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Unmanned aerial vehicle autonomous site selection landing method fusing LIDAR point cloud and image data

A technology of image data and drones, applied in radio wave measurement systems, instruments, control/regulation systems, etc., can solve problems such as unsafe landing of drones, loss of drone signals, complex operating environment, etc., which is not easy to achieve External light interference, fast and effective screening, to ensure the effect of high-altitude operations

Active Publication Date: 2021-09-07
FUJIAN UNIV OF TECH
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Problems solved by technology

And in the process of automatic landing, due to the complex operating environment of the UAV and the uneven terrain, it will lead to the loss of the UAV signal, inaccurate positioning, incomplete terrain modeling and other problems, resulting in the inability of the UAV to land safely.

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  • Unmanned aerial vehicle autonomous site selection landing method fusing LIDAR point cloud and image data
  • Unmanned aerial vehicle autonomous site selection landing method fusing LIDAR point cloud and image data
  • Unmanned aerial vehicle autonomous site selection landing method fusing LIDAR point cloud and image data

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Embodiment Construction

[0045] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0046] In the following introduction, the terms "first" and "second" are only used for the purpose of description, and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application, and different embodiments can be replaced or combined and combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment contains features A, B, C, and another embodiment contains features B, D, then the application should also be considered to include all other possible combinations containing one or more of A, B, C, D Although this embodiment may not be clearly written in the following content....

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Abstract

The invention discloses an unmanned aerial vehicle autonomous site selection landing method fusing LIDAR point cloud and image data. The method comprises the steps of generating a color point cloud image based on fusion of a laser radar point cloud data stream and an image data stream; calculating at least one smooth area in the color point cloud picture, taking the smooth area closest to the unmanned aerial vehicle as an initial landing point, and controlling the unmanned aerial vehicle to move towards the initial landing point; in the process of moving to the initial landing point, performing visual analysis on semantic information corresponding to all smooth areas, and screening to obtain at least one safe smooth area; and determining the safe smooth area closest to the current position of the unmanned aerial vehicle as a final landing point, and controlling the unmanned aerial vehicle to land to the final landing point. According to the method, the optimal landing point in the area is autonomously selected for landing over various terrains without relying on unreliable sensor information such as a GPS and an IMU, and the landing sites with potential safety hazards can be quickly and effectively screened.

Description

technical field [0001] This application relates to the technical field of automatic control of unmanned aerial vehicles, in particular, it relates to a method for autonomous location selection and landing of unmanned aerial vehicles by fusing LIDAR point cloud and image data. Background technique [0002] As a representative of unmanned aerial vehicles, rotor UAVs have the advantages of vertical take-off and landing, free hovering, and flexible control, and have great application prospects in the fields of military warfare, resource detection, and disaster rescue. At present, the industry divides the development process of UAV technology into seven stages. The current technology is between the fifth and sixth stages, that is, UAVs have payload adaptability and certain automatic driving capabilities, and autonomous landing requires UAVs to complete After the mission, it will automatically select a suitable landing point for landing and recovery while considering energy consum...

Claims

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Application Information

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IPC IPC(8): G05D1/06G01S7/48
CPCG05D1/0676G01S7/4802
Inventor 邹诚李灵峰孔令华
Owner FUJIAN UNIV OF TECH
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