixed-point landing of power inspection drone after operation |
| CN119987425B (en) * | 2025-02-24 | 2025-10-10 | 广东电网有限责任公司湛江供电局 | Method, equipment and medium for fixed-point landing of power inspection drones after operation |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103226356A (en) * | 2013-02-27 | 2013-07-31 | 广东工业大学 | Image-processing-based unmanned plane accurate position landing method |
| CN105701810A (en) * | 2016-01-12 | 2016-06-22 | 湖南中航天目测控技术有限公司 | Unmanned aerial vehicle aerial image electronic delineating method based on click type image segmentation |
| CN106054929A (en) * | 2016-06-27 | 2016-10-26 | 西北工业大学 | Unmanned plane automatic landing guiding method based on optical flow |
| WO2017160192A1 (en) * | 2016-03-18 | 2017-09-21 | Павел Константинович ГЕРАСИМОВ | Method for precision landing an unmanned aerial vehicle |
| CN107544550A (en) * | 2016-06-24 | 2018-01-05 | 西安电子科技大学 | A kind of Autonomous Landing of UAV method of view-based access control model guiding |
| CN110488850A (en) * | 2019-08-02 | 2019-11-22 | 南京理工大学 | A kind of quadrotor drone vision navigation system and method based on raspberry pie |
| CN110618691A (en) * | 2019-09-16 | 2019-12-27 | 南京信息工程大学 | Machine vision-based method for accurately landing concentric circle targets of unmanned aerial vehicle |
| CN211698719U (en) * | 2020-05-21 | 2020-10-16 | 南京邮电大学 | Unmanned aerial vehicle capable of realizing self-starting and accurate landing |
| CN112180978A (en) * | 2020-10-13 | 2021-01-05 | 南京理工大学 | Four-rotor unmanned aerial vehicle autonomous landing control system and method based on airship platform |
| CN112967281A (en) * | 2021-04-07 | 2021-06-15 | 洛阳伟信电子科技有限公司 | Ellipse detection algorithm based on arc support growth |
| CN113342017A (en) * | 2021-05-20 | 2021-09-03 | 北京航空航天大学 | Indoor intelligent micro unmanned aerial vehicle system based on raspberry group |
-
2021
- 2021-11-29 CN CN202111431486.0A patent/CN113946157A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103226356A (en) * | 2013-02-27 | 2013-07-31 | 广东工业大学 | Image-processing-based unmanned plane accurate position landing method |
| CN105701810A (en) * | 2016-01-12 | 2016-06-22 | 湖南中航天目测控技术有限公司 | Unmanned aerial vehicle aerial image electronic delineating method based on click type image segmentation |
| WO2017160192A1 (en) * | 2016-03-18 | 2017-09-21 | Павел Константинович ГЕРАСИМОВ | Method for precision landing an unmanned aerial vehicle |
| CN107544550A (en) * | 2016-06-24 | 2018-01-05 | 西安电子科技大学 | A kind of Autonomous Landing of UAV method of view-based access control model guiding |
| CN106054929A (en) * | 2016-06-27 | 2016-10-26 | 西北工业大学 | Unmanned plane automatic landing guiding method based on optical flow |
| CN110488850A (en) * | 2019-08-02 | 2019-11-22 | 南京理工大学 | A kind of quadrotor drone vision navigation system and method based on raspberry pie |
| CN110618691A (en) * | 2019-09-16 | 2019-12-27 | 南京信息工程大学 | Machine vision-based method for accurately landing concentric circle targets of unmanned aerial vehicle |
| CN211698719U (en) * | 2020-05-21 | 2020-10-16 | 南京邮电大学 | Unmanned aerial vehicle capable of realizing self-starting and accurate landing |
| CN112180978A (en) * | 2020-10-13 | 2021-01-05 | 南京理工大学 | Four-rotor unmanned aerial vehicle autonomous landing control system and method based on airship platform |
| CN112967281A (en) * | 2021-04-07 | 2021-06-15 | 洛阳伟信电子科技有限公司 | Ellipse detection algorithm based on arc support growth |
| CN113342017A (en) * | 2021-05-20 | 2021-09-03 | 北京航空航天大学 | Indoor intelligent micro unmanned aerial vehicle system based on raspberry group |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114527792A (en) * | 2022-01-25 | 2022-05-24 | 武汉飞流智能技术有限公司 | Unmanned aerial vehicle landing guiding method, device, equipment and storage medium |
| CN119987425A (en) * | 2025-02-24 | 2025-05-13 | 广东电网有限责任公司湛江供电局 | Method, equipment and medium for fixed-point landing of power inspection drone after operation |
| CN119987425B (en) * | 2025-02-24 | 2025-10-10 | 广东电网有限责任公司湛江供电局 | Method, equipment and medium for fixed-point landing of power inspection drones after operation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11604479B2 (en) | Methods and system for vision-based landing | |
| US12148316B2 (en) | Unmanned aerial vehicle visual point cloud navigation | |
| US12007761B2 (en) | Unmanned aerial vehicle inspection system | |
| US10778967B2 (en) | Systems and methods for improving performance of a robotic vehicle by managing on-board camera defects | |
| CN113597591B (en) | Geographic benchmarking for unmanned aerial vehicle navigation | |
| CN108227751B (en) | Landing method and system of unmanned aerial vehicle | |
| EP3274256B1 (en) | Unmanned aircraft navigation system and method | |
| CN107783106B (en) | Data fusion method between unmanned aerial vehicle and barrier | |
| CN113759940A (en) | Unmanned aerial vehicle landing method and device, unmanned aerial vehicle system, airport, equipment and medium | |
| JP7492718B2 (en) | System, method, program, and storage medium for storing the program for identifying a safe landing area | |
| CN108255190B (en) | Accurate landing method based on multiple sensors and tethered unmanned aerial vehicle using same | |
| JP2012071645A (en) | Automatic taking-off and landing system | |
| CN111123964B (en) | UAV landing method, device and computer readable medium | |
| US20220121836A1 (en) | Automatic safe-landing-site selection for unmanned aerial systems | |
| CN111679680A (en) | A method and system for autonomous drone landing | |
| US20210208606A1 (en) | Information processing system, information processing method, and program | |
| CN107783552B (en) | Method and device for controlling return flight of unmanned aerial vehicle | |
| CN113156998A (en) | Unmanned aerial vehicle flight control system and control method | |
| CN204390044U (en) | A kind of device optimizing unmanned plane during flying record | |
| CN107479082A (en) | A kind of unmanned plane makes a return voyage method without GPS | |
| US20230045232A1 (en) | Aircraft landing guidance support system and aircraft landing integrated support system including the same | |
| JP2020149640A (en) | Flight system and landing control method | |
| CN108521802A (en) | Control method of unmanned aerial vehicle, control terminal and unmanned aerial vehicle | |
| CN113110597A (en) | Indoor unmanned aerial vehicle autonomous flight system based on ROS system | |
| JP2020135327A (en) | Flight body system, flight body, position measuring method and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220118 |