基于MATLAB的扑翼飞行器三维重构算法
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摘要
针对扑翼飞行器工作频率高、翅膀拍打速度快、常规方法难以测量与观察的问题,本文提出一种基于MATLAB平台的利用三维重构算法记录并计算扑翼微飞行器翅膀空间位姿的方法。通过2台高速摄像机记录翅膀的运动规律,并用三维重构算法进行处理即可获得翅膀的空间坐标数据。通过实验与根据运动学计算得到的理论值对比,验证了本方法的可行性。
FMAV usually works at high frequency,thus its wing is usually hard to be observed. This paper offers a new way to solve this problem. Two high-speed cameras are used to record the motion of the wing and the data are calculated through 3D reconstruction algorithm. By this way we can get the spatial coordinates of certain points on the wing. This method is verified by comparing the experimental data with theory data.
FMAV usually works at high frequency,thus its wing is usually hard to be observed. This paper offers a new way to solve this problem. Two high-speed cameras are used to record the motion of the wing and the data are calculated through 3D reconstruction algorithm. By this way we can get the spatial coordinates of certain points on the wing. This method is verified by comparing the experimental data with theory data.
引文
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[15]Davidson D,Upham J.Machine vision system for three-dimensional metrology and inspection in the semiconductor industry:US,US8107719[P].2012.
[16]Phan H V,Nguyen Q V,Truong Q T,et al.Stable vertical takeoff of an insect mimicking flapping-wing system without guide implementing inherent pitching stability[J].Journal of Bionic Engineering,2012,9(4):391-401.
[17]Madangopal R,Khan Z A,Agrawal S K.Biologically inspired design of small flapping wing air vehicles using fourbar mechanisms and quasi-steady aerodynamics[J].Journal of Mechanical Design,2005,127(4):809-816.
[2]Whitney J P,Wood R J.Conceptual design of flappingwing micro air vehicles[J].Bioinspiration&Biomimetics,2012,7(3):129-135.
[3]Combes S A,Daniel T L.Flexural stiffness in insect wings I.Scaling and the influence of wing venation[J].Journal of Experimental Biology,2003,206(17):2979-2987.
[4]Wootton R J.Functional morphology of insect wings[J].Annual Review of Entomology,1992,37(1):113-140.
[5]Lu Yuan,Shen Gongxin.Three-dimensional flow structures and evolution of the leading-edge vortices on a flapping wing[J].Journal of Experimental Biology,2008,211(8):1221-1230.
[6]Sotavalta O.The essential factor regulating the wing stroke frequency of insects in wing mutilation and loading experiments at sub-atmospheric pressure[J].Ann.Zool.Soc.,1952,15(2):1-67.
[7]左德参,陈文元,彭松林,等.基于MEMS技术的扑翼式微飞行器的研究[J].系统仿真学报,2005,17(6):1505-1508.
[8]迟鹏程,张卫平,陈文元,等.基于MEMS技术的SU-8仿昆虫微扑翼飞行器设计及制作[J].机器人,2011,33(3):366-370.
[9]周启生.仿生扑翼飞行器设计及空气动力特性研究[D].哈尔滨:哈尔滨工业大学,2013.
[10]Deng X,Schenato L,Sastry S.Flapping flight for biomimetic robotic insects:Part II——Flight control design[J].IEEE Transactions on Robotics,2006,22(4):789-803.
[11]张文明,刘彬,李海滨.基于双目视觉的三维重建中特征点提取及匹配算法的研究[J].光学技术,2008,34(2):181-185.
[12]任重,邵军力.立体视觉中的双目匹配方法研究[J].信息与控制,2001(S1):155-158.
[13]Yakimovsky Y,Cunningham R.A system for extracting 3-dimensional measurements from a stereo pair of TV cameras[J].Nasa Sti/recon Technical Report N,1976,76(78):195-210.
[14]Yao Xuefeng,Meng Libo,Yu Liuping,et al.3D optical measurement of relative displacement for the tuberosities in the shoulder prosthesis[J].Science China Physics,Mechanics&Astronomy,2011,54(4):647-652.
[15]Davidson D,Upham J.Machine vision system for three-dimensional metrology and inspection in the semiconductor industry:US,US8107719[P].2012.
[16]Phan H V,Nguyen Q V,Truong Q T,et al.Stable vertical takeoff of an insect mimicking flapping-wing system without guide implementing inherent pitching stability[J].Journal of Bionic Engineering,2012,9(4):391-401.
[17]Madangopal R,Khan Z A,Agrawal S K.Biologically inspired design of small flapping wing air vehicles using fourbar mechanisms and quasi-steady aerodynamics[J].Journal of Mechanical Design,2005,127(4):809-816.