CN116395167A - Motion control system of bionic leg type lifting device - Google Patents
Motion control system of bionic leg type lifting device Download PDFInfo
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- CN116395167A CN116395167A CN202310322005.5A CN202310322005A CN116395167A CN 116395167 A CN116395167 A CN 116395167A CN 202310322005 A CN202310322005 A CN 202310322005A CN 116395167 A CN116395167 A CN 116395167A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
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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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C2025/325—Alighting gear characterised by elements which contact the ground or similar surface specially adapted for helicopters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The application belongs to the field of landing devices of vertical take-off and landing aircrafts, and relates to a motion control system of a bionic leg type landing device, which comprises a navigation layer, a planning layer, a regulation and control layer and a decision layer; when an aircraft is ready to land, firstly, acquiring external environment data through a laser radar and a vision camera, and then, comprehensively analyzing and processing the external environment data and the movement instruction data by a navigation layer according to the external environment data and the movement instruction data to generate a decision instruction; and then the planning layer carries out behavior parameter calculation on the control decision, a gesture adjustment instruction is made according to the slope topography information and the leg gesture information, the regulation and control layer generates each joint motion parameter driving instruction according to the gesture adjustment instruction by combining the single leg model, the structural layer drives each joint to move according to the motion parameter driving instruction and interacts with the slope topography environment in real time, so that no matter what slope topography is used during landing, the bionic leg can control the foot force of the corresponding angle of the joint, and the stable landing of the aircraft on the topography is realized.
Description
Technical Field
The application belongs to the field of landing devices of vertical take-off and landing aircrafts, and particularly relates to a motion control system of a bionic leg type landing device.
Background
The landing gear forms commonly used at present of the traditional unmanned helicopter comprise a skid type landing gear and a wheel type landing gear, the lifting environment of the landing gear should be kept flat as much as possible, the descending process should be kept slow and stable, and the whole machine body should be kept stable after landing. However, for specific application scenes, a flat area is not easy to find, and a suitable lifting place, such as hilly terrain, stone-free ground and the like, cannot be often found in a field land combat environment; in addition, under the marine environment, the ship surface shake caused by the strong wind and sea waves can also have adverse effects on the safe landing and parking of the unmanned helicopter; the above-mentioned limiting conditions greatly limit the application scope of unmanned helicopter.
The existing aircraft landing navigation system and control method are characterized in that a laser receiving unit, an aircraft GPS unit, an aircraft control unit and an aircraft communication unit are arranged in the system, an aircraft is guided by laser, an automatic laser receiving unit for adjusting the position receives a laser signal, the descending position of the aircraft is positioned, and the aircraft landing is realized. The design only realizes the positioning and landing of the aircraft, and cannot adapt to complex unstructured terrains.
The system adopts a height guiding control method to track the height track, thereby realizing the fixed-point landing of the carrier-borne aircraft. The design only realizes the fixed-point landing of the ship surface, and the carrier-based aircraft is difficult to realize autonomous stable landing aiming at complex sea conditions.
How to achieve autonomous stable landing in complex unstructured terrain is therefore a problem to be solved.
Disclosure of Invention
The purpose of the application is to provide a bionic leg type landing gear motion control system to solve the problem that current aircraft is difficult to adapt to open-air multiple unstructured topography and complicated sea condition and rocks the warship face and be difficult to land.
The technical scheme of the application is as follows: a motion control system of a bionic leg type lifting device comprises a navigation layer, a planning layer, a regulating layer and a decision layer; the navigation layer comprises an environment sensing module, a data processing module and a decision instruction module; the environment sensing module is used for generating a visual camera two-dimensional image through visual camera scanning, forming a laser radar three-dimensional point cloud through a laser radar and sending the laser radar three-dimensional point cloud to the data processing module; the data processing module is used for carrying out terrain environment modeling according to the two-dimensional image of the vision camera and the data of the laser radar three-dimensional point cloud to form a terrain environment model and sending the terrain environment model to the decision instruction module; the decision instruction module is used for making a decision of the footfall according to the terrain environment model and the motion instruction data sent by the upper computer, and sending a decision instruction to the planning layer; the planning layer comprises a behavior parameter resolving module, a terrain information resolving module and a gesture adjusting module; the behavior parameter resolving module is used for resolving the decision instruction and generating relevant terrain information and position information of the foot drop points; the terrain information analysis module is used for analyzing the related information to generate specific terrain parameters, and the gesture adjustment module is used for planning the ground gesture and the contact force of each leg of the bionic leg according to the specific terrain parameters to generate gesture adjustment instructions and sending the gesture adjustment instructions to the regulation and control layer; the control layer comprises a single-leg model management module and a single-leg model, wherein the single-leg model is provided with a plurality of groups and generates different single-leg models according to different single legs of the bionic leg respectively, the single-leg model management module is used for receiving the pose and the contact force of each leg and sending the pose and the contact force into each single-leg model respectively, and the single-leg model determines the control quantity of each joint of the single leg according to the specific pose and the contact force, generates a joint motion parameter driving instruction and sends the joint motion parameter driving instruction to the structural layer; the structure layer comprises a single-leg structure management module and a single-leg structure unit, wherein the single-leg structure management module is used for receiving different joint motion parameter driving instructions of different single legs and sending the different joint motion parameter driving instructions into the different single-leg structure units, and the single-leg structure unit obtains motion parameters of each joint motor according to specific joint motion parameter driving instructions and outputs motor shaft moment to drive the joints to rotate.
Preferably, a speed planning module is further arranged in the navigation layer, the speed planning module is used for generating three stages from high to low according to the height of the current aircraft and the distance of the target point, the aircraft is controlled to drop at a larger speed in the first stage, the aircraft is controlled to drop at a smaller speed in the second stage, the speed of the aircraft in the first stage is larger than that of the aircraft in the second stage, the aircraft is in foot-to-foot contact in the third stage, and the aircraft is controlled to hover.
Preferably, the gesture adjustment module calculates expected foot force values of different legs by utilizing a foot force distribution algorithm and combining impedance control, and performs foot force distribution, landing control, joint space control, joint angle planning, leg angle calculation and gesture planning.
Preferably, the single leg model comprises a calculation model and a dynamics model, wherein the calculation model calculates the angle change of a driving joint caused by the position change of the foot end, and the dynamics model calculates the control quantity of each joint of the bionic leg in the joint space and adjusts the corresponding foot force by using impedance control to generate foot force distribution information.
Preferably, the single-leg structural unit is provided with a moment sensor and an accelerometer, the moment sensor detects joint moment in real time, the accelerometer detects pitching yaw roll angle of the machine body, the moment sensor and the accelerometer send monitored data into a single-leg model, the single-leg model dynamically plans foot force distribution information according to the joint moment and the change of the pitching yaw roll angle of the machine body, generates new falling pose and contact force through impedance control, and sends the new falling pose and the new contact force to the single-leg structural unit again to control the corresponding single leg.
The motion control system of the bionic leg type lifting device comprises a navigation layer, a planning layer, a regulating layer and a decision layer; when an aircraft is ready to land, firstly, acquiring external environment data through a laser radar and a vision camera, and then, comprehensively analyzing and processing the external environment data and the movement instruction data by a navigation layer according to the external environment data and the movement instruction data to generate a decision instruction; and then the planning layer carries out behavior parameter calculation on the control decision, a gesture adjustment instruction is made according to the slope topography information and the leg gesture information, the regulation and control layer generates each joint motion parameter driving instruction according to the gesture adjustment instruction by combining the single leg model, the structural layer drives each joint to move according to the motion parameter driving instruction and interacts with the slope topography environment in real time, so that no matter what slope topography is used during landing, the bionic leg can control the foot force of the corresponding angle of the joint, and the stable landing of the aircraft on the topography is realized.
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In order to more clearly illustrate the technical solutions provided by the present application, the following description will briefly refer to the accompanying drawings. It will be apparent that the figures described below are only some embodiments of the present application.
Fig. 1 is a schematic diagram of the overall structure of the present application.
Detailed Description
In order to make the purposes, technical solutions and advantages of the implementation of the present application more clear, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application.
A motion control system of a bionic leg type lifting device is shown in figure 1 and comprises a navigation layer, a planning layer, a regulating layer and a decision layer.
The navigation layer comprises an environment sensing module, a data processing module and a decision instruction module; the environment sensing module is used for generating a two-dimensional image of the visual camera through scanning of the visual camera, forming a laser radar three-dimensional point cloud through the laser radar and sending the three-dimensional point cloud to the data processing module; the data processing module is used for carrying out terrain environment modeling according to the two-dimensional image of the vision camera and the data of the laser radar three-dimensional point cloud to form a terrain environment model and sending the terrain environment model to the decision instruction module; the decision instruction module is used for making a decision of the footfall point according to the terrain environment model and the motion instruction data sent by the upper computer, and sending a decision instruction to the planning layer.
The planning layer comprises a behavior parameter resolving module, a terrain information resolving module and a gesture adjusting module; the behavior parameter resolving module is used for resolving the decision instruction and generating relevant terrain information and position information of the foot drop points; the terrain information analysis module is used for analyzing the related information to generate specific terrain parameters, and the gesture adjustment module is used for planning the pose and the contact force of each leg of the bionic leg according to the specific terrain parameters to generate gesture adjustment instructions and sending the gesture adjustment instructions to the regulation and control layer.
The control layer comprises a single-leg model management module and a single-leg model, wherein the single-leg model is provided with a plurality of groups and generates different single-leg models according to different single legs of the bionic leg, the single-leg model management module is used for receiving the pose and the contact force of each leg and sending the pose and the contact force to each single-leg model, and the single-leg model determines the control quantity of each joint of the single leg according to the specific pose and the contact force, generates an articulation parameter driving instruction and sends the articulation parameter driving instruction to the structural layer.
The structure layer comprises a single-leg structure management module and a single-leg structure unit, wherein the single-leg structure management module is used for receiving different joint motion parameter driving instructions of different single legs and sending the different joint motion parameter driving instructions into the different single-leg structure units, and the single-leg structure unit obtains motion parameters of each joint motor according to the specific joint motion parameter driving instructions and outputs motor shaft moment to drive the joints to rotate.
When an aircraft is ready to land, firstly, acquiring external environment data through a laser radar and a vision camera, and then, comprehensively analyzing and processing the external environment data and the movement instruction data by a navigation layer according to the external environment data and the movement instruction data to generate a decision instruction; and then the planning layer carries out behavior parameter calculation on the control decision, a gesture adjustment instruction is made according to the slope topography information and the leg gesture information, the regulation and control layer generates each joint motion parameter driving instruction according to the gesture adjustment instruction by combining the single leg model, the structural layer drives each joint to move according to the motion parameter driving instruction and interacts with the slope topography environment in real time, so that no matter what slope topography is used during landing, the bionic leg can control the foot force of the corresponding angle of the joint, and the stable landing of the aircraft on the topography is realized.
According to the landing method, information fusion is carried out on flight control, environment perception and leg mechanism control data information, the proper landing topography is judged and selected through the environment perception system, leg gesture pre-swing is guided before landing, the topography self-adaptive capacity is improved, and stable landing of a plurality of unstructured terrains in the wild and complex sea conditions on a rock ship surface is realized.
Preferably, a speed planning module is further arranged in the navigation layer, the speed planning module is used for generating three stages from high to low according to the height of the current aircraft and the distance between the target points, the aircraft is controlled to drop at a larger speed in the first stage, the aircraft is controlled to drop at a smaller speed in the second stage, if the vertical height from the target points is smaller than 20m, the aircraft continues to drop at a lower speed, the speed of the aircraft in the first stage is larger than that of the aircraft in the second stage, and in the third stage, the foot end touches the ground, namely, the foot end force sensor is not zero, the aircraft hovers, leg impedance control is started, errors and interference effects are eliminated, and all the foot ends gradually touch the ground in a compliant mode.
Preferably, the posture adjustment module utilizes a foot force distribution algorithm to calculate the expected foot force values of different legs in combination with impedance control, thereby maintaining the stability of the body and reducing the condition of overload of a single leg. And foot force distribution, landing control, joint space control, joint angle planning, leg angle calculation and gesture planning are performed, so that gesture adjustment of the machine body in a low-speed descending stage is guaranteed, and the preset track tracking of the joint space is guaranteed to be completed before the foot end touches the ground.
The terrain information analysis module can analyze the terrain information of the planar terrain, the slope terrain, the step terrain and the swaying warship surface respectively to generate different terrain parameters.
Preferably, the single leg model comprises a calculation model and a dynamics model, wherein the calculation model calculates the angle change of a driving joint caused by the position change of the foot end, the dynamics model calculates the control quantity of each joint of the bionic leg in the joint space, and the corresponding foot force is adjusted by utilizing impedance control to generate foot force distribution information so as to realize the adjustment of the pose of the organism after landing.
Preferably, a moment sensor and an accelerometer are arranged on the single-leg structural unit, the moment sensor detects joint moment in real time, the accelerometer detects pitching yaw roll angle of the machine body, the moment sensor and the accelerometer send monitored data into a single-leg model, the single-leg model dynamically plans foot force distribution information according to the joint moment and the change of the pitching yaw roll angle of the machine body, generates new falling pose and contact force through impedance control, and sends the new falling pose and the new contact force to the single-leg structural unit again to control the corresponding single leg. By arranging the moment sensor and the accelerometer, the landing position of each single leg can be further corrected, so that the aircraft can land more stably.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (5)
1. A bionic leg type lifting device motion control system is characterized in that: the system comprises a navigation layer, a planning layer, a regulation layer and a decision layer;
the navigation layer comprises an environment sensing module, a data processing module and a decision instruction module; the environment sensing module is used for generating a visual camera two-dimensional image through visual camera scanning, forming a laser radar three-dimensional point cloud through a laser radar and sending the laser radar three-dimensional point cloud to the data processing module; the data processing module is used for carrying out terrain environment modeling according to the two-dimensional image of the vision camera and the data of the laser radar three-dimensional point cloud to form a terrain environment model and sending the terrain environment model to the decision instruction module; the decision instruction module is used for making a decision of the footfall according to the terrain environment model and the motion instruction data sent by the upper computer, and sending a decision instruction to the planning layer;
the planning layer comprises a behavior parameter resolving module, a terrain information resolving module and a gesture adjusting module; the behavior parameter resolving module is used for resolving the decision instruction and generating relevant terrain information and position information of the foot drop points; the terrain information analysis module is used for analyzing the related information to generate specific terrain parameters, and the gesture adjustment module is used for planning the ground gesture and the contact force of each leg of the bionic leg according to the specific terrain parameters to generate gesture adjustment instructions and sending the gesture adjustment instructions to the regulation and control layer;
the control layer comprises a single-leg model management module and a single-leg model, wherein the single-leg model is provided with a plurality of groups and generates different single-leg models according to different single legs of the bionic leg respectively, the single-leg model management module is used for receiving the pose and the contact force of each leg and sending the pose and the contact force into each single-leg model respectively, and the single-leg model determines the control quantity of each joint of the single leg according to the specific pose and the contact force, generates a joint motion parameter driving instruction and sends the joint motion parameter driving instruction to the structural layer;
the structure layer comprises a single-leg structure management module and a single-leg structure unit, wherein the single-leg structure management module is used for receiving different joint motion parameter driving instructions of different single legs and sending the different joint motion parameter driving instructions into the different single-leg structure units, and the single-leg structure unit obtains motion parameters of each joint motor according to specific joint motion parameter driving instructions and outputs motor shaft moment to drive the joints to rotate.
2. The biomimetic legged landing gear motion control system of claim 1, wherein: the navigation layer is internally provided with a speed planning module which is used for generating three stages from high to low according to the height of the current aircraft and the distance of the target point, controlling the aircraft to drop at a larger speed in the first stage, controlling the aircraft to drop at a smaller speed in the second stage, wherein the speed of the aircraft in the first stage is greater than that of the aircraft in the second stage, and controlling the aircraft to hover when the foot end touches the ground in the third stage.
3. The biomimetic legged landing gear motion control system of claim 1, wherein: the gesture adjustment module utilizes a foot force distribution algorithm to calculate expected foot force values of different legs by combining impedance control, and performs foot force distribution, landing control, joint space control, joint angle planning, leg angle calculation and gesture planning.
4. The biomimetic legged landing gear motion control system of claim 1, wherein: the single leg model comprises a calculation model and a dynamics model, wherein the calculation model calculates the angle change of a driving joint caused by the position change of the foot end, the dynamics model calculates the control quantity of each joint of the bionic leg in the joint space, and the corresponding foot force is adjusted by utilizing impedance control to generate foot force distribution information.
5. The biomimetic legged landing gear motion control system of claim 4, wherein: the single-leg structure unit is provided with a moment sensor and an accelerometer, the moment sensor detects joint moment in real time, the accelerometer detects pitching yaw roll angle of the machine body, the moment sensor and the accelerometer send monitored data into a single-leg model, the single-leg model dynamically plans foot force distribution information according to the joint moment and the change of the pitching yaw roll angle of the machine body, generates new falling pose and contact force through impedance control, and sends the new falling pose and the new contact force to the single-leg structure unit again to control the corresponding single leg.
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| CN202310322005.5A CN116395167A (en) | 2023-03-29 | 2023-03-29 | Motion control system of bionic leg type lifting device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116772662A (en) * | 2023-07-17 | 2023-09-19 | 东方空间技术(山东)有限公司 | Rocket recovery sub-level landing leg control method, computing equipment and storage medium |
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2023
- 2023-03-29 CN CN202310322005.5A patent/CN116395167A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116772662A (en) * | 2023-07-17 | 2023-09-19 | 东方空间技术(山东)有限公司 | Rocket recovery sub-level landing leg control method, computing equipment and storage medium |
| CN116772662B (en) * | 2023-07-17 | 2024-04-19 | 东方空间技术(山东)有限公司 | Rocket recovery sub-level landing leg control method, computing equipment and storage medium |
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