基于Leap Motion的可抓取无人机系统  

Gripping UAV System Based on Leap Motion

作　　者：杨星 陈淑敏 马超 侯长波[1] YANG Xing;CHEN Shu-min;MA Chao;HOU Chang-bo(College of Information and Communication Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学信息与通信工程学院

出　　处：《测控技术》2019年第6期96-99,104,共5页Measurement & Control Technology

基　　金：教育部产学合作协同育人项目立项(201601004024);哈尔滨工程大学2016年本科教学改革研究重点项目(JG2016BZD19)

摘　　要：为了解放无人机的传统控制方式和解决高空取物等实际问题,提出一种将手势识别技术与无人机相结合的可抓取无人机系统。该系统通过Leap Motion采集手势数据,使用Python并结合Leap Motion v2SDK库将数据进行处理,通过NRF24L01无线模块对数据进行发送,在无人机端将收到的数据通过Arduino进行分析处理,输出相应的PWM波来控制无人机的飞行状态以及机械爪的抓取。经试验证实该系统可通过手势改变无人机的飞行状态,以及控制机械爪的抓取,表明了该系统实现方法的可靠性及有效性。In order to solve the practical problems of traditional control methods of UAVs and catching things at high altitude,a gripping UAV system combining gesture recognition technology with UAV is proposed.The gesture data is collected through Leap Motion,Python and Leap Motion v2 SDK library are used to process data,and data is sent through NRF24 L01 wireless module.The received data is analyzed and processed by Arduino at the UAV end,and the corresponding output is processed.The PWM wave controls the flying state of the UAV and the gripping of the claws.The experiment confirmed that the system can change the flying state of the UAV through gestures and control the grabbing of the claws.This shows the reliability and effectiveness of the system implementation method.

关 键 词：无人机 Leap MOTION ARDUINO 手势控制 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]