Visual autonomous flight return and landing method/system of unmanned helicopter without cooperative target

Abstract

The invention discloses a visual autonomous flight return and landing method / system of an unmanned helicopter without a cooperative target. In the launching phase, guiding areas are detected in the ground environment in the surrounding of a starting point, and orientations of the starting point relative to the guiding areas are calculated; and in the return flight phase, a real-time ground image matches stored guiding area images, a landing point is located in real time according to the orientation of the guiding area which is matched successfully relative to the starting point, a target areais generated by taking the landing point as the center, visual tracking is carried out on the landing point, and the unmanned helicopter is controlled to fly to a position above the landing point andland vertically. When a fault occurs, ground image information is obtained, a landable area is detected, detection based visual tracking is carried out on the landable area, and the unmanned helicopter is controlled to fly to the position above the landable area and land vertically according to the real-time tracking result. The method and system do not rely on the ground cooperative target, the unmanned helicopter realizes autonomous flight return and landing, and the unmanned helicopter works in a more flexible and safer way.

Description

technical field [0001] The invention relates to the fields of unmanned helicopters, digital image processing, machine learning, etc., and in particular to a computer vision-based method and system for autonomous return and landing of unmanned aerial vehicles that do not depend on ground cooperation targets. Background technique [0002] Unmanned helicopters have the characteristics of high flexibility, low cost, and high reliability, and have gradually emerged in various fields in recent years. At the same time, with the development of various technologies such as material technology, flight control, wireless communication, and body structure design, UAVs with excellent environmental perception and independent judgment capabilities have begun to be used to perform more complex and difficult tasks. Man-machine operations also tend to be automated and intelligent. [0003] Autonomous return and landing is an important project in the research of unmanned helicopter autonomous ...

AI Technical Summary

Problems solved by technology

This makes it always necessary to pre-set one or more ground cooperation targets in the UAV operating environment, which greatly limits the operating range of the UAV; in addition, when the UAV fails during the operation and needs to land immediately, it may be due to The lack of ground cooperation targets prevents visual landing

Therefore, the visual landing scheme based on cooperative targets seriously affects the flexibility and effectiveness of UAV applications

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