CN107416195A - A kind of imitative hawk grasping system of aerial operation multi-rotor aerocraft - Google Patents
A kind of imitative hawk grasping system of aerial operation multi-rotor aerocraft Download PDFInfo
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- CN107416195A CN107416195A CN201710534530.8A CN201710534530A CN107416195A CN 107416195 A CN107416195 A CN 107416195A CN 201710534530 A CN201710534530 A CN 201710534530A CN 107416195 A CN107416195 A CN 107416195A
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- rotor aerocraft
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- crawl
- hawk
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
Abstract
The present invention discloses a kind of imitative hawk grasping system of aerial operation multi-rotor aerocraft, and two bionical motion arms of two-freedom are installed in multi-rotor aerocraft bottom.Two bionical motion arms have hip joint, knee joint, ankle-joint and for realizing the gripper of crawl.The present invention carries out motion planning always according to bionics, realizes rapidity, accuracy, the sensitivity of more rotor flying robot both arms crawls.From the angle of bionic motion planning, establish the mapping relations between accipiter crawl animal and multi-rotor aerocraft aerial operation, dynamic crawl task of the multi-rotor aerocraft in high-speed motion is realized, embodies the superiority that bionics is applied in robot association area.Simultaneously by bionic correlation means, the structural model of the imitative claws of a hawk is established from structure, guarantee is made that for effective crawl task of completing.
Description
Technical field
The present invention relates to a kind of imitative hawk grasping system of aerial operation multi-rotor aerocraft and its grasping means, by bionical
Learn to do section simulation crawl mechanical device, planning crawl is moved to realize crawl.
Background technology
Multi-rotor aerocraft is the research direction in aircraft field forward position, is following advanced aircraft.And operable type
More rotors make aircraft be developed into from the conventional simple function for only possessing environment of observation with the ability contacted with environmental interaction,
It is " aircraft of future generation ", there is potential application prospect in fields such as high-rise detection, remote operating, logistics.In the past
10 years in, academia for multi-rotor aerocraft planning, control the problems such as carried out numerous studies, achieve abundant grind
Study carefully achievement.At the same time, in industrial circle, with reaching its maturity for the correlation techniques such as aircraft navigation, positioning, multi-rotor aerocraft
Extremely successful application is achieved in various fields, and has promoted a collection of machine using microminiature multi-rotor aerocraft as major product
Qi Ren enterprises grow rapidly.Aircraft using multi-rotor aerocraft as platform is considered as most industry by many research institutions and enterprise
One of direction of change prospect.
More rotor flying platforms and operating mechanism are combined by more rotor operation aircraft, in the same of both comprehensive superiority
When, also bring the problem of a series of new.Operating mechanism, structure pursue high flexibility, it is desirable to which its configuration has a number of
The free degree, this will certainly increase the structure complexity of aircraft and overall weight, the agility for reducing multi-rotor aerocraft.It is numerous
Colleges and universities and scientific research institutions are made that substantial amounts of exploration in terms of more rotor flying robot crawls, but it focuses primarily upon control system
Construction in a systematic way mould field, and in a practical situation, often more rotor flying robots largely interacted with existing between environment, with being operated pair
As there is also obvious coupling.Actual result shows, for object it is multiple, fast and accurately capture task, each side is not yet
Obtain preferable achievement.
In order that much rotor flying robot can repeatedly, repeatedly, fast and accurately capture object, grasping means should
Stability is stronger, rapidity is more preferable, accommodation is wider, reliability is higher, and should take into full account more rotor flying robots
Interacting between environment, and the coupled problem between the object to be operated.
The content of the invention
The problem of for the rapidity during multi-rotor aerocraft crawl object, accuracy, sensitivity deficiency, the present invention
It is proposed that a kind of aerial operation multi-rotor aerocraft that can be realized repeatedly, repeatedly, quickly, accurately capture imitates hawk grasping system, pin
To the crawl scene of actual environment and actual object, the structural behaviour feature of multi-rotor aerocraft itself, Ke Yishi are taken into full account
Now multiple, quick, accurate crawl of more rotor flying robots for object.
Accipiter in nature can dynamically arrest prey in high-speed motion, similar therewith, and small-sized more rotors fly
Row utensil has very high agility, and highly difficult motor-driven special efficacy flight can be achieved.Aerial operation of the present invention
The imitative hawk grasping system of multi-rotor aerocraft, on the basis of multi-rotor aerocraft, install two two-freedoms additional and imitate
Raw motion arm, and fuselage bottom design, for installing the carry bar of bionical motion arm；
Two bionical motion arms, including hip joint connector, hip joint base, thigh bar, knee joint connector, knee joint
Base, shank bar, ankle-joint and gripper.Wherein, hip joint connector is fixedly installed on carry bar.Hip joint base both sides
Connecting shaft is designed with, is hinged respectively between hip joint connector, forms hip joint.It is solid between thigh bar end and hip joint base
Fixed, knee joint connector is fixedly mounted in front end.Knee joint base both sides are similarly designed with connecting shaft, respectively with knee joint connector
Between be hinged, formed knee joint；Fixed between shank bar end and knee joint base, ankle-joint is fixedly mounted in front end；Ankle-joint and machine
Machinery claw is fixed.Big arm mechanism is responsible for a wide range of adjustment motion arm, and small arm mechanism is responsible for small range fine setting motion arm, and gripper is responsible for
Clamp the object to be operated, complete crawl task.
In mechanical structure, by being parsed to the mechanism of accipiter leg structure and function, abstract equivalence goes out the leg of imitative hawk
Configuration, imitative hawk leg is designed, establishes the mechanical model of imitative hawk leg, and analyzes accipiter and dynamically arrests prey in the air
Movement mechanism, the Mapping and Converting model established between accipiter motion and the motion of aerial operation aircraft.
On motion planning, to improve system motion efficiency and stability as target, biological motion mode is used for reference, analyzes hawk
Class dynamically arrests the movement mechanism of prey in the air；The Mapping and Converting mould established between accipiter motion and the motion of aerial operation aircraft
Type；The constraints that the motion planning quantity of state of aircraft in aerial dynamic operation motion should meet is analyzed, establishes motion rule
The Optimized model drawn.
The advantage of the invention is that：
1st, the imitative hawk grasping system of aerial operation multi-rotor aerocraft of the present invention, by installing one additional in multi-rotor unmanned aerial vehicle
To the bionical motion arm of identical, and use bionic relevant knowledge to carry out motion planning, realize more rotor flying machines
Rapidity, accuracy, the sensitivity of people's both arms crawl.
2nd, the imitative hawk grasping system of aerial operation multi-rotor aerocraft of the present invention, in the angle from bionic motion planning
Set out, establish the mapping relations between accipiter crawl animal and multi-rotor aerocraft aerial operation, realize more rotor flyings
Device dynamically captures task in high-speed motion, embodies the superiority that bionics is applied in robot association area.
3rd, the imitative hawk grasping system of aerial operation multi-rotor aerocraft of the present invention, by bionic correlation means, from knot
The structural model of the imitative claws of a hawk is established on structure, guarantee is made that for effective crawl task of completing.
4th, the imitative hawk grasping system of aerial operation multi-rotor aerocraft of the present invention, traditional multi-rotor unmanned aerial vehicle behaviour has been abandoned
Make the servo driving pattern of arm, driven using motor, overcome multi-rotor unmanned aerial vehicle payload deficiency and Dynamics Coupling
Relevant issues, realize effective control of output torque and speed.
Brief description of the drawings
Fig. 1 is the imitative hawk grasping system structural representation of aerial operation multi-rotor aerocraft of the present invention；
Fig. 2 is the aerial Inertial Measurement Unit mounting bracket knot of imitative hawk grasping system of aerial operation multi-rotor aerocraft of the present invention
Structure schematic diagram；
Fig. 3 is bionical motion arm structural representation in the imitative hawk grasping system of aerial operation multi-rotor aerocraft of the present invention.
In figure：
The bionical motion arm 3- of 1- multi-rotor aerocrafts 2- fly control module
4- Inertial Measurement Unit 5-GPS antenna 6- head cameras
7- battery 8- numbers conduct electricity the airborne end 9- receivers in radio station
10- carry bar 11- undercarriage 12- carry fixtures
101- fuselage 102- base 103- horns
104- motor mounts 105- electricity adjusts controller 201- hip joint connectors
202- hip joint base 203- thigh bar 204- knee joint connectors
205- knee joint base 206- shank bar 207- wrist joints
208- gripper 209- hip joint motor 210- absolute encoders A
211- knee joint motor 212- absolute encoder B 401- Inertial Measurement Units are installed
Upper plate
402- Inertial Measurement Units install 403- shock-absorbing ball 11a- undercarriage fixtures
Lower plate
11b- gear support inclined tube 11c- three-way connector 11d- gear support transverse tubes
11e- damping cottons
Embodiment
The present invention is described further below in conjunction with the accompanying drawings：
The imitative hawk grasping system of aerial operation multi-rotor aerocraft of the present invention, including multi-rotor aerocraft 1, bionical motion arm
2 and earth station, as shown in Figure 1.
The fuselage 101 of the multi-rotor aerocraft 1 is using the bilevel frame being made up of fuselage upper plate and fuselage lower plate
Frame structure, it is connected positioning by support column between fuselage upper plate and fuselage lower plate, and has been arranged circumferentially 4 bases 102, enters one
The firm connection between fuselage upper plate and fuselage lower plate of step；Simultaneously a horizontally disposed horn is plugged with each base 102
103, then horn 103 totally 4, and be in cross arrangement.The outside end of 4 horns 103 is provided with motor mount 104；Often
The top of individual motor mount 104 is provided with motor and propeller, motor is symmetrical set in the both sides of fuselage 1.Each electricity
The bottom of machine mounting seat 104 is provided with electricity and adjusts controller 105；The controlled motor of controller 105 is adjusted by electricity, propeller is driven by motor
Rotation, power is provided for multi-rotor aerocraft 1.
Also it is equipped with fuselage 1 and flies control module 3, Inertial Measurement Unit 4, gps antenna 5, head camera 6, battery 7, number biography
The airborne end 8 in radio station and receiver 9.
Wherein, fly the control that control module 3 is used for whole multi-rotor aerocraft, be installed on fuselage upper plate.
Inertial Measurement Unit 4 is used for the attitude angle and acceleration for measuring the axle of multi-rotor aerocraft three.Inertial Measurement Unit 4 is pacified
On Inertial Measurement Unit mounting bracket, center between fuselage upper plate and fuselage lower plate is placed in.Inertial Measurement Unit is installed
Frame installs upper plate 401 by Inertial Measurement Unit, Inertial Measurement Unit installation lower plate 402 forms with shock-absorbing ball 403, as shown in Figure 2.
Wherein, subtracted between Inertial Measurement Unit installation upper plate 401 and Inertial Measurement Unit installation lower plate 402 by 4 circumferentially
Shake ball 403 to be connected, the influence for bringing Inertial Measurement Unit 4 by the decrease multi-rotor aerocraft height frequency vibration of shock-absorbing ball 403.
Inertial Measurement Unit 4 is installed on Inertial Measurement Unit by screw and installed on upper plate 401.Inertial Measurement Unit installs lower plate 402
It is installed on by stud in fuselage lower plate, completes the connection between Inertial Measurement Unit 4 and fuselage 101.
Gps antenna 5 is used for the outdoor positioning of multi-rotor aerocraft.Above-mentioned gps antenna 5 is placed on gps antenna frame, so as to more
Good reception gps signal；Gps antenna frame passes through the through hole on fuselage upper plate by screw, by being fixed with nut.
Battery 7 is used to power for multi-rotor aerocraft, and integrates processing module by voltage to fly control module 3, head phase
The airborne end 8 of machine 6, data radio station provides different demand voltages from bionical motion arm 2.Battery is placed on battery installing plate, battery
Installing plate is supported on fuselage upper plate by stud.
The communication that the airborne end 8 of data radio station is used between multi-rotor aerocraft and earth station.The airborne end 8 of data radio station is arranged on
On carry plate, carry plate is hung in horizontally disposed two carry bars 10 on any one, two carry bars 10 and fuselage lower plate
It is connected by screw.Two hang over bar and remove the installation for being used for carry plate 10, while are also used for installing bionical motion arm 2.
Receiver 9 is used for receiving the signal that remote control is sent, and sends the signal to and fly control module 3 to multi-rotor aerocraft
It is controlled, in order to which multi-rotor aerocraft switches under manually and automatically pattern, receiver is arranged on fuselage upper plate and fuselage
Between lower plate.
Multi-rotor aerocraft bottom is provided with undercarriage 11, and undercarriage 11 is oblique by undercarriage fixture 11a, gear support
Pipe 11b, three-way connector 11c, gear support transverse tube 11d and undercarriage cushioning cotton 11e are formed.Wherein, undercarriage fixture
11a is two, is connected by screw with fuselage lower plate, respectively positioned at fuselage lower plate outer rim relative position.Gear support inclined tube
11b is two, and plugged and fixed is distinguished on two undercarriage fixture 11a in front end, and is made between two gear support inclined tube 11b
Angle is at 70 degree or so.Two gear support inclined tube 11b end is provided with three-way connector 11c, three-way connector 11c phases
To being inserted in two ports undercarriage cushioning cotton 11e is cased with fixed landing gear support transverse tube 11d, gear support transverse tube 11d.
The earth station includes computer and digital transmission module ground surface end.Wherein, in the realization of digital transmission module ground surface end and fuselage
Real-time data interaction between the airborne end of digital transmission module of carrying, the data message of multi-rotor aerocraft is received, and sent to calculating
Machine, operation task order is sent by real-time monitoring of computer multi-rotor aerocraft state, and to multi-rotor aerocraft.
The bionical motion arm 2 is two, two carries being installed on respectively by carry fixture 12 in fuselage lower plate
The both ends of bar 10, mounting means are identical.Carry fixture 12 has two connecting rods, and two interlinking lever ends are designed with neck 12a, passed through
Neck distinguish two carry bars 10 of clamping, by adjusting position of the carry fixture on carry bar, realize bionical motion arm 2 with
Relative position regulation between multi-rotor aerocraft 1.Bionical motion arm 2 have two frees degree include hip joint connector 201,
Hip joint base 202, thigh bar 203, knee joint connector 204, knee joint base 205, shank bar 206, ankle-joint 207 and machine
Machinery claw 208.Wherein, hip joint connector 201 is connected by screw and carry fixture 12.The both sides of hip joint base 202
Connecting shaft is designed with, is connected respectively between two bearing blocks on hip joint connector 201 by bearing, forms hip joint.Greatly
Fixed between the end of leg bar 203 and hip joint base 202, knee joint connector 204 is fixedly mounted in front end.205 liang of knee joint base
Side is similarly designed with connecting shaft, is connected respectively between two bearing blocks on knee joint connector 204 by bearing, forms knee and closes
Section.Fixed between the end of shank bar 206 and knee joint base 205, ankle-joint 207 is fixedly mounted in front end.Ankle-joint 207 and gripper
208 fix.Gripper 208 is single-degree-of-freedom gripper, is installed on by steering wheel fixture on ankle-joint 207, is had by steering wheel
The pawl of a left side half of folding and right half pawl are driven, and left half pawl, right half pawl and steering wheel fixture are that 3D printing is made, and ensure gripper
208 is light enough.
Above-mentioned hip joint is driven by hip joint motor 209 and rotated；Hip joint motor 209 is located at hip joint base side,
It is installed on the electric machine support designed on hip joint connector 201, output shaft is by shaft coupling with being located on hip joint base 202
The rotating shaft of homonymy is coaxially connected.The rotational angle of hip joint is measured by absolute encoder A210；Absolute encoder A201
Positioned at the opposite side of hip joint base 202, be installed on the bearing block on hip joint connector 201, output shaft by shaft coupling with
Rotating shaft on hip joint base 202 positioned at homonymy is connected, and ensures that absolute encoder A210 turns at the same speed with hip joint base 202
It is dynamic, so that it is guaranteed that measurement result accuracy.Equally, knee joint is driven by knee joint motor 211 and rotated；Knee joint motor 211
Positioned at the side of knee joint base 205, it is installed on the electric machine support designed on knee joint connector 204, output shaft passes through shaft coupling
Rotating shaft of the device with being located at homonymy on knee joint base is coaxially connected.Kneed rotational angle is carried out by absolute encoder B212
Measurement；Absolute encoder B 212 is located at the opposite side of knee joint base 205, the bearing block being installed on knee joint connector 204
On, output shaft is connected by rotating shaft of the shaft coupling with being located at homonymy on knee joint base, and ensures absolute encoder B212 and knee
Joint base 205 rotates at the same speed, so that it is guaranteed that measurement result accuracy.Above-mentioned knee joint is parallel with the pivot center of hip joint,
But the output shaft direction of knee joint motor 211 is with the output shaft of hip joint motor 209 towards on the contrary, so expanding end gripper
208 operating space, avoid the interference that may occur between multi-rotor aerocraft.
The grasping means of the imitative hawk grasping system of the aerial operation multi-rotor aerocraft of said structure is：
A, earth station sends instruction, is sent to the airborne end 8 of digital transmission module by digital transmission module ground surface end, and be ultimately delivered to
Fly in control module 3；
B, after winged control module 3 is connected to instruction, according to the planning to multi-rotor aerocraft airflight campaign, parsing is obtained
Instruction adjust controller 105 controlled motor to drive propeller rotational through electricity.The rotation of propeller produces the power of different directions so that
Multi-rotor aerocraft 1 fly to target point nearby hover.
C, earth station sends instruction again, flies control module 3 and is passed operational order according to the motion planning of aerial dynamic operation
To hip joint motor 209 and knee joint motor 211, thigh bar is driven by hip joint motor 209 and knee joint motor 211 respectively
203 with the coordinated movement of various economic factors of shank bar 206, by the driving mechanical pawl 208 of wrist joint 207 reach crawl target location.
D, signal is sent from flying driving steering wheel of the control module 3 to gripper 208, it is complete by driving servo driving gripper 208
The crawl task of crawl target in pairs.
The planning of multi-rotor aerocraft airflight campaign in above-mentioned steps B, including modeling and motion planning two parts.It is first
First, according to biomethanics, relevant parameter during crawl prey suddenly, analysis hawk are found in flight course after prey using accipiter
Class itself active force relation between the claws of a hawk when bagging the game, multi-rotor aerocraft 1 is established respectively and imitates the dynamic of hawk crawl
State motion model, including kinematics model and kinetic model.Then pass through the total of the experimental data to a large amount of hawks crawl object
Knot analysis, extract kinematic parameter, the operating parameter of bionical motion arm 2 of the multi-rotor aerocraft 1 itself during crawl
And the geometric parameter and physical parameter of object are crawled, obtain multi-rotor aerocraft 2, bionical motion arm 2 and be crawled pair
The nondimensionalization Optimized model of elephant；And dynamic motion model is improved based on nondimensionalization Optimized model.Further in dynamic motion
On the basis of model, by the space of the motion state space of accipiter and grasping manipulation space reflection to multi-rotor aerocraft 1
With the operating space of bionical motion arm 2, corresponding mapping model is established, it is achieved thereby that being flown by accipiter and being captured
Move to the model conversation of the flight of multi-rotor aerocraft 1 and aerial operation.Finally, according to multi-rotor aerocraft 1, bionical motion arm
With the nondimensionalization Optimized model for being crawled object, the general dimensionless fortune unrelated with time scale, space scale is obtained
Dynamic solution, further according to specific different operation task, back substitution obtains to having been off solving in the dimensionless motion solution that finishes
The optimal motion solution of the aerial dynamic operation of this multi-rotor aerocraft, complete to carry out motion planning to multi-rotor aerocraft 1.
In above-mentioned steps, the motion planning of aerial dynamic operation, as multi-rotor aerocraft crawl motion planning, method is such as
Under：The motor pattern of the different phase such as take off, approach, capturing, discharging undergone in crawl task is carried out is considered, for
Each different stage establishes dynamic motion model respectively, and the different control methods such as integrated use decoupling, contragradience, adaptive will
The motion planning and Model Fusion in multiple stages are an entirety, it is achieved thereby that the coherent sporting flying rule to different phase
Draw.Wherein, multi-rotor aerocraft 1 captures evaluation of the motion planning for the motion index of accipiter, by capturing prey to accipiter
Moment hawk itself speed, acceleration experiment value collection, processing, to accipiter in a period of time before crawl in itself and the claws of a hawk
The jerk of motionSquare temporally t integrated:
Using integrated value u as major parameter index, consider the space constraint being subject to during exercise of multi-rotor aerocraft 1 and
Time constraint condition, crawl motion planning is carried out to multi-rotor aerocraft 1 using the theory of optimal control.In above formula,For acceleration
Vector,For velocity vector,For position vector.
Crawl flow based on above-mentioned multi-rotor aerocraft motion planning is：Two bionical operations of multi-rotor aerocraft 1
Arm 2 is initially in rounding state, and rounding state is that two bionical motion arms 2 collapse symmetrical posture by center, makes more rotor flyings
The center of gravity of device 1 is closer to geometric center, is advantageous to lift its robustness and antijamming capability.Earth station is first to more rotor flyings
Device 1 sends " taking off " instruction, and winged control module 3 runs original track linearisation control algolithm and realizes hanging down for multi-rotor aerocraft 2
Directly take off, and hovered after setting height is reached, while ground station returns the signal of a completion first step task.Earth station
After receiving the signal for completing first step task, " approaching target object " task is performed, according to the kinematics model of foundation and is moved
Mechanical model, the parameter approached motor pattern correlation and needed is obtained by flying the motion planning in control module, and be updated to elder generation
In the nondimensionalization motion planning model of preceding foundation, solution is moved using the nondimensionalization for having been off trying to achieve, completes more rotors
The imitative hawk motion planning online of aircraft " approaching target object ", and the result is sent to multi-rotor aerocraft 1, more rotors fly
After row device 1 is connected to instruction, " approaching target object " is realized according to the kinematic parameter that provides of instruction, after this instruction is completed equally to
The signal of a completion second step task is returned by earth station.Ground station reception is to after the signal for completing second step task, according to imitative
According to accipiter crawl prey is established suddenly in flight course kinematics model and kinetic model, grabbed using above-mentioned for hawk
The evaluation of motion index is taken, establishes Lagrange's equation and newton euler equations, then the Jacobian matrix by speed and power
After conversion, " crawl target object " task is performed, according to the kinematics model and kinetic model of foundation, by flying in control module 3
Motion planning obtain the related parameter needed of crawl motor pattern, and be updated to the nondimensionalization motion rule previously established
Draw in model, into the nondimensionalization motion planning model previously established, solution moved using the nondimensionalization for having been off trying to achieve,
Coupled problem of the multi-rotor aerocraft 1 itself between bionical motion arm 2 during capturing is considered, with the side of uneoupled control
Method, the motion planning of " crawl target object " is given, the result is sent to multi-rotor aerocraft 1, multi-rotor aerocraft 1 connects
To after instruction, the kinematic parameter provided according to instruction realizes " crawl target object ", the same ground station after this instruction is completed
Return the signal of a 3rd step task of completion.Ground station reception to complete the 3rd step task signal after, according to by dimensionless
Change the relative position model that the hawk crawl object that motion model integrates to obtain with mapping model terminates the rear claws of a hawk and its body, hair
Going out instruction allows bionical motion arm 2 to be fixed after moving to correspondence position, according to track linearization method of controlling and imitative hawk sporting flying
Planning makes multi-rotor aerocraft 1 " be maked a return voyage " by certain track.In this whole process, the motion planning of above-mentioned four step is used and mixed
The correlation theory of system is combined into a unified entirety, it is achieved thereby that the imitative hawk crawl of aerial operation multi-rotor aerocraft 1
The consistent planning and continuous control in each stage.
Claims (9)
1. a kind of imitative hawk grasping system of aerial operation multi-rotor aerocraft, including multi-rotor aerocraft and earth station；More rotors
It is equipped with aircraft and flies control module, Inertial Measurement Unit, gps antenna, head camera, battery, the airborne end of data radio station with connecing
Receipts machine；Multi-rotor aerocraft bottom is provided with undercarriage；Earth station has computer and digital transmission module ground surface end；Its feature exists
In：Also include two bionical motion arms of two-freedom, and fuselage bottom design, for installing the carry of bionical motion arm
Bar.
A kind of 2. imitative hawk grasping system of aerial operation multi-rotor aerocraft as claimed in claim 1, it is characterised in that：Described two
The bionical motion arm of bar, including hip joint connector, hip joint base, thigh bar, knee joint connector, knee joint base, shank
Bar, ankle-joint and gripper；Wherein, hip joint connector is fixedly installed on carry bar；Hip joint base both sides are designed with company
Spindle, it is hinged respectively between hip joint connector, forms hip joint；Fixed between thigh bar end and hip joint base, front end is solid
Dingan County fills knee joint connector；Knee joint base both sides are similarly designed with connecting shaft, are hinged respectively between knee joint connector, shape
Into knee joint；Fixed between shank bar end and knee joint base, ankle-joint is fixedly mounted in front end；Ankle-joint is fixed with gripper.
A kind of 3. imitative hawk grasping system of aerial operation multi-rotor aerocraft as claimed in claim 2, it is characterised in that：Gripper
For single-degree-of-freedom gripper, it is installed on ankle-joint, is had by the pawl of a left side half of servo driving folding and the right side by steering wheel fixture
Half pawl.
A kind of 4. imitative hawk grasping system of aerial operation multi-rotor aerocraft as claimed in claim 2, it is characterised in that：Above-mentioned hip
Hip joint motor and absolute encoder A are installed on joint connector, are respectively intended to drive hip joint to rotate and measure hip pass
Corner is saved, positioned at hip joint base both sides；Knee joint motor and absolute encoder B are installed on same knee joint connector, point
It Yong Lai not drive knee joint to rotate and measure knee joint corner, positioned at knee joint base both sides；Above-mentioned knee joint motor it is defeated
Shaft direction is opposite with hip joint motor output shaft direction.
A kind of 5. imitative hawk grasping system of aerial operation multi-rotor aerocraft as claimed in claim 1, it is characterised in that：More rotors
The fuselage of aircraft uses double-decker, is supported between two layers by pillar, and is circumferentially provided with base, for installing horn；Machine
Arm outside end is provided with motor, propeller, and the electricity of controlled motor adjusts controller.
A kind of 6. imitative hawk grasping system of aerial operation multi-rotor aerocraft as claimed in claim 1, it is characterised in that：Inertia is surveyed
Measure unit to be arranged on Inertial Measurement Unit mounting bracket, be placed in fuselage interior center；Inertial Measurement Unit mounting bracket is double
Rotating fields, pass through circumferentially disposed shock-absorbing ball between two layers and support.
A kind of 7. imitative hawk grasping system of aerial operation multi-rotor aerocraft as claimed in claim 1, it is characterised in that：Undercarriage
It is made up of undercarriage fixture, gear support inclined tube, three-way connector, gear support transverse tube and undercarriage cushioning cotton；Its
In, undercarriage fixture is two, is fixed on fuselage bottom relative position；Two undercarriage fixtures respectively connect a undercarriage
Inclined tube is supported, angle is at 70 degree or so between making two gear support inclined tubes；Gear support inclined tube end is connected by threeway
Part connects gear support transverse tube, and undercarriage cushioning cotton is cased with gear support transverse tube.
A kind of 8. imitative hawk grasping system of aerial operation multi-rotor aerocraft as claimed in claim 1, it is characterised in that：Need into
Row multi-rotor aerocraft airflight motion planning and the motion planning of aerial dynamic operation；Wherein multi-rotor aerocraft flies in the air
Row motion planning, including modeling and motion planning two parts；First, it is found to using accipiter in flight course and starts crawl and hunt
Relevant parameter during thing, and accipiter itself active force relation between the claws of a hawk when bagging the game, establish more rotors respectively
Aircraft imitates the dynamic motion model of hawk crawl；Then multi-rotor aerocraft kinematic parameter during extraction crawl, imitative in itself
The operating parameter of raw motion arm and the geometric parameter and physical parameter for being crawled object, multi-rotor aerocraft, bionical is obtained
Motion arm and the nondimensionalization Optimized model for being crawled object；And dynamic motion model is improved based on nondimensionalization Optimized model；
Further on the basis of dynamic motion model, the motion state space of accipiter and grasping manipulation space reflection are flown to more rotors
The operating space of the space of row device and bionical motion arm, corresponding mapping model is established, it is achieved thereby that by
Accipiter flies and crawl moves to multi-rotor aerocraft flight and the model conversation of aerial operation；Finally, according to more rotor flyings
Device, bionical motion arm and the nondimensionalization Optimized model for being crawled object, obtain it is general with time scale, space scale without
The dimensionless motion solution of pass, further according to specific different operation task, back substitution is arrived to have been off solving the dimensionless finished and transported
In dynamic solution, the optimal motion solution of the aerial dynamic operation of this multi-rotor aerocraft has been obtained, has completed to carry out multi-rotor aerocraft
Motion planning.
The motor pattern of the different phase such as take off, approach, capturing, discharging undergone in crawl task is carried out, for each
Stage establishes dynamic motion model respectively, is an entirety by the motion planning in each stage and dynamic motion Model Fusion, so as to
Realize the coherent sporting flying planning to different phase.
A kind of 9. imitative hawk grasping system of aerial operation multi-rotor aerocraft as described in claim 1 or 9, it is characterised in that：Grab
The process is taken to be：Earth station sends instruction of taking off to multi-rotor aerocraft first, flies control module and runs original track linearisation control
Algorithm processed realizes taking off vertically for multi-rotor aerocraft, and is hovered after setting height is reached, while ground station returns one
Complete the signal of first step task；Ground station reception to complete first step task signal after, execution approach target object task,
According to the dynamic motion of foundation model, the related needs of motor pattern are approached by the motion planning acquisition flown in control module
Parameter, and be updated in the nondimensionalization motion planning model of foundation, solution is moved using the nondimensionalization for having been off trying to achieve, it is complete
The imitative hawk motion planning online of target object is approached into multi-rotor aerocraft, and the result is sent to multi-rotor aerocraft, it is more
After rotor craft is connected to instruction, the kinematic parameter realization provided according to instruction approaches target object, same after this instruction is completed
Sample ground station returns the signal of a completion second step task；Ground station reception to complete second step task signal after, root
According to accipiter crawl prey is established suddenly in flight course kinematics model and kinetic model is copied, captured and transported using accipiter
The evaluation of dynamic index, Lagrange's equation and newton euler equations are established, then converted by the Jacobian matrix of speed and power
Afterwards, crawl target object task is performed, according to the dynamic motion of foundation model, is obtained by flying the motion planning in control module
The related parameter needed of crawl motor pattern is taken, and is updated in the nondimensionalization motion planning model previously established, to previous
In the nondimensionalization motion planning model of foundation, solution is moved using the nondimensionalization for having been off trying to achieve, and use uneoupled control
Method, give crawl target object motion planning, send result to multi-rotor aerocraft, multi-rotor aerocraft is connected to
After instruction, the kinematic parameter provided according to instruction realizes crawl target object, and same ground station is returned after this instruction is completed
The signal of one the 3rd step task of completion；Ground station reception to complete the 3rd step task signal after, transported according to by nondimensionalization
The hawk crawl object that movable model integrates to obtain with mapping model terminates the relative position model of the rear claws of a hawk and its body, sends finger
Order makes bionical motion arm be fixed after moving to correspondence position, is made according to track linearization method of controlling and imitative Eagle Flight row motion planning
Multi-rotor aerocraft makes a return voyage.
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