Unmanned aerial vehicle self-adaptive height adjusting method based on visual positioning

The invention discloses an unmanned aerial vehicle self-adaptive height adjusting method based on visual positioning, and belongs to the technical field of mobile machines. The position information of the labels placed on the ground trolleys is collected through a wide-angle camera module carried by the unmanned aerial vehicle and sent to an upper computer through a local area network, and a vehicle body positioning coordinate system is established; when a formation task is executed by the ground trolley formation, each trolley is accurately positioned, the position information of each ground trolley is obtained by resolving the original coordinate information, and the central pose of the trolley formation is calculated; the unmanned aerial vehicle flies to a certain height above the central pose and follows the central pose, and it is guaranteed that all the trolleys move within the view range of the wide-angle camera; and calculating the proportion of the dolly formation in the current camera picture, and s