CN107416195B - Eagle-like grabbing system of aerial operation multi-rotor aircraft - Google Patents
Eagle-like grabbing system of aerial operation multi-rotor aircraft Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention discloses an eagle-like grabbing system for operating a multi-rotor aircraft in the air. The two bionic operation arms are provided with hip joints, knee joints, ankle joints and mechanical claws for realizing grabbing. The invention also carries out motion planning according to bionics, and realizes the rapidity, the accuracy and the sensitivity of double-arm grabbing of the multi-rotor flying robot. From the perspective of the motion planning of bionics, a mapping relation between the eagle grasping animals and the aerial operation of the multi-rotor aircraft is established, the dynamic grasping task of the multi-rotor aircraft in high-speed motion is realized, and the superiority of bionics in the related field of robots is reflected. Meanwhile, a structural model imitating the hawk claw is structurally established by related means of bionics, and a guarantee is made for effectively finishing a grabbing task.
Description
Technical Field
The invention relates to an eagle-imitating grabbing system for an aerial operation multi-rotor aircraft and a grabbing method thereof.
Background
The multi-rotor aircraft is the leading research direction in the aircraft field and is an advanced aircraft in the future. The operable multi-rotor enables the aircraft to develop from a single function of only observing the environment in the past to have the capability of being in interactive contact with the environment, is a next-generation aircraft, and has potential application prospects in the fields of high-rise building detection, teleoperation, logistics and the like. In the past decade, the academics have conducted a great deal of research on the problems of planning, controlling and the like of multi-rotor aircrafts, and have obtained abundant research results. Meanwhile, in the industrial field, as the navigation and positioning of the aircraft and other related technologies become mature, the multi-rotor aircraft is applied very successfully in various fields, and a batch of robot enterprises taking the micro multi-rotor aircraft as main products is promoted to grow rapidly. An aircraft with a multi-rotor aircraft as a platform is considered by many research institutions and enterprises to be one of the most promising directions for industrialization.
The multi-rotor operation aircraft combines a multi-rotor flight platform and an operation mechanism, and brings a series of new problems while integrating the advantages of the multi-rotor operation aircraft and the operation mechanism. The high flexibility of the operating mechanism and the structure is pursued, and the configuration of the operating mechanism and the structure is required to have a certain number of degrees of freedom, which will increase the structural complexity and the overall weight of the aircraft and reduce the agility of the multi-rotor aircraft. A great deal of exploration is made in the grabbing aspect of multi-rotor flying robots in various colleges and universities and scientific research institutes, but the method is mainly focused on the field of control system modeling, and in actual situations, a great deal of interaction exists between the multi-rotor flying robots and the environment, and obvious coupling also exists between the multi-rotor flying robots and an operated object. Actual results show that all parties still do not achieve ideal results for multiple, quick and accurate grabbing tasks of objects.
In order to enable the multi-rotor flying robot to repeatedly, quickly and accurately grab objects, the grabbing method should have stronger stability, better rapidity, wider application range and higher reliability, and the interaction between the multi-rotor flying robot and the environment and the coupling problem between the multi-rotor flying robot and the operated object should be fully considered.
Disclosure of Invention
Aiming at the problem that the multiple rotor aircraft is insufficient in rapidity, accuracy and sensitivity in the process of grabbing objects, the invention provides the eagle-imitating grabbing system of the multiple rotor aircraft capable of realizing repeated, rapid and accurate grabbing.
Hawks in nature can dynamically capture preys in high-speed motion, and similar to the hawks, the small multi-rotor aircraft has high agility and can realize maneuvering and special-effect flight with high difficulty. The invention is operated in the air
The eagle-like grabbing system of the multi-rotor aircraft is characterized in that two bionic operating arms with two degrees of freedom and a mounting rod which is designed at the bottom of an aircraft body and is used for mounting the bionic operating arms are additionally arranged on the basis of the multi-rotor aircraft;
two bionic operation arms comprise a hip joint connecting piece, a hip joint tube seat, a thigh rod, a knee joint connecting piece, a knee joint tube seat, a calf rod, an ankle joint and a mechanical claw. Wherein the hip joint connecting piece is fixedly arranged on the hanging rod. Connecting shafts are designed on two sides of the hip joint pipe seat and are respectively hinged with the hip joint connecting pieces to form hip joints. The tail end of the thigh rod is fixed with the hip joint tube seat, and the front end is fixedly provided with a knee joint connecting piece. Connecting shafts are also designed on two sides of the knee joint pipe seat and are respectively hinged with the knee joint connecting pieces to form a knee joint; the tail end of the shank rod is fixed with the knee joint tube seat, and the front end of the shank rod is fixedly provided with an ankle joint; the ankle joint is fixed with the mechanical claw. The large arm mechanism is responsible for adjusting the operating arm in a large range, the small arm mechanism is responsible for finely adjusting the operating arm in a small range, and the mechanical claw is responsible for clamping the operated object and completing the grabbing task.
On the mechanical structure, the structure and the function mechanism of the eagle leg are analyzed, the configuration of the eagle leg is abstracted and equivalent, the eagle leg is designed, a mechanical model of the eagle leg is built, the motion mechanism of the eagle in-air dynamic capturing prey is analyzed, and a mapping conversion model between the eagle motion and the aerial operation aircraft motion is built.
In the aspect of motion planning, aiming at improving the motion efficiency and stability of the system, the motion mechanism of the eagle dynamic capturing prey in the air is analyzed by taking the biological motion mode as reference; establishing a mapping conversion model between the eagle motion and the aerial operation aircraft motion; and analyzing constraint conditions which are required to be met by the motion planning state quantity of the aircraft in the air dynamic operation motion, and establishing an optimization model of the motion planning.
The invention has the advantages that:
1. according to the eagle-like grabbing system for the aerial operation multi-rotor aircraft, the pair of same bionic operation arms is additionally arranged on the multi-rotor unmanned aerial vehicle, and the motion planning is performed by using the related knowledge of bionics, so that the rapidness, the accuracy and the sensitivity of double-arm grabbing of the multi-rotor flying robot are realized.
2. The eagle-like grasping system for operating the multi-rotor aircraft in the air establishes a mapping relation between eagle grasping animals and the multi-rotor aircraft in the air from the viewpoint of the motion planning of bionics, realizes a dynamic grasping task of the multi-rotor aircraft in high-speed motion, and embodies the superiority of bionics in the application of the robot in the related field.
3. According to the eagle claw-imitating structure model for the aerial operation multi-rotor aircraft, the eagle claw-imitating structure model is structurally established through related means of bionics, and a guarantee is provided for effectively completing a grabbing task.
4. The eagle-like grabbing system for the aerial operation multi-rotor aircraft abandons a steering engine driving mode of a traditional multi-rotor unmanned aerial vehicle operating arm, adopts motor driving, overcomes the problems of insufficient effective load and dynamic coupling of the multi-rotor unmanned aerial vehicle, and realizes effective control of output torque and speed.
Drawings
FIG. 1 is a schematic structural view of an eagle grabbing simulation system of the invention for an aerial multi-rotor aircraft;
FIG. 2 is a schematic structural view of an aerial inertial measurement unit mounting frame of the eagle grabbing simulation system of the aerial operation multi-rotor aircraft;
fig. 3 is a schematic structural view of a bionic operating arm in the eagle-grasping imitating system for the aerial operation of the multi-rotor aircraft.
In the figure:
1-multi-rotor aircraft 2-bionic operating arm 3-flight control module
4-inertial measurement unit 5-GPS antenna 6-pan-tilt camera
7-battery 8-data transmission radio station airborne terminal 9-receiver
10-mounting rod 11-undercarriage 12-mounting fixture
101-body 102-tube seat 103-horn
104-motor mounting base 105-electric tuning controller 201-hip joint connecting piece
202-hip tube seat 203-thigh rod 204-knee joint connector
205-knee joint tube seat 206-lower leg rod 207-wrist joint
208-gripper 209-hip joint motor 210-absolute encoder A
211-knee joint motor 212-absolute encoder B401-inertial measurement unit mounting
Upper plate
402-inertial measurement Unit mounting 403-shock ball 11 a-landing gear mount
Lower plate
11 b-undercarriage support chute 11 c-three-way connection 11 d-undercarriage support cross tube
11 e-damping cotton
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the invention relates to an eagle-imitating grabbing system for an aerial operation multi-rotor aircraft, which comprises a multi-rotor aircraft 1, a bionic operation arm 2 and a ground station, and is shown in figure 1.
The fuselage 101 of the multi-rotor aircraft 1 adopts a frame structure consisting of an upper fuselage plate and a lower fuselage plate, wherein the upper fuselage plate and the lower fuselage plate are connected and positioned through support columns, and 4 tube seats 102 are uniformly arranged in the circumferential direction to further stabilize the connection between the upper fuselage plate and the lower fuselage plate; meanwhile, each pipe seat 102 is inserted with a horizontally arranged horn 103, and the horns 103 are arranged in a cross shape and have 4 pieces. The motor mounting seat 104 is arranged at the end part of the outer end of the 4 machine arms 103; the upper part of each motor mounting seat 104 is provided with a motor and a propeller, so that the motors are arranged on the two sides of the machine body 1 in a bilateral symmetry manner. The lower part of each motor mounting seat 104 is provided with an electric tuning controller 105; the motor is controlled through the electric tuning controller 105, and the motor drives the propeller to rotate so as to provide power for the multi-rotor aircraft 1.
The body 1 is also provided with a flight control module 3, an inertia measurement unit 4, a GPS antenna 5, a pan-tilt camera 6, a battery 7, a data transmission radio station onboard end 8 and a receiver 9.
Wherein, flight control module 3 is used for the control of whole many rotor crafts, installs on the fuselage board.
The inertial measurement unit 4 is used for measuring the attitude angle and the acceleration of the multi-rotor aircraft in three axes. The inertia measurement unit 4 is installed on the inertia measurement unit installation frame and is arranged in the center position between the upper plate and the lower plate of the fuselage. The inertia measurement unit mounting bracket is composed of an inertia measurement unit mounting upper plate 401, an inertia measurement unit mounting lower plate 402 and a damping ball 403, as shown in fig. 2. The inertia measurement unit mounting upper plate 401 and the inertia measurement unit mounting lower plate 402 are connected through 4 damping balls 403 which are circumferentially arranged, and the influence of high and low frequency vibration of the multi-rotor aircraft on the inertia measurement unit 4 is weakened through the damping balls 403. The inertia measurement unit 4 is mounted on the inertia measurement unit mounting upper plate 401 by screws. The inertia measurement unit mounting lower plate 402 is mounted on the machine body lower plate by a stud, and the connection between the inertia measurement unit 4 and the machine body 101 is completed.
The GPS antenna 5 is used for outdoor positioning of the multi-rotor aircraft. The GPS antenna 5 is arranged on the GPS antenna frame so as to better receive GPS signals; the GPS antenna frame passes through a through hole on the upper plate of the body through a screw and is fixed by a screw cap.
The battery 7 is used for supplying power for the multi-rotor aircraft, and provides different required voltages for the flight control module 3, the holder camera 6, the data transfer station airborne end 8 and the bionic operating arm 2 through the voltage integration processing module. The battery is arranged on the battery mounting plate, and the battery mounting plate is supported on the upper plate of the machine body through a stud.
And the data transmission station airborne end 8 is used for communication between the multi-rotor aircraft and the ground station. The data transmission station machine-mounted end 8 is arranged on a hanging plate, the hanging plate is hung on any one of two hanging rods 10 which are horizontally arranged, and the two hanging rods 10 are connected with the lower plate of the machine body through screws. The two hanging rods are used for mounting the bionic operation arm 2 besides the hanging support plate 10.
The undercarriage 11 is installed to many rotor crafts lower part, and undercarriage 11 comprises undercarriage mounting 11a, undercarriage support pipe chute 11b, tee bend connecting piece 11c, undercarriage support horizontal tube 11d and undercarriage shock attenuation cotton 11 e. The two landing gear fixing pieces 11a are connected with the lower plate of the fuselage through screws and are respectively positioned at the opposite positions of the outer edge of the lower plate of the fuselage. The number of the landing gear supporting inclined tubes 11b is two, the front ends of the two landing gear supporting inclined tubes are respectively inserted and fixed on the two landing gear fixing pieces 11a, and the included angle between the two landing gear supporting inclined tubes 11b is about 70 degrees. The tail ends of the two landing gear supporting inclined pipes 11b are provided with a three-way connecting piece 11c, the landing gear supporting transverse pipes 11d are inserted and fixed into the two opposite through holes of the three-way connecting piece 11c, and landing gear damping cotton 11e is sleeved on the landing gear supporting transverse pipes 11 d.
The ground station comprises a computer and a ground end of the digital transmission module. The data transmission module ground end realizes real-time data interaction with a data transmission module airborne end carried on a fuselage, receives data information of the multi-rotor aircraft, sends the data information to the computer, monitors the state of the multi-rotor aircraft in real time by the computer, and sends an operation task command to the multi-rotor aircraft.
The bionic operation arms 2 are two and are respectively arranged at two ends of two mounting rods 10 on the lower plate of the machine body through mounting fixing pieces 12, and the mounting modes are the same. The mounting fixing piece 12 is provided with two connecting rods, the end parts of the two connecting rods are provided with clamping grooves 12a, the two mounting rods 10 are clamped through the clamping grooves respectively, and the relative position adjustment between the bionic operating arm 2 and the multi-rotor aircraft 1 is realized by adjusting the positions of the mounting fixing pieces on the mounting rods. The bionic manipulator 2 has two degrees of freedom including a hip joint connector 201, a hip joint tube seat 202, a thigh rod 203, a knee joint connector 204, a knee joint tube seat 205, a shank rod 206, an ankle joint 207 and a mechanical claw 208. The hip joint connector 201 is connected and fixed with the mounting fixture 12 through screws. Connecting shafts are designed on two sides of the hip joint pipe seat 202 and are respectively connected with two bearing seats on the hip joint connecting piece 201 through bearings to form a hip joint. The end of the thigh rod 203 is fixed with the hip tube seat 202, and the front end is fixedly provided with a knee joint connector 204. Connecting shafts are also designed on two sides of the knee joint pipe seat 205 and are respectively connected with the two bearing seats on the knee joint connecting piece 204 through bearings to form a knee joint. The lower leg rod 206 is fixed between the knee joint tube seat 205 at the end and the ankle joint 207 is fixedly installed at the front end. The ankle joint 207 is fixed to the gripper 208. The gripper 208 is a single-degree-of-freedom gripper, is mounted on the ankle joint 207 through a steering engine fixing piece, and is provided with a left half gripper and a right half gripper which are driven by a steering engine to open and close, and the left half gripper, the right half gripper and the steering engine fixing piece are all made by 3D printing, so that the gripper 208 is guaranteed to be light and convenient.
The hip joint is driven to rotate by a hip joint motor 209; the hip joint motor 209 is positioned at one side of the hip joint tube seat and is arranged on a motor support designed on the hip joint connecting piece 201, and an output shaft is coaxially connected with a rotating shaft positioned at the same side on the hip joint tube seat 202 through a coupler. The rotation angle of the hip joint is measured by an absolute encoder a 210; the absolute encoder A201 is positioned at the other side of the hip joint pipe seat 202 and is arranged on a bearing seat on the hip joint connecting piece 201, an output shaft is connected with a rotating shaft on the same side of the hip joint pipe seat 202 through a coupler, and the absolute encoder A210 and the hip joint pipe seat 202 are ensured to rotate at the same speed, so that the accuracy of a measuring result is ensured. Similarly, the knee joint is driven to rotate by a knee joint motor 211; the knee joint motor 211 is arranged on one side of the knee joint tube seat 205 and is arranged on a motor support designed on the knee joint connecting piece 204, and an output shaft is coaxially connected with a rotating shaft on the same side on the knee joint tube seat through a coupler. The rotation angle of the knee joint is measured by an absolute encoder B212; the absolute encoder B212 is positioned on the other side of the knee joint pipe seat 205 and is arranged on a bearing seat on the knee joint connecting piece 204, an output shaft is connected with a rotating shaft positioned on the same side of the knee joint pipe seat through a coupler, and the absolute encoder B212 and the knee joint pipe seat 205 are ensured to rotate at the same speed, so that the accuracy of a measuring result is ensured. The knee joint is parallel to the rotation axis of the hip joint, but the output shaft of the knee joint motor 211 is opposite to the output shaft of the hip joint motor 209, so that the operation space of the tail end mechanical claw 208 is enlarged, and possible interference with the multi-rotor aircraft is avoided.
The grabbing method of the eagle grabbing imitating system of the air-operated multi-rotor aircraft with the structure comprises the following steps:
A. the ground station sends out an instruction, the instruction is transmitted to the data transmission module airborne end 8 through the ground end of the data transmission module, and finally transmitted into the flight control module 3;
B. after receiving the instruction, the flight control module 3 controls the motor to drive the propeller to rotate through the electric tuning controller 105 according to the planning of the air flight motion of the multi-rotor aircraft. The rotation of the propellers generates forces in different directions, causing the multi-rotor aircraft 1 to fly near the target point to hover.
C. The ground station sends out an instruction again, the flight control module 3 transmits an operation instruction to the hip joint motor 209 and the knee joint motor 211 according to the motion plan of the aerial dynamic operation, the hip joint motor 209 and the knee joint motor 211 respectively drive the thigh rod 203 and the shank rod 206 to move in a coordinated manner, and the wrist joint 207 drives the mechanical claw 208 to reach the grabbing target position.
D. The flight control module 3 sends a signal to a driving steering engine of the gripper 208, and the driving steering engine drives the gripper 208 to complete a gripping task of a gripping target.
And B, planning the air flight motion of the multi-rotor aircraft in the step B, wherein the planning comprises two parts of modeling and motion planning. Firstly, according to biomechanics, by utilizing relevant parameters of hawks when the hawks suddenly grab a prey after finding the prey in the flying process, analyzing the acting force relation between the hawks and hawk claws when the hawks grab the prey, and respectively establishing a dynamic motion model of the multi-rotor aircraft 1 for simulating hawk grabbing, wherein the dynamic motion model comprises a kinematic model and a dynamic model. Then, by summarizing and analyzing experimental data of a large number of eagle-grabbed objects, extracting motion parameters of the multi-rotor aircraft 1, operation parameters of the bionic operation arm 2 and geometric parameters and physical parameters of the grabbed objects in the grabbing process, and obtaining a dimensionless optimization model of the multi-rotor aircraft 2, the bionic operation arm 2 and the grabbed objects; and perfecting the dynamic motion model based on the dimensionless optimization model. Further, on the basis of the dynamic motion model, the motion state space and the grabbing operation space of the hawks are mapped to the motion space of the multi-rotor aircraft 1 and the operation space of the bionic operation arm 2, and a mapping model corresponding to the motion state space and the grabbing operation space is established, so that model conversion from flying and grabbing motion of the hawks to flying and aerial operation of the multi-rotor aircraft 1 is realized. And finally, solving a general dimensionless motion solution irrelevant to a time scale and a space scale according to the dimensionless optimization model of the multi-rotor aircraft 1, the bionic operation arm and the grabbed object, and replacing the general dimensionless motion solution into the dimensionless motion solution which is solved off line according to specific different operation tasks to obtain an optimal motion solution of the multi-rotor aircraft in the air dynamic operation, so as to complete the motion planning of the multi-rotor aircraft 1.
In the above steps, the motion planning of the aerial dynamic operation, that is, the plan of the grabbing motion of the multi-rotor aircraft, is as follows: the motion modes of different stages such as takeoff, approach, capture and release in the capture task are considered, dynamic motion models are respectively established for the different stages, various control methods such as decoupling, backstepping and self-adaption are comprehensively applied, and the motion plans and the models of the multiple stages are integrated into a whole, so that the coherent flight motion plans of the different stages are realized. Wherein, the evaluation of motion indexes of the hawks by the multi-rotor aircraft 1 grabbing motion planning is realized by acquiring and processing the experimental values of the speed and the acceleration of the hawks at the moment when the hawks grab the prey, and the jerks of the movement of the hawks and the hawks claws in a period of time before grabbing
Is integrated over time t:
and taking the integral value u as a main parameter index, considering the space constraint and time constraint conditions of the multi-rotor aircraft 1 in the motion, and performing grabbing motion planning on the multi-rotor aircraft 1 by using an optimal control theory. In the above formula, the first and second carbon atoms are,
in order to be the vector of the acceleration,
in the form of a velocity vector, the velocity vector,
is a position vector.
The grabbing process based on the motion planning of the multi-rotor aircraft comprises the following steps: two bionic operation arms 2 of the multi-rotor aircraft 1 are initially in a furled state, and the furled state is a symmetrical posture that the two bionic operation arms 2 are furled by the center, so that the gravity center of the multi-rotor aircraft 1 is closer to the geometric center, and the robustness and the anti-interference capability of the multi-rotor aircraft are improved. The ground station firstly sends a 'takeoff' instruction to the multi-rotor aircraft 1, the flight control module 3 runs an original track linearization control algorithm to realize vertical takeoff of the multi-rotor aircraft 2, hovers after reaching a set height, and meanwhile returns a signal for completing a first step task to the ground station. After receiving the signal for completing the first step task, the ground station executes a task of approaching a target object, according to the established kinematics model and dynamics model, parameters required by the motion mode are obtained by a motion planning algorithm in the flight control module and are substituted into a previously established dimensionless motion planning model, the eagle-like online motion planning of the multi-rotor aircraft approaching the target object is completed by utilizing a dimensionless motion solution obtained offline, the result is sent to the multi-rotor aircraft 1, after receiving the instruction, the multi-rotor aircraft 1 realizes the eagle-like online motion planning according to the motion parameters given by the instruction, and after completing the instruction, a signal for completing the second step task is returned to the ground station. After the ground station receives the signal of finishing the second step of task, according to the kinematics model and the dynamics model which are built by imitating eagle to suddenly grab a prey in the flying process, the Lagrange equation and the Newton Euler equation are built by utilizing the evaluation of the eagle grabbing movement index, after the Jacobian matrix transformation of speed and force, the task of grabbing a target object is executed, according to the built kinematics model and the dynamics model, the parameters which are needed by the grabbing movement mode are obtained by the movement planning algorithm in the flight control module 3 and are substituted into the previously built dimensionless movement planning model, the dimensionless movement solution which is obtained off-line is utilized in the previously built dimensionless movement planning model, the coupling problem between the multi-rotor aircraft 1 and the bionic operation arm 2 in the grabbing process is considered, and a decoupling control method is applied, and (3) giving a motion plan of 'grabbing a target object', sending the result to the multi-rotor aircraft 1, after receiving the instruction, the multi-rotor aircraft 1 realizes 'grabbing the target object' according to the motion parameters given by the instruction, and after finishing the instruction, returning a signal for finishing the task of the third step to the ground station. After the ground station receives the signal for completing the task of the third step, according to a relative position model of the eagle claw and the body of the ground station after the eagle grabs the object, which is obtained by synthesizing the dimensionless motion model and the mapping model, the ground station sends an instruction to enable the bionic operation arm 2 to move to a corresponding position and then fix, and the multi-rotor aircraft 1 is enabled to return according to a certain track according to a track linearization control method and eagle flight motion planning. In the whole process, the four-step motion planning and the related theory of the hybrid system are combined into a unified whole, so that consistent planning and continuous control of all phases of eagle grabbing simulation of the multi-rotor aircraft 1 in the air operation are realized.
Claims (8)
1. An eagle-like grabbing system for operating a multi-rotor aircraft in the air comprises the multi-rotor aircraft and a ground station; the multi-rotor aircraft is provided with a flight control module, an inertia measurement unit, a GPS antenna, a pan-tilt camera, a battery, a data transmission radio machine-mounted end and a receiver; the lower part of the multi-rotor aircraft is provided with an undercarriage; the ground station is provided with a computer and a ground end of the data transmission module; the method is characterized in that: the bionic manipulator is characterized by also comprising two bionic manipulator arms with two degrees of freedom and a mounting rod which is designed at the bottom of the machine body and is used for mounting the bionic manipulator arms;
meanwhile, the multi-rotor aircraft needs to carry out the air flight motion planning and the motion planning of the air dynamic operation; the multi-rotor aircraft air flight motion planning comprises two parts, namely modeling and motion planning; firstly, respectively establishing a dynamic motion model for simulating eagle grabbing of a multi-rotor aircraft by utilizing relevant parameters found by eagles when the eagles begin to grab a prey in the flying process and the acting force relationship between the eagles and an eagle claw when the eagles capture the prey; then extracting the motion parameters of the multi-rotor aircraft, the operation parameters of the bionic operation arm and the geometric parameters and the physical parameters of the grasped object in the grasping process to obtain a dimensionless optimization model of the multi-rotor aircraft, the bionic operation arm and the grasped object; and perfecting a dynamic motion model based on a dimensionless optimization model; further mapping the motion state space and the grabbing operation space of the hawks to the motion space of the multi-rotor aircraft and the operation space of the bionic operation arm on the basis of the dynamic motion model, and establishing a mapping model corresponding to the motion state space and the grabbing operation space, so that the model conversion from the flying and grabbing motion of the hawks to the flying and aerial operation of the multi-rotor aircraft is realized; finally, according to a dimensionless optimization model of the multi-rotor aircraft, the bionic operation arm and the grabbed object, solving a general dimensionless motion solution irrelevant to time scale and space scale, and replacing the general dimensionless motion solution into the dimensionless motion solution which is solved off line according to specific different operation tasks to obtain an optimal motion solution of the multi-rotor aircraft in-air dynamic operation, so as to complete motion planning of the multi-rotor aircraft;
the motion modes of different stages of takeoff, approach, capture and release experienced in the capture task are established respectively aiming at each stage, and the motion planning and the dynamic motion model of each stage are integrated into a whole, so that the coherent flight motion planning of different stages is realized.
2. The eagle grasping imitation system of an aerial multi-rotor aircraft according to claim 1, wherein: the two bionic operating arms comprise hip joint connecting pieces, hip joint tube seats, thigh rods, knee joint connecting pieces, knee joint tube seats, calf rods, ankle joints and mechanical claws; wherein the hip joint connecting piece is fixedly arranged on the hanging rod; connecting shafts are designed on two sides of the hip joint pipe seat and are respectively hinged with the hip joint connecting piece to form a hip joint; the tail end of the thigh rod is fixed with the hip joint tube seat, and the front end is fixedly provided with a knee joint connecting piece; connecting shafts are also designed on two sides of the knee joint pipe seat and are respectively hinged with the knee joint connecting pieces to form a knee joint; the tail end of the shank rod is fixed with the knee joint tube seat, and the front end of the shank rod is fixedly provided with an ankle joint; the ankle joint is fixed with the mechanical claw.
3. The eagle grasping imitation system of an aerial multi-rotor aircraft according to claim 2, wherein: the mechanical claw is a single-degree-of-freedom mechanical claw, is arranged on the ankle joint through a steering engine fixing piece, and is provided with a left half claw and a right half claw which are driven by a steering engine to open and close.
4. The eagle grasping imitation system of an aerial multi-rotor aircraft according to claim 2, wherein: the hip joint connecting piece is provided with a hip joint motor and an absolute encoder A which are respectively used for driving a hip joint to rotate and measuring the rotation angle of the hip joint and are positioned at two sides of a hip joint tube seat; a knee joint motor and an absolute encoder B are arranged on the knee joint connecting piece, are respectively used for driving the knee joint to rotate and measuring the knee joint corner, and are positioned on two sides of the knee joint pipe seat; the direction of the output shaft of the knee joint motor is opposite to that of the output shaft of the hip joint motor.
5. The eagle grasping imitation system of an aerial multi-rotor aircraft according to claim 1, wherein: the fuselage of the multi-rotor aircraft adopts a double-layer structure, a strut supports the two layers, and a pipe seat is circumferentially arranged for installing a horn; the end part of the outer end of the machine arm is provided with a motor, a propeller and an electric tuning controller for controlling the motor.
6. The eagle grasping imitation system of an aerial multi-rotor aircraft according to claim 1, wherein: the inertia measurement unit is arranged on the inertia measurement unit mounting frame and is arranged at the central position in the machine body; the inertia measurement unit mounting bracket is of a double-layer structure, and the two layers are supported by damping balls arranged in the circumferential direction.
7. The eagle grasping imitation system of an aerial multi-rotor aircraft according to claim 1, wherein: the landing gear consists of a landing gear fixing part, a landing gear supporting inclined pipe, a three-way connecting piece, a landing gear supporting transverse pipe and landing gear damping cotton; the two landing gear fixing pieces are fixed at opposite positions of the bottom of the fuselage; the two landing gear fixing pieces are respectively connected with a landing gear supporting inclined pipe, so that the included angle between the two landing gear supporting inclined pipes is about 70 degrees; the end part of the landing gear supporting inclined pipe is connected with a landing gear supporting transverse pipe through a three-way connecting piece, and landing gear damping cotton is sleeved on the landing gear supporting transverse pipe.
8. The eagle grasping imitation system of an aerial multi-rotor aircraft according to claim 1, wherein: the grabbing process comprises the following steps: the ground station firstly sends a takeoff instruction to the multi-rotor aircraft, the flight control module runs an original track linearization control algorithm to realize vertical takeoff of the multi-rotor aircraft, and hovers after reaching a set height, and meanwhile returns a signal for completing a first step task to the ground station; after receiving the signal for completing the first step task, the ground station executes the task of approaching the target object, according to the established dynamic kinematics model, the motion planning algorithm in the flight control module acquires parameters related to the approaching motion mode, substitutes the parameters into the established dimensionless motion planning model, utilizes the dimensionless motion solution obtained offline to complete the eagle-like online motion planning of the multi-rotor aircraft for approaching the target object, sends the eagle-like online motion planning to the multi-rotor aircraft, and after receiving the instruction, the multi-rotor aircraft realizes the approaching of the target object according to the motion parameters given by the instruction, and returns a signal for completing the second step task to the ground station after completing the instruction; after the ground station receives the signal of completing the second step of task, according to a kinematics model and a dynamics model which are built by imitating eagle to suddenly grab a prey in the flying process, utilizing the evaluation of eagle grabbing motion indexes to build a Lagrange equation and a Newton Euler equation, performing the task of grabbing the target object after the Jacobian matrix transformation of speed and force, according to the built dynamic kinematics model, obtaining parameters related to the grabbing motion mode by a motion planning algorithm in a flight control module, substituting the parameters into a previously built dimensionless motion planning model, adding the parameters into the previously built dimensionless motion planning model, utilizing a dimensionless motion solution obtained off-line and applying a decoupling control method to give a motion plan of grabbing the target object, sending the result to a multi-rotor aircraft, and receiving an instruction by the multi-rotor aircraft, grabbing the target object according to the motion parameters given by the instruction, and returning a signal for completing the task of the third step to the ground station after the instruction is completed; and after receiving the signal for completing the task of the third step, the ground station sends an instruction to enable the bionic operation arm to move to a corresponding position and then to be fixed according to a relative position model of the eagle claw and the self body after the eagle grabs the object, which is obtained by integrating the dimensionless motion model and the mapping model, and the multi-rotor aircraft is navigated back according to a trajectory linearization control method and the eagle flight motion simulation planning.
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