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Unmanned aerial vehicle (UAV) and visual servo control method and device thereof

A visual servo and unmanned aerial vehicle technology, applied in the field of unmanned aerial vehicles, can solve the problems that the servo target is difficult to meet the vision constraints, and it is difficult to meet the visual servo tasks of long-distance obstacles, and achieves the effect of reducing complexity and improving safety.

Active Publication Date: 2019-10-22
BEIJING JINGDONG SHANGKE INFORMATION TECH CO LTD +1
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AI Technical Summary

Problems solved by technology

Existing visual servo control technology designs complex control methods to meet FOV constraints in the servo control process, such as adaptive IBVS, input saturation IBVS, etc.
In order to avoid the situation that the servo target cannot meet the field of view constraints that may exist in the visual servoing control process, it is necessary to ensure that there are no other obstacles blocking the line of sight between the airborne camera and the target. However, the existing visual servoing methods are difficult to meet the long-range Requirements for visual servoing tasks with distance obstacles

Method used

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  • Unmanned aerial vehicle (UAV) and visual servo control method and device thereof
  • Unmanned aerial vehicle (UAV) and visual servo control method and device thereof
  • Unmanned aerial vehicle (UAV) and visual servo control method and device thereof

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Embodiment Construction

[0037] The present disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the present disclosure are illustrated. The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are only some of the embodiments of the present disclosure, not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present disclosure.

[0038] figure 1 It is a schematic flow chart of an embodiment of the UAV visual servo control method according to the present disclosure, as figure 1 Shown:

[0039] Step 101, acquiring the flight airspace image collected by the airborne image acquisition dev...

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Abstract

The invention provides a UAV and a visual servo control method and device thereof. The method comprises that a ground target and an expected target position corresponding to the ground target are determined in a flight spatial domain image, a three-dimensional (3D) flight trajectory to reach the expected target position is calculated according to a path planning algorithm and different constrainedconditions, the 3D flight trajectory is projected into an image coordinate system to obtain a two-dimensional (2D) flight trajectory, and navigation and visual servo control care carried out on the UAV based on the 2D flight trajectory. According to the method, device and UAV, the different constraints are integrated in path planning, navigation and visual servo control care carried out on the UAV based on the 2D flight trajectory, an obstacle can be avoided, and image characteristic information collected by a camera is directly used for feedback and servo control, it is not required to estimate the 3D attitude of the UAV, the visual servo control method is less complex, and the flight safety of the UAV is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a visual servo control method and device for an unmanned aerial vehicle and an unmanned aerial vehicle. Background technique [0002] Motion control based on visual feedback is called visual servo control. The existing visual servoing system mainly includes three aspects: vision system, control strategy and implementation strategy, and its control goal is to adjust the task function to the minimum. The bridge between vision, control and motion planning can be established through visual servo control technology. At present, drones also use visual servo control technology for positioning and navigation. A key issue in visual servo control technology is that the visual servo system must be able to obtain the target or feature point, that is, the target must always be within the visible range of the drone's airborne camera to achieve the field of view (FOV) constra...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101G05D1/0094
Inventor 门春雷刘艳光张文凯陈明轩郝尚荣郑行徐进韩微
Owner BEIJING JINGDONG SHANGKE INFORMATION TECH CO LTD
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