CN107943090A - The landing method and system of a kind of unmanned plane - Google Patents
The landing method and system of a kind of unmanned plane Download PDFInfo
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- CN107943090A CN107943090A CN201711420975.XA CN201711420975A CN107943090A CN 107943090 A CN107943090 A CN 107943090A CN 201711420975 A CN201711420975 A CN 201711420975A CN 107943090 A CN107943090 A CN 107943090A
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- 230000011218 segmentation Effects 0.000 abstract description 2
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- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 2
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- 238000005183 dynamical system Methods 0.000 description 2
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- 230000004927 fusion Effects 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
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- 238000005452 bending Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses the landing method and system of a kind of unmanned plane, by the way that the image of shooting template image corresponding with the first flying height is matched, obtains the position that unmanned plane deviates target level point；Deviate the position in target level point according to unmanned plane, control unmanned plane during flying to target level point and controls unmanned plane to land from target level point, in descent, the unmanned plane carries out segmentation landing, the sinking speed of the unmanned plane described in each section is different, realize unmanned plane precisely to land, it is not necessary to realize the landing of unmanned plane unmanned plane by GPS positioning or location estimation, decrease the generation of security incident.
Description
Technical field
The present invention relates to the landing method and system in unmanned air vehicle technique field, more particularly to a kind of unmanned plane.
Background technology
The process that every time must there is unmanned plane during flying when unmanned plane during flying lands, and accident occurs during landing
Probability is often higher.The place (on tree, the water surface, uneven ground etc.) of unsuitable unmanned plane landing is such as dropped to, easily
Unmanned plane is caused to be damaged.So necessary introduce some safeguard measures when unmanned plane lands.Ensure unmanned plane drop
The security fallen, avoids damage unmanned plane or injures other people.
Existing unmanned plane landing method be typically all directly toward decline, do not perceive it is also how high away from ground during landing,
Or have perception but do not add some safeguard measures, and the perception to ground environment does not often have.This be easy to cause nobody
Machine drops to the place for being not suitable for landing and security incident occurs when landing.
The content of the invention
It is a primary object of the present invention to propose the landing method and system of a kind of unmanned plane, it is intended to solve the prior art and deposit
The problem of.
To achieve the above object, first aspect of the embodiment of the present invention provides a kind of landing method of unmanned plane, the method
Including step：Obtain the first flying height of unmanned plane；According to the first flying height of the unmanned plane, it is high to obtain the first flight
Spend corresponding template image；By the camera device photographed scene picture of unmanned plane, the image of shooting is got；By the figure of shooting
Picture template image corresponding with the first flying height is matched, and obtains the position that unmanned plane deviates target level point；Obtain pre-
If reference altitude, the first flying height is analyzed according to default reference altitude, with obtain the first of unmanned plane landing
Speed；Deviate the position in target level point according to unmanned plane, control unmanned plane during flying is to target level point and according to described first
Sinking speed control unmanned plane lands from target level point.
Alternatively, the template image is the image or be the nothing that the unmanned plane is shot in the target level point
The man-machine image in the target level point prestored.
Alternatively, the default reference altitude includes the first reference altitude, the second reference altitude and takes off highly, institute
State the second reference altitude and be less than first reference altitude, first reference altitude is less than the height of taking off.
Alternatively, control unmanned plane to carry out landing from target level point according to first sinking speed to further include：According to
The first sinking speed control unmanned plane is moved in described take off between height and first reference altitude, and described first
Sinking speed is linearly related to height and first reference altitude of taking off.
Alternatively, first reference altitude is the hovering position of unmanned plane, when unmanned plane hovers, again by nobody
The camera device of machine gets the image of shooting, by the image of shooting and unmanned plane prestore in first reference altitude
Image analyzed, so as to finely tune the deviation in the unmanned plane and target level point.
Alternatively, the second flying height of unmanned plane is obtained, second flying height is less than or equal to the described second reference
Highly；And the second sinking speed of unmanned plane is obtained according to second flying height, second sinking speed is at the uniform velocity.
Alternatively, when first flying height takes off height more than described in, controlled according to first sinking speed
Unmanned plane flies obliquely.
In addition, to achieve the above object, second aspect of the embodiment of the present invention provides a kind of landing system of unmanned plane, described
System includes：Range finder module, image storage module, shooting image acquisition module, matching module, memory and processor；Institute
Range finder module is stated, for obtaining the first flying height of unmanned plane；Described image memory module, for according to the unmanned plane
First flying height, obtains the corresponding template image of the first flying height；The shooting image acquisition module, for passing through nobody
The camera device photographed scene picture of machine, gets the image of shooting；The matching module, for by the image of shooting and first
The corresponding template image of flying height is matched, and obtains the position that unmanned plane deviates target level point；Memory, for storing
Default reference altitude；Processor, for transferring the default reference altitude from the memory, according to default reference
Height analyzes the first flying height, to obtain the first sinking speed of unmanned plane and deviate target drop according to unmanned plane
The position of drop point, control unmanned plane during flying control unmanned plane to be dropped from target to target level point and according to first sinking speed
Drop point lands.
Alternatively, the template image is the image or be the nothing that the unmanned plane is shot in the target level point
The man-machine image in the target level point prestored.
Alternatively, first sinking speed is linearly related to the default reference altitude.
The landing method and system of unmanned plane provided in an embodiment of the present invention, by the way that the image of shooting and the first flight is high
Spend corresponding template image to be matched, obtain the position that unmanned plane deviates target level point；Target drop is deviateed according to unmanned plane
The position of drop point, control unmanned plane during flying to target level point and control unmanned plane to land from target level point, are landing
During, the unmanned plane carries out segmentation landing, and the sinking speed of the unmanned plane described in each section is different, realizes unmanned plane
Precisely landing, it is not necessary to the landing of unmanned plane unmanned plane is realized by GPS positioning or location estimation, decreases security incident
Generation.
Brief description of the drawings
Fig. 1 is the stereogram of unmanned plane provided in an embodiment of the present invention；
Fig. 2 is the top view of unmanned plane provided in an embodiment of the present invention；
Fig. 3 is the landing system structure diagram of unmanned plane provided in an embodiment of the present invention；
Fig. 4 is the landing method flow diagram of unmanned plane provided in an embodiment of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Describe to realize each embodiment of the present invention referring now to attached drawing.In follow-up description, using for representing
For the suffix of such as " module ", " component " or " unit " of element only for being conducive to the explanation of the present invention, itself is not special
Fixed meaning.
Be related in the present invention " first ", " second " etc. description be only used for description purpose, and it is not intended that instruction or
Imply its relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " are defined
At least one this feature can be expressed or be implicitly included to feature.In addition, the technical solution between each embodiment can phase
Mutually combine, but must can be implemented as basis with those of ordinary skill in the art, when the combination of technical solution occurs mutually
Contradiction or can not realize when, will be understood that the combination of this technical solution is not present, also not application claims protection domain it
It is interior.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining the relative position relation under a certain particular pose (as shown in drawings) between each component, motion conditions etc., if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
Refering to Fig. 1, Fig. 1 is unmanned plane structural perspective provided in an embodiment of the present invention.A kind of unmanned plane, including flight master
Body 1, the Flight main body 1 substantially in ellipticity, the horn component that is arranged on the Flight main body 1, the Flight main body 1
Front end is head 10, and rear end is tail 11, and 10 thickness of head is less than 11 thickness of tail, and the head 10 is equipped with two
A indicator light 2.10 upper surface of head is equipped with one first plane 101 and one first cambered surface 102 from first plane
101 previously and downwards smoothly extend to form and one second cambered surface 103 from first cambered surface 102 downwards and smoothly prolong backward
Stretch to be formed, the indicator light 2 is arranged in first cambered surface 102 and two indicator lights 2 are symmetrically disposed on first arc
The left and right sides in face 102, second cambered surface 103 are equipped with a heat emission hole 104 and are used to radiate to the Flight main body 1.
Please refer to shown in Fig. 1 and Fig. 2, the horn component includes one first horn 12 and one second horn 13, institute
First horn 12 that stretches out on the left of Flight main body 1 is stated, stretch out second horn on the right side of the Flight main body 1
13, first horn 12 is identical with the structure of second horn 13, and first horn 12 is equipped with a fixed part 121 and institute
State Flight main body 1 to be connected, extension bends one first cantilever 122, the rear side of fixed part 121 forward for the front side of fixed part 121
Extend back one second cantilever 123 of bending, and a connecting portion 124 connects first cantilever 122 and second cantilever 123, makes
Obtain and surround a through hole 125, the through hole between first cantilever 122, second cantilever 123 and the connecting portion 124
125 pass through gripping first horn 12 that the operator is more prone to and second machine for the hand of the operators
Arm 13.The fixed part 121 and the thickness of 1 junction of Flight main body are more than the fixed part 121 and first cantilever
The thickness of 122 junctions, so as to strengthen first horn 12 and second horn 13 is connected by force with the Flight main body 1
Degree.The unmanned plane is respectively arranged on the left side and the right side an antenna (non-label) and is located at behind second cantilever 123.The tail 11
It is (not shown) for a battery component (non-label) insertion equipped with a host cavity.
Unmanned plane can carry a load, such as：Camera device.In certain embodiments, the camera device can be with
Including a camera, such as：Image around the unmanned plane, video etc. can be shot.The camera is photosensitive in various
The light of wavelength, includes but not limited to visible ray, ultraviolet, infrared ray or any combination therein.In certain embodiments, institute
Other kinds of sensor can be included by stating load.In certain embodiments, the load passes through holder and the Flight main body 1
Link together so that the load can be moved relative to the Flight main body 1.Such as：When the load carries shooting dress
When putting, the camera device can be moved relative to Flight main body 1 to shoot the image around the unmanned plane, video etc..Such as
Shown in figure, when unmanned plane is located at ground, undercarriage 6 can support unmanned plane to protect the load.
In certain embodiments, the unmanned plane can include two forward sight cameras, the forward sight camera it is photosensitive in
The light (such as visible ray, infrared light, ultraviolet) of various wavelength is used to shoot the image or video around the unmanned plane.It is described
Unmanned plane can be placed in the lower of 1 bottom of Flight main body including two and regard camera.
With reference to Fig. 3, Fig. 3 is a kind of landing system for unmanned plane that second embodiment of the invention provides, the system comprises：
Range finder module 20, image storage module 21, shooting image acquisition module 22, matching module 23, memory 24 and processor 25.
Range finder module 20, for obtaining the first flying height of unmanned plane.
Image storage module 21, for the first flying height of the unmanned plane obtained according to range finder module 20, obtains first
The corresponding template image of flying height.
In the present embodiment, template image is the image or be that unmanned plane is deposited in advance that unmanned plane is shot in target level point
The image in the target level point of storage.
In certain embodiments, the range finder module 20 is the one or more sensors for being placed in uav bottom, such as
Ultrasonic sensor, laser radar range sensor, in unmanned plane after takeoff point takes off, distance measuring sensor measures nobody
When machine flight is to certain altitude, the camera shooting image of unmanned plane is can trigger, for example unmanned plane is triggered when rising and flying to five meters
Camera shoot an image, rise fly to six meters when trigger unmanned plane camera shoot an image ... so that
To a template image with unmanned plane apart from the highly one-to-one image library of takeoff point.
When unmanned plane, which needs to make a return voyage, returns to takeoff point position, the first altitude data of unmanned plane can be obtained, such as
The first altitude data that distance measuring sensor measures；By first altitude data, can be found in image library
The corresponding template image of first altitude data.
Shooting image acquisition module 22, for the camera device photographed scene picture by unmanned plane, gets shooting
Image.
Matching module 23, for the image of shooting template image corresponding with the first flying height to be matched, obtains
Unmanned plane deviates the position in target level point.
In embodiments of the present invention, unmanned plane is built-in with the camera device of one or more, and camera device can shoot field
Scape picture, obtains the image based on shooting.By the image of shooting template image corresponding with the first flying height by matching skill
Art can obtain the position that unmanned plane deviates target level point.Matched method may include：Solve image correlation coefficient or machine
Learning method obtains template position from image.
In the present embodiment, target level point is the position of the first flying height of unmanned plane takeoff point vertical direction.
In the present embodiment, matching module passes through expanded Kalman filtration algorithm (EKF, Extended Kalman
Filter) carry out data fusion and obtain the position that unmanned plane deviates target level point.
Kalman filtering is a kind of efficient recursion filter (autoregressive filter), it can be from a series of endless
In the full measurement comprising noise, the state of dynamical system is estimated.
The memory 24 is used to store default reference altitude；The processor 25 is used to adjust from the memory 24
The default reference altitude is taken, the first flying height is analyzed according to default reference altitude, to obtain unmanned plane
First sinking speed and the position for deviateing target level point according to unmanned plane, control unmanned plane during flying to target level point and root
Land according to first sinking speed control unmanned plane from target level point.
In the present embodiment, the default reference altitude includes the first reference altitude, the second reference altitude and takes off
Highly, second reference altitude is less than first reference altitude, and first reference altitude is less than the height of taking off.Root
Landing is carried out according to first sinking speed control unmanned plane from target level point to further include：According to the first sinking speed control
Unmanned plane processed is moved in described take off between height and first reference altitude, and first sinking speed is linearly related to
Height and first reference altitude of taking off.First reference altitude is the hovering position of unmanned plane, works as unmanned plane
During hovering, the image of shooting is got again by the camera device of unmanned plane, the image of shooting is prestored with unmanned plane
The image in first reference altitude analyzed, so as to finely tune the deviation in the unmanned plane and target level point, finely tune
Process be that unmanned plane automatic horizontal is close to target level point at leisure, little by little reduce deviation.
In one of the embodiments, when first flying height takes off height more than described in, according to described first
Sinking speed control unmanned plane flies obliquely, specifically, the unmanned plane move straight down on one side and meanwhile it is horizontal also to
Target level point is close.
In the present embodiment, after the position in unmanned plane deviation target level point is obtained, nothing can be controlled by pid algorithm
Man-machine flight attitude, control unmanned plane during flying to target level point, then controls unmanned plane to land from target level point.
The flight attitude of unmanned plane may include the roll angle (English name roll) of unmanned plane, pitch angle (English name
Pitch), course angle (English name yaw), the flight attitude of unmanned plane are used for controlling unmanned plane holding horizontal or keep a certain appearance
State angle.
The landing system of unmanned plane provided in an embodiment of the present invention, by the way that the image of shooting is corresponding with the first flying height
Template image matched, obtain the position that unmanned plane deviates target level point；Target level point is deviateed according to unmanned plane
Position, control unmanned plane during flying to target level point and control unmanned plane to land from target level point；Realize unmanned plane
Precisely landing, it is not necessary to the landing of unmanned plane unmanned plane is realized by GPS positioning or location estimation.
As shown in Figure 1, a kind of landing method for unmanned plane that first embodiment of the invention provides, the method comprising the steps of：
S10, the first flying height for obtaining unmanned plane.
In certain embodiments, the unmanned plane can be by one or more sonacs, such as：Sonac
In, obtain first flying height.Specifically, the sonac can earthward send ultrasonic wave, the ultrasonic wave
Through can be received after ground return by the unmanned plane, by obtaining delivery time and the time of reception of the ultrasonic wave,
It is aided with the spread speed of sound, first flying height can be calculated.
In other embodiments, the unmanned plane can by forward sight camera or it is lower regard camera, acquisition described the
One flying height.The lower bottom that the unmanned plane is installed in depending on camera, for shooting the figure of the uav bottom
Picture and/or video.The unmanned plane can utilize Stereo Matching Technology (English：Stereo matching techniques),
The depth information in described image and/or the video is extracted, and the uav bottom is rebuild according to the depth information
Dimensional topography, so as to obtain first flying height.
S11, the first flying height according to unmanned plane, obtain the corresponding template image of the first flying height.
The unmanned plane can be by the lower shooting image regarding camera, for example triggers unmanned plane when rising and flying to five meters
Camera shoots an image, and the camera that unmanned plane is triggered when rising and flying to six meters shoots an image ..., so as to obtain
One template image is with unmanned plane apart from the highly one-to-one image library of takeoff point.
S12, the camera device photographed scene picture by unmanned plane, get the image of shooting.
S13, matched the image of shooting template image corresponding with the first flying height, is obtained unmanned plane and is deviateed mesh
Mark the position in level point.
In embodiments of the present invention, unmanned plane is built-in with the camera device of one or more, and camera device can shoot field
Scape picture, obtains the image based on shooting.By the image of shooting template image corresponding with the first flying height by matching skill
Art can obtain the position that unmanned plane deviates target level point.Matched method may include：Solve image correlation coefficient or machine
Learning method obtains template position from image.
S14, obtain default reference altitude, the first flying height is analyzed according to default reference altitude, to obtain
Take the first sinking speed of unmanned plane；
S15, the position according to unmanned plane deviation target level point, control unmanned plane during flying is to target level point and according to institute
The first sinking speed control unmanned plane is stated from target level point to land.
In certain embodiments, the default reference altitude includes the first reference altitude, the second reference altitude and rises
Fly height, second reference altitude is less than first reference altitude, and first reference altitude is less than the height of taking off.
Control unmanned plane to carry out landing from target level point according to first sinking speed to further include：According to first sinking speed
Control unmanned plane is moved in described take off between height and first reference altitude, and first sinking speed is linearly related
In height and first reference altitude of taking off.
In the present embodiment, unmanned plane can be segmented according to the default reference altitude along perpendicular to the direction on ground
Automatically landed.Such as：As the first reference altitude H1, the second reference altitude H2 and the height H3 that takes off, unmanned plane it is current
The first flying height be H4, when first flying height is more than the height H3 that takes off for H4, the speed of unmanned plane is V=
at2+ b accelerate decline, constant b be unmanned plane horizontal velocity, at2It is when described first for the speed of unmanned plane straight down
Flying height H1 be more than it is described take off height H4 when, control unmanned plane to fly obliquely according to first sinking speed.Work as institute
State the first flying height for H4 be more than the first reference altitude H1 be less than it is described take off height H3 when, the speed of unmanned plane is V
=d (H3-H1), the speed linearity for being unmanned plane are relevant to height and first reference altitude of taking off.When described
When first flying height is less than or equal to the second reference altitude H2 for H4, the speed of unmanned plane is V=c uniform descents, i.e.,
It is that the second the flying height H5, the second flying height H5 for obtaining unmanned plane is less than or equal to the second reference altitude H2, root
The second sinking speed of unmanned plane is obtained according to the second flying height H5, second sinking speed is at the uniform velocity.Wherein one
A example, constant a are 0.5m/s2, b 0.1m/s, c 0.3m/s.
In certain embodiments, first reference altitude is the hovering position of unmanned plane, when unmanned plane hovers, again
The image of shooting is got by the camera device of unmanned plane, by the image of shooting and unmanned plane prestore described first
The image of reference altitude is analyzed, so as to finely tune the deviation in the unmanned plane and target level point.
In the present embodiment, target level point is the position of the first flying height of unmanned plane takeoff point vertical direction.Can
Data fusion is carried out by expanded Kalman filtration algorithm (EKF, Extended Kalman Filter) and obtains unmanned plane deviation
The position in target level point.
Kalman filtering is a kind of efficient recursion filter (autoregressive filter), it can be from a series of endless
In the full measurement comprising noise, the state of dynamical system is estimated.
In the present embodiment, after the position in unmanned plane deviation target level point is obtained, PID (ratio, product can be passed through
Point, differential) algorithm control unmanned plane flight attitude, control unmanned plane during flying arrive target level point, then control unmanned plane from
Land in target level point.
The flight attitude of unmanned plane may include the roll angle (English name roll) of unmanned plane, pitch angle (English name
Pitch), course angle (English name yaw), the flight attitude of unmanned plane are used for controlling unmanned plane holding horizontal or keep a certain appearance
State angle.
The landing method of unmanned plane provided in an embodiment of the present invention, by the way that the image of shooting is corresponding with the first flying height
Template image matched, obtain the position that unmanned plane deviates target level point；Target level point is deviateed according to unmanned plane
Position, control unmanned plane during flying to target level point and control unmanned plane to land from target level point；Realize unmanned plane
Precisely landing, it is not necessary to the landing of unmanned plane unmanned plane is realized by GPS positioning or location estimation.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements not only include those key elements, and
And other elements that are not explicitly listed are further included, or further include as this process, method, article or device institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Also there are other identical element in the process of key element, method, article or device.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and accompanying drawing content are made, is directly or indirectly used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
- A kind of 1. landing method of unmanned plane, it is characterised in that the method includes the steps：Obtain the first flying height of unmanned plane；According to the first flying height of the unmanned plane, the corresponding template image of the first flying height is obtained；By the camera device photographed scene picture of unmanned plane, the image of shooting is got；The image of shooting template image corresponding with the first flying height is matched, unmanned plane is obtained and deviates target level point Position；Default reference altitude is obtained, the first flying height is analyzed according to default reference altitude, to obtain unmanned plane The first sinking speed；Deviate the position in target level point according to unmanned plane, control unmanned plane during flying is to target level point and according to the described first drop Fall speed control unmanned plane from target level point to land.
- 2. the landing method of a kind of unmanned plane according to claim 1, it is characterised in that the template image is the nothing The man-machine image shot in the target level point or the figure in the target level point prestored for the unmanned plane Picture.
- A kind of 3. landing method of unmanned plane according to claim 1, it is characterised in that the default reference altitude bag Include the first reference altitude, the second reference altitude and height of taking off, second reference altitude be less than first reference altitude, First reference altitude is less than the height of taking off.
- 4. the landing method of a kind of unmanned plane according to claim 3, it is characterised in that according to first sinking speed Control unmanned plane carries out landing from target level point and further includes：Unmanned plane is controlled to take off described according to first sinking speed Moved between height and first reference altitude, first sinking speed is linearly related to height and the institute of taking off State the first reference altitude.
- 5. the landing method of a kind of unmanned plane according to claim 3, it is characterised in that first reference altitude is nothing Man-machine hovering position, when unmanned plane hovers, the image of shooting is got again by the camera device of unmanned plane, will be shot Image analyzed with the image in first reference altitude that unmanned plane prestores so that finely tune the unmanned plane with The deviation in target level point.
- 6. the landing method of a kind of unmanned plane according to claim 3, it is characterised in that obtain the second flight of unmanned plane Highly, second flying height is less than or equal to second reference altitude；And nothing is obtained according to second flying height The second man-machine sinking speed, second sinking speed is at the uniform velocity.
- 7. the landing method of a kind of unmanned plane according to claim 3, it is characterised in that when first flying height is big In it is described take off height when, according to first sinking speed control unmanned plane fly obliquely.
- A kind of 8. landing system of unmanned plane, it is characterised in that the system comprises：Range finder module, image storage module, shooting Image collection module, matching module, memory and processor；The range finder module, for obtaining the first flying height of unmanned plane；Described image memory module, for the first flying height according to the unmanned plane, it is corresponding to obtain the first flying height Template image；The shooting image acquisition module, for the camera device photographed scene picture by unmanned plane, gets the figure of shooting Picture；The matching module, for the image of shooting template image corresponding with the first flying height to be matched, obtains nothing The position in man-machine deviation target level point；Memory, for storing default reference altitude；Processor, for transferring the default reference altitude from the memory, according to default reference altitude to first Flying height is analyzed, with the position for obtaining the first sinking speed of unmanned plane and deviateing target level point according to unmanned plane Put, control unmanned plane during flying controls unmanned plane to be carried out from target level point to target level point and according to first sinking speed Landing.
- 9. the landing system of a kind of unmanned plane according to claim 8, it is characterised in that the template image is the nothing The man-machine image shot in the target level point or the figure in the target level point prestored for the unmanned plane Picture.
- A kind of 10. landing system of unmanned plane according to claim 8, it is characterised in that the first sinking speed line Property is relevant to the default reference altitude.
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| CN201711420975.XA CN107943090A (en) | 2017-12-25 | 2017-12-25 | The landing method and system of a kind of unmanned plane |
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| CN (1) | CN107943090A (en) |
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| CN108803645A (en) * | 2018-08-03 | 2018-11-13 | 成都纵横自动化技术有限公司 | Unmanned plane forced landing method, apparatus, automatic pilot and unmanned plane |
| CN108873935A (en) * | 2018-07-06 | 2018-11-23 | 山东农业大学 | Control method, device, equipment and the storage medium of logistics distribution unmanned plane landing |
| CN109407700A (en) * | 2018-11-05 | 2019-03-01 | 周口师范学院 | A kind of unmanned plane independent landing method and its implementing device guided using image |
| CN109407686A (en) * | 2018-11-23 | 2019-03-01 | 东莞市光点电子科技有限公司 | A kind of method that winged control protects unmanned plane in landing phases |
| CN109782014A (en) * | 2019-03-11 | 2019-05-21 | 南京理工大学泰州科技学院 | A kind of unmanned plane method for determining speed and device |
| CN109857128A (en) * | 2018-12-18 | 2019-06-07 | 顺丰科技有限公司 | Unmanned plane vision pinpoint landing method, system, equipment and storage medium |
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| CN108873935A (en) * | 2018-07-06 | 2018-11-23 | 山东农业大学 | Control method, device, equipment and the storage medium of logistics distribution unmanned plane landing |
| WO2020024211A1 (en) * | 2018-08-02 | 2020-02-06 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle landing method and apparatus, and unmanned aerial vehicle |
| CN108803645A (en) * | 2018-08-03 | 2018-11-13 | 成都纵横自动化技术有限公司 | Unmanned plane forced landing method, apparatus, automatic pilot and unmanned plane |
| CN109407700A (en) * | 2018-11-05 | 2019-03-01 | 周口师范学院 | A kind of unmanned plane independent landing method and its implementing device guided using image |
| CN109407686A (en) * | 2018-11-23 | 2019-03-01 | 东莞市光点电子科技有限公司 | A kind of method that winged control protects unmanned plane in landing phases |
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| WO2020107248A1 (en) * | 2018-11-28 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Method and device for safe landing of unmanned aerial vehicle, unmanned aerial vehicle, and medium |
| CN109857128A (en) * | 2018-12-18 | 2019-06-07 | 顺丰科技有限公司 | Unmanned plane vision pinpoint landing method, system, equipment and storage medium |
| CN111338363A (en) * | 2018-12-18 | 2020-06-26 | 深圳市贝贝特科技实业有限公司 | Vehicle-mounted landing method and system for unmanned aerial vehicle |
| CN109782014A (en) * | 2019-03-11 | 2019-05-21 | 南京理工大学泰州科技学院 | A kind of unmanned plane method for determining speed and device |
| CN110347177A (en) * | 2019-06-20 | 2019-10-18 | 沈阳无距科技有限公司 | Unmanned plane is grounded judgment method, device, storage medium and unmanned plane |
| CN110262559A (en) * | 2019-07-18 | 2019-09-20 | 深圳市道通智能航空技术有限公司 | A kind of unmanned plane method for security protection, device and unmanned plane |
| WO2021008624A1 (en) * | 2019-07-18 | 2021-01-21 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle safety protection method and device, and unmanned aerial vehicle |
| US11964774B2 (en) | 2019-07-18 | 2024-04-23 | Autel Robotics Co., Ltd. | Unmanned aerial vehicle safety protection method and apparatus and unmanned aerial vehicle |
| CN111414001A (en) * | 2020-01-14 | 2020-07-14 | 华中科技大学 | Autonomous shutdown device and method for low-altitude aircraft |
| CN111414001B (en) * | 2020-01-14 | 2021-06-29 | 华中科技大学 | Autonomous shutdown device and method for low-altitude aircraft |
| CN112478143A (en) * | 2020-12-10 | 2021-03-12 | 江西瑞斯科救援科技有限公司 | Unmanned aerial vehicle adjusting support for landing in various terrains and using method thereof |
| CN113495579A (en) * | 2021-09-08 | 2021-10-12 | 智己汽车科技有限公司 | Flight control system and method of vehicle-mounted unmanned aerial vehicle |
| CN115496930A (en) * | 2022-11-08 | 2022-12-20 | 之江实验室 | Image processing method and device, storage medium and electronic equipment |
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