Patent ID: 9207681
Filing Date: 2015-12-08
Classification: B64C,B64F,G05D

Abstract:
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.