近年来仿生扑翼飞行器利用视觉系统自主飞行成为一个具有广泛前景的研究方向, 然而, 其有限的带载能力对视觉传感器的类型、尺寸和重量提出了严格要求。目前商用图像处理模块的尺寸和重量较大, 且需要回传图像信息至地面控制系统处理, 文章旨在设计一款轻量化机载单目视觉系统, 帮助微型仿生扑翼飞行器获取外界信息并实现智能自主的飞行。相比于其他图像处理模块, 此系统以国产高算力芯片K210为核心进行设计, 可脱离电脑端完成图像处理, 尺寸仅为2.2cm×2.3cm, 重量仅为3g, 内部兼容轻量化网络模型实现分类识别, 通过串口进行信息交互, 控制扑翼飞行器实现手势识别和目标追踪。

In recent years, the autonomous flight of bionic flapping wing aircraft using vision systems has become a widely promising research direction. However, its limited carrying capacity puts forward strict requirements for the type, size and weight of vision sensors. At present, the size and weight of commercial image processing modules are large, and the image information needs to be transmitted back to the ground control system for processing. Therefore, this paper aims to design a lightweight onboard monocular vision system to help the miniature bionic flapping wing aircraft obtain external information and realize intelligent and autonomous flight. Compared with other image processing modules, this system was designed with domestic high-computing power chip K210 as the core, which could complete image processing without the computer side. The size is only 2.2cm×2.3cm, and the weight is only 3g. The internal compatible lightweight network model realizes classification recognition, and information interaction is achieved through the serial port, which can control the flapping wing aircraft to achieve gesture recognition and target tracking.