WO2024001111A1 - 飞行器降落引导装置及方法、飞行器降落控制方法及系统 - Google Patents
飞行器降落引导装置及方法、飞行器降落控制方法及系统 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 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 description 13
- 238000004020 luminiscence type Methods 0.000 claims description 12
- 238000012795 verification Methods 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 claims description 5
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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
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
Definitions
- Embodiments of the present application relate to the field of aircraft, and in particular, to an aircraft landing guidance device, method, aircraft landing control method, system and related equipment.
- GNSS Global Navigation Satellite System
- RTK GNSS RealTime Kinematic GNSS, carrier phase differential spherical satellite navigation system
- RTK GNSS RealTime Kinematic GNSS, carrier phase differential spherical satellite navigation system
- a specific identification pattern (including but not limited to QR code, etc.) at the target landing point for guidance has the disadvantage of encountering poor lighting at the landing platform or the identification pattern being blocked by shadows, the landing platform material being reflective, or the material being contaminated, etc. Will affect pattern recognition;
- the disadvantage of setting a single light at the target landing point for positioning is that it requires accurate synchronization of the camera and attitude sensor (such as IMU), and requires an additional distance sensor, which places higher requirements on the on-board hardware.
- Embodiments of the present application provide an aircraft landing guidance device, method, aircraft landing control method and related equipment to significantly improve the control accuracy of aircraft fixed-point landing, eliminate the influence of external conditions and have low requirements on aircraft hardware.
- an aircraft landing guidance device including:
- a light-emitting array located in the target landing area of the aircraft, including at least one light-emitting unit located at the target landing point and several light-emitting units arranged around the at least one light-emitting unit;
- a light-emitting control unit is electrically connected to the light-emitting array, and is used to control the light-emitting array to emit light according to a preset light-emitting sequence.
- the plurality of light-emitting units are arranged in N circles with the target landing point as the center, where N is an integer greater than 1.
- the distance between the light-emitting units arranged in the M-th circle and the target landing point is a preset distance between the light-emitting units arranged in the M-1th circle and the target landing point. Multiples, where M is an integer and 1 ⁇ M ⁇ N.
- the circles are of regular or irregular shape.
- the light-emitting timing sequence includes an array verification section composed of at least one light-emitting unit and a unit verification section composed of at least one light-emitting unit.
- embodiments of the present application provide an aircraft landing guidance method, including the following steps:
- the aircraft landing guidance device as described above is controlled to emit light according to a preset light emitting sequence.
- embodiments of the present application provide an aircraft landing control method, including the following steps:
- the luminescent signal of the luminescent array is collected on the aircraft, and corresponding flight control instructions are output according to the collected luminescent signal to control the aircraft to land at the target landing point.
- outputting corresponding flight control instructions based on the collected luminescence signals includes:
- the real-time position, attitude and target landing point of the aircraft are obtained based on the position of the light-emitting unit.
- identifying the lighting timing and lighting position of the lighting signal includes:
- the light-emitting timing and light-emitting position of each light-emitting unit are determined according to the movement trajectory of the bright spot.
- obtaining the movement trajectory of the bright spot includes:
- Q is an integer and 1 ⁇ Q ⁇ the number of all bright spots in the current frame
- P is an integer and 1 ⁇ P ⁇ the number of all bright spots in the previous frame
- obtaining the movement trajectory of the bright spot further includes:
- the Q-th bright spot is not the bright spot closest to the P-th bright spot in the current frame, it is determined that the light-emitting unit corresponding to the P-th bright spot is extinguished in the current frame;
- obtaining the movement trajectory of the bright spot further includes:
- the distance between the Q-th bright spot and the P-th bright spot is greater than the preset threshold range, it is determined that the light-emitting unit corresponding to the P-th bright spot is extinguished in the current frame.
- obtaining the movement trajectory of the bright spot further includes:
- the distance between the Q-th bright spot and the P-th bright spot is greater than the preset threshold range, it is determined that the light-emitting unit corresponding to the Q-th bright spot is lit in the current frame.
- an aircraft landing control system including:
- the aircraft landing guidance device as described above;
- a luminescence signal acquisition unit used to collect the luminescence signal of the luminescence array
- the aircraft control unit is electrically connected to the light-emitting signal acquisition unit and is used to output corresponding flight control instructions according to the collected light-emitting signals to control the aircraft to land at the target landing point.
- the aircraft control unit is used for:
- corresponding flight control instructions are output to control the aircraft to land at the target landing point.
- identifying the lighting timing and lighting position of the lighting signal includes:
- the light-emitting timing and light-emitting position of each light-emitting unit are determined according to the movement trajectory of the bright spot.
- obtaining the movement trajectory of the bright spot includes:
- Q is an integer and 1 ⁇ Q ⁇ the number of all bright spots in the current frame
- P is an integer and 1 ⁇ P ⁇ the number of all bright spots in the previous frame
- obtaining the movement trajectory of the bright spot further includes:
- the Q-th bright spot is not the bright spot closest to the P-th bright spot in the current frame, it is determined that the light-emitting unit corresponding to the P-th bright spot is extinguished in the current frame;
- obtaining the movement trajectory of the bright spot further includes:
- the distance between the Q-th bright spot and the P-th bright spot is greater than the preset threshold range, it is determined that the light-emitting unit corresponding to the P-th bright spot is extinguished in the current frame.
- obtaining the movement trajectory of the bright spot further includes:
- the distance between the Q-th bright spot and the P-th bright spot is greater than the preset threshold range, it is determined that the light-emitting unit corresponding to the Q-th bright spot is lit in the current frame.
- embodiments of the present application provide a computer-readable storage medium.
- the computer-readable storage medium stores computer program code.
- the computer program code When the computer program code is run on a computer, it causes the computer to execute the above-mentioned second aspect. and any possible implementation method of the third aspect.
- the embodiment of the present application guides the aircraft to land in the preset landing area by setting at least one light-emitting array in the target landing area of the aircraft.
- Each light-emitting array includes several light-emitting units.
- Each light-emitting unit emits light according to a preset light-emitting timing.
- the target landing point corresponding to the lighting sequence significantly improves the accuracy of the aircraft's fixed-point landing, effectively avoids the aircraft's fixed-point landing being affected by external conditions, and has low hardware requirements.
- Figure 1 is a schematic structural diagram of an aircraft landing guidance device according to an embodiment of the present application.
- Figure 2 is a schematic flowchart of an aircraft landing control method according to an embodiment of the present application.
- Figure 3 is a schematic structural diagram of an aircraft landing control system according to an embodiment of the present application.
- Figure 4 is a schematic diagram of the arrangement of light-emitting units in the aircraft landing control system according to the embodiment of the present application.
- Figure 5 is a light-emitting timing diagram of the light-emitting unit in the aircraft landing control system according to the embodiment of the present application.
- Figure 6 is a schematic diagram of the aircraft landing process of the aircraft landing control system according to the embodiment of the present application.
- connection should be understood in a broad sense.
- connection can be a fixed connection, a movable connection, or a detachable connection.
- Connection can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components, etc.
- connection can be a fixed connection, a movable connection, or a detachable connection.
- Connection can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components, etc.
- An embodiment of the present application provides an aircraft landing guidance device, which includes:
- the light-emitting array 101 is located in the target landing area of the aircraft, and includes at least one light-emitting unit 10 located at the target landing point and several light-emitting units 10 arranged around the at least one light-emitting unit;
- the light-emitting control unit 102 is electrically connected to the light-emitting array, and is used to control the light-emitting array to emit light according to a preset light-emitting sequence.
- the plurality of light-emitting units are arranged in N circles with the target landing point as the center, where N is an integer greater than 1.
- the distance between the light-emitting units arranged in the M-th circle and the target landing point is a preset distance between the light-emitting units arranged in the M-1th circle and the target landing point. Multiples, where M is an integer and 1 ⁇ M ⁇ N.
- several light-emitting units 10 can be arranged in regular/irregular shapes, for example, can be arranged in a circle, and the geometric shape of the circle can be square, rectangular or circular.
- the light-emitting sequence includes an array verification section composed of at least one light-emitting unit and a unit verification section composed of at least one light-emitting unit.
- An embodiment of the present application also provides an aircraft landing guidance method, which includes the following steps:
- the aircraft landing guidance device described in any possible implementation manner in the foregoing embodiments is controlled to emit light according to a preset light emitting sequence.
- This embodiment of the present application also provides an aircraft landing control method, which includes the following steps:
- step S101 control the aircraft landing guidance device as described in any possible implementation manner in the foregoing embodiments to emit light according to a preset light-emitting sequence
- step S102 the luminescent signal of the luminescent array is collected on the aircraft, and corresponding flight control instructions are output according to the collected luminescent signal to control the aircraft to land at the target landing point.
- outputting corresponding flight control instructions based on the collected luminescence signals includes:
- the real-time position, attitude and target landing point of the aircraft are obtained based on the position of the light-emitting unit.
- identifying the lighting timing and lighting position of the lighting signal includes:
- the light-emitting timing and light-emitting position of each light-emitting unit are determined according to the movement trajectory of the bright spot.
- obtaining the movement trajectory of the bright spot includes:
- Q is an integer and 1 ⁇ Q ⁇ the number of all bright spots in the current frame
- P is an integer and 1 ⁇ P ⁇ the number of all bright spots in the previous frame
- obtaining the movement trajectory of the bright spot further includes:
- the Q-th bright spot is not the bright spot closest to the P-th bright spot in the current frame, it is determined that the light-emitting unit corresponding to the P-th bright spot is extinguished in the current frame;
- obtaining the movement trajectory of the bright spot further includes:
- the distance between the Q-th bright spot and the P-th bright spot is greater than the preset threshold range, it is determined that the light-emitting unit corresponding to the P-th bright spot is extinguished in the current frame.
- obtaining the movement trajectory of the bright spot further includes:
- the distance between the Q-th bright spot and the P-th bright spot is greater than the preset threshold range, it is determined that the light-emitting unit corresponding to the Q-th bright spot is lit in the current frame.
- This embodiment of the present application also provides an aircraft landing control system, including:
- a luminescence signal acquisition unit used to collect the luminescence signal of the luminescence array
- the aircraft control unit is electrically connected to the light-emitting signal collection unit and is used to output corresponding flight control instructions according to the collected light-emitting signals to control the aircraft to land at the target landing point.
- the aircraft control unit is used for:
- corresponding flight control instructions are output to control the aircraft to land at the target landing point.
- the embodiment of the present application also discloses an aircraft landing control system. Compared with the aircraft landing control system of the previous embodiment, this embodiment can also add the following parts:
- the aircraft control unit is also electrically connected to the light-emitting control unit and is used to send landing preparation instructions to ground staff and/or the aircraft landing guidance device when preparing to land;
- the light-emitting control unit is also used to control the light-emitting array to emit light according to a preset light-emitting time sequence as a landing guidance signal for the aircraft according to landing preparation instructions sent by the flight control unit and/or ground staff.
- identifying the lighting timing and lighting position of the lighting signal includes:
- the light-emitting timing and light-emitting position of each light-emitting unit are determined according to the movement trajectory of the bright spot.
- obtaining the movement trajectory of the bright spot includes:
- Q is an integer and 1 ⁇ Q ⁇ the number of all bright spots in the current frame
- P is an integer and 1 ⁇ P ⁇ the number of all bright spots in the previous frame
- obtaining the movement trajectory of the bright spot further includes:
- the Q-th bright spot is not the bright spot closest to the P-th bright spot in the current frame, it is determined that the light-emitting unit corresponding to the P-th bright spot is extinguished in the current frame;
- obtaining the movement trajectory of the bright spot further includes:
- the distance between the Q-th bright spot and the P-th bright spot is greater than the preset threshold range, it is determined that the light-emitting unit corresponding to the P-th bright spot is extinguished in the current frame.
- obtaining the movement trajectory of the bright spot further includes:
- the distance between the Q-th bright spot and the P-th bright spot is greater than the preset threshold range, it is determined that the light-emitting unit corresponding to the Q-th bright spot is lit in the current frame.
- a light array containing multiple lights that is, a light-emitting array, is set up in the target landing area of the aircraft.
- Each light is regarded as a light-emitting unit and flashes periodically according to a certain and unique flashing pattern (i.e., light-emitting timing).
- a camera is installed on the aircraft to image the lights on the ground.
- a visual algorithm is used to identify each light placed on the ground in advance based on the unique flashing pattern of each light through multi-frame comparison and matching, eliminating interference from other light sources, and determining the detected
- the pixel coordinates of each light on the video frame are used to calculate the position and attitude of the aircraft using an algorithm, thereby guiding the aircraft to land at the target landing point in the center of the light array.
- the embodiments of this application can be applied to all autonomous vertical take-off and landing aircraft, effectively solving the problem of fixed-point landing of aircraft under the condition of insufficient GNSS positioning accuracy.
- RTK GNSS or using QR codes and other identification patterns to guide fixed-point landing it can avoid Difficulties caused by poor lighting at the landing platform or QR codes being blocked by shadows, reflective materials on the landing platform, or contaminated materials, etc.
- landing accuracy can be greatly improved and the requirements for aircraft hardware can be reduced.
- the light array placed on the ground uses 18 LED lights as guide lights. They are arranged at the vertices of a concentric square with lamp D10 as the center. The side lengths of the two adjacent outer circles of these concentric squares are twice that of the inner circle, so that the aircraft can capture the light array at different flight altitudes. It can accurately estimate the position and attitude of the aircraft using the currently captured images.
- the first 14 shots are used as the check code of these lights. That is to say, as long as the first 14 shots of the light are detected to flash in this specific pattern.
- the detected light is considered to be a light on the light array.
- the 15th to 17th shots are the start marks of the independent light check codes of three consecutive shots.
- the bright spots in the image are detected through the algorithm of pixel screening and connected area detection. These bright spots correspond to each light, and the bright spots in the image are detected by calculating the The center of mass gives the pixel coordinate (u, v) position of the light image on the image.
- Pairing and numbering of the same light in adjacent frames The above function is completed in two steps in the module: in the first step, the nearest bright spot of all bright spots in the previous frame of the current frame is calculated in the current frame, and the distance and number of the corresponding bright spots on the image are recorded; the same is true Calculate the closest bright spot of all bright spots in the current frame to the previous frame, and record the distance and number of the corresponding bright spot on the image. In the second step, the calculation results in the previous step are used to determine the bright spots that can be paired: If a bright spot in the current frame and its nearest bright spot in the previous frame are the nearest bright spots in two adjacent frames, spots, and the distance between them is within the pre-given threshold range, the pairing is considered successful.
- the two bright spots can be considered to be images formed by the same light in two frames, so the light can be placed on the image.
- the position and label are updated to the position and number of the corresponding bright spot in the current frame. For bright spots that do not meet the above conditions, the matching is considered unsuccessful. There are three situations:
- the bright spot in the previous frame is the closest bright spot in the current frame, and the bright spot is not the closest bright spot in the two adjacent frames.
- the distance between the bright spot in the previous frame and the nearest bright spot in the current frame is greater than the pre-given threshold range.
- the distance between the bright spot in the current frame and the nearest bright spot in the previous frame is greater than the pre-given threshold range.
- the algorithm determines that for cases 1 and 2, the light that was on in the previous frame is extinguished in the current frame. Since the camera has a high enough frame rate and the aircraft has a small displacement distance within one frame, it can be approximated It is believed that the position of the light on the image remains unchanged, so for the light that is extinguished in the current frame, the position and number of the bright spot formed by the light in the previous frame can be used in the current frame. The significance of this is that over time By pushing forward, the coordinate information and numbers of all lights that have been lit can be recorded to facilitate subsequent verification; and for case 3, it is determined that there are lights in the current frame that have never been lit in previous frames.
- Performing the above operations on each frame of pictures after the first frame can complete the pre-labeling of bright spots in each frame, realize the matching and position updating of the same bright spot in different frames, and determine the lighting corresponding to these bright spots in the new frame. Whether there is light in a frame to prepare for the verification of the next light flashing pattern.
- the flashing pattern of a series of bright spots within a certain period of time can be recorded. Since the flashing mode of the light array is programmable in advance, it is known. A matrix Modulation_Matrix is used in advance to store the complete flashing mode of each light in a flashing cycle and the agreed number of each corresponding light. The obtained flicker pattern of each bright spot is compared with the flicker pattern of each light stored in the Modulation_Matrix to determine the position of each light on the image.
- the one-to-one correspondence between the bright spots on the image and the lights of the light-emitting array has been completed, and the position (ui, vi) of the bright spots formed by the light on the image on the image has been known, and the light array can also be constructed.
- coordinate system the coordinates (xi, yi, zi) of each light are obtained through measurement.
- the geometric center of the tenth light D10 can be used as the coordinate origin
- the plane where the light array is located is the xy plane
- the positive z-axis direction perpendicular to the light array toward the light emission direction is used to construct the three-dimensional coordinate system of the light array.
- Embodiments of the present application also provide a computer-readable storage medium.
- the computer-readable storage medium stores computer program code.
- the computer program code When the computer program code is run on a computer, it causes the computer to execute any one of the above embodiments. possible implementation methods.
- Embodiments of the present application also provide an electronic device.
- the electronic device includes a memory and a processor.
- the memory is used to store computer instructions. When the computer instructions are processed and executed by the memory, any possibility in the embodiments can be realized. method of implementation.
- Computer-readable media includes computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another.
- Storage media can be any available media that can be accessed by a general purpose or special purpose computer.
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Abstract
一种飞行器降落引导装置及方法、飞行器降落控制方法及系统，装置包括：发光阵列（101），设于飞行器的目标降落区域，包括有位于目标降落点的至少一个发光单元（10）和围绕至少一个发光单元（10）排列的若干个发光单元（10）；发光控制单元（102），与发光阵列（101）电连接，用于控制发光阵列（101）按照预设的发光时序发光。装置可显著提高飞行器定点降落的精准度，有效消除外界条件对飞行器定点降落的影响，且对系统硬件要求低。
Description
本申请实施例涉及飞行器领域，尤其涉及一种飞行器降落引导装置、方法、飞行器降落控制方法、系统及相关设备。
近年来，随着无人驾驶飞行器技术的飞速发展，对于飞行器，尤其是自动驾驶的垂直起降飞行器的定点降落引导技术也经历了相应的发展阶段：
利用GNSS(全球卫星导航系统)引导降落点，其缺点是精度不够；
RTK
GNSS(RealTime Kinematic GNSS，载波相位差分球卫星导航系统)引导降落点，其缺点是信号易受干扰，需要持续保持与地面通信，造价昂贵，不适用于树林及高大建筑附近降落等；
在目标降落点设置特定的标识图案(包括但不限于二维码等)进行引导，其缺点是遇到降落平台处照明不良或标识图案被阴影遮挡、降落平台材料反光、材料被污染等情况时会影响图案的识别；
在目标降落点设置单个灯光进行定位，其缺点在于，需要相机和姿态传感器(例如IMU)精确同步，并且需要额外的距离传感器，对于机上硬件的要求较高。
本申请实施例提供一种飞行器降落引导装置、方法、飞行器降落控制方法及相关设备，以显著提高飞行器定点降落的控制精度、消除外界条件影响且对飞行器硬件要求低。
第一方面，本申请实施例提供了一种飞行器降落引导装置，包括有：
发光阵列，设于飞行器的目标降落区域，包括有位于目标降落点的至少一个发光单元和围绕该至少一个发光单元排列的若干个发光单元；
发光控制单元，与所述发光阵列电连接，用于控制所述发光阵列按照预设的发光时序发光。
在一些可能的实施方式中，所述若干个发光单元以所述目标降落点为中心，排列成N圈，其中，N为大于1的整数。
在一些可能的实施方式中，排列于第M圈的发光单元与所述目标降落点之间的距离是排列于第M-1圈的发光单元与所述目标降落点之间的距离的预设倍数，其中，M为整数且1＜M≤N。
在一些可能的实施方式中，所述圈为规则或不规则形状。
在一些可能的实施方式中，所述发光时序包括有至少一个发光单元构成的阵列校验段和至少一个发光单元构成的单元校验段。
第二方面，本申请实施例提供了一种飞行器降落引导方法，包括以下步骤：
控制如上所述的飞行器降落引导装置按照预设的发光时序发光。
第三方面，本申请实施例提供了一种飞行器降落控制方法，包括以下步骤：
控制如上所述的飞行器降落引导装置按照预设的发光时序发光；
在飞行器上采集所述发光阵列的发光信号，并根据采集到的发光信号输出相应的飞行控制指令控制飞行器降落至目标降落点。
在一些可能的实施方式中，所述根据采集到的发光信号输出相应的飞行控制指令包括：
识别所述发光信号的发光时序和发光位置；
将所述发光时序与预设的发光时序匹配，计算出各个发光单元的位置；
根据发光单元的位置获得飞行器的实时位置、姿态和目标降落点。
在一些可能的实施方式中，所述识别所述发光信号的发光时序和发光位置包括：
获得亮斑的移动轨迹，该移动轨迹包括所述亮斑在亮斑在各帧中的位置；
根据所述亮斑的移动轨迹确定各发光单元的发光时序和发光位置。
在一些可能的实施方式中，所述获得亮斑的移动轨迹包括：
获得当前帧的第Q个亮斑，Q为整数且1≤Q≤当前帧的所有亮斑个数；
获得前一帧的第P个亮斑，该亮斑为前一帧中距所述第Q个亮斑最近的亮斑，P为整数且1≤P≤前一帧的所有亮斑个数；
判断所述第Q个亮斑是否为当前帧中距所述第P个亮斑最近的亮斑，若是，且它们之间的距离在预设的阈值范围内，则该两个亮斑为同一个发光单元分别在前一帧和当前帧的成像；
从1到当前帧的所有亮斑个数遍历Q，重复所述获得亮斑的移动轨迹中各步骤。
在一些可能的实施方式中，所述获得亮斑的移动轨迹还包括：
若第Q个亮斑不是当前帧中距所述第P个亮斑最近的亮斑，则判定为第P个亮斑对应的发光单元在当前帧熄灭；
在一些可能的实施方式中，所述获得亮斑的移动轨迹还包括：
若第Q个亮斑与第P个亮斑之间的距离大于预设的阈值范围，则判定为第P个亮斑对应的发光单元在当前帧熄灭。
在一些可能的实施方式中，所述获得亮斑的移动轨迹还包括：
若第Q个亮斑与第P个亮斑之间的距离大于预设的阈值范围，则判定为第Q个亮斑对应的发光单元在当前帧被点亮。
第四方面，本申请实施例提供了一种飞行器降落控制系统，包括有：
如上所述的飞行器降落引导装置；
发光信号采集单元，用于采集所述发光阵列的发光信号；
飞行器控制单元，与所述发光信号采集单元和电连接，用于根据采集到的发光信号输出相应的飞行控制指令控制飞行器降落至目标降落点。
在一些可能的实施方式中，所述飞行器控制单元用于：
识别所述发光信号的发光时序和发光位置；
根据该发光时序和发光位置计算飞行器的实时位置、姿态和目标降落点；
根据所述飞行器的实时位置、姿态和目标降落点输出相应的飞行控制指令控制飞行器降落至目标降落点。
在一些可能的实施方式中，所述识别所述发光信号的发光时序和发光位置包括：
获得亮斑的移动轨迹，该移动轨迹包括所述亮斑在亮斑在各帧中的位置；
根据所述亮斑的移动轨迹确定各发光单元的发光时序和发光位置。
在一些可能的实施方式中，所述获得亮斑的移动轨迹包括：
获得当前帧的第Q个亮斑，Q为整数且1≤Q≤当前帧的所有亮斑个数；
获得前一帧的第P个亮斑，该亮斑为前一帧中距所述第Q个亮斑最近的亮斑，P为整数且1≤P≤前一帧的所有亮斑个数；
判断所述第Q个亮斑是否为当前帧中距所述第P个亮斑最近的亮斑，若是，且它们之间的距离在预设的阈值范围内，则该两个亮斑为同一个发光单元分别在前一帧和当前帧的成像；
从1到当前帧的所有亮斑个数遍历Q，重复所述获得亮斑的移动轨迹中各步骤。
在一些可能的实施方式中，所述获得亮斑的移动轨迹还包括：
若第Q个亮斑不是当前帧中距所述第P个亮斑最近的亮斑，则判定为第P个亮斑对应的发光单元在当前帧熄灭；
在一些可能的实施方式中，所述获得亮斑的移动轨迹还包括：
若第Q个亮斑与第P个亮斑之间的距离大于预设的阈值范围，则判定为第P个亮斑对应的发光单元在当前帧熄灭。
在一些可能的实施方式中，所述获得亮斑的移动轨迹还包括：
若第Q个亮斑与第P个亮斑之间的距离大于预设的阈值范围，则判定为第Q个亮斑对应的发光单元在当前帧被点亮。
第五方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行上述第二方面和第三方面中任一种可能的实施方式的方法。
本申请的有益效果是：
本申请实施例通过在飞行器的目标降落区域设置至少一个发光阵列，每个发光阵列包括有若干个发光单元，每个发光单元按照预设的发光时序发光，从而引导飞行器降落在所述预设的发光时序所对应的目标降落点，从而显著提高了飞行器的定点降落精准度，有效避免了飞行器的定点降落受外界条件影响，且对硬件要求低。
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图做一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例的飞行器降落引导装置的结构示意图。
图2是本申请实施例的飞行器降落控制方法的流程示意图。
图3是本申请实施例的飞行器降落控制系统的结构示意图。
图4是本申请实施例的飞行器降落控制系统中发光单元的排布示意图。
图5是本申请实施例的飞行器降落控制系统中发光单元的发光时序图。
图6是本申请实施例的飞行器降落控制系统的飞行器降落过程示意图。
为使本申请的目的、技术方案和优点更加清楚，以下将参照本申请实施例中的附图，通过实施方式详细地描述本申请的技术方案。显然，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是：在附图中，自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件；在本申请的描述中，术语“中心”、“纵向”、“横向”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请保护范围的限制；在本申请的描述中，“第一”、“第二”等仅用于彼此的区分，而非表示它们的重要程度及顺序等。
在本申请的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，或活动连接，也可以是可拆卸地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通等。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
请参考图1，本申请实施例提供了一种飞行器降落引导装置，包括有：
发光阵列101，设于飞行器的目标降落区域，包括有位于目标降落点的至少一个发光单元10和围绕该至少一个发光单元排列的若干个发光单元10；
发光控制单元102，与所述发光阵列电连接，用于控制所述发光阵列按照预设的发光时序发光。
在一些可能的实施方式中，所述若干个发光单元以所述目标降落点为中心，排列成N圈，其中，N为大于1的整数。
在一些可能的实施方式中，排列于第M圈的发光单元与所述目标降落点之间的距离是排列于第M-1圈的发光单元与所述目标降落点之间的距离的预设倍数，其中，M为整数且1＜M≤N。
在一些可能的实施方式中，若干个发光单元10可以按规则/不规则形状进行排列，例如可以排列成圈，且所述圈的几何形状可以为正方形、矩形或圆形。
在一些可能的实施方式中，所述发光时序包括有至少一个发光单元构成的阵列校验段和至少一个发光单元构成的单元校验段。
本申请实施例还提供了一种飞行器降落引导方法，包括以下步骤：
控制如前述实施例中任一中可能的实施方式所述的飞行器降落引导装置按照预设的发光时序发光。
请参考图2，本申请实施例还提供了一种飞行器降落控制方法，包括以下步骤：
在步骤S101中，控制如前述实施例中任一中可能的实施方式所述的飞行器降落引导装置按照预设的发光时序发光；
在步骤S102中，在飞行器上采集所述发光阵列的发光信号，并根据采集到的发光信号输出相应的飞行控制指令控制飞行器降落至目标降落点。
在一些可能的实施方式中，所述根据采集到的发光信号输出相应的飞行控制指令包括：
识别所述发光信号的发光时序和发光位置；
将所述发光时序与预设的发光时序匹配，计算出各个发光单元的位置；
根据发光单元的位置获得飞行器的实时位置、姿态和目标降落点。
在一些可能的实施方式中，所述识别所述发光信号的发光时序和发光位置包括：
获得亮斑的移动轨迹，该移动轨迹包括所述亮斑在亮斑在各帧中的位置；
根据所述亮斑的移动轨迹确定各发光单元的发光时序和发光位置。
在一些可能的实施方式中，所述获得亮斑的移动轨迹包括：
获得当前帧的第Q个亮斑，Q为整数且1≤Q≤当前帧的所有亮斑个数；
获得前一帧的第P个亮斑，该亮斑为前一帧中距所述第Q个亮斑最近的亮斑，P为整数且1≤P≤前一帧的所有亮斑个数；
判断所述第Q个亮斑是否为当前帧中距所述第P个亮斑最近的亮斑，若是，且它们之间的距离在预设的阈值范围内，则该两个亮斑为同一个发光单元分别在前一帧和当前帧的成像；
从1到当前帧的所有亮斑个数遍历Q，重复所述获得亮斑的移动轨迹中各步骤。
在一些可能的实施方式中，所述获得亮斑的移动轨迹还包括：
若第Q个亮斑不是当前帧中距所述第P个亮斑最近的亮斑，则判定为第P个亮斑对应的发光单元在当前帧熄灭；
在一些可能的实施方式中，所述获得亮斑的移动轨迹还包括：
若第Q个亮斑与第P个亮斑之间的距离大于预设的阈值范围，则判定为第P个亮斑对应的发光单元在当前帧熄灭。
在一些可能的实施方式中，所述获得亮斑的移动轨迹还包括：
若第Q个亮斑与第P个亮斑之间的距离大于预设的阈值范围，则判定为第Q个亮斑对应的发光单元在当前帧被点亮。
请参考图3，本申请实施例还提供了一种飞行器降落控制系统，包括有：
如前述实施例中任一中可能的实施方式所述的飞行器降落引导装置；
发光信号采集单元，用于采集所述发光阵列的发光信号；
飞行器控制单元，与所述发光信号采集单元电连接，用于根据采集到的发光信号输出相应的飞行控制指令控制飞行器降落至目标降落点。
在一些可能的实施方式中，所述飞行器控制单元用于：
识别所述发光信号的发光时序和发光位置；
根据该发光时序和发光位置计算飞行器的实时位置、姿态和目标降落点；
根据所述飞行器的实时位置、姿态和目标降落点输出相应的飞行控制指令控制飞行器降落至目标降落点。
本申请实施例还公开了一种飞行器降落控制系统，与前述实施例的飞行器降落控制系统相比，本实施例还可增加以下部分：
飞行器控制单元还与所述发光控制单元电连接，用于在准备降落的时候向地面工作人员和/或飞行器降落引导装置发送降落准备指令；
所述发光控制单元还用于根据飞行控制单元和/或地面工作人员发送的降落准备指令控制发光阵列按照预设的的发光时序发光，作为飞行器降落引导信号。
在一些可能的实施方式中，所述识别所述发光信号的发光时序和发光位置包括：
获得亮斑的移动轨迹，该移动轨迹包括所述亮斑在亮斑在各帧中的位置；
根据所述亮斑的移动轨迹确定各发光单元的发光时序和发光位置。
在一些可能的实施方式中，所述获得亮斑的移动轨迹包括：
获得当前帧的第Q个亮斑，Q为整数且1≤Q≤当前帧的所有亮斑个数；
获得前一帧的第P个亮斑，该亮斑为前一帧中距所述第Q个亮斑最近的亮斑，P为整数且1≤P≤前一帧的所有亮斑个数；
判断所述第Q个亮斑是否为当前帧中距所述第P个亮斑最近的亮斑，若是，且它们之间的距离在预设的阈值范围内，则该两个亮斑为同一个发光单元分别在前一帧和当前帧的成像；
从1到当前帧的所有亮斑个数遍历Q，重复所述获得亮斑的移动轨迹中各步骤。
在一些可能的实施方式中，所述获得亮斑的移动轨迹还包括：
若第Q个亮斑不是当前帧中距所述第P个亮斑最近的亮斑，则判定为第P个亮斑对应的发光单元在当前帧熄灭；
在一些可能的实施方式中，所述获得亮斑的移动轨迹还包括：
若第Q个亮斑与第P个亮斑之间的距离大于预设的阈值范围，则判定为第P个亮斑对应的发光单元在当前帧熄灭。
在一些可能的实施方式中，所述获得亮斑的移动轨迹还包括：
若第Q个亮斑与第P个亮斑之间的距离大于预设的阈值范围，则判定为第Q个亮斑对应的发光单元在当前帧被点亮。
本申请实施例在飞行器的目标降落区域设置含有多个灯光的灯光阵列，即发光阵列，每个灯光视为一个发光单元，分别按一定且独特的闪烁模式(即发光时序)进行周期闪烁，在飞行器上安装摄像头对地面上的灯光进行成像。对于摄像头捕捉到灯光影像的视频帧，使用视觉算法根据各个灯光的独有闪烁模式，通过多帧比对匹配辨认出预先放置在地面上的各个灯光，排除其它光源的干扰，确定侦测到的各个灯光在视频帧上的像素坐标，利用算法计算出飞行器的位置姿态，从而指导飞行器降落在灯光阵列中心的目标降落点。
本申请实施例可应用于所有自动驾驶的垂直起降飞行器，有效解决飞行器在GNSS定位精度不够条件下的定点降落问题，相比于RTK GNSS或使用二维码等标识图案引导定点降落，可以避免降落平台处照明不良或二维码被阴影遮挡、降落平台材料反光、材料被污染等情况造成的困难，相比于单个灯光引导，可大大提高降落精准度、降低对飞行器硬件的要求。
下面参考图4-图6详细描述本发明实施例的飞行器降落控制系统的一个示例。
如图4所示，放置在地面上的灯光阵列使用了18个LED灯作为引导灯。它们分别排布在以灯D10为中心的同心正方形的顶点上，这些同心正方形相邻的两圈外圈的边长为内圈的两倍，以便于飞行器在不同飞行高度拍摄到灯光阵列时都能利用当前拍摄到的画面精确估计飞行器的位置与姿态。
这18个LED灯在本示例中的闪烁模式如图5所示，其中light1表示D1，以此类推：
以下以二进制形式给出灯光闪烁模式，其中“1”代表亮起，“0”代表熄灭：
1 1 1 0 1 0 1 0
1 0 1 0 1 0 1 1 1 a 1 b 1 c 1 d 1 e
如灯光闪烁模式的二进制形式可见，在这些LED灯的每一个周期中，前14拍作为这些灯光的校验码，也就是说只要探测到有灯光前14拍是以此特定的模式闪烁的就认为该探测到的灯光是该灯光阵列上的灯光。第15拍到第17拍为连续三拍的灯光独立校验码的起始标记，后面的abcde为LED灯的二进制编号，比如编号为1的灯，在其闪烁周期中abcde＝00001，而编号为8的灯，在其闪烁周期中abcde＝01000，以此类推。编号各位之间用“1”间隔。
在飞行器上安装一个摄像头，摄像头所拍摄到的灯光阵列的图像如图6所示，将摄像头拍摄到的每一帧图像导入飞行器控制单元进行以下处理：
对每一帧图像进行灰度图转化、高斯滤波、二值化后，通过排查像素及连通区域检测的算法侦测图像中的亮斑，这些亮斑即对应各个灯光，并通过计算连通区域的质心给出灯光成像在图像上的的像素坐标(u，v)位置。
对同个灯光在相邻帧中的配对和编号。在模块中分两步完成以上功能：在第一步中计算出当前帧的前一帧中所有亮斑在当前帧中最近的亮斑，记录对应亮斑在图像上的距离及编号；也同样计算出当前帧中所有亮斑在前一帧中最近的亮斑，记录对应亮斑在图像上的距离及编号。在第二步中利用在上一步中的计算结果判断出能够配对的亮斑：假如当前帧中的一个亮斑与其在上一帧中最近的亮斑互为此相邻两帧中最近的亮斑，且它们的之间的距离在事先给定的阈值范围内，则认为两者配对成功，可以认为此两亮斑为同一灯光在两帧中所成的像，于是可以将灯光在图像上的位置及其标号更新为当前帧中对应亮斑的位置及编号。对于不满足上述条件的亮斑则认为匹配不成功，此处分三种情况：
1.前一帧中亮斑在当前帧中距离最近的亮斑与该亮斑不在此相邻两帧中互为最近的亮斑。
2.前一帧中亮斑在当前帧中距离最近的亮斑与该亮斑之间的距离大于事先给定的阈值范围。
3.当前帧中的亮斑与其在前一帧中最近的亮斑之间的距离大于事先给定的阈值范围。
算法将对于情况1和情况2判定为前一帧亮起的灯光在当前帧中熄灭了，由于相机具有足够高的帧率，且飞行器在间隔一帧的时间内位移的距离较小，可以近似地认为灯光在在图像上所成像位置不变，于是对于在当前帧中熄灭的灯光可以在当前帧中沿用上一帧中灯光所成亮斑的位置及编号，如此做的意义在于随着时间推进，可以记录所有已经亮过的所有灯光的坐标信息及编号，便于后续校验；而对于情况3，则判定为当前帧中有之前帧从未亮起过的灯光亮起。
对于第一帧以后的每一帧图片进行以上操作可以完成每一帧中亮斑的预标号，实现同一亮斑在不同帧中的匹配和位置的更新以及判定这些亮斑对应的灯光在新的一帧中是否有亮起，从而为接下来的灯光闪烁模式的校验做准备。
在完成了各个灯光在帧与帧之间成像出的亮斑的匹配之后，可以记录到一系列亮斑在一定时间内的闪烁模式。由于灯光阵列的闪烁模式是可事先编程的，所以是已知的，事先用一个矩阵Modulation_Matrix储存各个灯光在一个闪烁周期中的完整的闪烁模式以及约定对应的各个灯光的编号。将得到的各个亮斑的闪烁模式与Modulation_Matrix中储存的各个灯光的闪烁模式进行比照校验，从而确定各个灯光在图像上的位置。
完成校验后，即已经完成图像上的亮斑与发光阵列的灯光的一一对应，并且已经知道灯光在图像上所成亮斑在图像上的位置(ui，vi)，还可构建灯光阵列的坐标系，通过测量得到各个灯光的坐标(xi，yi，zi)。在本示例中，可将第十个灯D10的几何中心作为坐标原点，灯光阵列所在平面为xy平面，垂直于灯光阵列朝灯光发射方向为z轴正方向构建灯光阵列的三维坐标系。
得到灯光在图像上的坐标以及灯光阵列的坐标以后，即可将其与对所使用的摄像头预先定标得到的相机内参矩阵Camera_Matrix以及镜头扭曲畸变Distortion作为函数solvepnp的输入，从而计算输出相机即飞行器的位置与姿态。由算法估计得到的飞行器姿态再输入到控制程序中就可以控制飞行器精准降落。
本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行上述各实施例中任一种可能的实施方式的方法。
本申请实施例还提供了一种电子设备，所述电子设备包括有存储器和处理器，所述存储器用于存储计算机指令，所述计算机指令被存储器处理执行时实现各实施例中任一种可能的实施方式的方法。
本领域技术人员应该可以意识到，在上述一个或多个示例中，本申请实施例所描述的功能可以用硬件、软件、固件或它们的任意组合来实现。当使用软件实现时，可以将这些功能存储在计算机可读介质中或者作为计算机可读介质上的一个或多个指令或代码进行传输。计算机可读介质包括计算机存储介质和通信介质，其中通信介质包括便于从一个地方向另一个地方传送计算机程序的任何介质。存储介质可以是通用或专用计算机能够存取的任何可用介质。
注意，上述仅为本申请的较佳实施例及所运用技术原理。本领域技术人员会理解，本申请不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本申请的保护范围。因此，虽然通过以上实施例对本申请进行了较为详细的说明，但是本申请不仅仅限于以上实施例，在不脱离本申请构思的情况下，还可以包括更多其他等效实施例，而本申请的范围由所附的权利要求范围决定。
Claims (23)
- 一种飞行器降落引导装置，其特征在于，包括有：发光阵列，设于飞行器的目标降落区域，包括有位于目标降落点的至少一个发光单元和围绕该至少一个发光单元排列的若干个发光单元；发光控制单元，与所述发光阵列电连接，用于控制所述发光阵列按照预设的发光时序发光。
- 如权利要求1所述的飞行器降落引导装置，其特征在于：所述若干个发光单元以所述目标降落点为中心，排列成N圈，其中，N为大于1的整数。
- 如权利要求2所述的飞行器降落引导装置，其特征在于：排列于第M圈的发光单元与所述目标降落点之间的距离是排列于第M-1圈的发光单元与所述目标降落点之间的距离的预设倍数，其中，M为整数且1＜M≤N。
- 如权利要求3所述的飞行器降落引导装置，其特征在于：所述圈为规则或不规则形状。
- 如权利要求1-4中任一项所述的飞行器降落引导装置，其特征在于：所述发光时序包括有至少一个发光单元构成的阵列校验段和至少一个发光单元构成的单元校验段。
- 如权利要求5所述的飞行器降落引导装置，其特征在于：所述飞行指令段包括有若干个发光单元构成的时序码和设于若干个所述时序码之间的至少一个间隔码。
- 一种飞行器降落引导方法，其特征在于，包括以下步骤：控制如权利要求1-6中任一项所述的飞行器降落引导装置按照预设的发光时序发光。
- 一种飞行器降落控制方法，其特征在于，包括以下步骤：控制如权利要求1-6中任一项所述的飞行器降落引导装置按照预设的发光时序发光；在飞行器上采集所述发光阵列的发光信号，并根据采集到的发光信号输出相应的飞行控制指令控制飞行器降落至目标降落点。
- 如权利要求8所述的飞行器降落控制方法，其特征在于，所述根据采集到的发光信号输出相应的飞行控制指令包括：识别所述发光信号的发光时序和发光位置；将所述发光时序与预设的发光时序匹配，计算出各个发光单元的位置；根据发光单元的位置获得飞行器的实时位置、姿态和目标降落点。
- 如权利要求9所述的飞行器降落控制方法，其特征在于，所述识别所述发光信号的发光时序和发光位置包括：获得亮斑的移动轨迹，该移动轨迹包括所述亮斑在亮斑在各帧中的位置；根据所述亮斑的移动轨迹确定各发光单元的发光时序和发光位置。
- 如权利要求10所述的飞行器降落控制方法，其特征在于，所述获得亮斑的移动轨迹包括：获得当前帧的第Q个亮斑，Q为整数且1≤Q≤当前帧的所有亮斑个数；获得前一帧的第P个亮斑，该亮斑为前一帧中距所述第Q个亮斑最近的亮斑，P为整数且1≤P≤前一帧的所有亮斑个数；判断所述第Q个亮斑是否为当前帧中距所述第P个亮斑最近的亮斑，若是，且它们之间的距离在预设的阈值范围内，则该两个亮斑为同一个发光单元分别在前一帧和当前帧的成像；从1到当前帧的所有亮斑个数遍历Q，重复所述获得亮斑的移动轨迹中各步骤。
- 如权利要求11所述的飞行器的降落控制方法，其特征在于，所述获得亮斑的移动轨迹还包括：若第Q个亮斑不是当前帧中距所述第P个亮斑最近的亮斑，则判定为第P个亮斑对应的发光单元在当前帧熄灭。
- 如权利要求11所述的飞行器降落控制方法，其特征在于：所述获得亮斑的移动轨迹还包括：若第Q个亮斑与第P个亮斑之间的距离大于预设的阈值范围，则判定为第P个亮斑对应的发光单元在当前帧熄灭。
- 如权利要求12所述的飞行器降落控制方法，其特征在于，所述获得亮斑的移动轨迹还包括：若第Q个亮斑与第P个亮斑之间的距离大于预设的阈值范围，则判定为第Q个亮斑对应的发光单元在当前帧被点亮。
- 一种飞行器降落控制系统，其特征在于，包括有：如权利要求1-6中任一项所述的飞行器降落引导装置；发光信号采集单元，用于采集所述发光阵列的发光信号；飞行器控制单元，与所述发光信号采集单元电连接，用于根据采集到的发光信号输出相应的飞行控制指令控制飞行器降落至目标降落点。
- 如权利要求16所述的飞行器降落控制系统，其特征在于，所述飞行器控制单元用于：根据该发光时序和发光位置计算飞行器的实时位置、姿态和目标降落点；根据所述飞行器的实时位置、姿态和目标降落点输出相应的飞行控制指令控制飞行器降落至目标降落点。
- 如权利要求17所述的飞行器降落控制系统，其特征在于，所述识别所述发光信号的发光时序和发光位置包括。
- 如权利要求18所述的飞行器降落控制系统，其特征在于，所述获得亮斑的移动轨迹包括。
- 如权利要求19所述的飞行器的降落控制系统，其特征在于，所述获得亮斑的移动轨迹还包括。若第Q个亮斑不是当前帧中距所述第P个亮斑最近的亮斑，则判定为第P个亮斑对应的发光单元在当前帧熄灭。
- 如权利要求19所述的飞行器的降落控制系统，其特征在于：所述获得亮斑的移动轨迹还包括。
- 如权利要求20所述的飞行器降落控制系统，其特征在于，所述获得亮斑的移动轨迹还包括。
- 一种计算机可读存储介质，其特征在于：所述计算机可读存储介质存储有计算机程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行如权利要求7-14中任一项所述的方法。
- 一种电子设备，包括有存储器和处理器，所述存储器用于存储计算机指令，其特征在于：所述计算机指令被存储器处理执行时实现如权利要求7-14中任一项所述的方法。
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