作　　者： (刘宇航）; (刘力双）; (刘洋）; (周平）; (张巧云）;

机构地区： 北京信息科技大学仪器科学与光电工程学院

出　　处： 《北京信息科技大学学报（自然科学版）》 2017年第4期80-84,89,共6页

摘　　要： 设计了一种空投无人飞行器,能够根据地面目标进行路径规划和投放地点识别。系统采用Arduino单片机作为主控制模块,STM32单片机作为飞行控制模块。超声波模块测量距离地面高度,CMUcam5摄像头采集地面图像。通过识别颜色标记路径确定飞行航迹。最后识别出投放地点,飞到地点上方,完成投放。在室内进行了测试,能够将乒乓球投入到指定颜色的目标桶中,验证了系统的可行性。 The principle of airdrop unmanned aerial vehicle(UAV) was discussed in this paper,which could carry out path planning and site recognition according to ground targets. The structure and major part of UAV were introduced,including Arduino MCU based main control board,STM32 MCU based flight control system and ultrasonic measures module based altimeter. The principle and operation process of ground image processing system based on CMUcam5 camera were also introduced. The airdrop UAV could achieve flight path planning by color mark recognition,and could also deliver the payload by moving above the airdrop site after recognition. Several experiments were done indoor. The results show that airdrop UAV could sent table tennis ball into the target barrel in specified color,which is also a verification of its feasibility.

关 键 词： 无人飞行器 视觉 特征识别 空投