基于视觉感知的巡线机器人系统  

Line-patrolling robot system based on visual perception

作　　者：曹钰鑫 滕思茹 秦嘉 冯森 东方婕 Cao Yuxin;Teng Siru;Qin Jia;Feng Sen;Dongfang Jie(College of Internet of Things Engineering,Hohai University,Changzhou Jiangsu,213022)

机构地区：[1]河海大学物联网工程学院

出　　处：《电子测试》2020年第4期25-26,62,共3页Electronic Test

基　　金：江苏省高等学校大学生创新创业训练计划项目重点项目“基于四旋翼控制的风机叶片裂纹视觉检测(201910294087Z)”

摘　　要：本文设计制作了一套巡线机器人系统,实现了图像的采集处理及飞行姿态的控制。该系统利用飞控结合串级双闭环PID对无人机进行姿态稳定控制,通过对摄像头采集到的图像进行处理,融合飞控模块的姿态数据,完成悬停、巡线等功能。该系统具有结构简单,控制精度高,抗干扰能力强等特点。A line-patrolling robot system is introduced in this paper, which realizes the acquisition and processing of images and the control of flight attitude. In this system, the attitude stabilization of UAV is controlled by the cascade double closed-loop PID. Functions like hovering and patrolling are accomplished with the aid of processing the images captured by the camera and fusing the attitude data of the flight control module. The system has the advantages of simple structure, high control accuracy and strong anti-interference ability.

关 键 词：巡线机器人 视觉图像采集 飞行控制系统 无人机 

分 类 号：TM75[电气工程—电力系统及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]