搜救抓取一体化无人机的方案设计
摘要
无人机由于其小型化、快速起降和无机载人员等特点,特别适用于搜索和灾害救援,该功能要求无人机通过机载设备在目标区域寻找,选定并抓取"目标物品";然后携带"目标物品"放到指定区域。本设计所要完成的目标定位系统搭建是通过图传将获取的图像信息回传到地面站,然后电脑通过视频采集卡读取图像信息并结合操作者通过红外装置确定的预抓取平面,在处理后获得图像中"目标物品"的图像坐标,之后通过坐标转换,将图像坐标转换成"目标物品"在真实世界中的坐标;最后将坐标发送给抓取平台实现抓取。
Due to its miniaturization, rapid take-off and landing, and inorganic personnel, the UAV is especially suitable for search and disaster rescue. This function requires the drone to search for the target area through airborne equipment, select and capture "target item"; then carry the "target item" to the designated area. The target positioning system to be completed by the design is to transmit the acquired image information to the ground station through the image transmission, and then the computer reads the image information through the video capture card and combines the pre-crawling plane determined by the operator through the infrared device to process.The image coordinates of the "target item" in the image are obtained; then the coordinate of the image is converted into the coordinates of the "target item" in the real world by coordinate conversion; finally, the coordinates are sent to the crawling platform to implement the grab.
Due to its miniaturization, rapid take-off and landing, and inorganic personnel, the UAV is especially suitable for search and disaster rescue. This function requires the drone to search for the target area through airborne equipment, select and capture "target item"; then carry the "target item" to the designated area. The target positioning system to be completed by the design is to transmit the acquired image information to the ground station through the image transmission, and then the computer reads the image information through the video capture card and combines the pre-crawling plane determined by the operator through the infrared device to process.The image coordinates of the "target item" in the image are obtained; then the coordinate of the image is converted into the coordinates of the "target item" in the real world by coordinate conversion; finally, the coordinates are sent to the crawling platform to implement the grab.
引文
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[3]张蕾.国外无人机发展趋势及关键技术[J].电讯技术,2009,49(07):88-92.
[4]曹志伟.无人机技术研究现状和发展趋势[J].民营科技,2017(04):57.
[5]潘炼.传感器原理及应用[M].电子工业出版社,2012.
[6]王祁.传感器信息处理及应用[M].科学出版社,2012.
[7]高宏.基于Pro/E的三自由度机械臂末端执行曲线轨迹匀速运动的仿真与实现[J].现代制造工艺设备,2014(4).
[8]沈洪星.单/多四旋翼无人机系统平台的设计及若干应用的研究[D].浙江大学,2016.
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