CN110127072B - Unmanned aerial vehicle parallel platform based on pneumatic flexible joint - Google Patents
Unmanned aerial vehicle parallel platform based on pneumatic flexible joint Download PDFInfo
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- CN110127072B CN110127072B CN201910470631.2A CN201910470631A CN110127072B CN 110127072 B CN110127072 B CN 110127072B CN 201910470631 A CN201910470631 A CN 201910470631A CN 110127072 B CN110127072 B CN 110127072B
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- 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
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Abstract
The invention discloses an unmanned aerial vehicle parallel platform based on pneumatic flexible joints, which comprises a lifting platform and a ground plate which are horizontally and concentrically arranged up and down, wherein a telescopic supporting rod is arranged between the lifting platform and the ground plate, at least three flexible joints are circumferentially and uniformly distributed by taking the supporting rod as a circle center, each flexible joint comprises a plate spring and rigid connecting pieces fixed at two ends of the plate spring, the two rigid connecting pieces are respectively connected with the corresponding lifting platform and the ground plate through ball hinge joints, each flexible joint further comprises a driving cylinder for driving the plate spring to axially deform so as to enable the lifting platform to pitch or roll, and the driving cylinder is connected with a control system for adjusting the elongation of a cylinder rod of the driving cylinder. This parallel platform can be according to the angle when unmanned aerial vehicle descends, adjustment platform every single move or roll angle to make unmanned aerial vehicle steadily descend.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle parallel platform based on pneumatic flexible joints.
Background
The agricultural unmanned aerial vehicle has the advantages of low operation height, less drift, hovering capability, remote control capability and the like, and is widely applied to operations of pest control, fertilization, pesticide application, weed identification, yield estimation and the like of crops. Agricultural unmanned aerial vehicle generally needs the load of carry certain weight when carrying out the operation task, according to the difference of operation task, agricultural unmanned aerial vehicle takes off and the position and the agricultural environment that descend are also not fixed, receive the influence of external factors such as topography, wind speed and operator misoperation artificial factor easily for can not realize steady landing when agricultural unmanned aerial vehicle descends, probably lead to agricultural unmanned aerial vehicle body and carry the load to receive the harm when receiving the effect of too big shock power.
In order to realize stable and safe lifting of the agricultural unmanned aerial vehicle, a set of lifting platform with good flexibility and adaptability is required to be equipped for the agricultural unmanned aerial vehicle. Parallel mechanism has advantages such as structural rigidity is big, bearing capacity is strong, positioning accuracy is high in comparison in serial mechanism, more is fit for being used for designing unmanned aerial vehicle's the platform that rises and falls. However, most of the existing parallel platforms adopt mechanisms such as connecting rods or motor screws to realize transmission, and adopt motors or hydraulic and other modes to realize driving, so that although the parallel platforms can be compact in structure, the parallel platforms are insufficient in the aspects of flexibility, adaptability and the like.
Disclosure of Invention
The invention aims to solve the technical problem of providing an unmanned aerial vehicle landing platform based on parallel pneumatic flexible joints, which can adjust the pitching or rolling angle of a platform according to the landing angle of an unmanned aerial vehicle so as to enable the unmanned aerial vehicle to land stably.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides an unmanned aerial vehicle platform that connects in parallel based on pneumatic flexible joint, includes platform and ground plate that rises and falls of upper and lower level and concentric setting, its characterized in that:
a support rod is arranged between the lifting platform and the ground plate, the upper end of the support rod is connected with the central position of the lifting platform through a ball hinge joint, the lower end of the support rod is fixed with the central position of the ground plate, the support rod comprises a sleeved slide rod and a sleeved slide sleeve, the axle center of the slide sleeve is provided with a slide groove, the slide rod can slide up and down in the slide groove, and the bottom of the slide groove is provided with a spring body in a compressed state;
a flexible supporting mechanism is arranged between the lifting platform and the grounding plate, and the flexible supporting mechanism is provided with at least three flexible joints which are annularly and uniformly distributed by taking the supporting rod as a circle center; each flexible joint comprises a plate spring and rigid connecting pieces fixed at two ends of the plate spring, the two rigid connecting pieces are respectively connected with a corresponding lifting platform and a corresponding grounding plate through spherical hinges, each flexible joint further comprises a driving cylinder for driving the plate spring to axially deform so as to enable the lifting platform to pitch or roll, and the driving cylinder is connected with a control system for adjusting the elongation of a cylinder rod of the driving cylinder;
control system, including control circuit and with drive the pneumatic circuit that actuating cylinder links to each other, control circuit includes the controller, is used for detecting the attitude sensor of the platform gesture that rises when unmanned aerial vehicle descends and is used for detecting each position sensor who drives actuating cylinder displacement volume, the signal input part of controller is connected with attitude sensor and position sensor, and pneumatic circuit is connected to control output.
The further technical scheme is as follows: the cross section of spout is the rectangle, have on the slide bar with spout assorted rectangle slider.
The further technical scheme is as follows: one end or two ends of the flexible joint and one end or two ends of the supporting rod are respectively provided with an adjusting component capable of adjusting the length of the supporting rod.
The further technical scheme is as follows: the adjusting component comprises a locking threaded sleeve fixed with the lifting platform or the grounding plate and a screw rod fixed with the flexible joint or the supporting rod and matched with the locking threaded sleeve in a threaded mode.
The further technical scheme is as follows: the rigid connection piece is L-shaped, the transverse end of the rigid connection piece is fixed with the ball hinge joint, the vertical end of the rigid connection piece is fixed with the plate spring, an L-shaped support is further fixed on the outer side of the vertical end of the rigid connection piece, two ends of the driving air cylinder are hinged with the corresponding supports, and a gap is reserved between the driving air cylinder and the plate spring.
The further technical scheme is as follows: the plate spring is of a variable cross-section type.
The further technical scheme is as follows: high-pressure gas in the pneumatic circuit is used as a gas source for driving the air inlet and the air outlet of the air cylinder after sequentially passing through the two-position five-way reversing valve and the proportional control valve in pipeline transmission, and the control output end is connected with the two-position five-way reversing valve and the proportional control valve of the pneumatic circuit.
The further technical scheme is as follows: an air source triple piece is also arranged in front of the two-position five-way reversing valve.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
this parallel platform can warp through single flexible joint of cylinder drive to change flexible articulated straight line length, make the platform of rising and falling have the angular adjustment of every single move or roll direction, with the different angles of adaptation unmanned aerial vehicle when descending, make the descending that unmanned aerial vehicle can be steady on the platform of rising and falling, avoid unmanned aerial vehicle to collide with the platform of rising and falling when will falling and damage.
The flexible joint uses the plate spring as a deformation element and the air cylinder as a driver to form the flexible joint, the pose adjustment of the parallel platform can be realized by controlling the flexible joint, the deformation of the plate spring can be adjusted randomly according to the extension of a piston rod of the driving air cylinder, so that the lifting platform has the adjustment amount of any inclination angle, and the flexible joint has good flexibility in the adjustment process.
The support rod is arranged in the parallel platform, the effective length of the support rod can be adjusted in a self-adaptive mode along with the pose change of the parallel platform, the support rod has good self-adaptability, not only is necessary supporting effect realized, but also the compression spring is arranged in the support rod, and the spring restoring force which is large enough can be provided.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic cross-sectional view of the support rod of the present invention;
FIG. 4 is a schematic structural view of a slide bar according to the present invention;
FIG. 5 is a schematic view of the construction of a flexible joint according to the present invention;
FIG. 6-1 is a schematic view of the initial attitude of the landing platform of the present invention;
FIG. 6-2 is a schematic view of the landing platform of the present invention illustrating the adjusted attitude;
fig. 7 is a schematic diagram of the control system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
As shown in fig. 1 to 5, the unmanned aerial vehicle parallel platform based on the pneumatic flexible joint can be applied to the fields of unmanned aerial vehicle parking platforms, simulation cabin training platforms and the like. This parallel platform includes platform 1 and the ground plate 2 that rises and falls of upper and lower level and concentric setting, and platform 1 and ground plate 2 agricultural unmanned aerial vehicle's that rises and falls volume sets up, can be regular structures such as circular, square, regular pentagon, regular hexagon to agricultural unmanned aerial vehicle lands from arbitrary direction.
Be equipped with bracing piece 4 between platform 1 and the ground plate 2 rises and falls, the upper end on the bracing piece 4 is put through ball joint 5 and platform 1's that rises and falls central point and is connected, and the lower extreme of bracing piece 4 is put fixedly with the central point of ground plate 2, bracing piece 4 is including the slide bar 41 and the sliding sleeve 42 that cup joint, sliding sleeve 42 is gone up and is had the spout in its axle center, slide bar 41 can slide from top to bottom in the spout, the bottom of spout is equipped with the spring body 43 that is in compression state.
A flexible supporting mechanism is arranged between the lifting platform 1 and the grounding plate 2, and the flexible supporting mechanism is provided with at least three flexible joints 3 which are annularly and uniformly distributed by taking the supporting rod 4 as a circle center; each flexible joint 3 comprises a plate spring 31 and rigid connecting pieces 32 fixed at two ends of the plate spring 31, the two rigid connecting pieces 32 are respectively connected with the corresponding lifting platform 1 and the corresponding grounding plate 2 through ball joints 5, each flexible joint 3 further comprises a driving cylinder 33 used for driving the plate spring 31 to axially deform so as to enable the lifting platform 1 to pitch or roll, and the driving cylinder 33 is connected with a control system used for adjusting the extension amount of a cylinder rod of the driving cylinder 33.
Control system includes control circuit and the pneumatic circuit that links to each other with driving actuating cylinder 33, control circuit includes the controller, is used for detecting the attitude sensor that rises and falls the 1 gesture of platform when unmanned aerial vehicle descends and is used for detecting each position sensor who drives actuating cylinder 33 displacement volume, the signal input part of controller is connected with attitude sensor and position sensor, and pneumatic circuit is connected to control output. Specifically, attitude sensor can fix at the lower surface of platform 1 that rises and falls for detect unmanned aerial vehicle and descend to the platform 1 that rises and falls back, the platform 1 that rises and falls changes its self gesture when receiving unmanned aerial vehicle descending effect, mainly is inclination and inclination acceleration. The position sensor may be implemented as a displacement sensor mounted at the front end of the cylinder rod of the driving cylinder 33.
When the parallel platform is used, when an unmanned aerial vehicle lands on the landing platform 1, the landing platform 1 deflects along the ball joint 5 under the landing action of the unmanned aerial vehicle, the position sensor feeds the detected displacement of the driving air cylinder 33 back to the controller, the attitude sensor feeds the monitored attitude of the parallel platform back to the controller, the output quantity of the control system is determined according to the attitude requirement of the parallel platform, the controller calculates the optimal value of a control signal according to the displacement feedback of the driving air cylinder 33 and the attitude data of the parallel platform, and sends a control command to the pneumatic circuit to extend the driving air cylinder 33 at the corresponding position, so that closed-loop control is realized. According to the angle when unmanned aerial vehicle whereabouts, the flexible joint 3 of adjustment corresponding position, as shown in fig. 6-1 and fig. 6-2, make the platform 1 that rises and falls have the angle adjustment of every single move or roll direction to adapt to the different angles of unmanned aerial vehicle when descending, make the landing that unmanned aerial vehicle can be steady on the platform 1 that rises and falls, avoid unmanned aerial vehicle when descending and the platform 1 that rises and falls to have big contained angle to collide with and damage or landing scheduling problem.
It should be noted that both the attitude detection and the position detection are always performed, but before the unmanned aerial vehicle lands on the landing platform 1, the detection results of the both (in this case, within the error allowable range, the detection result is approximately consistent with the default initial output value of the sensor) will not cause the output of the control, that is, no control signal is generated, and the driving cylinder 33 will not act; when the landing action occurs, the position detection signal changes, the controller receives the change and then sends a control signal, the driving air cylinder 33 starts to act, the position detection changes, and the driving air cylinder 33 stops acting until the displacement meets the control deformation.
Specifically, regarding the adjustment of the flexible joint 3, the plate spring 31 is driven by the driving cylinder 33, and when the driving cylinder 33 is filled with high-pressure gas, the piston rod is extended and transmits force and moment to the plate spring 31, and the plate spring 31 is bent and deformed, so that the linear length of the flexible joint 3 is shortened, and the landing platform 1 is inclined to the side. After unmanned aerial vehicle descends steadily, drive the interior gas of actuating cylinder 33 and emit, under the effect of the restoring force of leaf spring 31, oppression drives actuating cylinder 33 piston rod and contracts, makes flexible joint 3 resume initial condition.
Wherein, the difference of the deflection of leaf spring 31 leads to the inclination that rises and falls platform 1 different, and the deflection of leaf spring 31 is controlled by the extension that drives actuating cylinder 33 piston rod, can realize carrying out accurate regulation to the inclination that rises and falls platform 1 through the extension that the regulation drives actuating cylinder 33 piston rod, further improves the stationarity when unmanned aerial vehicle descends. The flexible joint 3 uses the plate spring 31 as a deformation element and the cylinder as a driver to form the flexible joint 3, the pose adjustment of the parallel platform can be realized by controlling the flexible joint 3, and the adjustment process has good flexibility.
The pitching and rolling adjustment of the landing platform 1 can be realized by independently adjusting the left, right, front or rear flexible joints, the equivalent deformation of all the flexible joints is adjusted, and the height of the landing platform 1 can be adjusted.
During the tilting of the landing platform 1, the sliding rod 41 will slide in the sliding slot to adjust the length of the supporting rod 4. When the length of the supporting rod 4 is shortened, the sliding rod 41 compresses the spring body 43 downwards to enable the spring body 43 to be compressed for energy storage, once the flexible joint 3 tends to reset, the spring body 43 releases energy to provide enough spring restoring force, the parallel platform can be ensured to be in an initial position after being reset, the reference of each time of adjusting the control system is ensured to be unchanged, the control is more accurate, and the self-adaption is better.
In order to avoid the rotation in the adjustment process of the lifting platform 1 and to avoid the damage to the ball joint 5, the cross section of the sliding groove is rectangular, and the sliding rod 41 is provided with a rectangular sliding block matched with the sliding groove, so that the supporting rod 4 is ensured to have only the longitudinal translation freedom degree along the central axis and no rotation freedom degree around the central axis of the supporting rod, and the lifting platform 1 is fixed.
After unmanned aerial vehicle fell, operating personnel needed to change operations such as battery and pesticide loading to unmanned aerial vehicle, because different operating personnel differences in height, for the comfort level that improves the operation, highly there is different requirement to the platform 1 that rises and falls. And different requirements also exist for the height of the landing platform 1 due to differences in crop height. Therefore, an adjusting component 6 capable of adjusting the length of the flexible joint 3 and one end or two ends of the support rod 4 are respectively arranged at one end or two ends of the flexible joint.
Specifically, the adjusting assembly 6 comprises a locking threaded sleeve fixed with the lifting platform 1 or the grounding plate 2 and a screw rod fixed with the flexible joint 3 or the support rod 4 and matched with the locking threaded sleeve in a threaded manner, and the height of the lifting platform 1 can be adjusted by adjusting the length of the screw rod in the locking threaded sleeve. In addition, the flexible joint 3 can be detachably connected with the lifting platform 1 and the grounding plate 2 in a mode that two ends of the flexible joint 3 are connected through the adjusting assembly 6, and when the height of the lifting platform 1 needs to be adjusted greatly, the large-size flexible joint 3 can be replaced.
Regarding the specific connection structure between the driving cylinder 33 and the plate spring 31, the rigid connection member 32 is L-shaped, the transverse end of the rigid connection member is fixed to the ball joint 5, the vertical end of the rigid connection member is fixed to the plate spring 31, an L-shaped support 34 is further fixed to the outer side of the vertical end of the rigid connection member, two ends of the driving cylinder 33 are hinged to the corresponding supports 34, a gap is formed between the driving cylinder 33 and the plate spring 31, and a deformation space of the plate spring 31 is reserved. A double lug joint 36 is fixed at both ends of the driving cylinder 33, and the double lug joint 36 is rotatably connected with a single lug joint 35 fixed on the support 34.
In addition, the plate spring 31 may be a rectangular plate spring 31 having a uniform cross section, or may be a variable cross section type, such as a double trapezoidal plate spring 31 or a parabolic plate spring 31, and the variable cross section plate spring 31 not only can save resources but also has better flexibility.
As shown in fig. 7, the control system includes a pneumatic circuit and a control circuit, and realizes the electro-pneumatic conversion, and realizes the pose control of the parallel platform by controlling the air supply amount of the driving cylinder 33. High-pressure gas in the pneumatic circuit sequentially passes through the two-position five-way reversing valve and the proportional control valve in pipeline transmission and then is used as a gas source for driving the air inlet and the air outlet of the air cylinder 33. And the two-position five-way reversing valve is controlled to be electrified on the left side or the right side, the air inlet of the driving cylinder 33 is controlled and the piston rod is extended, or the air outlet of the driving cylinder 33 is controlled and the piston rod is retracted, and the air flow is regulated by the proportional control valve. The control output end of the controller is connected with a two-position five-way reversing valve and a proportional control valve of the pneumatic circuit.
In the control process, the controller can adjust the action response speed and amplitude of the driving cylinder 33 by adjusting the gas flow of the proportional control valve, thereby realizing the adjustment of the bending speed and the bending deformation of the flexible joint 3. The controller is a programmable logic controller based on a PLC, and has accurate inverse kinematics solution due to the symmetrical structure of the connecting platform, thereby facilitating the programming of programs in the controller. The control system of the parallel platform is designed by adopting the pneumatic circuit and the control circuit, so that the control is simple, the structure is exquisite, and the manufacturing cost is low.
The control system has the following advantages: 1) the pose control of the parallel platform needs to control three groups of two-position five-way reversing valves and proportional control valves at least, so that the generation of redundant control quantity is avoided, and the design difficulty of a controller is reduced; 2) the output force balance of the flexible joint 3 determines the final balance pose of the lifting platform, and the output force of the flexible joint 3 depends on the output force of the air cylinder.
In order to ensure the cleanliness of the gas entering the driving cylinder 33, an air source triple piece, namely F.R.L, is further arranged in front of the two-position five-way reversing valve, and three air source processing elements, namely an air filter (F), a pressure reducing valve (R) and an oil atomizer (L), are assembled together to form a piece, so that the piece is used for purifying, filtering and reducing the pressure of an air source entering a pneumatic instrument to the rated air source pressure supplied to the instrument, and the function of the piece is equivalent to the function of a power transformer in a circuit.
The above is only a preferred embodiment of the invention, and any simple modifications, variations and equivalents of the invention may be made by anyone in light of the above teachings and fall within the scope of the invention.
Claims (8)
1. The utility model provides an unmanned aerial vehicle platform that connects in parallel based on pneumatic flexible joint, includes platform (1) and ground plate (2) that rise and fall of upper and lower level and concentric setting, its characterized in that:
a support rod (4) is arranged between the lifting platform (1) and the ground plate (2), the upper end of the support rod (4) is connected with the center of the lifting platform (1) through a ball hinge joint (5), the lower end of the support rod (4) is fixed with the center of the ground plate (2), the support rod (4) comprises a slide rod (41) and a sliding sleeve (42) which are sleeved, a sliding groove is formed in the axis of the sliding sleeve (42), the slide rod (41) can slide up and down in the sliding groove, and a spring body (43) in a compressed state is arranged at the bottom of the sliding groove;
a flexible supporting mechanism is arranged between the lifting platform (1) and the grounding plate (2), and the flexible supporting mechanism is provided with at least three flexible joints (3) which are annularly and uniformly distributed by taking the supporting rod (4) as a circle center; each flexible joint (3) comprises a plate spring (31) and rigid connecting pieces (32) fixed at two ends of the plate spring (31), the two rigid connecting pieces (32) are respectively connected with a corresponding lifting platform (1) and a corresponding grounding plate (2) through a spherical hinge joint (5), each flexible joint (3) further comprises a driving cylinder (33) for driving the plate spring (31) to axially deform so as to enable the lifting platform (1) to pitch or roll, and the driving cylinder (33) is connected with a control system for adjusting the extension amount of a cylinder rod of the driving cylinder;
control system, including control circuit and with drive the pneumatic circuit that actuating cylinder (33) links to each other, control circuit includes the controller, is used for detecting the attitude sensor that platform (1) gesture rises and falls when unmanned aerial vehicle descends and is used for detecting each position sensor who drives actuating cylinder (33) displacement volume, the signal input part of controller is connected with attitude sensor and position sensor, and pneumatic circuit is connected to the control output.
2. The unmanned aerial vehicle parallel platform based on the pneumatic flexible joint of claim 1, wherein: the cross section of the sliding groove is rectangular, and a rectangular sliding block matched with the sliding groove is arranged on the sliding rod (41).
3. The unmanned aerial vehicle parallel platform based on the pneumatic flexible joint of claim 1, wherein: one end or two ends of the flexible joint (3) and one end or two ends of the support rod (4) are respectively provided with an adjusting component (6) capable of adjusting the length of the flexible joint.
4. The unmanned aerial vehicle parallel platform based on the pneumatic flexible joint of claim 3, wherein: the adjusting component (6) comprises a locking threaded sleeve fixed with the lifting platform (1) or the grounding plate (2) and a screw rod fixed with the flexible joint (3) or the support rod (4) and matched with the locking threaded sleeve in a threaded mode.
5. The unmanned aerial vehicle parallel platform based on the pneumatic flexible joint of claim 1, wherein: rigid connection spare (32) are L shape, and its horizontal end is fixed with ball joint (5), and its perpendicular end is fixed with leaf spring (31), still is fixed with support (34) of L shape in the outside of its perpendicular end, the both ends that drive actuating cylinder (33) are articulated with support (34) that correspond, it has the clearance to drive actuating cylinder (33) between leaf spring (31).
6. The unmanned aerial vehicle parallel platform based on the pneumatic flexible joint of claim 1, wherein: the plate spring (31) is of a variable cross-section type.
7. The unmanned aerial vehicle parallel platform based on the pneumatic flexible joint of claim 1, wherein: high-pressure gas in the pneumatic circuit is used as a gas source for driving the air inlet and the air outlet of the air cylinder (33) after sequentially passing through the two-position five-way reversing valve and the proportional control valve in pipeline transmission, and the control output end is connected with the two-position five-way reversing valve and the proportional control valve of the pneumatic circuit.
8. The unmanned aerial vehicle parallel platform based on the pneumatic flexible joint of claim 7, wherein: an air source triple piece is also arranged in front of the two-position five-way reversing valve.
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| CN111596687A (en) * | 2020-05-26 | 2020-08-28 | 北京航空航天大学 | Landing guide device and method for mobile platform of vertical take-off and landing unmanned aerial vehicle |
| CN112223254B (en) * | 2020-08-21 | 2022-05-24 | 南京航空航天大学 | Parallel passive compliant device |
| CN112916901A (en) * | 2021-03-04 | 2021-06-08 | 天蓬智慧建造(广东)科技有限公司 | Perforating machine capable of simultaneously perforating multiple holes |
| CN112918697B (en) * | 2021-04-03 | 2023-10-20 | 天津云翔无人机科技有限公司 | Unmanned aerial vehicle platform based on parallelly connected flexible joint |
| CN113311865A (en) * | 2021-05-27 | 2021-08-27 | 北京理工大学 | Unmanned aerial vehicle ground autonomous recovery method independent of ground-air data interaction |
| CN113190034B (en) * | 2021-05-28 | 2022-08-12 | 北京理工大学 | Unmanned aerial vehicle autonomous recovery system based on Stewart bearing platform |
| CN114019965A (en) * | 2021-10-28 | 2022-02-08 | 山东亚历山大智能科技有限公司 | Self-stabilizing balance omnidirectional moving mechanism and method for indoor robot |
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