Research on visual image processing and edge detection method of micro flapping wing flying robot based on cluster analysis

摘要

In order to solve the problems of limited computing resources on the fuselage and autonomous recognition of visual images during the real-time control of the flapping-wing flying robot, and to realize the intelligent navigation control of the flapping-wing flying robot based on vision, this paper proposes a visual image processing method and edge detection method for a flapping-wing flying robot based on cluster analysis. Using cluster analysis method to classify the visual image pixel data of the flapping-wing flying robot, and using the classic edge detection algorithm to perform edge detection on the flying robot image after clustering analysis, and reasonably extracting the visual target contour features and environmental edges of the flapping-wing flying robot feature. An experimental platform for a flapping-wing flying robot was built with a flapping-wing flying robot and an airborne vision camera. Flight experiments are carried out on the visual image processing method and image edge detection method of flying robot based on cluster analysis. The experimental results verify the feasibility and effectiveness of the method in this paper. The innovation of this paper is embodied in the application of cluster analysis method to the visual image processing of the flapping-wing flying robot, and the edge detection of the visual image of the flapping-wing flying robot.