The invention provides an unmanned aerial vehicle recycling method adopting computer vision, and the method comprises the steps: carrying out the forward and lateral image collection through employing an industrial camera in a manner of setting a cursor at a fixed position on an unmanned aerial vehicle recycling site, and carrying out the image recognition of the cursor, therefore, a lateral position signal, a flight distance signal and an overall height signal of the unmanned aerial vehicle are solved. Solving an approximate differential signal of the position of the unmanned aerial vehicle through a first-order inertial filter; further solving a pitch angle signal, a yaw angle signal, a pitch approximate differential signal and a yaw approximate differential signal; and finally, superposing the lateral position signal, the overall height signal, the lateral position differential signal and the overall height differential signal to respectively form a pitching channel attitude expectation instruction signal and a yaw channel attitude expectation quality signal for unmanned aerial vehicle recovery, and tracking an instruction through an unmanned aerial vehicle attitude control system so as to realize visual recovery of the unmanned aerial vehicle.
本发明提供了一种采用计算机视觉的无人机回收方法,其通过再无人机回收场地上固定位置设置光标的方式,采用工业摄像机进行前向与侧向的图像采集,并进行光标的图像识别,从而解算无人机的侧向位置信号、飞行距离信号与整体高度信号。再通过一阶惯性滤波器求解无人机位置近似微分信号;并进一步求解俯仰角、偏航角信号以及俯仰近似微分信号与偏航近似微分信号;最后叠加侧向位置信号、整体高度信号以及侧向位置微分信号、整体高度微分信号分别形成无人机回收的俯仰通道姿态期望指令信号与偏航通道姿态期望质量信号,通过无人机姿态控制系统对指令进行跟踪,从而实现无人机的视觉回收。
Unmanned aerial vehicle recycling method adopting computer vision
一种采用计算机视觉的无人机回收方法
2023-07-04
Patent
Electronic Resource
Chinese
IPC: | G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / B64U / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES |
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