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In order to ensure interior target is grabbed by the four-rotor aircraft, the camsift algorithm of OpenCV is adopted, through the recognition of the target, at the same time, the positioning of the aircraft and alignment of target are conducted to achieve grab. The target object is placed on the ground and the image is collected, the center point of the target object and relative position of the aircraft is determined, the gesture of aircraft is adjusted by airborne vision sensor, until the target is located below the aircraft. When the aircraft dropped to the height of the calculation, the images are captured by vision sensor of end-effector, until gripper with two degree of freedom is aligned with the object be grabbed. The results show that the scheme can meet the requirements of flight grasps of the four-rotor aircraft, and with high precision.

Research on Flight Grasps System of Four-rotor Aircraft Based on Vision