CN102023003A - Unmanned helicopter three-dimensional positioning and mapping method based on laser detection and image recognition - Google Patents
Unmanned helicopter three-dimensional positioning and mapping method based on laser detection and image recognition Download PDFInfo
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- CN102023003A CN102023003A CN 201010297558 CN201010297558A CN102023003A CN 102023003 A CN102023003 A CN 102023003A CN 201010297558 CN201010297558 CN 201010297558 CN 201010297558 A CN201010297558 A CN 201010297558A CN 102023003 A CN102023003 A CN 102023003A
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- 238000013507 mapping Methods 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 9
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 19
- 230000001360 synchronised effect Effects 0.000 claims abstract description 12
- 230000004807 localization Effects 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000005855 radiation Effects 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims description 2
- 239000000523 sample Substances 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract 6
- 238000010586 diagram Methods 0.000 description 2
- 239000012467 final product Substances 0.000 description 2
- 238000012857 repacking Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 1
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Abstract
The invention relates to an unmanned helicopter three-dimensional positioning and mapping method based on laser detection and image recognition, which belongs to the technical field of application of unmanned aerial vehicles. A distance measurement sensor based on laser detection and image recognition, an altimetric sensor and a flight control computer are comprised, wherein the distance measurement sensor consists of a vehicle-mounted camera and a laser emitter and used for detecting the distance from the unmanned helicopter to obstacles around. The distance measurement sensor is used for detecting and measuring distance for the around environment of the unmanned helicopter by means of changing the angle of pitch and the angle of yaw. The altimetric sensor is used for measuring the flight altitude from the unmanned helicopter to the ground. The distance measurement data obtained from the measurement under different angles of altitude, angles of yaw and flight altitudes can realize three-dimensional synchronous positioning and mapping of unknown environment by the unmanned helicopter. In the invention, the around environment can be rapidly, simply and reliably detected during the flying by carrying the distance measurement sensor based on laser detection and image recognition on the unmanned helicopter.
Description
Technical field
The present invention is used for the method that depopulated helicopter positions and surveys at complicated circumstances not known, can realize three-dimensional synchronized positioning and the mapping of depopulated helicopter in complicated circumstances not known accurately.Be mainly used in technical fields such as Aero-Space, unmanned plane and robot.
Background technology
Three-dimensional synchronized positioning in complicated circumstances not known and mapping are one of important intelligent functions of depopulated helicopter, and fundamental purpose is finished location, detection and mapping in circumstances not known, and auxiliary depopulated helicopter carries out the flight of height autonomy-oriented.Traditional three-dimensional synchronized positioning and mapping flight are many to be finished under landform detection radar auxiliary.Because landform detection radar weight is big, small-sized depopulated helicopter is difficult to equipment.Therefore, depopulated helicopter adopts laser radar usually.Yet laser radar can only obtain two-dimensional localization and surveying and mapping data.Carry out three-dimensional localization and detection if desired, then depopulated helicopter must change of flight height, to finish location and the detection under the differing heights.For the flight of depopulated helicopter in circumstances not known, the change of flight height may cause the collision with barrier.In addition, laser radar costs an arm and a leg, weight is bigger, is not the optimal selection of depopulated helicopter.
Because common depopulated helicopter all has airborne video camera, height sensor and flight-control computer usually.The present invention by adding a generating laser, makes generating laser, airborne video camera form the distance measuring sensor based on laser acquisition and image recognition on the basis of the said equipment.Subsequently, under the cooperation of height sensor and flight-control computer, by making airborne video camera and generating laser carry out synchronous deflection in pitch orientation and yaw direction, can real-time detection and obtain depopulated helicopter and peripheral obstacle between distance and height off the ground.According to detection range, detection angle and flying height, can obtain depopulated helicopter apart from the distance of surrounding environment and the database of detection angle, thereby obtain the depopulated helicopter Three-dimensional Numeric Map of circumstances not known on every side, and then realize three-dimensional synchronized positioning and mapping.Compare with traditional landform detection radar (100Kg level), weight of the present invention light (50g level) can be by depopulated helicopter, and especially small-sized depopulated helicopter is entrained; Compare with laser radar, the present invention need not to change the flying height of depopulated helicopter, and the angle of pitch and the crab angle that only need to change generating laser can realize three-dimensional synchronized positioning and detection, can increase the flight safety of depopulated helicopter so greatly.In addition, the present invention has made full use of the original airborne equipment of depopulated helicopter, only needs to increase a generating laser and gets final product.Therefore, simple in structure, cheap, the easy advantage of repacking that the present invention has, and do not add the hardware of complex and expensive, few based on software upgrading to the depopulated helicopter weightening finish, and can be used for assisting depopulated helicopter to carry out the flight of height autonomy-oriented.
Summary of the invention
The object of the present invention is to provide a kind of method that makes depopulated helicopter in complicated circumstances not known, realize high-precision three-dimensional synchronized positioning and mapping.
The invention is characterized in, contain: based on distance measuring sensor, height sensor and the flight-control computer of laser acquisition and image recognition, wherein, distance measuring sensor based on laser acquisition and image recognition is made up of airborne video camera and generating laser, be used to survey the distance D between depopulated helicopter and the peripheral obstacle, height sensor is used to measure the flying height H of depopulated helicopter, wherein:
The course angle Ψ of angle of pitch Θ by changing generating laser, generating laser utilizes its emitted laser that the surrounding environment of depopulated helicopter is carried out scanning probe; When laser radiation to around barrier the time, can produce laser spot thereon; Airborne video camera photographs laser spot, and video is sent to flight-control computer; Flight-control computer can calculate the distance D of depopulated helicopter apart from peripheral obstacle according to the position of luminous point in this video; Flight-control computer can be known the flying height H of depopulated helicopter apart from ground by height sensor; According to generating laser under each angle of pitch Θ, course angle Ψ and flying height H condition, measure apart from obstacle distance D, can obtain the Three-dimensional Numeric Map of circumstances not known around the depopulated helicopter, thereby realize three-dimensional synchronized positioning and mapping; And the depopulated helicopter fuselage can solve by the yawed flight of depopulated helicopter blocking that generating laser institute emitted laser causes.
The invention has the advantages that: simple in structure, cheap, repacking is easy to advantage, and does not add the hardware of complex and expensive, and is few to the depopulated helicopter weightening finish based on software upgrading, and can be used for assisting depopulated helicopter to carry out the flight of height autonomy-oriented.Compare with traditional landform detection radar (100Kg level), weight of the present invention light (50g level) can be entrained by depopulated helicopter; Compare with laser radar, the present invention need not to change the flying height of depopulated helicopter, and the angle of pitch and the crab angle that only need to change generating laser can realize three-dimensional synchronized positioning and detection, can increase the flight safety of depopulated helicopter so greatly.In addition, the present invention has made full use of the original airborne equipment of depopulated helicopter, only needs to increase a generating laser and gets final product.
Description of drawings
Fig. 1 is based on the depopulated helicopter three-dimensional localization of laser acquisition and image recognition and the schematic diagram (side view) of mapping method.
Fig. 2 is based on the depopulated helicopter three-dimensional localization of laser acquisition and image recognition and the schematic diagram (vertical view) of mapping method.
In Fig. 1 and Fig. 2,1. depopulated helicopter, 2. flight-control computer, 3. based on the distance measuring sensor of laser acquisition and image recognition, 4. airborne video camera, 5. generating laser, 6. laser, the 7. laser spot of laser radiation on target, 8. height sensor.
Embodiment
Need collaborative the finishing of distance measuring sensor (3), height sensor (8) and flight-control computer (2) three based on the depopulated helicopter three-dimensional localization of laser acquisition and image recognition and mapping method based on laser acquisition and image recognition.Wherein, be used to survey distance D between depopulated helicopter (1) and the peripheral obstacle based on the distance measuring sensor (3) of laser acquisition and image recognition, height sensor (8) is used to measure the flying height H of depopulated helicopter (1), flight-control computer (2) is used for the calculating sensor data, and finishes three-dimensional localization and the mapping of depopulated helicopter (1) in complicated circumstances not known.
Distance measuring sensor (3) based on laser acquisition and image recognition is made up of airborne video camera (4) and generating laser (5).The whole deflection synchronously of airborne video camera (4) and generating laser (5), and send taken real-time video to flight-control computer (2).According to the position of laser spot (7) in video, flight-control computer (2) can calculate the distance D between depopulated helicopter (1) and the peripheral obstacle.
The course angle Ψ of angle of pitch Θ by changing generating laser (5), generating laser (5) utilizes its emitted laser (6), and depopulated helicopter (1) environment is on every side scanned.When laser (6) when shining peripheral obstacle, can produce laser spot (7) on its surface.Airborne video camera (4) photographs laser spot (7), and video is sent to flight-control computer (2).Flight-control computer (2) can calculate the distance D of depopulated helicopter (1) apart from peripheral obstacle according to the position of laser spot (7) in camera plane in this video.Flight-control computer (2) can be known the flying height H of depopulated helicopter (1) apart from ground by height sensor (8).
Inevitably, the fuselage of depopulated helicopter (1) can cause necessarily generating laser (5) institute's emitted laser (6) and block, and this can solve by the yawed flight of depopulated helicopter (1).
According to generating laser (5) under each angle of pitch Θ, course angle Ψ and depopulated helicopter (1) flying height H condition, measure apart from obstacle distance D, can obtain depopulated helicopter (1) apart from the distance of surrounding environment and the database of detection angle.Thereby can obtain depopulated helicopter (1) Three-dimensional Numeric Map of circumstances not known (spherical coordinates) on every side, and then realize three-dimensional synchronized positioning and the mapping of depopulated helicopter (1) in circumstances not known.
Claims (1)
1. based on the depopulated helicopter three-dimensional localization and the mapping method of laser acquisition and image recognition, it is characterized in that, contain: based on distance measuring sensor, height sensor and the flight-control computer of laser acquisition and image recognition, wherein, distance measuring sensor based on laser acquisition and image recognition is made up of airborne video camera and generating laser, be used to survey the distance D between depopulated helicopter and the peripheral obstacle, height sensor is used to measure the flying height H of depopulated helicopter, wherein:
Relative position between airborne video camera and the generating laser is fixed, and can wholely rotate synchronously; By rotation, can change the course angle Ψ of the angle of pitch Θ of generating laser based on the distance measuring sensor of laser acquisition and image recognition around pitch axis and course axle; The course angle Ψ of angle of pitch Θ by changing generating laser, generating laser utilizes its emitted laser that the surrounding environment of depopulated helicopter is carried out scanning probe; When laser radiation to around barrier the time, can produce laser spot on its surface; Airborne video camera photographs laser spot, and video is sent to flight-control computer; Flight-control computer can calculate the distance D of depopulated helicopter apart from this barrier according to the position of luminous point in this video; Flight-control computer can be known the flying height H of depopulated helicopter apart from ground by height sensor; According to generating laser under each angle of pitch Θ, course angle Ψ and unmanned helicopter flight height H condition, measure apart from obstacle distance D, can obtain depopulated helicopter apart from the distance of surrounding environment and the database of detection angle, thereby obtain the depopulated helicopter Three-dimensional Numeric Map of circumstances not known on every side, and then realize three-dimensional synchronized positioning and the mapping of depopulated helicopter in circumstances not known; And the depopulated helicopter fuselage can solve by the yawed flight of depopulated helicopter blocking that generating laser institute emitted laser causes.
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| CN103673978A (en) * | 2013-12-10 | 2014-03-26 | 苏州市峰之火数码科技有限公司 | Scanning type aerial surveying and mapping instrument |
| CN103673979A (en) * | 2013-12-10 | 2014-03-26 | 苏州市峰之火数码科技有限公司 | Aerial photographing device used for continuous plotting |
| CN103968810A (en) * | 2014-05-06 | 2014-08-06 | 天津全华时代航天科技发展有限公司 | Precise surveying and mapping system for unmanned aerial vehicles and data acquisition method of precise surveying and mapping system |
| CN104062977A (en) * | 2014-06-17 | 2014-09-24 | 天津大学 | Full-autonomous flight control method for quadrotor unmanned aerial vehicle based on vision SLAM |
| CN104391507A (en) * | 2014-10-09 | 2015-03-04 | 清华大学 | Control method and system of unmanned aerial vehicle, and unmanned aerial vehicle |
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Application publication date: 20110420 |