基于视觉抓取的四旋翼飞行器系统设计(肖辉).docVIP

工学学士学位论文 基于视觉抓取的四旋翼飞行器系统设计 Vision-based Crawl Quad-rotor System Design 佳木斯大学 2016年6月 国内图书分类号： 工学学士学位论文 基于视觉抓取的四旋翼飞行器系统设计 肖辉 导师： 颜兵兵 申请学位级别： 工学学士 专 业： 机械设计制造及其自动化 所在单位： 机械工程学院 答辩日期： 2016年6月 佳木斯大学 摘 要 四旋翼飞行器是一种用4个无刷直流电机做动力源驱动4个螺旋桨旋转且机架呈十字型的旋翼飞行器，它在军事侦察、灾区救援、喷洒和被广泛的应用的四旋翼飞行器通过摄像头其他传感器对地面物体侦察和监控缺乏对环境物体交互操作功能对环境主动和操作的功能，本文常规的四旋翼飞行器为实系统的试验平台，主要研究基于视觉的自识别抓取对物体的运动跟踪完成了系统设计识别跟踪和物体抓取算法设计此系统设计进行套流程实验验证 本文以基于四旋翼飞行器为研究对象飞行器的结构和飞行原理进行阐述，接着对飞行器作力学建模受力分析ADAMS与仿真的验证样机中有效性运动跟踪和目标抓取的问题上，本文采用Camshift算法实现对目标运动跟踪根据Camshift算法的特点确定飞行对目标物体抓取的案最和试验研究，飞行器的硬件系统组成和VS2010和Arduino IED为软件平台分别开发了系统的上位机和下位机并系统设计进行验证 关键字： Abstract It is a Four-Rotor Aircraft with four brushless DC motor-powered source drive four propellers rotate and the rack was a cross-shaped rotor aircraft, which is widely used in the field of military reconnaissance, disaster relief, pesticide spraying and robotics applications. At present, most of the four-rotor UAV mounted through the use of miniature cameras and other sensors to achieve the objects on the ground to conduct reconnaissance and surveillance, and the lack of initiative on the environment to interact with objects and operations functions. In order to achieve the objects of the environment initiative of interaction and operation functions, it uses a conventional four-rotor aircraft as a real visual crawling system test platform, mainly based on automatic identification and visual crawl target object motion tracking, complete system design, object recognition and tracking algorithms and crawling algorithm design, system design and experimental verification of this set of processes. In this paper, based on visual crawled four-rotor aircraft systems designed for the study, the first of the mechanical structure and principles of flight elaborate four-rotor aircraft, and then to the aircraft for mechanical modeling and stress analysis, based on the use of three-dimensional design software SolidWorks three-di