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Screening method for autonomous landing candidate area of ​​unmanned aerial vehicles in complex scenes without preset targets

A technology for complex scenes and candidate areas, applied in scene recognition, computer parts, instruments, etc., can solve problems such as not being widely popularized and reducing the flexibility of autonomous landing of UAVs

Active Publication Date: 2020-08-04
NORTH CHINA UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

Therefore, this method cannot be popularized on a large scale; and because it only recognizes the target, the landing site is limited to the area where the target is laid in advance, which reduces the flexibility of the drone's autonomous landing to a certain extent.

Method used

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  • Screening method for autonomous landing candidate area of ​​unmanned aerial vehicles in complex scenes without preset targets
  • Screening method for autonomous landing candidate area of ​​unmanned aerial vehicles in complex scenes without preset targets
  • Screening method for autonomous landing candidate area of ​​unmanned aerial vehicles in complex scenes without preset targets

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Embodiment Construction

[0036] figure 1 It is a flow chart of a method for screening candidate areas for autonomous landing of UAVs in complex scenes without preset targets according to an embodiment of the present invention. According to an embodiment of the present invention, the screening method for autonomous landing candidate areas of unmanned aerial vehicles in complex scenes without preset targets includes:

[0037] A) Calculation of flatness of landing field of view based on gradient modulus, including:

[0038] A1) Image collection, including when the UAV is above the landing area, use the onboard camera to collect images or video equipment to collect continuous frame images;

[0039] A2) Calculate the flatness of the landing field of view, read in the color image data img, and read the RGB three-channel data img_1, img_2, img_3 respectively, calculate the gradient modulus mod_1, mod_2, mod_3 of the RGB three-channel data pixel by pixel, and take img Each pixel position corresponds to the ...

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Abstract

The present invention proposes a screening method for autonomous landing candidate areas of unmanned aerial vehicles in complex scenes without preset targets. The method processes the images collected in real time in the landing area. Firstly, the flatness calculation of the landing field of view based on the gradient modulus is performed on the collected images, and then the flattened area is used as the basis for processing to realize the preliminary generation of landing candidate areas. Then, comprehensively use the color tone and high confidence of the candidate area to make a comprehensive judgment on the preliminary candidate area and screen the landing candidate area. This method has good adaptability to complex scene areas, does not depend on the pre-laying of targets, is weakly dependent on the landing environment, and has good universality. In addition, the candidate area automatically screened by this method will usually include several landing areas, which can realize the maximum simultaneous autonomous landing of multiple targets under cluster conditions, and has regional adaptability, which greatly improves the autonomous landing of UAVs. Scope of application and degree of automation.

Description

technical field [0001] The invention belongs to the application field of image processing drones. It involves an efficient and reliable screening method for UAV autonomous landing candidate areas based on image processing without preset targets. Background technique [0002] At present, drones play a very important role in various military and civilian fields. The main applications in the civilian field include: environmental monitoring, express delivery, film and television shooting, post-disaster rescue, remote sensing mapping, agricultural plant protection, etc. The main applications in the military field include: combat material delivery, battlefield search and rescue, reconnaissance and early warning, tracking and positioning, etc. In autonomous UAV missions, autonomous landing has become one of the research hotspots. Autonomous landing is one of the key technologies to realize fully autonomous flight of the above applications and improve work efficiency. [0003] Ho...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06K9/46G06K9/34G06K9/32
CPCG06V20/13G06V10/255G06V10/267G06V10/56
Inventor 毕福昆田雨萌杨志华雷明阳侯金元边明明
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY
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