CN113282109A - Unmanned aerial vehicle and human cooperative operation system - Google Patents
Unmanned aerial vehicle and human cooperative operation system Download PDFInfo
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- CN113282109A CN113282109A CN202110833890.4A CN202110833890A CN113282109A CN 113282109 A CN113282109 A CN 113282109A CN 202110833890 A CN202110833890 A CN 202110833890A CN 113282109 A CN113282109 A CN 113282109A
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- 210000004247 hand Anatomy 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 210000002310 elbow joint Anatomy 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
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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
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
The utility model relates to an unmanned vehicles and people cooperative operation system, including aircraft, mechanical operation portion and control terminal; the aircraft is provided with a control center, and the control center comprises a flight control module, a mechanical operation control module, an image recognition module and a navigation module; the control terminal is provided with a voice control module, and the voice control module receives and identifies voice control information and transmits the identified control information to the mechanical operation control module; the mechanical operation part comprises a mechanical lifting device, a mechanical arm and an image acquisition device, the mechanical lifting device is fixed at the bottom of the aircraft, the mechanical arm is arranged below the mechanical lifting device, and the image acquisition device transmits acquired images to the image identification module, so that the advantages of large aerial visual field range and flexible aerial movement of the aircraft are fully exerted, the application range of the mechanical arm is expanded, and the operation efficiency of the aircraft is improved.
Description
Technical Field
The utility model relates to an aircraft technical field especially relates to an unmanned vehicles and people cooperative operation system.
Background
Rotor unmanned aerial vehicle has great flexibility aloft, can accomplish the task of multiple difference according to the operation personnel instruction, and the operation personnel usually carry out high altitude construction at subaerial remote control unmanned aerial vehicle during the operation of rotor unmanned aerial vehicle, descend again after the operation is accomplished.
The arm operation scope that unmanned aerial vehicle carried on among the prior art is very little, the suitability is low, the operation is not nimble enough, can only carry out simple object and snatch and transport the operation, can't carry out complicated operation, has restricted unmanned aerial vehicle effect that plays in the operation.
Disclosure of Invention
To solve the technical problem or at least partially solve the technical problem, the present disclosure provides an unmanned aerial vehicle and human cooperative work system.
The utility model provides an unmanned aerial vehicle and people cooperative operation system, which comprises an aerial vehicle, a mechanical operation part and a control terminal;
the aircraft is provided with a control center, and the control center comprises a flight control module, a mechanical operation control module, an image recognition module and a navigation module; the flight control module is used for controlling the flight of the aircraft, the mechanical operation control module is used for controlling the mechanical operation part, the image recognition module is used for recognizing action control information of an operator and transmitting the recognized control information to the flight control module so as to control the aircraft to move, and the navigation module is used for positioning and navigating the aircraft;
the control terminal is provided with a voice control module, and the voice control module is used for receiving and recognizing voice control information and transmitting the recognized control information to the mechanical operation control module so as to control the mechanical operation part;
the mechanical operation part comprises a mechanical lifting device, a mechanical arm and an image acquisition device, the mechanical lifting device is fixed at the bottom of the aircraft, the mechanical arm is arranged below the mechanical lifting device, and the image acquisition device transmits acquired images to the image recognition module.
Optionally, the mechanical lifting device includes a lifting support plate, a telescopic tube and a rotary lifting assembly;
the rotary lifting component is fixed on the side face of the lifting support plate, the other face of the lifting support plate is fixedly connected with one end of the telescopic pipe, the other end of the telescopic pipe is fixedly connected with the mechanical arm, the rotary lifting component enables the telescopic pipe to extend or contract through rotation, and the lifting support plate is fixed at the bottom of the aircraft through a fixing device.
Optionally, the telescopic sleeve includes an outer sleeve and an inner sleeve, the inner sleeve is sleeved in the outer sleeve and can slide along the axial direction of the outer sleeve, one end of the outer sleeve is fixedly connected with the lifting support plate, and one end of the inner sleeve, which is far away from the outer sleeve, is fixedly connected with the mechanical arm;
the rotary lifting assembly comprises a rotary pulley and a lifting rope, a rope collecting groove is formed in the rotary pulley, one end of the lifting rope is connected with the inner side sleeve, the other end of the lifting rope is connected with the rope collecting groove, the lifting rope is wound in the rope collecting groove through rotation of the rotary pulley, the inner side sleeve is lifted, the inner side sleeve is contracted into the outer side sleeve, and the rotary pulley rotates reversely to stretch the lifting rope, so that the inner side sleeve stretches out of the outer side sleeve.
Optionally, the robotic arm comprises an upper arm link, a lower arm link and a working jaw assembly;
one end of the upper arm connecting rod is hinged with the lower arm connecting rod to form a first joint, and the first joint is driven by a first joint steering engine; the lower arm connecting rod is hinged with the operation claw assembly to form a second joint, and the second joint is driven by a second joint steering engine; the other end of the upper arm connecting rod is hinged with the joint connecting piece to form a third joint, and the third joint is driven by a third joint steering engine; the joint connecting piece is connected with the mechanical arm supporting plate through a fourth joint steering engine, the fourth joint steering engine can drive the joint connecting piece to rotate, and the mechanical lifting device is fixedly connected with the mechanical arm supporting plate.
Optionally, the mechanical arms are of a double-mechanical-arm structure, and the two mechanical arms are symmetrically arranged on the mechanical-arm supporting plate.
Optionally, the image acquisition device includes a depth camera and a rotation assembly, and the depth camera is rotatably disposed on the mechanical arm support plate through the rotation assembly.
Optionally, the operation claw assembly comprises an arc-shaped clamping claw and a clamping claw steering engine;
one side of each arc-shaped clamping jaw is inwards sunken in an arc shape, the arc-shaped clamping jaws are arranged on the clamping jaw steering engine in pairs, and the arc-shaped sunken sides are oppositely arranged to form a clamping space; the clamping jaw steering engine controls the arc-shaped clamping jaws to open and close so as to grab or release an object.
Optionally, the operation claw assembly comprises two pairs of arc-shaped clamping jaws, the two pairs of arc-shaped clamping jaws are arranged on two sides of the clamping jaw steering engine respectively, and the clamping space formed by the two pairs of arc-shaped clamping jaws is coaxial.
Optionally, the aircraft is further provided with an undercarriage and an undercarriage steering gear, and the undercarriage steering gear drives the undercarriage to rotate relative to the aircraft; when the mechanical arm is in an operating state, the undercarriage steering engine drives the undercarriage to lift up so as to widen the operating space of the mechanical arm; when the aircraft descends, the undercarriage steering gear drives the undercarriage to be in a supporting state so as to support the aircraft.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
according to the aircraft, the mechanical lifting device and the mechanical arm are arranged at the bottom of the aircraft, so that the operation range of the mechanical arm is enlarged, the adaptability of the mechanical arm is enhanced, the actions of operators are identified by arranging the flight control module, the mechanical operation control module and the image identification module, the identified control information is transmitted to the flight control module, and the aircraft is controlled to move; through setting up control terminal to set up voice control module on control terminal, receive and discern operation personnel voice control information and convey the control content who discerns to mechanical operation control module through voice control module, with control arm and operation personnel collaborative work. Therefore, the advantages of large aerial visual field range of the aircraft and flexible aerial movement are fully combined with the advantage of flexible complex operation of operators, the complementation of various advantages of cooperative operation of the aircraft and the operators is effectively realized, and the operation efficiency is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle and human cooperative operation system according to an embodiment of the disclosure;
fig. 2 is a schematic perspective view of a mechanical lifting device according to an embodiment of the disclosure;
FIG. 3 is a front view of a mechanical lift device according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of a robotic arm according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of an object being transferred in cooperation with an operator by an unmanned aerial vehicle according to an embodiment of the disclosure;
fig. 6 is a schematic diagram of the unmanned aerial vehicle cooperating with an operator to transport an object according to the embodiment of the disclosure.
10, an aircraft; 11. a control center; 12. a landing gear; 13. an undercarriage steering engine; 14. a GPS module; 20. a mechanical operation unit; 21. a mechanical lifting device; 211. lifting the supporting plate; 212. a telescopic sleeve; 2121. an outer sleeve; 2122. an inner sleeve; 213. rotating the lifting assembly; 2131. rotating the pulley; 2132. a hoisting rope; 2133. a rope collection trough; 2134. a drive motor; 22. a mechanical arm; 221. an upper arm link; 222. a lower arm link; 223. a working jaw assembly; 2231. an arc-shaped clamping jaw; 2232. a clamping jaw steering engine; 224. a first joint steering engine; 225. a second joint steering engine; 226. a joint connector; 227. a third joint steering engine; 228. a fourth joint steering engine; 229. a mechanical arm supporting plate; 23. an image acquisition device; 231. a depth camera; 232. a rotating assembly; 24. and (7) lifting lugs.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
The present disclosure provides an unmanned aerial vehicle and worker cooperative work system, as shown in fig. 1, including an aircraft 10, a machine operation part 20, and a control terminal (not shown in the figure).
The aircraft 10 is provided with a control center 11, and the control center 11 includes a flight control module, a mechanical operation control module, an image recognition module and a navigation positioning module (not shown in the figure). The flight control module is used to control the flight of the aircraft 10, including speed, direction, attitude, etc. The mechanical operation control module is used for controlling the mechanical operation part 20, the image recognition module is used for recognizing action control information of an operator and transmitting the recognized control information to the flight control module so as to control the aircraft 10 to move, and the navigation module is used for positioning and navigating the aircraft 10.
The navigation positioning module is specifically a GPS module. The GPS modules 14 are two, the GPS modules 14 adopt a carrier phase differential technology, and the carrier phase differential technology can enable the aircraft to obtain centimeter-level positioning accuracy, so that hovering accuracy of the aircraft 10 during aerial operation can be guaranteed.
The aircraft 10 is also provided with a high-precision barometer, and the high-precision barometer is used for collecting the height of the aircraft 10 and can obtain centimeter-level height positioning information.
The aircraft 10 is further provided with an inertial sensor, the inertial sensor is a combined unit formed by 3 accelerometers and 3 gyroscopes, and the accelerometers and the gyroscopes are mounted on mutually perpendicular measuring shafts and used for acquiring the attitude angle of the aircraft 10.
In this embodiment, the control center 11 uses an england Jetson AGX Xavier chip as a processor. The flight control module is controlled by an on-off controller Pixhawk flight controller, the Pixhawk flight controller controls the flight of the aircraft 10, the Jetson AGX Xavier chip processes, calculates and analyzes system information, and then the control center 11 sends an instruction to perform the next operation. The ground control terminal is composed of a remote controller and a ground computer, ground operators transmit control instructions and operation signals to the control center 11 through the ground control terminal, and the control center 11 performs corresponding control after receiving the instructions. Data information sent to the control terminal by the aircraft 10 in the operation process is sent to the ground control terminal in a wireless transmission mode through the control center 11.
The control terminal is provided with a voice control module for receiving and recognizing the voice control information and transmitting the recognized control information to the mechanical operation control module to control the mechanical operation part 20.
The mechanical operation part 20 comprises a mechanical lifting device 21 and a mechanical arm 22, the mechanical lifting device 21 is fixed at the bottom of the aircraft 10, the mechanical arm 22 is arranged below the mechanical lifting device 21, an image acquisition device 23 is further arranged on the mechanical operation part 20, and the image acquisition device 23 transmits acquired images to the image recognition module or the control center 11.
The unmanned aerial vehicle and person cooperative operation system is suitable for cooperative cooperation with operators in complex and dangerous operation environments, and enables operation to be completed smoothly.
As shown in fig. 5 or fig. 6, for example, when working aloft, the operator usually has to climb to a high altitude position, and the high altitude operator has limited moving positions, and usually only upper limbs can move freely and work, and when the operator has an extra working requirement, the working requirement can be converted into arm action or palm action. For example, the crew may need additional tools or items that are not at hand, and the high-altitude crew may indicate to the aircraft 10 to lift his or her hands. Meanwhile, the image acquisition device 23 of the aircraft 10 acquires the high-altitude working environment and transmits the high-altitude working environment to the control center 11, and the control center 11 performs three-dimensional modeling of the working environment in real time. Meanwhile, the human body pose of the operator is modeled, and the pose of the upper limbs and the palm of the human body is emphasized in the modeling process.
When the image acquisition device 23 detects the action of the arm or the palm of the high-altitude operator, the action is transmitted to the image recognition module, the image recognition module transmits the recognized control information to the flight control module, and the flight control module calculates the position information of the aircraft 10 and the position information of the high-altitude operator through the navigation positioning module and plans an aerial flight path between the aircraft 10 and the operator.
When the aircraft 10 flies to the vicinity of the overhead working crew, the position and attitude of the robot arm 22 are controlled by the mechanical operation control module, and information such as the position, speed, and direction of the end of the robot arm 22 needs to be controlled during the working process.
When the end of the robotic arm 22 reaches the vicinity of the palm of the high-altitude operator's hand, the ground operator sends voice commands through the control terminal to control the cooperative operation of the aircraft 10 and the human. For example, the voice instructions include: and releasing the object, grabbing the object, finishing the operation and the like. The flight control module calculates the safety distance between the aircraft 10 and the operator and monitors the safety state information in real time during the operation process. After the operation task is completed, the ground operator issues a voice command for finishing the operation through the control terminal, so as to control the aircraft 10 to finish the operation and land.
In the embodiment, the mechanical lifting device 21 and the mechanical arm 22 are arranged at the bottom of the aircraft 10, so that the operation range of the mechanical arm 22 is increased, the adaptability of the mechanical arm 22 is enhanced, the flight control module, the mechanical operation control module and the image recognition module are arranged, the action of an operator is recognized, the recognized control information is transmitted to the flight control module, and the aircraft 10 is controlled to move; by arranging the control terminal and arranging the voice control module on the control terminal, the voice control module receives and identifies voice control information of the operator and transmits the identified control content to the mechanical operation control module, so that the mechanical arm 22 and the operator can be controlled to work cooperatively. Therefore, the advantages of large aerial visual field range and flexible aerial movement of the aircraft 10 and the advantages of flexible complex operation of operators are fully combined, the complementation of various advantages of the cooperative operation of the aircraft 10 and the operators is realized, and the operation efficiency is improved.
As shown in fig. 2 and 3, the mechanical lifting device 21 includes a lifting support plate 211, a telescopic tube 212, and a rotary lifting assembly 213. The rotary lifting assembly 213 is disposed on a side surface of the lifting support plate 211, the other surface of the lifting support plate 211 is fixedly connected to one end of the telescopic tube 212, the other end of the telescopic tube 212 is fixedly connected to the robot arm 22, the rotary lifting assembly 213 rotates to extend or retract the telescopic tube 212, and the lifting support plate 211 is fixed to the bottom of the aircraft 10 by a fixing device.
Specifically, the fixing device is a lifting lug 24, the lifting lug 24 is located on one side of the lifting support plate 211 where the rotary lifting assembly 213 is installed, the lifting support plate 211 is of a rectangular structure, the lifting lug 24 is arranged at four corners of the lifting support plate 211, and the mechanical lifting device 21 is hung at the bottom of the aircraft 10 through the lifting lug 24.
Further, the telescopic tube 212 includes an outer tube 2121 and an inner tube 2122, and the inner tube 2122 is sleeved in the outer tube 2121 and can slide along the axial direction of the outer tube 2121, so as to extend or contract the telescopic tube 212. One end of the outer sleeve 2121 is fixedly connected to the elevating support plate 211, and one end of the inner sleeve 2122 away from the outer sleeve 2121 is fixedly connected to the robot arm 22. Both lateral and medial sleeves 2121 and 2122 are provided with stops that allow lateral and medial sleeves 2121 and 2122 to have a maximum extension length to prevent lateral and medial sleeves 2121 and 2122 from disengaging. The length of lateral sleeve 2121 and medial sleeve 2122 can be determined as desired.
The rotating lift assembly 213 includes a rotating pulley 2131 and lift cords 2132, the rotating pulley 2131 having a cord collection well 2133, the lift cords 2132 having one end attached to an inner sleeve 2122, preferably the top end of the inner sleeve 2122, and the other end attached to the cord collection well 2133, rotation of the rotating pulley 2131 causing the lift cords 2132 to wrap around the cord collection well 2133 thereby lifting the inner sleeve 2122 causing the inner sleeve 2122 to retract into the outer sleeve 2121, and rotation of the rotating pulley 2131 in the opposite direction causing the lift cords 2132 to extend thereby elongating the inner sleeve 2122. The lifting ropes 2132 may be steel ropes, which have the characteristics of large load bearing capacity, low elasticity, etc., and may provide precise control of the mechanical lifting device 21. The rotary pulley 2131 is provided with a drive motor 2134, the rotary pulley 2131 is driven by the drive motor 2134, and the rotation of the rotary pulley 2131 is controlled by controlling the forward rotation or reverse rotation of the drive motor 2134, thereby controlling the extension or contraction of the telescopic tube 212.
In this embodiment, the number of the telescopic sleeves 212 is two, the two telescopic sleeves 212 are respectively disposed on two sides of the lifting support plate 211, the two lifting ropes 2132 are provided, one end of each of the two lifting ropes 2132 is respectively connected to the inner side sleeve 2122, and the other end is connected to the rope collecting groove 2133. When the rotating pulley 2131 rotates forward, both the lifting ropes 2132 are wound in the rope collection trough 2133, thereby retracting the inner sleeve 2122 into the outer sleeve 2121; when the rotating pulley 2131 is reversed, the two lift cords 2132 are spread apart, thereby extending the two inner sleeves 2122 out of the outer sleeve 2121.
Through the extension or contraction of the telescopic tube 212, the adjustment of the mechanical lifting device 21 on the vertical height is realized, so that the position of the mechanical arm 22 in the vertical direction is adjusted, the operation range of the mechanical arm 22 is increased, and the adaptability of the mechanical arm 22 is enhanced.
Specifically, as shown in fig. 4, the robot arm 22 includes an upper arm link 221, a lower arm link 222, and a working claw assembly 223, wherein one end of the upper arm link 221 is hinged to the lower arm link 222 to form a first joint, and the first joint is driven by a first joint steering gear 224, and similar to an elbow joint of a human arm, the swing of the lower arm link 222 is realized. Lower arm connecting rod 222 is articulated with operation claw subassembly 223, forms the second joint, and the second joint passes through second joint steering wheel 225 drive, and is similar with people's wrist joint, realizes the rotation of operation claw subassembly 223. The other end of the upper arm connecting rod 221 is hinged with a joint connecting piece 226 to form a third joint, and the third joint is driven by a third joint steering engine 227. The joint connecting piece 226 is connected with a mechanical arm supporting plate 229 through a fourth joint steering gear 228 to form a fourth joint, and the fourth joint steering gear 228 can drive the joint connecting piece 226 to rotate. The third joint and the fourth joint have two degrees of freedom in common, and similar to a human shoulder joint, the up-and-down swing of the upper arm link 221 can be realized, and the inside-and-outside rotation of the entire robot arm 22 can be realized. The mechanical elevating device 21 is fixedly connected to the mechanical arm support plate 229.
Preferably, operation claw subassembly 223 includes two pairs of arc clamping jaws 2231, and two pairs of arc clamping jaws 2231 set up respectively in clamping jaw steering wheel 2232 both sides, and the space is coaxial to the clamp that two pairs of arc clamping jaws 2231 formed to guarantee that operation claw subassembly 223 can effectively snatch the object.
Preferably, the robot 22 has a dual-robot 22 structure, the two robots 22 are respectively and fixedly connected to the robot support plate 229 and symmetrically disposed, and the robot support plate 229 is fixedly connected to the mechanical lifting device 21.
The double-robot arm 22 structure is a humanoid-arm type mechanical structure. The human carries out the operation of both hands for a long time, and the long human both hands structure after the evolution has advantages such as proportion coordination and flexible operation. The design principle of the dual-robot arm 22 structure of this embodiment is derived from a human two-hand structure, the distance ratio between the upper arm link 221, the lower arm link 222 and the two robots 22 of the dual-robot arm 22 structure is designed according to the human two-arm ratio, and the dual-robot arm 22 structure has 8 degrees of freedom in movement in total. Each mechanical arm 22 has 4 degrees of freedom of movement, and can realize the rotation characteristics of a shoulder joint, an elbow joint and a wrist joint of a human arm respectively. The double mechanical arms 22 structure enables the aircraft 10 to grab the target object more stably, and the operation range is wider and the operation is more flexible.
Preferably, the image capturing device 23 on the machine operating part 20 includes a depth camera 231, the depth camera 231 is rotatably disposed on the robot arm support plate 229 through a rotating assembly 232, and the depth camera 231 is used for capturing images of the operator and the working area and transmitting the images to the image recognition module for recognition.
The depth camera 231 carries out the angular rotation through runner assembly 232, and depth camera 231 has the omnidirectional field of vision when guaranteeing the operation of arm 22 like this, surpasss the field of vision of depth camera 231 when avoiding the operation of arm 22, and the aircraft 10 of being convenient for carries out image acquisition and feedback to arm 22, and runner assembly 232 specifically can be step motor.
The aircraft 10 is also provided with an undercarriage 12 and an undercarriage steering gear 13, the undercarriage 12 is rotatably connected with the aircraft 10, and the undercarriage steering gear 13 drives the undercarriage 12 to rotate; when the mechanical operation part 20 is in an operation state, the undercarriage steering gear 13 drives the undercarriage 12 to be lifted to the bottom of the aircraft 10, so that the mechanical arm 22 can be effectively prevented from contacting the undercarriage 12 during operation, the operation space of the mechanical operation part 20 is widened, and when the aircraft 10 is about to land, the undercarriage steering gear 13 drives the undercarriage 12 to be in a supporting state so as to support the aircraft 10.
Fig. 5 is a schematic view of the cooperative object transfer operation between the aircraft 10 and the operator at high altitude. When the working personnel has extra working requirements, such as extra working tools or working objects, the working requirements can be converted into arm actions or palm actions. When the worker requests a hand-raising operation, the palm skeleton and the operation of the worker are recognized by the depth camera 231 mounted thereon, that is, the operation information of the worker is detected and analyzed. When the operator operation request information is detected, the operator reaches the operation request position and hovers near above the operator. The mechanical operation control module adjusts the positions of the two mechanical arms 22 in the vertical direction by adjusting the mechanical lifting device 21, so that the mechanical arms 22 carried by the aircraft can be conveniently matched with the palms of operators to perform cooperative operation. When the robot 22 reaches the vicinity of the position where the operator desires to work, the operator can control the robot 22 to perform the operation by sending a voice command. At this time, the robot arm 22 transfers the work tool or the work object as requested by the operator. And finally, when the operator sends out an operation finishing instruction, the aircraft stops operating and is ready to land.
Fig. 6 is a schematic view of the aircraft 10 and the operator performing cooperative work to carry the object in the high altitude. When the working personnel and the aircraft need to work on the same working object together, the working principle is consistent with the object transfer cooperative working principle of the aircraft 10 and the working personnel in the high altitude.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. An unmanned aerial vehicle and human cooperative work system is characterized by comprising an aerial vehicle (10), a mechanical operation part (20) and a control terminal;
the aircraft (10) is provided with a control center (11), and the control center (11) comprises a flight control module, a mechanical operation control module, an image recognition module and a navigation module; the flight control module is used for controlling the flight of the aircraft (10), the mechanical operation control module is used for controlling the mechanical operation part (20), the image recognition module is used for recognizing the action control information of an operator and transmitting the recognized control information to the flight control module so as to control the aircraft (10) to move, and the navigation module is used for positioning and navigating the aircraft (10);
the control terminal is provided with a voice control module, and the voice control module is used for receiving and identifying voice control information and transmitting the identified control information to the mechanical operation control module so as to control the mechanical operation part (20);
the mechanical operation part (20) comprises a mechanical lifting device (21), a mechanical arm (22) and an image acquisition device (23), the mechanical lifting device (21) is fixed to the bottom of the aircraft (10), the mechanical arm (22) is arranged below the mechanical lifting device (21), and the image acquisition device (23) transmits acquired images to the image recognition module.
2. The unmanned aerial vehicle and human cooperative work system according to claim 1, wherein the mechanical lifting device (21) comprises a lifting support plate (211), a telescopic tube (212) and a rotary lifting assembly (213);
rotatory lifting means (213) are fixed on lifting support plate (211) side, the another side of lifting support plate (211) with the one end fixed connection of telescopic tube (212), the other end of telescopic tube (212) with arm (22) fixed connection, rotatory lifting means (213) make through rotatory telescopic tube (212) extension or shrink, lifting support plate (211) are fixed through fixing device the bottom of aircraft (10).
3. The unmanned aerial vehicle and human cooperative operation system according to claim 2, wherein the telescopic sleeve (212) comprises an outer sleeve (2121) and an inner sleeve (2122), the inner sleeve (2122) is sleeved in the outer sleeve (2121) and can slide along an axial direction of the outer sleeve (2121), one end of the outer sleeve (2121) is fixedly connected with the lifting support plate (211), and one end of the inner sleeve (2122) far away from the outer sleeve (2121) is fixedly connected with the mechanical arm (22);
the rotary lifting assembly (213) comprises a rotary pulley (2131) and a lifting rope (2132), a rope collecting groove (2133) is arranged on the rotary pulley (2131), one end of the lifting rope (2132) is connected with the inner side sleeve (2122), the other end of the lifting rope (2132) is connected with the rope collecting groove (2133), the rotation of the rotary pulley (2131) enables the lifting rope (2132) to be wound in the rope collecting groove (2133) so as to lift the inner side sleeve (2122), the inner side sleeve (2122) is contracted into the outer side sleeve (2121), and the rotary pulley (2131) rotates reversely so as to enable the lifting rope (2132) to be extended, so that the inner side sleeve (2122) extends out of the outer side sleeve (2121).
4. The unmanned aerial vehicle and human cooperative work system of claim 1, wherein the robotic arm (22) comprises an upper arm link (221), a lower arm link (222), and a work claw assembly (223);
one end of the upper arm connecting rod (221) is hinged to the lower arm connecting rod (222) to form a first joint, and the first joint is driven by a first joint steering engine (224); the lower arm connecting rod (222) is hinged with the operation claw assembly (223) to form a second joint, and the second joint is driven by a second joint steering engine (225); the other end of the upper arm connecting rod (221) is hinged with a joint connecting piece (226) to form a third joint, and the third joint is driven by a third joint steering engine (227); the joint connecting piece (226) is connected with a mechanical arm supporting plate (229) through a fourth joint steering engine (228), the fourth joint steering engine (228) can drive the joint connecting piece (226) to rotate, and the mechanical lifting device (21) is fixedly connected with the mechanical arm supporting plate (229).
5. The unmanned aerial vehicle and human cooperative operation system according to claim 4, wherein the robot arm (22) has a double-robot-arm structure, and the two robot arms (22) are symmetrically arranged on the robot arm support plate (229).
6. The unmanned aerial vehicle and human cooperative work system according to claim 4, wherein the image capturing device (23) comprises a depth camera (231) and a rotating assembly (232), and the depth camera (231) is rotatably disposed on the robot arm support plate (229) by the rotating assembly (232).
7. The unmanned aerial vehicle and human cooperative work system according to claim 4, wherein the work claw assembly (223) comprises an arc-shaped clamping claw (2231) and a clamping claw steering gear (2232);
one side of each arc-shaped clamping jaw (2231) is arc-shaped and inwards sunken, the arc-shaped clamping jaws (2231) are arranged on the clamping jaw steering engines (2232) in pairs, and one sides of the arc-shaped sunken parts are oppositely arranged to form a clamping space; the clamping jaw steering wheel (2232) controls the arc-shaped clamping jaw (2231) to be opened and closed so as to grab or release an object.
8. The unmanned aerial vehicle and human cooperative work system according to claim 7, wherein the work claw assembly (223) comprises two pairs of arc-shaped clamping claws (2231), the two pairs of arc-shaped clamping claws (2231) are respectively arranged on two sides of the clamping claw steering gear (2232), and the clamping spaces formed by the two pairs of arc-shaped clamping claws (2231) are coaxial.
9. The unmanned aerial vehicle and human cooperative work system according to claim 1, wherein an undercarriage (12) and an undercarriage steering gear (13) are further arranged on the aerial vehicle (10), and the undercarriage steering gear (13) drives the undercarriage (12) to rotate relative to the aerial vehicle (10); when the mechanical arm (22) is in an operating state, the undercarriage steering engine (13) drives the undercarriage (12) to lift up, so that the operating space of the mechanical arm (22) is widened; when the aircraft (10) lands, the undercarriage steering gear (13) drives the undercarriage (12) to be in a supporting state, so that the aircraft (10) is supported.
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