CN103019250A - Bevel take-off control method of inspection flying robot - Google Patents

Abstract

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

Description

Patrol and examine flying robot inclined-plane take off control method

Technical field

The invention belongs to the flight control field, relate in particular to a kind of flying robot of patrolling and examining inclined-plane take off control method.

Background technology

The autonomous flight control of air-robot is an emphasis aspect of present electric power line inspection research, because unmanned plane is patrolled and examined and is had high security, light flexibly, reduced simultaneously the cost of manual inspection, thus it be realize patrolling and examining such as overhead power line patrol and examine, pipe laying is patrolled and examined, the important channel of traffic monitoring etc.Because how power circuit polling carries out in the open air, objective condition does not allow that aircraft takes off from the ideal plane.Yet existing model all is based on the plane and takes off, and a small amount of research aircraft inclined-plane problem of taking off is only arranged.For the better real process of taking off of reappearing, the three-dimensional model when we are necessary that introducing aircraft takes off on the inclined-plane.

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

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

Summary of the invention

How to carry out in the open air for the power circuit polling of mentioning in the background technology, objective condition is not allowed the problem that aircraft takes off from the ideal plane, the present invention proposes a kind of flying robot of patrolling and examining inclined-plane take off control method.

A kind of flying robot inclined-plane take off control method of patrolling and examining is characterized in that, concrete steps comprise:

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

Step 2: will patrol and examine the flying robot and be placed on the inclined-plane, and measure the bevel angle value, and determine the angular range on inclined-plane;

Step 3: when measurement bevel angle value belongs to the first angular range and the second angular range, patrol and examine flying robot's attitude by the control of first object function; When measurement bevel angle value belongs to third angle degree scope, stop to take off;

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

Step 5: when satisfying switching condition, patrol and examine the flying robot and go into hover the stage, and patrol and examine flying robot's attitude by the control of the second objective function; When not satisfying switching condition, return step 4.Described first object function is:

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

Wherein, τ _p, τ _r, τ _yPatrol and examine respectively flying robot's pitching, driftage and roll angle; The lift that the T representative needs, ω ₀Speed for rotor; k _PpThe ratio unit coefficient of expression pitch angle control; k _DpRepresent the differentiation element coefficient of pitch angle control; k _Pr, k _PyAnd k _PzThe ratio unit coefficient that represents respectively crab angle, roll angle and lift control, k _Dr, k _DyAnd k _DzThe integral unit coefficient that represents respectively crab angle, roll angle and lift control; h _eIt is the deviation of patrolling and examining flying robot's height takeoff phase; θ _eFor patrolling and examining the flying robot along the angle of Y-axis rotation and the deviate of the Y-axis setting value anglec of rotation; α _eFor patrolling and examining the flying robot along the angle of X-axis rotation and the deviate of the X-axis setting value anglec of rotation; β _eFor patrolling and examining the flying robot along the angle of Z axis rotation and the deviate of the Z axis setting value anglec of rotation;

With

Expression is to θ _e, α _e, β _eAnd h _eDifferentiate;

Described switching condition is:

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

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

Described the second objective function is:

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

Wherein, T represents the lift that needs; Z _eIt is the deviation of patrolling and examining flying robot's height; ω ₀Speed for rotor; τ _pFor patrolling and examining flying robot's the angle of pitch; k _PpThe ratio unit coefficient of expression pitch angle control; k _DpRepresent the differentiation element coefficient of pitch angle control; k _PzThe ratio unit coefficient of expression lift control; k _DzThe integral unit coefficient of expression control; θ _eFor patrolling and examining the flying robot along the angle of Y-axis rotation and the deviate of the Y-axis setting value anglec of rotation; z _eIt is the deviation of patrolling and examining flying robot's height takeoff phase;

With

Expression is to θ _eAnd z _eDifferentiate.

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

Description of drawings

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

Fig. 2 patrols and examines flying robot's planar structure schematic diagram that takes off;

Fig. 3 patrols and examines the flying robot to take off the phase one and switch to the subordinate phase schematic diagram that hovers;

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

Fig. 5 patrols and examines flying robot inclined-plane take off control method flow diagram.

Embodiment

Below in conjunction with accompanying drawing, preferred embodiment is elaborated.Should be emphasized that following explanation only is exemplary, rather than in order to limit the scope of the invention and to use.

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

Fig. 2 patrols and examines flying robot's planar structure schematic diagram that takes off.Among Fig. 2, the xyz coordinate system is distinguished and body axis system, represents earth axes o{x, y, z}; Patrol and examine flying robot direction of motion according to different angles of inclination, inclined-plane owing to supposing here, flying robot's working direction is patrolled and examined in the directions X representative, flying robot's side direction voyage is patrolled and examined in the Y representative, and Z axis is perpendicular to ground, and flying robot's flying height is patrolled and examined in indication.

Fig. 3 patrols and examines the flying robot to be taken off by the phase one and switch to the subordinate phase schematic diagram that hovers.Among Fig. 3, when patrolling and examining the flying robot when satisfying switching condition after taking off, just be converted to hovering phase from takeoff phase.

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

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

Fig. 5 patrols and examines flying robot inclined-plane take off control method flow diagram.Among Fig. 5, concrete steps comprise:

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

Step 2: will patrol and examine the flying robot and be placed on the inclined-plane, and measure the bevel angle value, and determine the angular range on inclined-plane;

Step 3: when measurement bevel angle value belongs to the first angular range and the second angular range, patrol and examine flying robot's attitude by the control of first object function; When measurement bevel angle value belongs to third angle degree scope, stop to take off;

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

Step 5: when satisfying switching condition, patrol and examine the flying robot and go into hover the stage, and patrol and examine flying robot's attitude by the control of the second objective function; When not satisfying switching condition, return step 4.

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

Claims (4)

1. patrol and examine flying robot inclined-plane take off control method for one kind, it is characterized in that, concrete steps comprise:

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

Step 2: will patrol and examine the flying robot and be placed on the inclined-plane, and measure the bevel angle value, and determine the angular range on inclined-plane;

Step 3: when measurement bevel angle value belongs to the first angular range and the second angular range, patrol and examine flying robot's attitude by the control of first object function; When measurement bevel angle value belongs to third angle degree scope, stop to take off;

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

Step 5: when satisfying switching condition, patrol and examine the flying robot and go into hover the stage, and patrol and examine flying robot's attitude by the control of the second objective function; When not satisfying switching condition, return step 4.

2. a kind of flying robot inclined-plane take off control method of patrolling and examining according to claim 1 is characterized in that, described first object function is:

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

Wherein, τ _p, τ _r, τ _yPatrol and examine respectively flying robot's pitching, driftage and roll angle; The lift that the T representative needs, ω ₀Speed for rotor; k _PpThe ratio unit coefficient of expression pitch angle control; k _DpRepresent the differentiation element coefficient of pitch angle control; k _Pr, k _PyAnd k _PzThe ratio unit coefficient that represents respectively crab angle, roll angle and lift control, k _Dr, k _DyAnd k _DzThe integral unit coefficient that represents respectively crab angle, roll angle and lift control; h _eIt is the deviation of patrolling and examining flying robot's height takeoff phase; θ _eFor patrolling and examining the flying robot along the angle of Y-axis rotation and the deviate of the Y-axis setting value anglec of rotation; α _eFor patrolling and examining the flying robot along the angle of X-axis rotation and the deviate of the X-axis setting value anglec of rotation; β _eFor patrolling and examining the flying robot along the angle of Z axis rotation and the deviate of the Z axis setting value anglec of rotation;

With

Expression is to θ _e, α _e, β _eAnd h _eDifferentiate.

3. a kind of flying robot inclined-plane take off control method of patrolling and examining according to claim 1 is characterized in that, described switching condition is:

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

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

4. a kind of flying robot inclined-plane take off control method of patrolling and examining according to claim 1 is characterized in that, described the second objective function is:

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

Wherein, T represents the lift that needs; Z _eIt is the deviation of patrolling and examining flying robot's height; ω ₀Speed for rotor; τ _pFor patrolling and examining flying robot's the angle of pitch; k _PpThe ratio unit coefficient of expression pitch angle control; k _DpRepresent the differentiation element coefficient of pitch angle control; k _PzThe ratio unit coefficient of expression lift control; k _DzThe integral unit coefficient of expression control; θ _eFor patrolling and examining the flying robot along the angle of Y-axis rotation and the deviate of the Y-axis setting value anglec of rotation; z _eIt is the deviation of patrolling and examining flying robot's height takeoff phase;

With

Expression is to θ _eAnd z _eDifferentiate.

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