【作者】 赵亮；

【导师】 韩波； 李平；

【作者基本信息】 浙江大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 微型无人直升机(Mini Unmanned Aerial Vehicle)因其成本低廉和飞行灵活的特点，在民用和军事领域得到越来越广泛的应用。作为微型UAV研究领域的热点和重要组成部分，视觉系统以其鲜明的功能特点，一直以来受到世界各国高校及研究机构的高度关注。一个完善的微型UAV视觉系统可以完成航空拍摄、目标识别、视觉导航等多项任务。针对微型UAV视觉系统的研究具有广泛的应用前景和重要的现实意义。本文从硬件和软件两个方面，围绕如何构建一个完整的微型UAV视觉系统展开讨论。选择以TMS320DM642 DSP芯片作为系统硬件的核心处理平台，辅以采集模块、对外通讯模块以及电源模块等外围电路，构建视觉系统的硬件部分。采用均值滤波、二值化、轮廓提取、轮廓细化图像预处理算法以及随机Hough变换图像识别算法，构建视觉系统的软件部分。整个系统能够实现对特定图标的识别，在近地面模拟实验中，可以通过图标的识别结果估算微型UAV与地面图标之间的距离。相对于被国内研究机构所广泛采用的模拟图像传输结合地面站处理的视觉系统构建模式。本文所设计的机载式DSP平台微型UAV视觉系统在增重负载和增加功耗有限的前提下，摆脱了模拟链路的传输精度限制，具有更高的性价比，并易于与飞行控制系统相结合，体现了微型UAV视觉系统的发展方向。更多还原

【Abstract】 Mini UAV (Unmanned Aerial Vehicle) which features low cost and high flexibility has a broad application in the civil and army field. As an indispensable part of Mini UAV, vision system has been paid great attention by colleges and research organizations in the world. A typical vision system is designed to implement air-shooting, object recognition, vision navigation and many other tasks. It is significant to make a research on vision system for Mini UAV.This paper focuses on how to establish an integrated vision system for Mini UAV from both the hardware and software aspects. The hardware part chose TMS320DM642 DSP as the core processing platform, and was augmented by the capture module, communication module, power supply module, etc. The software design realized the averaging filter, binarization, detection, skeletonization image pre-processing and Randomized Hough Transform image processing algorithms. The system could implement landing-target recognition and estimate the distance to Mini UAV on the basis of recognition result in surface layer simulating experiment.Compare to the traditional methods which features analog image transmission and PC processing platform used by domestic research organizations. The DSP vision system designed in this paper get rid of the restriction of link’s precision for analog transmission, has the advantages of higher Cost-Performance Ratio, and is designed for combining with flight control system, shows the future of the related research area.更多还原