一种视觉引导的作业型飞行机器人设计

针对作业型飞行机器人执行抓取、投放等作业任务时飞行机器人与被抓取目标之间难以相对定位的问题,提出了一种视觉引导的作业型飞行机器人设计方法.首先,介绍作业型飞行机器人系统的整体机构设计,建立飞行器和空中作业装置的运动学和动力学模型.然后,根据针孔成像模型,在ArUco标记尺寸已知的前提下,通过机载的单目摄像头检测被抓目标上的ArUco标记,利用n点透视(PnP)算法解算摄像头位姿,进而利用摄像头位姿信息对飞行器和作业装置进行分级控制.最后,通过静止实验和户外悬停实验验证了位姿估计算法的有效性,并通过自主抓取直径2cm、质量100g的管状物体进一步验证视觉引导的有效性和合理性.

Design of a Vision-Guided Aerial Manipulator

Aiming at the difficulty of relative positioning between the aerial robot and the grabbed target when the aerial manipulator system performs the tasks of grabbing, dropping, etc., a design method for vision-guided aerial manipulators is presented. Firstly, the overall mechanism design of the aerial manipulator system is introduced, and kinematics and dynamics models are developed for the aircraft and the aerial operation device. Secondly, the on-board monocular camera is utilized to detect the ArUco markers on the grabbed target according to the pinhole imaging model on the premise that the marker size is known, and the perspective-n-point(PnP) algorithm is used to calculate the camera pose. Then the flying robot and the operation device are controlled hierarchically based on the camera pose information. Finally, the effectiveness of the pose estimation algorithm is validated by the stationary and outdoor hover experiments, and the effectiveness and rationality of visual guidance are further verified by autonomously grabbing a tubular object with a diameter of 2 cm and mass of 100 g.