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Opencv-image-processing-based quadrotor aircraft midair autonomous grabbing operation control method

A four-rotor aircraft and image processing technology, which is applied in the direction of unmanned aircraft, aircraft, rotorcraft, etc., can solve the problems of obtaining accurate position information, the difficulty of unmanned aerial vehicles, and the limitation of the application range of quadrotor aircraft.

Active Publication Date: 2018-08-28
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, GPS is easily affected by the surrounding environment and climate. In the case of indoor or dense surrounding buildings, it is difficult for drones to rely on GPS to obtain accurate location information.
The motion capture system can only be used in specific research places such as laboratories, which limits the application range of quadrotor aircraft

Method used

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  • Opencv-image-processing-based quadrotor aircraft midair autonomous grabbing operation control method
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  • Opencv-image-processing-based quadrotor aircraft midair autonomous grabbing operation control method

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Embodiment Construction

[0057] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0058] The present invention provides a control method based on Opencv image processing for four-rotor aircraft autonomous grabbing operations in the air, which broadens the application field of four-rotor aircraft, and can perform air operations indoors and outdoors in dense surrounding buildings, improving Aerial work accuracy.

[0059] Such as figure 1 As shown, the system implementation platform of the present invention mainly consists of a quadrotor aircraft 1, a flight controller 2, a wireless communication module, a steering gear controller 3, a camera 4, and a three-degree-of-freedom mechanical arm including a manipulator 5, a joint one 6, and a joint three 7 , joint two 8, center of gravity balance joint 9, battery 10, PC 11, captured target 12 and artificial sign 13 form. The working device includes a three-degree-of-freedom robot a...

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Abstract

The invention provides an Opencv-image-processing-based quadrotor aircraft midair autonomous grabbing operation control method. A quadrotor aircraft operation system is composed of a quadrotor aircraft and an operation device, and the operation device is composed of a mechanical arm and a gravity center balance mechanism, wherein the mechanical arm and the gravity center balance mechanism are symmetrically installed below the quadrotor aircraft. Images of a grabbed target and an artificial mark are obtained through a camera on the quadrotor aircraft, the Opencv is utilized for processing the images, the camera posture information is solved, and thus the posture information of the quadrotor aircraft is obtained; and the quadrotor aircraft, the mechanical arm and the gravity center balance mechanism are controlled in a graded manner according to the posture information of the quadrotor aircraft. The application filed of the quadrotor aircraft is broadened, midair operation can be performed either in a room or in a surrounding outdoor environment with dense buildings, and midair operation precision is improved.

Description

technical field [0001] The invention relates to the technical field of aerial robot control, in particular to a control method for an autonomous aerial grasping operation of a quadrotor aircraft based on Opencv image processing. Background technique [0002] Quadrotor aircraft has always been a research hotspot in the military and commercial fields due to its maneuverability and portability. It is widely used in aerial surveys, pesticide spraying and plant protection, and target tracking and positioning. Compared with the mobile operation of ground mobile robots, unmanned aerial vehicles with aerial operation capabilities expand the operating space to three dimensions, which broadens the application field of unmanned aerial vehicles, handling dangerous objects in complex environments, placing and retrieving survey equipment, It has a broad application prospect in the capture of air targets and so on. [0003] In the research of quadrotor aircraft, the pose estimation proble...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B64C27/08B64D47/00
CPCB64C27/08B64D47/00B25J9/1602B25J9/1697B64U2101/00
Inventor 宋光明王营华连杰孙慧玉宋爱国
Owner SOUTHEAST UNIV
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