基于openmv的无人机定点降落视觉识别技术研究

Research on UAV fixed-point landing visual recognition technology based on openmv

无人机广泛应用于军事、农业、交通运输等方面,具有巨大的应用潜力和广阔前景。受电池能量密度和能量利用效率等因素的制约,无人机机载电池没有足够的续航能力,发挥不了最大优势。为提高无人机的飞行续航能力,采用无线充电基站对无人机进行充电。为达到无线充电的最大充电效率,需要实现无人机精确降落。为了实现无人机的定点降落,提高定点飞行能力,提出了一种GPS和视觉识别相结合定点降落方法。首先通过pixhawk飞控模块配合M8N模块来进行GPS定位,使无人机到达充电基站附近,然后通过再启用视觉辅助(openmv)实现较精准的降落。实验结果表明,无人机能够准确识别充电基站从而实现定点降落。

Unmanned Aerial Vehicle(UAV) is widely used in military,agriculture,transportation and other fields,and has great application potential and broad prospects.Restricted by factors such as battery energy density and energy utilization efficiency,the onboard battery of UAV does not have enough endurance,which can’t give full play to its advantages.In order to improve the flight endurance of UAV,wireless charging base station is used to charge UAV.In order to achieve the maximum charging efficiency of wireless charging,it is necessary to realize the accurate landing of UAV.In order to realize the fixed-point landing of UAV and improve its fixed-point flight capability,a fixed-point landing method combining GPS and visual recognition is proposed.At first,the pixhawk flight control module is matched with M8 N module to carry out GPS positioning,so that the UAV can reach the vicinity of the charging base station,and then,the visual aid(openmv) is enabled again to achieve a more accurate landing.The experimental results show that the UAV can accurately identify the charging base station and realize fixed-point landing.