The invention provides an unmanned aerial vehicle landing method based on an improved YOLOv5 algorithm, and the method comprises the steps: shooting a video of an environment where an unmanned aerial vehicle is located through a camera module, and transmitting the video to an airborne computer through a data graph transmission module; the airborne computer uses a YOLOv5s algorithm to detect whether a real-time video stream corresponds to a flat ground, a slope, a pit ground or a stair or not based on a Mosaic data enhancement model by using a self-adaptive anchor frame calculation and self-adaptive picture zooming method; if the result is the landing environment, the airborne computer combines the ground station and the flight control board to generate a yaw angle for controlling the landing of the unmanned aerial vehicle; if the environment is not the landing environment, the detection result is repeated until the environment is the landing environment; the ground station transmits the yaw angle to the flight control board through the data graph transmission module, the flight control board controls the unmanned aerial vehicle to land, and after the unmanned aerial vehicle is away from the ground, if the unmanned aerial vehicle lands naturally on the flat ground, and if the unmanned aerial vehicle lands on a slope, a pit or a stair, the flight control board drives the electric push rod to extend outwards to assist the unmanned aerial vehicle to land in a corresponding landing environment.
本发明提供一种基于改进YOLOv5算法的无人机降落方法,摄像头模块拍摄无人机所处环境的视频,通过数据图形传输模块传至机载电脑;机载电脑用YOLOv5s算法,基于Mosaic数据增强模型,运用自适应锚框计算和自适应图片缩放方法检测实时视频流是否对应平地、坡地、坑地或楼梯;若结果是降落环境,则机载电脑结合地面站与飞控板生成用于控制无人机降落的偏航角;若不是降落环境,则重复检测结果为降落环境为止;地面站将偏航角通过数据图形传输模块传入飞控板,飞控板控制无人机降落,待无人机距离地面后,若为平地,无人机自然降落,若为坡地、坑地或楼梯时,飞控板驱动电动推杆外伸,协助无人机在对应降落环境降落。
Unmanned aerial vehicle landing method based on improved YOLOv5 algorithm
一种基于改进YOLOv5算法的无人机降落方法
2022-06-14
Patent
Electronic Resource
Chinese
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