CAJ | 학술논문

针对常规光流传感器或者功能单一，或者尺寸较大，无法应用于对负载和尺寸有严格限制场合的问题，设计了一种微型二维光流传感器。对图像插值光流算法进行了描述和仿真，仿真结果证明该算法有较好的环境适应能力和鲁棒性。对传感器硬件结构和软件流程进行了说明，并在自行研发的微型飞行器平台上进行了辅助悬停稳定性实验，结果表明该传感器可以有效减小飞行器的位置漂移，其轻质量和小尺寸适用于微型机器人平台。
침대상규광류전감기혹자공능단일，혹자척촌교대，무법응용우대부재화척촌유엄격한제장합적문제，설계료일충미형이유광류전감기。대도상삽치광류산법진행료묘술화방진，방진결과증명해산법유교호적배경괄응능력화로봉성。대전감기경건결구화연건류정진행료설명，병재자행연발적미형비행기평태상진행료보조현정은정성실험，결과표명해전감기가이유효감소비행기적위치표이，기경질량화소척촌괄용우미형궤기인평태。
Conventional single-function or large-size optical flow sensors cannot be applied to the situations when load and size is strictly limited. In this paper,a micro two-dimensional optical flow sensor is designed based on the image-interpolation technique. The optical flow algorithm is described and the simulation results show that the algo-rithm has a good environmental adaptability and robustness. The hardware structure and software processes are pres-ented. The experiment is operated on a platform of a micro quadrotor for hovering control with the optical flow sen-sor. The results show that the position drift of the quadrotor is acceptable. The light quality and small size make the sensor suitable for micro robot applications.