The invention discloses a visual alignment method for an autonomous aerial refueling and receiving probe and a refueling taper sleeve of an unmanned aerial vehicle. Data are obtained through an optical sensing device located right above the rear portion of the refueling probe and processed, and then relative space distance measurement alignment information of the refueling and receiving probe and the refueling taper sleeve in a three-dimensional space is output. According to the invention, the refueling taper sleeve model is simplified into a key point model by using the structure of the refueling taper sleeve, manual marks or active light sources do not need to be arranged on the refueling taper sleeve in advance, the inner contour and the outer contour of the taper sleeve can be detected, and three-dimensional alignment information measurement of the relative positions of the refueling taper sleeve and the refueling probe can be carried out. The method has the characteristics of high real-time performance, high reliability and high precision, and can meet the working requirements of soft autonomous aerial refueling of the unmanned aerial vehicle and the working requirements of soft autonomous aerial refueling of the unmanned aerial vehicle.
本发明公开了一种无人机自主空中加油受油探头与加油锥套视觉对齐方法,通过位于受油探头正后上方的光学传感器件获取数据经过处理后输出加油受油探头与加油锥套的三维空间下的相对空间距离测量对齐信息。本发明利用加油锥套的自身结构将加油锥套模型简化为关键点模型,无需事先布置人工标记或主动光源于加油锥套,能够检测到锥套内轮廓和外轮廓,可对加油锥套与受油探头进行相对位置三维对齐信息测量。具备实时性高、可靠性强和精度高的特点,可以满足无人机软式自主空中加油工作要求,可以满足无人机软式自主空中加油工作要求。
Visual alignment method for autonomous aerial refueling and receiving probe and refueling taper sleeve of unmanned aerial vehicle
无人机自主空中加油受油探头与加油锥套视觉对齐方法
2022-08-12
Patent
Electronic Resource
Chinese
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