基于Leap Motion的可抓取无人机系统
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摘要
为了解放无人机的传统控制方式和解决高空取物等实际问题,提出一种将手势识别技术与无人机相结合的可抓取无人机系统。该系统通过Leap Motion采集手势数据,使用Python并结合Leap Motion v2SDK库将数据进行处理,通过NRF24L01无线模块对数据进行发送,在无人机端将收到的数据通过Arduino进行分析处理,输出相应的PWM波来控制无人机的飞行状态以及机械爪的抓取。经试验证实该系统可通过手势改变无人机的飞行状态,以及控制机械爪的抓取,表明了该系统实现方法的可靠性及有效性。
In order to solve the practical problems of traditional control methods of UAVs and catching things at high altitude,a gripping UAV system combining gesture recognition technology with UAV is proposed.The gesture data is collected through Leap Motion,Python and Leap Motion v2 SDK library are used to process data,and data is sent through NRF24 L01 wireless module.The received data is analyzed and processed by Arduino at the UAV end,and the corresponding output is processed.The PWM wave controls the flying state of the UAV and the gripping of the claws.The experiment confirmed that the system can change the flying state of the UAV through gestures and control the grabbing of the claws.This shows the reliability and effectiveness of the system implementation method.
In order to solve the practical problems of traditional control methods of UAVs and catching things at high altitude,a gripping UAV system combining gesture recognition technology with UAV is proposed.The gesture data is collected through Leap Motion,Python and Leap Motion v2 SDK library are used to process data,and data is sent through NRF24 L01 wireless module.The received data is analyzed and processed by Arduino at the UAV end,and the corresponding output is processed.The PWM wave controls the flying state of the UAV and the gripping of the claws.The experiment confirmed that the system can change the flying state of the UAV through gestures and control the grabbing of the claws.This shows the reliability and effectiveness of the system implementation method.
引文
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[2]朱明敏.基于视觉的手势识别及其交互应用研究[D].南京:南京理工大学,2017.
[3]张攀,马文平.一种新型无人机数据链抗压制干扰技术的研究[J].测控技术,2018,37(1):125-127.
[4]王亭岭,芦杜洋,马跃涛.PIXHAWK开源飞控的多旋翼无人机避障技术研究[J].单片机与嵌入式系统应用,2017,17(10):30-32.
[5]朱雨田,陈劲杰,张波,等.基于Arduino的移动机器人智能控制系统设计[J].电子科技,2017,30(5):135-138.
[6]侯杏娜,陈寿宏,吕健富.基于NRF24L01的隧道灯控系统设计[J].国外电子测量技术,2017,36(1):108-111.
[7]黄俊,景红.基于Leap Motion的手势控制技术初探[J].计算机系统应用,2015,24(10):259-263.
[8]邹丁秋,程婷,何子述.一种新的基于似然比的弱目标TBD方法[J].雷达科学与技术,2013,11(3):305-310.
[9]黄湘鹏,赵玉丽,郝延刚.动态规划算法在检测前跟踪技术中应用[J].指挥信息系统与技术,2015,6(3):84-89.
[10]黄建军,李宥谋,刘婧,等.基于Python语言的.自动化测试系统的设计与实现[J].现代电子技术,2017,40(4):39-43.
[11]李帅,范项媛.基于Qt的无人机地面站软件系统的设计[J].雷达科学与技术,2017,15(4):410-414.
[12]刘宇航,刘力双,刘洋等.基于地面目标特征识别的空投无人飞行器设计[J].北京信息科技大学学报(自然科学版),2017,32(4):80-84.