视觉引导的车载旋翼无人机抓取回收方法  

Grabbing and Recycling Method with Visual Guidance for the Vehicle-mounted Rotor Unmanned Aerial Vehicle

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作  者:郑宇 付东翔[1] 赛庆毅[2] 陈建[2] ZHENG Yu;FU Dongxiang;SAI Qingyi;CHEN Jian(School of Optical-electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;School of Energy and Power Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区:[1]上海理工大学光电信息与计算机工程学院,上海200093 [2]上海理工大学能源与动力工程学院,上海200093

出  处:《控制工程》2025年第4期728-737,共10页Control Engineering of China

摘  要:提出了一种视觉引导抓取回收车载旋翼无人机的方法,为实现旋翼无人机的回收提供了一种可行的解决方案。首先,提出了一种改进的目标检测算法,保证了在边缘设备上对无人机的实时精准检测;然后,通过ZED2i相机获取点云数据中无人机的中心点三维坐标,利用眼在手上的标定方式获取相机与机械臂末端的坐标系变换关系;最后,结合相机传感器测得的自身姿态信息,调整机械臂末端的姿态以适应抓取。实验结果表明,所提方法可以实现对无人机的实时检测和较为精准的抓取回收。A grabbing and recycling method with visual guidance for the vehicle-mounted rotor unmanned aerial vehicle(UAV)is proposed,which provides a feasible solution for the recycle of the rotor UAV.Firstly,an improved object detection is proposed to ensure the real-time and accurate detection of UAVs on edge devices.Then,ZED2i camera is used to obtain the three-dimensional coordinates of the center point of the UAV in the point cloud data,and hand-eye calibration method is used to obtain the coordinate system transformation relationship between the camera and the end of the robotic arm.Finally,combined with the self-posture information measured by the camera sensor,the posture of the end of the robot arm is adjusted to adapt to the grabbing.The experimental results show that the proposed method can realize the real-time detection and accurate grabbing and recycling of UAVs.

关 键 词:目标检测 三维坐标 ZED2i相机 手眼标定 刚体姿态 

分 类 号:TP18[自动化与计算机技术—控制理论与控制工程]

 

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