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Vision localization landing tail end-based unmanned aerial vehicle landing method

A visual positioning and unmanned aerial vehicle technology, applied in computer parts, three-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problem of not being able to land multiple aircraft at the same time, and achieve good promotion prospects

Active Publication Date: 2016-11-16
西安因诺航空科技有限公司
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AI Technical Summary

Problems solved by technology

[0005] However, the above landing sites are often only designed for one aircraft, and it is impossible to land multiple aircrafts at the same time, and the UAV can only perform relative positioning on itself when it reaches a small range above the landing site

Method used

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  • Vision localization landing tail end-based unmanned aerial vehicle landing method
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  • Vision localization landing tail end-based unmanned aerial vehicle landing method

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Embodiment Construction

[0045] In accordance with the above technical solution, as shown in the accompanying drawings, the present invention provides a method for landing a drone based on visual positioning of the landing end, including the following steps:

[0046] Step 1: Build a Drone Airport

[0047] The UAV airport of the present invention is made up of a plurality of Markers (other iconic landmarks can also be used), and each parking stand Marker has distinctive features, and can carry out binary coding through light and dark stripes, and can Obtain its ID information; the UAV obtains the parking position Marker in the field of view through the airborne image device, calculates and verifies the ID of each parking position Marker through binary coding, and performs fitting with the corresponding three-dimensional point in the global coordinate system Compute pose to get a good estimate of your own position for precise landing.

[0048]The parking position Marker is a square structure composed o...

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Abstract

The invention discloses a vision localization landing tail end-based unmanned aerial vehicle landing method. In the method, a used unmanned aerial vehicle airport consists of a plurality of gate position Markers; each unmanned aerial vehicle obtains Markers in a visual range through a visual module and verifies the ID of each Marker in the visual range, so as to estimate the own position to land accurately. According to method provided by the invention, the unmanned aerial vehicle airport can provide landing services for a plurality of different unmanned aerial vehicles, and provide single-vehicle stopping platforms for various small platforms such as vehicle roofs and balcony lamps, and through a uniform framework, completely autonomous flight landing in the whole unmanned aerial vehicle scheduling can be realized at low cost, so that the method has a good popularization prospect.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to a method for landing an unmanned aerial vehicle based on visual positioning of a landing end. Background technique [0002] In recent years, due to its small size, light weight, and good concealment, micro-UAVs have been widely used in various fields such as photography, monitoring, investigation, tracking, and mapping, and opened the era of UAV technology explosion. The new requirements for the use of civilian drones such as the recycling of shooting equipment by tiny platforms (such as car roofs) during dynamic tracking and shooting, and the fixed-point delivery of items in the express industry, all pose new challenges to the automatic landing technology of micro-UAVs. [0003] At the 2016 International Consumer Electronics Show (CES), the new drones exhibited by well-known drone companies such as DJI, Zero, and Yihang all use automatic landing of drones...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/32G05D1/10
CPCG05D1/101G06V10/245
Inventor 布树辉杨君赵勇张臻炜
Owner 西安因诺航空科技有限公司
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