四旋翼飞行器自主循迹取物运输系统的研究

为实现无人机在运输方面的自动化和信息化，设计并实现一种能自主循迹、取物并运输至目标点的四旋翼飞行器。通过对四旋翼飞行器飞行控制原理的分析，使用超声波传感器获取飞行器实时高度，利用计算机图像处理技术实时判断飞行器位置，并用PID( Proportion-Integral-Derivative) 控制器控制飞行器的飞行高度和自身姿态，实现了四旋翼飞行器的自主循迹飞行和物体识别，以及驱动机械手完成对目标物体的抓取与投放。测试结果表明，飞行器可在1 m 高度上以20 cm/s 的速度沿预设轨迹自主循迹飞行，能在50 s 内识别与抓取底面半径为4 cm、高度为8 cm 的圆柱形物体，并投放在以目标点为圆心半径为25 cm 的范围内，达到了预期效果。

Study of Automatic Tracking and Object Grasping System of Quadrotor

In order to realize the quadrotor's automation and informatization in transportation，we designed and realized a quadrotor which could track and grasp target automatically and then carry it to the specified place．By applying the control theory of quadrotor，the quadrotor could be able to judge its position in real time using computer vision technology and acquire its amplitude with a sonar sensor，thus adjust its flying amplitude and attitude angel with the PID ( Proportion-Integral-Derivative) controller． Thus，the system finished automatically tracking and target identification using camera and drove a manipulator to accomplish target grasping and releasing． The result shows that the quadrotor could keep its flying height at 1 m，and fly at the speed of 20 cm /s． The machine could recognize and grasp a cylindrical target of which the radius is 4 cm and the length is 8 cm． The whole process can be finished in 50 s．