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1、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本 科 生：导 师：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 月授予学位单位： 佳木斯大学佳木斯大学工学学士学位论文I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、农药喷洒和机器人技术等领域被广泛的应用
2、。目前大部分的四旋翼无人飞行器的运用都是通过搭载微型摄像头和其他传感器去实现对地面上物体进行侦察和监控，而缺乏主动对环境物体进行交互和操作的功能。为了实现对环境物体主动交互和操作的功能，本文采用常规的四旋翼飞行器作为实视觉抓取系统的试验平台，主要研究基于视觉的自动识别抓取和对目标物体的运动跟踪问题，完成了系统设计、识别跟踪算法和物体抓取算法设计，并对此系统设计进行一整套流程的实验验证。本文以基于视觉抓取的四旋翼飞行器系统设计为研究对象，首先对四旋翼飞行器的机械结构和飞行原理进行阐述，接着对飞行器作力学建模及受力分析，在此基础上利用三维设计软件 SolidWorks 对飞行器进行三维建模设计 ，
3、并将三维模型文件导入 ADAMS 中，然后使用 ADAMS/Control 模块提供 ADAMS 与MATLAB/Simulink 联合仿真的数据接口，实现联合动态仿真，验证了虚拟样机中视觉抓取系统的有效性。在运动跟踪和目标抓取的问题上，本文采用Camshift 跟踪算法去实现对目标运动跟踪，根据 Camshift 算法的特点确定飞行器对目标物体抓取的方案。最后进行系统设计和试验研究，介绍飞行器的硬件系统组成和以 VS2010 和 Arduino IED 为系统软件开发平台分别开发了系统的上位机和下位机，并对系统设计进行验证。关键字：四旋翼飞行器；SolidWorks；MATLAB/Simul
4、ink；ADAMS；Camshift算法；VS2010；Arduino IDE；佳木斯大学工学学士学位论文IIAbstractIt 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
5、 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 opera
6、tions 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, c
7、omplete 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 p
8、rinciples 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-dimensional modeling of aircraft design and three-dimensional model into ADAMS file, and then use ADAMS/Cont
9、rol module provides ADAMS and MATLAB/Simulink co-simulation data interface to achieve joint dynamic simulation, virtual prototyping to verify the visual crawling system effectiveness. On motion tracking and target crawling issues, this paper Camshift tracking algorithm to achieve the target motion t
10、racking, determination of vehicle to the target object to crawl program according to the characteristics Camshift algorithm. Finally, the system design and experimental research, presentation of the aircraft and hardware system to VS2010 and Arduino IED software development platform for the system w
11、ere developed system of the host computer and the next crew, and system design verification.Keywords: Four-rotor aircraft; SolidWorks; MATLAB/Simulink; ADAMS; Camshift-algorithm; VS2010; Arduino IDE;佳木斯大学工学学士学位论文III目 录摘 要 .IAbstract.II第 1 章 绪论 .11.1 课题研究背景及意义 .11.2 国内外发展现状 .11.2.1 国内发展现状 .11.2.2 国外发展现状 .31.3 主要研究内容 .5第 2 章 力学建模与虚拟样机设计 .62.1 力学建模 .62.1.1 四旋翼飞行器结构 .62.1.2 四旋翼飞行器飞行原理 .62.1.3 四旋翼飞行器坐标系的转换和变换矩阵 .102.1.4 四旋翼飞行器受力和力矩分析 .122.1.5 四旋翼飞行器动力学模型建立 .142.2 虚拟样机设计 .152.2.1 三维模型和运动仿真模型的建立 .152.2.2 联合仿真的机械系统建立 .
