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Unmanned aerial vehicle task planning method based on graphic label

A graphic label and drone technology, applied in the field of drones, can solve problems such as error-prone, unfavorable for later maintenance, and inability to intuitively identify, so as to improve the accuracy of planning, flexible task design and planning process, and improve planning efficiency effect

Pending Publication Date: 2021-08-06
西安鲲鹏易飞无人机科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When using a location label for a specific location, it is in the form of a two-dimensional code, which only includes positioning and numbering functions, and cannot be visually identified by people
Therefore, it is easy to make mistakes in the task planning process, and it is not conducive to later maintenance

Method used

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  • Unmanned aerial vehicle task planning method based on graphic label
  • Unmanned aerial vehicle task planning method based on graphic label
  • Unmanned aerial vehicle task planning method based on graphic label

Examples

Experimental program
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Effect test

Embodiment 1

[0049] Refer to attached Figure 5-7 , a kind of unmanned aerial vehicle mission planning method based on graphic label that the present invention proposes, concrete implementation steps are as follows:

[0050] Step 1. Refer to attached Figure 1-3 , to construct a label consisting of three elements: a frame, a direction indicator and an icon:

[0051] (1.1) Establish a circular boundary with a center of O and a diameter of D, that is, an outer frame, such as figure 1 Shown in the mark 101; the diameter D is preset according to the flying height of the drone and the resolution of the camera;

[0052] (1.2) Inside the outer frame, with O as the center, D 2 Take three arcs on the ring with diameter, D 2 figure 1 Shown in the mark 102; it is used to control the direction of UAV head turning;

[0053] (1.3) With O as the center, D 3 Draw a circular dashed circle box inside the direction indicator for the diameter, as in figure 1 Shown in the subscript 103; where D 3 2 , add...

Embodiment 2

[0090] The implementation steps of this embodiment are the same as in Embodiment 1, and only steps 5 and 6 are further described:

[0091] Follow certain rules for label numbering, including:

[0092]a. The label block number is the first-level number, and its internal label number is the second-level number;

[0093] b. The label block number starts from 0, and the order is numbered according to the order in which the drone first arrives at the label block;

[0094] c. Same as the previous step b, the internal label number starts from 0 and increases successively, and its numbering sequence is the same as that of the UAV reading sequence. refer to image 3 , assuming that the label block number is 0, that is, the location of the label block is the take-off area of ​​the drone, then the label numbers in the label block are as follows: the starting label 301 is numbered 0.0, the label 302 is numbered 0.1, and the label 303 is numbered is 0.2, and the tag 304 number is 0.3. ...

Embodiment 3

[0097] refer to Figure 6 and 7 , the implementation steps of this embodiment are the same as those of Embodiment 1, and only steps 8 and 9 are further described:

[0098] After the drone is started, it starts to run automatically. First, it starts to search for the label block, including searching for the label and locating to the label position and searching for the start label in the label block where the label is located.

[0099] The method and process for searching tags include the following:

[0100] S1.1. The recognition of the outer frame uses the Canny edge detection algorithm and the Hough circle transformation method to detect, obtain the center coordinates and diameter of the circle detected in the field of view, and remove the inner ring of the outer frame by the non-maximum value suppression method, Get accurate data.

[0101] S1.2. The detection of the direction indicator is based on the detection of the outer frame, after obtaining the coordinates of the ce...

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Abstract

The invention discloses an unmanned aerial vehicle task planning method based on a graphic label, and mainly solves the technical problems that the planning link of the existing method is easy to make mistakes, is not intuitive and is not beneficial to later maintenance. According to the scheme, the method comprises the following steps: 1) constructing a label consisting of three parts of elements, namely an outer frame, a direction indicator and an icon; 2) selecting and using various labels to form label blocks according to the task content, and placing all the label blocks at a preset place; 3) numbering labels and label blocks, and defining special labels; 4) aligning the camera of the unmanned aerial vehicle to the direction of the first label block, and starting the unmanned aerial vehicle; 6) enabling the unmanned aerial vehicle to detect and read the label blocks, and generate a recyclable and interruptible label sequence; and 7) enabling the unmanned aerial vehicle to automatically operate according to the tag sequence to complete the task. According to the invention, the unmanned aerial vehicle can execute the corresponding task according to the label marking function or the number, so that task planning of the unmanned aerial vehicle in a complex environment is realized, the planning efficiency and accuracy are effectively improved, and maintenance is convenient.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and further relates to computer vision, specifically a graphic label-based unmanned aerial vehicle mission planning method, which can be used for automatic mission planning and automatic navigation of unmanned aerial vehicles. Background technique [0002] In recent years, with the rapid development of UAV technology, UAV automatic navigation and mission planning have become the focus and focus of current research. [0003] Most of the existing technologies use GPS, base stations, indoor carrier-free communication technology UWB (Ultra Wideband), optical flow positioning and other methods, combined with remote ground stations to plan and manage the flight trajectory of drones to perform tasks, so that they can automatically realize corresponding functions. It is widely used in aerial photography, agricultural plant protection, power inspection, map drawing, warehouse inspection, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G06K19/06
CPCG05D1/106G06K19/06037
Inventor 张靖宇张文博常超
Owner 西安鲲鹏易飞无人机科技有限公司
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