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Indoor unmanned aerial vehicle, control method thereof and computer readable storage medium

A control method and technology of unmanned aerial vehicle, applied in the field of unmanned aerial vehicle, can solve problems such as path planning that cannot be positioned autonomously

Active Publication Date: 2021-02-09
宁波图灵奇点智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide an indoor unmanned aerial vehicle and its control method, and a computer-readable storage medium for the above-mentioned defects of the prior art that cannot be independently positioned and path planning.

Method used

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  • Indoor unmanned aerial vehicle, control method thereof and computer readable storage medium
  • Indoor unmanned aerial vehicle, control method thereof and computer readable storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0039] The indoor drone control method of the present invention can be realized only by drones. A map is pre-stored in the drone, and the map has a plurality of landmark objects and traffic signs, and the landmark objects and traffic signs are configured with specific location information in the map.

[0040] refer to figure 1 , the method includes:

[0041]S101: The drone takes photos in real time and recognizes landmark objects in the photos, and uses the recognized landmark objects as reference objects to estimate the position of the drone on the map;

[0042] The landmark object may be an easily identifiable object other than a traffic sign, such as a landmark building, and is preferably a two-dimensional code in this embodiment. The two-dimensional code has obvious characteristics in each coordinate direction, which is convenient for accurate identification from all angles. The operating system of the drone is equipped with a special two-dimensional code recognition pac...

Embodiment 2

[0075] Based on the same inventive concept, this embodiment discloses a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the first embodiment are implemented. For a specific implementation process, refer to Embodiment 1, which will not be repeated here.

Embodiment 3

[0077] Based on the same inventive concept, this embodiment discloses an indoor drone, including a processor and a memory, the memory stores a computer program, and when the computer program is executed by the processor, the steps of the method described in Embodiment 1 are implemented . For a specific implementation process, refer to Embodiment 1, which will not be repeated here.

[0078] To sum up, the indoor UAV, its control method, and computer-readable storage medium of the present invention have the following beneficial effects: a map is pre-stored in the UAV in the present invention, and there are multiple landmark objects on the map, so that the control without After the human-machine is turned on, it can take pictures, identify the iconic objects in the photos, and use the identified iconic objects as the reference to estimate the position of the UAV on the map as a starting point, and then plan from the UAV according to the position of the UAV. The path from the pos...

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Abstract

The invention discloses an indoor unmanned aerial vehicle, a control method thereof and a computer readable storage medium, and the method comprises the steps: enabling the unmanned aerial vehicle toshoot a picture in real time, recognizing a symbolic object in the picture, and estimating the position of the unmanned aerial vehicle in a map through employing the recognized symbolic object as a reference object; taking the estimated position as the position of the unmanned aerial vehicle to plan a path from the position of the unmanned aerial vehicle to an end point, and controlling the unmanned aerial vehicle to fly based on the planned path. The method includes: shooting a picture in real time and identifying the picture in a flight process, estimating the position of the unmanned aerialvehicle in a map by taking a newly identified symbolic object as a reference object when the symbolic object is identified, correcting the position of the unmanned aerial vehicle based on the estimated position, and planning a path from the position of the unmanned aerial vehicle to an end point again after the position is corrected. According to the invention, autonomous positioning, path planning and autonomous flight can be achieved; furthermore, the invention also provides a traffic sign recognition method based on a deep learning framework, and the method can help to correct the positionof the unmanned aerial vehicle and perfect and update a map.

Description

technical field [0001] The present invention relates to the field of unmanned aerial vehicles, in particular to an indoor unmanned aerial vehicle, a control method thereof, and a computer-readable storage medium. Background technique [0002] At present, the control system of UAV is mainly divided into airborne flight control system and ground control system. The advantage of airborne is that it can realize autonomous flight without relying on ground devices. The difficulty of airborne is that the size and load of UAV are limited. It cannot be equipped with a central processing unit or graphics processor with a large computing power, and it is difficult to realize functions such as independent positioning, path planning, video processing, and logo recognition. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide an indoor unmanned aerial vehicle, its control method, and a computer-readable storage medium for the above...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 应造时王桂艳郭成
Owner 宁波图灵奇点智能科技有限公司
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