CN108415460B - Combined and separated rotor wing and foot type mobile operation robot centralized-distributed control method - Google Patents
Combined and separated rotor wing and foot type mobile operation robot centralized-distributed control method Download PDFInfo
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Abstract
The invention discloses a centralized-distributed control method for a combined and separated rotor wing and foot type mobile operation robot, which is oriented to an independent operation task and aims at a multi-rotor wing flying operation robot to design an integral self-adaptive controller to solve the problem of grabbing an unknown object. Aiming at the multi-foot mobile operation robot, a controller of the robot is designed by adopting layered control. And on the basis of the independent controllers of all the parts, a distributed controller is designed on the top layer of the controller, the parameters are coordinately controlled through the distributed control of multiple coordination variables, and the interference collision between the two is avoided by utilizing neighbor information, so that the air-ground cooperative operation task is realized. And a centralized controller is designed facing the combined body operation task, and the combined body robot is controlled by utilizing the whole information, so that the operation tasks in the flying, crawling and flying-crawling processes of the combined body robot are realized.
Description
Technical Field
The invention relates to a rotor robot and a foot type mobile operation robot, which control and complete the combined separation task and the mobile operation task of the rotor robot and the foot type robot by designing a centralized-distributed controller and are suitable for the operation scene of the combined separation rotor and the foot type mobile operation robot.
Background
Along with the rapid development of urbanization in China, the scale and population density of cities such as Beijing and the like are continuously increased, and the problem of urban security is increasingly severe. Meanwhile, the border environment of China is complex, and the traffic conditions are severe. Therefore, in the aspects of military combat, border patrol warning, urban security and riot control, disaster relief, special dangerous environment operation and field environment monitoring, a multifunctional mobile operation robot which is large-scale mobile in open space, strong in environment adaptability and capable of performing cross-domain operation is urgently needed.
The multi-rotor aircraft has a series of characteristics of simple structure, strong functionality, easy realization and the like, and thus has been continuously concerned and rapidly developed in the last 10 years. Use many rotor crafts to carry out aerial operation, need to combine unmanned aerial vehicle and operating means. This kind of combination mode can synthesize both advantages, has many advantages, follows "passive" observation environment with unmanned aerial vehicle, has expanded the field that "initiative" and environment carry out the interaction. However, most of the current air flight operation robots stay in the laboratory stage, the operation performance is relatively limited, and further research is urgently needed to realize long-term and repeated flight operation.
The multi-legged mobile robot has good terrain adaptability, can perform rapid movement on uneven ground, and is an important research direction in the field of robots. The multi-legged mobile operation robot combines a legged robot and an operation arm, and has a flexible operation function in addition to good terrain adaptability of the multi-legged walking robot. However, the existing mobile operation robot has a relatively simple structure, general mobility and poor operability, and can only adapt to specific mobile occasions to complete simple operation tasks.
In recent years, with the rapid development of ground mobile robots and air flying robots, the cooperative motion control of the ground mobile robots and the air flying robots is receiving wide attention, and the realization of the operation control of the land-air cooperative task is a hot spot of current research. However, the current air-ground cooperation is mainly embodied in information interaction, the realization of cooperation map construction and cooperation work is urgent to be further researched, and the existing air-ground cooperation robot cannot realize combination and separation.
Disclosure of Invention
In order to solve the problems, the invention provides a centralized-distributed control method for a combined and separated rotor wing and foot type mobile operation robot on the basis of an existing air-ground cooperative platform (consisting of an air unmanned aerial vehicle and a ground robot which are independent in system and based on information sharing, overall decision making and cooperative operation), so that combined and separated and mobile operation can be realized, the efficiency of a separating body and a combined robot can be fully exerted through the air-ground cooperative operation of the combined and separated rotor wing and the foot type mobile operation robot, and the multifunctional task requirement of a complex environment can be met.
According to the centralized-distributed control method for the combined and separated rotor wing and foot type mobile operation robot, an open-ground cooperative platform can be a combined and separated rotor wing and foot type mobile operation robot; the combined and separated rotor wing and the foot-type mobile operation robot perform data interaction with the ground station in real time; and controlled by the ground station. A combined and separated rotor wing and foot type mobile operation robot adopts a multi-rotor wing flying operation robot self-adaptive controller and a multi-foot mobile operation robot controller.
The self-adaptive controller for the multi-rotor flight operation robot is designed by facing to an independent operation task, considering the internal coupling relation of a system and applying the related theory of differential manifold to integrally model the multi-rotor flight operation robot and an operation arm on SO (3), considering collision, impact and load mutation in the flight operation process and the combined separation process and applying the related theory of Lyapunov stability to process the grabbing problem of unknown objects. Aiming at the multi-foot mobile operation robot, a multi-foot mobile operation robot controller is designed by adopting layered control.
The self-adaptive controller of the multi-rotor flying operation robot consists of three parts, namely a traditional multi-rotor flying operation robot controller, a nonlinear model of the multi-rotor flying robot and a self-adaptive control link; the traditional multi-rotor flight operation robot controller comprises a position controller and an attitude controller, and is respectively used for stabilizing the position and the attitude of the self-adaptive controller of the multi-rotor flight operation robot; the nonlinear model of the multi-rotor flying robot is used for realizing stabilization of the under-actuated multi-rotor flying robot, so that the tracking of the multi-rotor flying robot controller on attitude and position instructions is realized; the self-adaptive control link comprises self-adaptation of inertial parameter change, self-adaptation of external disturbance and calculation torque control; the self-adaption of the change of the inertial parameters consists of two links; the self-adaptation of external disturbance is an external interference factor; the calculation moment control link is mainly used for generating the rotating speed and the moment of the motor driving motion.
The multi-foot mobile operation robot controller consists of three layers which are respectively divided into a tissue layer, a coordination layer and an execution layer from top to bottom; wherein, the organizational layer is responsible for complex cognitive reasoning tasks; the executive layer is responsible for driving the joint angle; the coordination layer is responsible for coordinating and planning a specific implementation mode, receiving tasks of the organization layer and sending specific driving instructions to the execution layer to implement the tasks.
And on the basis of the independent controller, a centralized-distributed control method is designed on the top layer of the controller to realize the control of the combined and separated rotor wing and foot type mobile operation robot.
The centralized-distributed control method is divided into two control modes, the communication modes are respectively centralized and distributed, and a high-level control and planning link is added in an input link of the multi-rotor flight operation robot controller and a motion planning task link in an organizational layer of the multi-legged mobile operation robot controller; the distributed type takes a main controller carried on a rotor wing robot or a foot type robot as a center, and the multi-rotor wing flying operation robot controller and the mobile robot controller are arranged in a distributed manner; the distributed communication mode utilizes local information, and a remote controller sends wireless instructions to the multi-rotor flight operation robot controller, the multi-legged mobile operation robot controller and the main controller to realize human intervention and operation; the ground station sends wireless instructions to the multi-rotor flying operation robot controller, the multi-legged mobile operation robot controller and the main controller to realize automatic control, receives signals of the three, displays the states in an interface mode and detects the running states of the three; the main controller and the multi-rotor flight operation robot controller as well as the main controller and the multi-foot mobile operation robot controller can realize two-way communication, and the multi-rotor flight operation robot and the multi-foot mobile operation robot only receive the instructions of the remote controller, the main controller and the ground station; the centralized communication mode utilizes global information to realize communication between the multi-legged mobile operation robot and the multi-rotor flight operation robot on the basis of a distributed communication architecture.
The invention has the advantages that:
1. the combined separated rotor wing and foot type mobile operation robot controller is different from a traditional individual robot controller and an existing air-ground cooperative robot controller. The efficiency of the separating body and the combined robot can be fully exerted, and the multifunctional task requirement of the complex environment is met.
2. The invention designs a plurality of robot centralized-distributed controllers including a separating body rotor wing operation robot, a separating body foot type robot, a separating body cooperative robot and a combining body robot, which can be suitable for different stages of the same task, reduce the energy consumption of the system and improve the efficiency of the system, thereby fully improving the efficiency of the robot system.
3. The invention is oriented to independent operation tasks, utilizes the differential manifold to carry out integral modeling on the multi-rotor flying robot and the operating arm, overcomes the problem of singular attitude expression in the traditional method, designs the self-adaptive controller by utilizing the Lyapunov theory, and guarantees the effective completion of the grabbing task.
4. The invention is oriented to independent operation tasks, adopts the characteristics of hierarchical design and modular structure to design the controller of the multi-legged mobile operation robot, and the motion control method based on the action library can realize flexible operation in complex environment.
Drawings
FIG. 1 is a schematic view of a combined split rotor and foot-type mobile robot;
FIG. 2 is a block diagram of a multi-rotor flying operation robot controller;
FIG. 3 is a diagram of a controller structure of the multi-legged mobile robot;
FIG. 4 is a schematic view of a distributed communication network architecture for a combined split rotor and legged mobile manipulator robot according to the present invention;
FIG. 5 is a schematic diagram of a centralized communication network architecture for a combined split rotor and legged mobile manipulator robot according to the present invention;
fig. 6 is a flowchart of the collective-distributive operation of the combined split rotor and legged mobile robot according to the present invention.
In the figure:
1-multi-rotor flight operation robot 2-multi-foot mobile operation robot 3-combined separation device
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the invention relates to a centralized-distributed control algorithm for a combined and separated rotor wing and foot type mobile operation robot, which is based on a specific hardware platform and is shown in figure 1.
The combined and separated rotor wing and foot type mobile operation robot is composed of a multi-rotor wing flying operation robot 1, a multi-foot mobile operation robot 2 and a combined and separated device 3. The combination and separation between the multi-rotor flight operation robot 1 and the multi-foot mobile operation robot 2 are realized by installing the combination and separation device 3 between the multi-rotor flight operation robot 1 and the multi-foot mobile operation robot 2; the multi-rotor flight operation robot 1 and the foot type mobile operation robot 2 are combined to have a flight mode, a flight climbing mode, a walking mode and a double-machine cooperation mode. In the flight mode, the foot-type mobile operation robot 2 is used as a load of the multi-rotor flight operation robot 1, the multi-rotor flight operation robot 1 carries for flight, and a series of tasks such as long-distance transportation, reconnaissance and aerial operation performed by using a fusion leg arm of the foot-type walking operation mechanism can be performed. Under flying the climbing mode, many rotors flight operation robot 1 and sufficient formula removal operation robot 2 all regard as the power supply, and the two can not regard as the load completely each other, and many rotors flight operation robot 1 relies on the rotatory buoyancy that provides of self rotor, and sufficient formula removal operation robot 2 relies on the holding power of self sufficient end, can realize flying in flat ground and climb. In addition, the multi-rotor flying robot 2 and the foot-type mobile robot 1 may be loaded with each other and may be powered by themselves to perform a flying operation on an inclined plane or a wall surface. In the walking mode, the multi-rotor flight operation robot 1 is taken as a load of the foot type mobile operation robot 2, and can better perform a series of tasks such as ground walking, reconnaissance, operation and the like when being carried and walked. Under the double-machine cooperation mode, the multi-rotor flight operation robot 1 and the foot type mobile operation robot 2 are in a separated state, the multi-rotor flight operation robot 2 flies in the air, and the foot type mobile operation robot 2 walks on the ground. The multi-rotor flight operation robot 2 has the advantage of flight height, so that the communication capacity is less influenced by the environment, the communication of the foot type mobile operation robot 2 is easily influenced by ground obstacles, the communication and the ground obstacles can cooperatively work, the multi-rotor flight operation robot 2 can provide communication relay for a foot type walking operation mechanism, and communication guarantee is provided for large-scale operation of the foot type mobile operation robot 2.
The combined and separated rotor wing and foot type mobile operation robot is based on the combined and separated rotor wing and foot type mobile operation robot, and data interaction is carried out between the combined and separated rotor wing and the ground station in real time; and controlled by the ground station.
The ground station comprises a PC (notebook computer) and a 2.4G data transmission module ground end. The ground end of the data transmission module realizes real-time data interaction between the PC and the onboard end of the 2.4G data transmission module installed on the multi-rotor flight operation robot and the multi-foot mobile operation robot, and sends data information of the combined robot (the state of the combined multi-rotor flight operation robot and the multi-foot mobile operation robot) and the separated robot (the state of the separated multi-rotor flight operation robot and the multi-foot mobile operation robot) to the PC in real time. The PC machine monitors the state of the multi-rotor flight operation robot in real time and operates task commands according to different task requirements, and synchronously simulates teleoperation and a virtual model of the multi-legged mobile operation robot, and cooperatively plans the split body robot and remotely controls the combined robot.
The combined and separated rotor wing and foot type mobile operation robot adopts a self-adaptive controller of a multi-rotor wing flying operation robot, and consists of three parts, namely a traditional multi-rotor wing flying operation robot controller, a non-linear model of the multi-rotor wing flying robot and a self-adaptive control link, as shown in figure 2.
The traditional multi-rotor flight operation robot controller comprises a position controller and an attitude controller, and the position controller and the attitude controller are respectively used for stabilizing the position and the attitude of the self-adaptive controller of the multi-rotor flight operation robot. In the nonlinear model of the multi-rotor flight operation robot, a nonlinear motion equation is described on a differential manifold formed by a complete configuration space, and is expressed as follows:
wherein M ist(r) is the mass matrix in the multi-rotor flying operation robot dynamics model, CtOperating a Coriolis force matrix, G, in a robot dynamics model for multi-rotor flightt(R, R) is a gravity matrix in the multi-rotor flight operation robot dynamic model, u is an input vector in the multi-rotor flight operation robot dynamic model, H is control distribution moment, R is the joint position of the serial operation arm, R is a rotation matrix of a multi-rotor flight operation robot body coordinate system relative to a ground reference system and represents the attitude of the robot,
operating the velocity in the robot dynamics model for multi-rotor flight; t is time, the expression parameter is time-varying, V is a three-dimensional velocity vector of the multi-rotor flight operation robot body,
representing a three-dimensional velocity vector of an operating arm in the rotor flight operating robot.
The dynamic model of the multi-rotor flight operation robot is passively decoupled in the tangent space of the site-shaped space to obtain the motion equation of the multi-rotor flight operation robot:
the position refers to the position of the multi-rotor flight operation robot, the attitude refers to the posture of the multi-rotor flight operation robot, and the position and the attitude respectively represent the integral translation motion, the rotation motion and the joint motion of the body. g is the acceleration of gravity, m is the total mass of the multi-rotor flying operation robot, e3Along the z-axis direction of the airframe, mu is the angular velocity and the joint velocity of the multi-rotor flight operation robotThe vector of the composition is then calculated,
represents SO (3) × RnThe tangent mapping induced by the upper left movement, SO (3) is a special orthogonal group consisting of a 3 × 3 matrix and represents the rotation of the unmanned aerial vehicle, R is a real number set and represents the movement of an operation arm carried by the unmanned aerial vehicle, × represents that the SO (3) and the R are combined into a whole, namely, the rotary-wing robot with the operation arm has sigma (R, R) ∈ SO (3) × Rn(ii) a Omega is an angular velocity vector under the machine system;
t represents the total pulling force generated by the motor of the multi-rotor flying operation robot after zeta decoupling is partial quantity of the matrix,
denotes SEIs transposed, SEIs an euclidean rotation plus motion group.
The rotary motion of the multi-rotor flight operation robot is described on SO (3), and a rotary motion hybrid model motion equation expressed on an Euclidean space can be obtained:
wherein S isCFor the set of evolutions, SDFor the hop-set, ξ is an exponential coordinate, J (ξ) is a sum of ω
A Jacobian matrix of mappings between.
Through the integral modeling of the multi-rotor flight operation robot, the problem of coupling between the operation arm of the multi-rotor flight operation robot and the multi-rotor flight operation robot body can be effectively solved, and the model precision of the whole multi-rotor flight operation robot (comprising the multi-rotor flight operation robot body and the operation arm) is improved, so that the control effect is finally improved. And the jump problem of singular points is overcome through the exponential coordinate representation of the model in the non-Europe space, so that the multi-rotor flight operation robot can be quickly recovered from any state to the initial state under the condition of fault, and has important value under the condition of dynamic motion.
The self-adaptive control link comprises three parts, namely self-adaptation of inertia parameter change, self-adaptation of external disturbance and calculation torque control. The self-adaption of the inertia parameter change comprises two links, one link is self-adaption of a grabbed object, and grabbing and releasing the object can affect the overall mass, the mass center and the inertia of the multi-rotor flight operation robot in an operation task; the other is adaptive to the motion of the operating arm, the centroid of the multi-rotor flying operation robot is obviously changed in the process that the operating arm reaches the target configuration space, and the two links can be considered as internal interference. The self-adaptation of the external disturbance mainly comprises gust, collision and the like, the external interference factors are regarded as internal parameter links, and the change of the external interference factors is regarded as a parameter self-adaptation process. The calculation moment control link is mainly used for generating the rotating speed and the moment of the motor driving motion.
The controller structure of the multi-legged mobile robot consists of three layers, which are respectively divided into a tissue layer, a coordination layer and an execution layer from top to bottom, as shown in fig. 3. The tissue layer is responsible for complex cognitive reasoning tasks, and the executive layer is responsible for driving joint angles. The organization layer mainly comprises 4 parts of image processing, teleoperation instruction, motion task planning and virtual model synchronous simulation. The image processing part is used for processing images captured by a camera loaded on the multi-legged mobile operation robot; the teleoperation instruction part is used for teleoperation of the motion of the multi-legged mobile operation robot; the motion task planning part is used for planning the motion of the mobile robot; the virtual simulation synchronous simulation part is mainly used for synchronously displaying the motion of the mobile robot.
The coordination layer mainly comprises a parameterized action set, a GPS (global positioning system), an image sensor and the like; wherein, the GPS is used for realizing real-time positioning. The image sensor is used to capture an image. The parameterized action set coordination layer stores parameterized action sets, and the action sets can be selected according to received upper computer instruction frames. And selecting a corresponding action sequence in the action set by the frame, analyzing the action sequence according to the action parameters in the instruction frame, generating an instruction frame of each leg control driver, and finally sending the instruction frame to each leg control driver to drive the robot to move according to the time sequence. The bottom layer is a leg movement control driving layer and consists of 6 single-leg movement control drivers. The single-leg motion controller is connected with the board-mounted controller through an IIC bus. The single-leg motion control driver is responsible for selecting different curve forms to interpolate the motion between the starting point and the target point of the single-leg foot end according to the instruction of the main control board, performing inverse kinematics calculation on each interpolation point, solving a corresponding joint angular motion sequence, and converting the corresponding joint angular motion sequence into a PWM signal to drive the joint steering engine to move.
The execution layer mainly comprises a motor drive, an infrared sensor, a force sensor and the like; the motor drive sensor realizes drive motion, the infrared sensor is used for sensing an external heat signal, and the force sensor is used for sensing an external force. The tissue layer and the coordination layer are communicated through a serial port, and the coordination layer and the execution layer are communicated through an IIC.
Based on the control mode of the multi-rotor flight operation robot and the multi-legged mobile operation robot, the control of the combined and separated rotor and legged mobile operation robot is realized by adopting a centralized-distributed control method. The centralized-distributed control method is mainly divided into two control modes, the communication modes are respectively centralized and distributed, and the centralized-distributed control mode and the distributed control mode are respectively an input link of the multi-rotor flight operation robot controller in the figure 2 and a high-level control and planning link added to a motion planning task link in an organization layer in the figure 3. The distributed type is centered on a main controller carried on a rotor wing robot or a foot type robot, and the multi-rotor wing flying operation robot controller and the mobile robot controller are arranged in a distributed mode. The distributed communication mode utilizes local information, as shown in fig. 4, and a remote controller sends wireless instructions to the multi-rotor flight operation robot controller, the multi-legged mobile operation robot controller and the main controller to realize human intervention and operation; the ground station sends wireless instructions to the multi-rotor flying operation robot controller, the multi-foot moving operation robot controller and the main controller, so that automatic control is realized, signals of the three are received at the same time, state display is carried out in an interfacing mode, and the running states of the three are detected. The main controller and the multi-rotor flight operation robot controller as well as the main controller and the multi-foot mobile operation robot controller can realize two-way communication, and the multi-rotor flight operation robot and the multi-foot mobile operation robot only receive the instructions of the remote controller, the main controller and the ground station; the method only needs to receive neighbor information and does not need to receive information of the opposite robot, and the burden of the processor is reduced under the condition of limited on-board computing resources. The centralized communication mode utilizes global information, as shown in fig. 5, on the basis of a distributed communication architecture, communication between the multi-legged mobile operation robot and the multi-rotor flight operation robot can be realized, collision and interference between the two robots can be effectively avoided, a control algorithm is simplified, and safety and reliability are improved. The control method is oriented to different task requirements, integrates the advantages of two control communications, and improves the efficiency of the combined separated rotor wing and foot type mobile operation robot through switching of the communication modes.
As shown in fig. 6, the overall control flow of the combined and separated rotor and foot type mobile operation robot is as follows:
A. establishing a robot operation mode library, which comprises 4 modes of multi-rotor flight operation, multi-foot crawling operation, combined robot flight, crawling operation and separated body cooperative operation;
B. according to the type of the carried sensor, the environment sensing capability of the robot is considered, and according to the structure, the function and the performance of the robot, the main controller completes task decomposition through information sharing between the multi-rotor flight operation robot and the multi-foot mobile operation robot to obtain different subtasks;
C. the main controller distributes the subtasks to different sub-controllers (a multi-rotor flight operation robot self-adaptive controller and a multi-foot mobile operation robot controller), each sub-controller selects an operation mode sequence of the robot, and then an efficiency cost optimization method is applied to generate a cooperative behavior sequence among the robots, so that the working sequence of the robots is obtained. And then the multi-mode operation of the robot is realized through the centralized distributed controller.
Claims (5)
1. A combined and separated rotor wing and foot type mobile operation robot centralized-distributed control method is based on the combined and separated rotor wing and foot type mobile operation robot; the method is characterized in that: the combined and separated rotor wing and the foot-type mobile operation robot perform data interaction with the ground station in real time; and is controlled by the ground station; the combined and separated rotor wing and foot type mobile operation robot adopts a multi-rotor wing flying operation robot self-adaptive controller and a multi-foot mobile operation robot controller;
the self-adaptive controller of the multi-rotor flight operation robot consists of three parts, namely a traditional multi-rotor flight operation robot controller, a non-linear model of the multi-rotor flight robot and a self-adaptive control link; the traditional multi-rotor flight operation robot controller comprises a position controller and an attitude controller, and is respectively used for stabilizing the position and the attitude of the self-adaptive controller of the multi-rotor flight operation robot; the nonlinear model of the multi-rotor flying robot is used for realizing stabilization of the under-actuated multi-rotor flying robot, so that the tracking of the multi-rotor flying robot controller on attitude and position instructions is realized; the self-adaptive control link comprises self-adaptation of inertial parameter change, self-adaptation of external disturbance and calculation torque control; the self-adaption of the change of the inertial parameters consists of two links; the self-adaptation of external disturbance is an external interference factor; the calculation moment control link is mainly used for generating the rotating speed and the moment of the motor driving movement;
in the nonlinear model of the multi-rotor flight operation robot, a nonlinear motion equation is described on a differential manifold formed by a complete configuration space, and is expressed as follows:
wherein M ist(r) is the mass matrix in the multi-rotor flying operation robot dynamics model, CtOperating robot power for multi-rotor flightCoriolis force matrix in mathematical models, Gt(R, R) is a gravity matrix in the multi-rotor flight operation robot dynamic model, u is an input vector in the multi-rotor flight operation robot dynamic model, H is control distribution moment, R is the joint position of the serial operation arm, R is a rotation matrix of a multi-rotor flight operation robot body coordinate system relative to a ground reference system and represents the attitude of the robot,
operating the velocity in the robot dynamics model for multi-rotor flight; t is time, the expression parameter is time-varying, V is a three-dimensional velocity vector of the multi-rotor flight operation robot body,
representing a three-dimensional velocity vector of an operating arm in the rotor flight operating robot;
the dynamic model of the multi-rotor flight operation robot is passively decoupled in the tangent space of the site-shaped space to obtain the motion equation of the multi-rotor flight operation robot:
wherein, position refers to the position of the multi-rotor flight operation robot, attitude refers to the attitude of the multi-rotor flight operation robot, and the two respectively represent the integral translation motion, the rotation motion and the joint motion of the body; g is the acceleration of gravity, m is the total mass of the multi-rotor flying operation robot, e3Along the z-axis direction of the machine body system, mu is a vector formed by the angular velocity and the joint velocity of the multi-rotor flight operation robot,
represents SO (3) × RnMove up and leftMotion induced tangent mapping, SO (3) is a special orthogonal group consisting of a 3 × 3 matrix and represents the rotation of the unmanned aerial vehicle, R is a real number set and represents the motion of an operation arm carried by the unmanned aerial vehicle, × represents that the SO (3) and the space where R is located are combined into a whole, namely the rotary-wing robot with the operation arm is sigma (R, R) ∈ SO (3) × Rn(ii) a Omega is an angular velocity vector under the machine system;
t represents the total pulling force generated by the motor of the multi-rotor flying operation robot after zeta decoupling is partial quantity of the matrix,
denotes SEIs transposed, SEIs an euclidean rotation plus motion group;
the rotary motion of the multi-rotor flight operation robot is described on SO (3), and a rotary motion hybrid model motion equation expressed on Euclidean space can be obtained:
wherein S isCFor the set of evolutions, SDξ is an exponential coordinate for the hop-set, J (ξ) denotes ω and
a Jacobian matrix of mappings between;
the multi-foot mobile operation robot controller consists of three layers which are respectively divided into a tissue layer, a coordination layer and an execution layer from top to bottom; wherein, the organizational layer is responsible for complex cognitive reasoning tasks; the executive layer is responsible for driving the joint angle; the coordination layer is responsible for coordinating and planning a specific implementation mode;
based on the control mode of the multi-rotor flight operation robot and the multi-legged mobile operation robot, a centralized-distributed control method is adopted to realize the control of the combined and separated rotor and legged mobile operation robot;
the centralized-distributed control method is divided into two control modes, the communication modes are respectively centralized and distributed, and a high-level control and planning link is added in an input link of the multi-rotor flight operation robot controller and a motion planning task link in an organizational layer of the multi-legged mobile operation robot controller; the distributed type takes a main controller carried on a rotor wing robot or a foot type robot as a center, and the multi-rotor wing flying operation robot controller and the mobile robot controller are arranged in a distributed manner; the distributed communication mode utilizes local information, and a remote controller sends wireless instructions to the multi-rotor flight operation robot controller, the multi-legged mobile operation robot controller and the main controller to realize human intervention and operation; the ground station sends wireless instructions to the multi-rotor flying operation robot controller, the multi-legged mobile operation robot controller and the main controller to realize automatic control, receives signals of the three, displays the states in an interface mode and detects the running states of the three; the main controller and the multi-rotor flight operation robot controller as well as the main controller and the multi-foot mobile operation robot controller can realize two-way communication, and the multi-rotor flight operation robot and the multi-foot mobile operation robot only receive the instructions of the remote controller, the main controller and the ground station; the centralized communication mode utilizes global information to realize communication between the multi-legged mobile operation robot and the multi-rotor flight operation robot on the basis of a distributed communication architecture.
2. A combined split rotor and legged mobile manipulator robot collective-distributive control method according to claim 1, characterized in that: the ground station comprises a PC and a 2.4G data transmission module ground end; the ground end of the data transmission module realizes real-time data interaction between the PC and the onboard end of the multi-rotor flight operation robot and the onboard end of the 2.4G data transmission module arranged on the multi-foot mobile operation robot, and data information of a combined state of the multi-rotor flight operation robot and the multi-foot mobile operation robot and a separated state of the multi-rotor flight operation robot and the multi-foot mobile operation robot is sent to the PC in real time; the PC machine monitors the state of the multi-rotor flight operation robot in real time and operates task commands according to different task requirements, performs synchronous simulation on teleoperation and a virtual model of the multi-legged mobile operation robot, performs collaborative planning when the multi-rotor flight operation robot and the multi-legged mobile operation robot are in a separated state, and performs remote control when the multi-rotor flight operation robot and the multi-legged mobile operation robot are in a combined state.
3. A combined split rotor and legged mobile manipulator robot collective-distributive control method according to claim 1, characterized in that: the tissue layer comprises image processing, teleoperation instructions, motion task planning and virtual model synchronous simulation; the image processing part is used for processing images captured by a camera loaded on the multi-legged mobile operation robot; the teleoperation instruction part is used for teleoperation of the motion of the multi-legged mobile operation robot; the motion task planning part is used for planning the motion of the mobile robot; the virtual simulation synchronous simulation part is mainly used for synchronously displaying the motion of the mobile robot;
the coordination layer comprises a parameterized action set, a GPS and an image sensor; the GPS is used for realizing real-time positioning; an image sensor for capturing an image; the parameterized action set coordination layer stores parameterized action sets, and the action sets are selected according to received upper computer instruction frames; selecting a corresponding action sequence in the action set by the frame, analyzing the action sequence according to action parameters in the instruction frame, generating an instruction frame of each leg control driver, and finally sending the instruction frame to each leg control driver to drive the robot to move according to a time sequence; the bottommost layer of the coordination layer is a leg movement control driving layer and consists of a single leg movement control driver; the single-leg motion controller is connected with the board-mounted controller through an IIC bus; the single-leg motion control driver is responsible for selecting different curve forms to interpolate the motion between the starting point and the target point of the single-leg foot end according to the instruction of the main control board, performing inverse kinematics calculation on each interpolation point, solving a corresponding joint angular motion sequence, and converting the corresponding joint angular motion sequence into a PWM signal to drive the joint steering engine to move;
the executive layer comprises a motor drive, an infrared sensor and a force sensor; the motor drive sensor realizes drive motion, the infrared sensor is used for sensing an external heat signal, and the force sensor is used for sensing an external force.
4. A combined split rotor and legged mobile manipulator robot collective-distributive control method according to claim 1, characterized in that: the tissue layer and the coordination layer are communicated through a serial port, and the coordination layer and the execution layer are communicated through an IIC.
5. A combined split rotor and legged mobile manipulator robot collective-distributive control method according to claim 1, characterized in that: the control flow is as follows:
A. establishing a robot operation mode library, which comprises 4 modes of multi-rotor flight operation, multi-foot crawling operation, combined robot flight, crawling operation and separated body cooperative operation;
B. according to the type of the carried sensor, the environment sensing capability of the robot is considered, and according to the structure, the function and the performance of the robot, the main controller completes task decomposition through information sharing between the multi-rotor flight operation robot and the multi-foot mobile operation robot to obtain different subtasks;
C. the main controller distributes the subtasks to different sub-controllers, each sub-controller selects the operation mode sequence of the robot, and then the efficiency cost optimizing method is applied to generate the cooperation behavior sequence among the robots, so as to obtain the working sequence of the robots; and then the multi-mode operation of the robot is realized through the centralized distributed controller.
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| WO2020154996A1 (en) * | 2019-01-31 | 2020-08-06 | 深圳市大疆创新科技有限公司 | Task management method and device for load of unmanned aerial vehicle |
| CN111459161B (en) * | 2020-04-03 | 2021-07-06 | 北京理工大学 | Multi-robot system human intervention control method |
| CN111443619B (en) * | 2020-04-17 | 2021-06-08 | 南京工程学院 | Virtual-real fused human-computer cooperation simulation method and system |
| CN111538234B (en) * | 2020-07-08 | 2020-10-09 | 深圳市优必选科技股份有限公司 | Task hierarchical control method and device, robot and readable storage medium |
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| WO2022166067A1 (en) * | 2021-02-04 | 2022-08-11 | 武汉工程大学 | System and method for coordinated traction of multi-machine heavy-duty handling robot |
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