Research on Flight Grasps System of Four-rotor Aircraft Based on Vision

DOI

10.2991/icmmcce-15.2015.578How to use a DOI?

Keywords

OpenCV, Camshift, Four-rotor.

Abstract

In order to ensure interior target is grabbed by the four-rotor aircraft, the camsift algorithm of OpenCV is adopted, through the recognition of the target, at the same time, the positioning of the aircraft and alignment of target are conducted to achieve grab. The target object is placed on the ground and the image is collected, the center point of the target object and relative position of the aircraft is determined, the gesture of aircraft is adjusted by airborne vision sensor, until the target is located below the aircraft. When the aircraft dropped to the height of the calculation, the images are captured by vision sensor of end-effector, until gripper with two degree of freedom is aligned with the object be grabbed. The results show that the scheme can meet the requirements of flight grasps of the four-rotor aircraft, and with high precision.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Zhennan Ma
AU  - Feng Yu
AU  - Xiaoming Feng
AU  - Bingbing Yan
PY  - 2015/12
DA  - 2015/12
TI  - Research on Flight Grasps System of Four-rotor Aircraft Based on Vision
BT  - Proceedings of the 4th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering 2015
PB  - Atlantis Press
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmmcce-15.2015.578
DO  - 10.2991/icmmcce-15.2015.578
ID  - Ma2015/12
ER  -