An Embedded Computer Vision System Application in the Automatic Landing System for Unmanned Aerial Helicopter

• Main Authors: Ying-Zuo Chen, 陳盈佐
• Other Authors: 曾百由
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/ey4kc5

碩士 === 國立臺北科技大學 === 機電整合研究所 === 100 === To complete auto landing for Vertical Take-Off and Landing(VTOL) unmanned aerial vehicle (UAV), earlier studies used PC based platform with image processing algorithms to identify and locate the landing pad; but as the VTOL UAV applications grow, specifications for its lightweight, system reliability and power consumption are more strict. And because the advantages of embedded system has small, good computing speed, less power consumption and reliable for specific processing etc, embedded system with image processing algorithms has been chosen to develop our landing system. This system has a wireless CCD camera as image input source, with ADSP-BF561 as the core of embedded system. Especially, the landing pad is defined with its unique color and shape arrangement to achieve image recognition. Experiment results show that the embedded computer vision system can identify the defined landing pad, with the ability of processing image data flow at the rate of 30Hz speed(33 milli-seconds per frame). These results prove the feasibility of applying the designed embedded image processing system.