Automatic recovery method for an unmanned aerial vehicle
First Claim
1. A vision-based automatic recovery method using a reference trajectory for an unmanned aerial vehicle, the method comprising:
- a reference trajectory generating step of generating, using a computer of the unmanned aerial vehicle, the reference trajectory connecting an align point and a recovery point that is provided to the unmanned aerial vehicle through wireless communication;
an image processing step of taking an image containing a target through a front vision camera embedded in the unmanned aerial vehicle, determining a position and a size of the target in the taken image through an image processing computer of the unmanned aerial vehicle, and calculating a distance between the target and the unmanned aerial vehicle;
an attitude command issuing step of generating an attitude command for changing a direction of the unmanned aerial vehicle so as to center the target in an image taken by the front vision camera; and
a virtual trajectory generating step of generating a virtual trajectory by combining the reference trajectory generated in the reference trajectory generating step and the attitude command generated in the attitude command generating step, a weight of the attitude command being gradually linearly increased in the virtual trajectory generating step as the unmanned aerial vehicle moves from the align point to the recovery point.
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Abstract
A vision-based automatic recovery method including steps of: generating a reference trajectory connecting an align point and a recovery point that is provided through wireless communication; taking an image containing a target through a front vision camera, determining a position and a size of the target in the taken image, and calculating a distance between the target and the unmanned aerial vehicle; generating an attitude command for changing a direction of the unmanned aerial vehicle so as to center the target in an image taken by the front vision camera; and generating a virtual trajectory by combining the generated reference trajectory and the generated attitude command, a weight of the attitude command being increased as the unmanned aerial vehicle moving from the align point to the recovery point.
10 Citations
7 Claims
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1. A vision-based automatic recovery method using a reference trajectory for an unmanned aerial vehicle, the method comprising:
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a reference trajectory generating step of generating, using a computer of the unmanned aerial vehicle, the reference trajectory connecting an align point and a recovery point that is provided to the unmanned aerial vehicle through wireless communication; an image processing step of taking an image containing a target through a front vision camera embedded in the unmanned aerial vehicle, determining a position and a size of the target in the taken image through an image processing computer of the unmanned aerial vehicle, and calculating a distance between the target and the unmanned aerial vehicle; an attitude command issuing step of generating an attitude command for changing a direction of the unmanned aerial vehicle so as to center the target in an image taken by the front vision camera; and a virtual trajectory generating step of generating a virtual trajectory by combining the reference trajectory generated in the reference trajectory generating step and the attitude command generated in the attitude command generating step, a weight of the attitude command being gradually linearly increased in the virtual trajectory generating step as the unmanned aerial vehicle moves from the align point to the recovery point. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification