Title:
AUTOMATIC RECOVERY METHOD FOR AN UNMANNED AERIAL VEHICLE
Document Type and Number:
WIPO Patent Application WO/2012/081755
Kind Code:
A1
Abstract:
The present invention relates to an automatic recovery method for an unmanned aerial vehicle (UAV), and more specifically relates to an automatic recovery method based on unmanned-aerial-vehicle imaging using a reference trajectory in which data from navigation equipment and a forward-facing imaging camera carried by the unmanned aerial vehicle is combined and made use of via weighting values. The automatic recovery method based on unmanned-aerial-vehicle imaging using a reference trajectory of the present invention comprises: a reference-trajectory-generating step in which a recovery point supplied to the unmanned aerial vehicle by wireless communication is used to generate a reference trajectory linking an alignment point and the recovery point on board; an image-processing step in which an image comprising a symbol (a grid) is acquired by means of the forward-facing imaging camera carried by the unmanned aerial vehicle, and, by using image-processing equipment, the position and the size of the symbol on the acquired image are determined and the distance between the unmanned aerial vehicle and the symbol is calculated; an attitude-command-generating step in which an attitude command for positioning the symbol in the centre is generated by using the position of the symbol in the centre of the image acquired in the image-processing step; and a virtual-trajectory-generating step in which the reference trajectory generated in the reference-trajectory-generating step and the attitude command generated in the attitude-command-generating step combined such that a virtual trajectory is generated, and the virtual trajectory is generated while placing weighting values on the attitude commands as the vehicle progresses from the alignment point to the recovery point.
Inventors:
ROH, Eun Jung (333 Unsan-ri, Baekjeon-myeonHamyang-gun, Gyeongsangnam-do 676-873, 676-873, KR)
Application Number:
KR2010/009187
Publication Date:
June 21, 2012
Filing Date:
December 22, 2010
Export Citation:
Assignee:
KOREAN AIR LINES CO., LTD. (1370, Gonghang-dong Kangseo-ku, Seoul 157-712, 157-712, KR)
주식회사 대한항공 (서울시 강서구 공항동 1370, 157-712 Seoul, 157-712, KR)
주식회사 대한항공 (서울시 강서구 공항동 1370, 157-712 Seoul, 157-712, KR)
International Classes:
B64D45/08; B64C13/20; B64F1/02; G08G5/02
Attorney, Agent or Firm:
CHANG & HAN PATENT & LAW FIRM (14th FL. Seocho G-Well Tower, 1678-4 Seocho-dong, Seocho-gu, Seoul 130-070, 130-070, KR)
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Claims: