磁吸式飞行器自主降落方法研究及实现  

The Research and Realization of Aircraft Autonomous Landing in Magnetic Suction Aircraft

作　　者：任丽莉[1] 康冰[2] 于海 杨惠策 于彤 REN Li-li;KANG Bing;YU Hai;YANG Hui-ce;YU Tong(High Performance Computing Center,Changchun Normal University,Changchun 130032,China;College of Communication Engineering,Jilin University,Changchun 130022,China)

机构地区：[1]长春师范大学高性能计算中心,吉林长春130032 [2]吉林大学通信工程学院,吉林长春130022

出　　处：《长春师范大学学报》2019年第10期22-28,共7页Journal of Changchun Normal University

基　　金：吉林省省级产业创新专项资金项目“基于物联网的掌纹诊病采集系统及其产业化”(2017C032-4);长春师范大学自然科学基金项目“基于ZigBee技术的智能校园安防系统”(长师院自科合字﹝2011﹞第011号)

摘　　要：针对旋翼飞行器降落时不稳定的问题,根据现在已能够达到的旋翼的研究情况,利用视频流单帧化、图像预处理、目标检测、Meanshift算法进行目标跟踪,与我们设计的一种能够让旋翼精准停落在移动平台上的装置相结合,实现了对旋翼飞行器的捕获。在充分推敲飞行器各种降落情况的基础上,设计的降落平台可以在旋翼飞行器与平台距离较近时,自主升高并吸引旋翼飞行器。实验结果表明,磁吸式自主升降捕获装置能够明显提升旋翼飞行器降落在移动平台上的可靠性和稳定性,减少降落所需的时间。Aiming at the problem of the rotor aircraft unstable landing, according to the research situation of the rotor which is available now, by using single frame video streaming, image preprocessing, target detection, meanshift algorithm for target tracking, and we design a kind of device which can let rotor perch accurately on the mobile platform, thus the capture of rotor aircraft is realized. On the basis of fully studying various landing conditions of the aircraft, the designed landing platform can automatically raise and attract the rotorcraft when the rotorcraft is close to the platform. The experimental results show that the magnetic suction self-elevating capture device can improve the reliability and stability of the rotor aircraft landing on the mobile platform significantly, and reduce the time for landing.

关 键 词：图像识别 旋翼捕获 磁吸式 自主升降 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]