CN103019250B - Bevel take-off control method of inspection flying robot - Google Patents

Abstract

The invention discloses a bevel take-off control method of an inspection flying robot. The technical scheme is that a bevel inclination angle is divided into a first angle range, a second angle range and a third angle range; the inspection flying robot is placed on the bevel, the bevel angle value is measured, and the angle range of the bevel is determined; when the measured bevel angle value is within the first angle range and the second angle range, the gesture of the inspection flying robot is controlled through a first objective function; when the measured bevel angle value is within the third angle range, take-off of the inspection flying robot is stopped; whether turning the inspection flying robot to be in the hovering stage is judged through switching conditions; and the inspection flying robot is turned to be in the hovering stage when the switching conditions are met, and the gesture of the inspection flying robot is controlled through a second objective function. The bevel take-off control method of the inspection flying robot has the advantages of meeting site practical requirements and paving the basis for take-off of the inspection flying robot in the practical environment.

Description

Patrol and examine flying robot's bevel take-off control method

Technical field

The invention belongs to flight control method, particularly relate to one and patrol and examine flying robot's bevel take-off control method.

Background technology

The autonomous flight control of air-robot is an emphasis aspect of current electric power line inspection research, patrol and examine due to unmanned plane and there is high security, light flexibly, decrease the cost of manual inspection simultaneously, therefore it be realize patrolling and examining that such as overhead power line is patrolled and examined, pipe laying is patrolled and examined, the important channel of traffic monitoring etc.Carry out in the wild because power circuit polling is many, objective condition does not allow that aircraft takes off from ideal plane.But existing model all takes off based on plane, a small amount of research aircraft inclined-plane is only had to take off problem.In order to better real reproduction takes off process, we are necessary to introduce the three-dimensional model of aircraft when inclined-plane takes off.

Here novel simple control algolithm is introduced for the actual objective problem run into.Because there are certain inclination angle and height in inclined-plane when aircraft takes off on inclined-plane, the too early adjustment attitude of aircraft may cause aircraft rotary wing to get on inclined-plane, causes very large potential safety hazard.In addition, in view of the complicacy of field environment, this control algolithm has rapidity, stability, energy saving and good environmental suitability, latter 2 to be mainly reflected in aircraft flight actual range short, can adapt to take off in narrow and small environment, better can adapt to rugged surroundings.

Optical flow method is the important method analyzed movement sequence image, light stream not only comprises the movable information of target in image, and contain the abundant information of three dimensional physical structure, therefore can be used to determine the motion conditions of target and reflection image other etc. information.Light stream sensor for the athletic posture of the acquisition air-robot of real-time high-precision and estimation significant.

Summary of the invention

Carry out in the wild for the power circuit polling mentioned in background technology is many, objective condition does not allow the problem that aircraft takes off from ideal plane, the present invention proposes one and patrols and examines flying robot's bevel take-off control method.

One patrols and examines flying robot's bevel take-off control method, it is characterized in that, concrete steps comprise:

Step 1: angle of inclination is divided into the first angular range 0-π/5, second angular range π/5-π/3 and angular extent π/3-pi/2;

Step 2: flying robot will be patrolled and examined and be placed on inclined-plane, and measure angle of chamfer angle value, and determine the angular range on inclined-plane;

Step 3: when measuring angle of chamfer angle value and belonging to the first angular range and the second angular range, controls to patrol and examine flying robot's attitude by first object function; When measuring angle of chamfer angle value and belonging to angular extent, stop taking off;

Step 4: judge whether patrol and examine flying robot goes into hover the stage by switching condition;

Step 5: when meeting switching condition, patrols and examines flying robot and goes into hover the stage, and controls to patrol and examine flying robot's attitude by the second objective function; When not meeting switching condition, return step 4.Described first object function is:

$\left\{\begin{array}{c}{\mathrm{\τ}}_p=k_{\mathrm{pp}}{\mathrm{\θ}}_e+k_{\mathrm{dp}}{\stackrel{\·}{\mathrm{\θ}}}_e\\ {\mathrm{\τ}}_r=k_{\mathrm{pr}}{\mathrm{\α}}_e+k_{\mathrm{dr}}{\stackrel{\·}{\mathrm{\α}}}_e\\ {\mathrm{\τ}}_y=k_{\mathrm{py}}{\mathrm{\β}}_e+k_{\mathrm{dy}}{\stackrel{\·}{\mathrm{\β}}}_e\\ T=k_{\mathrm{pz}}{h}_e+k_{\mathrm{dz}}{\stackrel{\·}{h}}_e+{\mathrm{\ω}}_0\end{array}\right.$

Wherein, τ _p, τ _r, τ _ypatrol and examine the pitching of flying robot respectively, driftage and roll angle; The lift that T representative needs, ω ₀for the speed of rotor; k _pprepresent the proportional unit coefficient that pitch angle controls; k _dprepresent the differentiation element coefficient that pitch angle controls; k _pr, k _pyand k _pzrepresent the proportional unit coefficient of crab angle, roll angle and lift control respectively, k _dr, k _dyand k _dzrepresent the integral unit coefficient of crab angle, roll angle and lift control respectively; h _eit is the deviation of patrolling and examining flying robot's height takeoff phase; θ _efor patrolling and examining the deviate of angle that flying robot rotates along Y-axis and the Y-axis setting value anglec of rotation; α _efor patrolling and examining the deviate of angle that flying robot rotates along X-axis and the X-axis setting value anglec of rotation; β _efor patrolling and examining the deviate of angle that flying robot rotates along Z axis and the Z axis setting value anglec of rotation; with represent θ _e, α _e, β _eand h _edifferentiate;

Described switching condition is:

$\left\{\begin{array}{c}{\mathrm{\θ}}_e\≥0.01\\ {\mathrm{\α}}_e\≥0.01\\ {\mathrm{\β}}_e\≥0.01\\ h_e+\mathrm{\Δh}\≥0.01\end{array}\right.$

Wherein, θ _efor patrolling and examining the deviate of angle that flying robot rotates along Y-axis and the Y-axis setting value anglec of rotation; α _efor patrolling and examining the deviate of angle that flying robot rotates along X-axis and the X-axis setting value anglec of rotation; β _efor patrolling and examining the deviate of angle that flying robot rotates along Z axis and the Z axis setting value anglec of rotation; h _efor patrolling and examining the deviation of flying robot's height takeoff phase, and h _e=h-z, h are the height that takes off, and h=sin θ cos θ (r+d), and θ represents pitch angle, inclined-plane, and d represents that rotor centers is to the distance of patrolling and examining flying robot's center of gravity, and r represents and patrols and examines flying robot's rotor radius; Z patrols and examines the real-time height value of flying robot; Δ h is the height gain of setting.

Described second objective function is:

$\left\{\begin{array}{c}T=k_{\mathrm{pz}}{z}_e+k_{\mathrm{dz}}{\stackrel{\·}{z}}_e+{\mathrm{\ω}}_0\\ {\mathrm{\τ}}_p=k_{\mathrm{pp}}{\mathrm{\θ}}_e+k_{\mathrm{dp}}{\stackrel{\·}{\mathrm{\θ}}}_e\end{array}\right.$

Wherein, the lift of T representative needs; Z _eit is the deviation of patrolling and examining flying robot's height; ω ₀for the speed of rotor; τ _pfor patrolling and examining the angle of pitch of flying robot; k _pprepresent the proportional unit coefficient that pitch angle controls; k _dprepresent the differentiation element coefficient that pitch angle controls; k _pzrepresent the proportional unit coefficient of lift control; k _dzrepresent the integral unit coefficient controlled; θ _efor patrolling and examining the deviate of angle that flying robot rotates along Y-axis and the Y-axis setting value anglec of rotation; z _eit is the deviation of patrolling and examining flying robot's height takeoff phase; with represent θ _eand z _edifferentiate.

The invention has the beneficial effects as follows, be mainly used in the autonomous flight control of air-robot, the algorithm and the inclined-plane that investigated applicable on-the-spot actual demand takes off, lay a good foundation for air-robot takes off in actual environment, and patrol and examine flying robot for application in later reality and carry out electric power line inspection and done the analytical work of theoretical side.

Accompanying drawing explanation

Fig. 1 patrols and examines flying robot's structural representation;

Fig. 2 patrols and examines flying robot to take off planar structure schematic diagram;

Fig. 3 be patrol and examine flying robot take off the first stage switch to subordinate phase hovering schematic diagram;

Fig. 4 patrols and examines the range of bevel angles that flying robot takes off to divide schematic diagram;

Fig. 5 patrols and examines flying robot's bevel take-off control method process flow diagram.

Embodiment

Below in conjunction with accompanying drawing, preferred embodiment is elaborated.It should be emphasized that following explanation is only exemplary, instead of in order to limit the scope of the invention and apply.

Fig. 1 patrols and examines flying robot's structural representation.In Fig. 1, shown in patrol and examine on flying robot and light stream sensor be housed, sonac, gyro and accelerometer.Wherein light stream sensor obtains the information of patrolling and examining flying robot's tangential movement, and sonac obtains and patrols and examines the real-time altitude signal size of flying robot, and gyro is for measuring roll angle.

Fig. 2 patrols and examines flying robot to take off planar structure schematic diagram.In Fig. 2, xyz coordinate system is distinguished and body axis system, represents earth axes o{x, y, z}; According to different bevel inclination angle because flying robot's direction of motion is patrolled and examined in supposition here, flying robot's working direction is patrolled and examined in X-direction representative, the side direction voyage of flying robot is patrolled and examined in Y representative, and Z axis is perpendicular to ground, and flying robot's flying height is patrolled and examined in instruction.

Fig. 3 be patrol and examine flying robot by the first stage take off switch to subordinate phase hover schematic diagram.In Fig. 3, when meeting switching condition after patrolling and examining flying robot and taking off, be just converted to hovering phase from takeoff phase.

Fig. 4 patrols and examines the range of bevel angles that flying robot takes off to divide schematic diagram.In Fig. 4, the first stage takes off and can be divided into the first angular range (0-π/5), the second angular range (π/5-π/3), angular extent (π/3-pi/2) according to different angles of inclination.First angular range (0-π/5) determines that patrolling and examining flying robot can keep tiltangleθ constant, can remain on the flight attitude taken off in other words; When patrolling and examining flying robot's take-off angle and being in the second angular range (π/5-π/3), patrolling and examining flying robot keeps pitch angle constant when taking off, its objective is and take off on dip plane to prevent the wing of patrolling and examining flying robot from striking, after flight a period of time, flying robot's attitude to the first angular range is patrolled and examined in adjustment; When patrolling and examining in flying robot's take-off angle angular extent (π/3-pi/2), because angle of inclination is excessive, should not take off.

In the present embodiment, pitch angle initial value design is π/3, and set angle is π/5.When switch condition meets time, patrol and examine flying robot's flight attitude angle and forward π/5 to from π/3, after adjustment after a while, adjust to 0 by π/5.Here 0 representative be patrol and examine flying robot to be in hover mode.

Fig. 5 patrols and examines flying robot's bevel take-off control method process flow diagram.In Fig. 5, concrete steps comprise:

Step 1: angle of inclination is divided into the first angular range 0-π/5, second angular range π/5-π/3 and angular extent π/3-pi/2;

Step 2: flying robot will be patrolled and examined and be placed on inclined-plane, and measure angle of chamfer angle value, and determine the angular range on inclined-plane;

Step 3: when measuring angle of chamfer angle value and belonging to the first angular range and the second angular range, controls to patrol and examine flying robot's attitude by first object function; When measuring angle of chamfer angle value and belonging to angular extent, stop taking off;

Step 4: judge whether patrol and examine flying robot goes into hover the stage by switching condition;

Step 5: when meeting switching condition, patrols and examines flying robot and goes into hover the stage, and controls to patrol and examine flying robot's attitude by the second objective function; When not meeting switching condition, return step 4.

The above; be only the present invention's preferably embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.

Claims (1)

1. patrol and examine flying robot's bevel take-off control method, it is characterized in that, concrete steps comprise:

Step 1: angle of inclination is divided into the first angular range 0-π/5, second angular range π/5-π/3 and angular extent π/3-pi/2;

Step 2: flying robot will be patrolled and examined and be placed on inclined-plane, and measure angle of chamfer angle value, and determine the angular range on inclined-plane;

Step 3: when measuring angle of chamfer angle value and belonging to the first angular range and the second angular range, controls to patrol and examine flying robot's attitude by first object function; When measuring angle of chamfer angle value and belonging to angular extent, stop taking off;

Described first object function is:

$\left\{\begin{array}{c}{\mathrm{\τ}}_p=k_{\mathrm{pp}}{\mathrm{\θ}}_e+k_{\mathrm{dp}}{\stackrel{\·}{\mathrm{\θ}}}_e\\ {\mathrm{\τ}}_r=k_{\mathrm{pr}}{\mathrm{\α}}_e+k_{\mathrm{dr}}{\stackrel{\·}{\mathrm{\α}}}_e\\ {\mathrm{\τ}}_y=k_{\mathrm{py}}{\mathrm{\β}}_e+k_{\mathrm{dy}}{\stackrel{\·}{\mathrm{\β}}}_e\\ T=k_{\mathrm{pz}}{h}_e+k_{\mathrm{dz}}{\stackrel{\·}{h}}_e+{\mathrm{\ω}}_0\end{array}\right.$

Wherein, τ _p, τ _r, τ _ypatrol and examine the pitching of flying robot respectively, driftage and roll angle; The lift that T representative needs, ω ₀for the speed of rotor; k _pprepresent the proportional unit coefficient that pitch angle controls; k _dprepresent the differentiation element coefficient that pitch angle controls; k _pr, k _pyand k _pzrepresent the proportional unit coefficient of crab angle, roll angle and lift control respectively, k _dr, k _dyand k _dzrepresent the integral unit coefficient of crab angle, roll angle and lift control respectively; h _eit is the deviation of patrolling and examining flying robot's height takeoff phase; θ _efor patrolling and examining the deviate of angle that flying robot rotates along Y-axis and the Y-axis setting value anglec of rotation; α _efor patrolling and examining the deviate of angle that flying robot rotates along X-axis and the X-axis setting value anglec of rotation; β _efor patrolling and examining the deviate of angle that flying robot rotates along Z axis and the Z axis setting value anglec of rotation; with represent θ _e, α _e, β _eand h _edifferentiate;

Step 4: judge whether patrol and examine flying robot goes into hover the stage by switching condition;

Described switching condition is:

$\left\{\begin{array}{c}{\mathrm{\θ}}_e\≥0.01\\ {\mathrm{\α}}_e\≥0.01\\ {\mathrm{\β}}_e\≥0.01\\ h_e+\mathrm{\Δh}\≥0.01\end{array}\right.$

Wherein, h _e=h-z, h are the height that takes off, and h=sin θ cos θ (r+d), and θ represents pitch angle, inclined-plane, and d represents that rotor centers is to the distance of patrolling and examining flying robot's center of gravity, and r represents and patrols and examines flying robot's rotor radius; Z patrols and examines the real-time height value of flying robot; Δ h is the height gain of setting;

Step 5: when meeting switching condition, patrols and examines flying robot and goes into hover the stage, and controls to patrol and examine flying robot's attitude by the second objective function; When not meeting switching condition, return step 4;

Described second objective function is:

$\left\{\begin{array}{c}T=k_{\mathrm{pz}}{z}_e+k_{\mathrm{dz}}{\stackrel{\·}{z}}_e+{\mathrm{\ω}}_0\\ {\mathrm{\τ}}_p=k_{\mathrm{pp}}{\mathrm{\θ}}_e+k_{\mathrm{dp}}{\stackrel{\·}{\mathrm{\θ}}}_e\end{array}\right.$

Wherein, Z _ethe deviation of patrolling and examining flying robot's height, represent Z _edifferentiate.