CN110162068A - A kind of control method of self-balance robot - Google Patents
A kind of control method of self-balance robot Download PDFInfo
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- CN110162068A CN110162068A CN201910352331.4A CN201910352331A CN110162068A CN 110162068 A CN110162068 A CN 110162068A CN 201910352331 A CN201910352331 A CN 201910352331A CN 110162068 A CN110162068 A CN 110162068A
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- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Abstract
The present invention provides a kind of control methods of self-balance robot, stable DC source drive module is provided by power module, the direct current generator that control module issues instruction control execution module is run in the way of programming, and forms feedback loop by encoder；By each attitude angle in attitude detection module acquisition system, and it will be transmitted to master controller, composition control circuit controls motor.Sensor can directly read quaternary number and acceleration in the attitude detection module, it is accurately obtained inclination value and magnitude of angular velocity, so that the stability of self-balance robot is higher, it carries out adaptive to external environment while can utmostly reduce interference of the external environment to self-balance robot, to ensure that its safety and stability, in addition, reducing the algorithm pressure of master controller, the accuracy for improving data transmission, improves the real-time of system.
Description
Technical field
The present invention relates to self-balance robot fields, in particular to a kind of control method of self-balance robot.
Background technique
Self-balance robot is a kind of novel small vehicles, and model is similar to one-stage inverted pendulum, is had non-thread
Property and it is strong coupling the features such as.It is structurally characterized in that two-wheel is coaxial, and left and right parallel arrangement, self-balance robot is a height
Unstable system, gyroscope has good dynamic effect, but since there are temperature drifts for gyroscope, obtains after integrating when static
Angle can generate very big deviation；And accelerometer signal is denoised using smothing filtering, available good static angular,
But it is easy to be interfered by dynamic acceleration during the motion.Therefore, accelerometer is used alone or gyroscope is unable to obtain
Effectively reliable vehicle body attitude information, and this linear combination mode to cannot be considered in terms of in the stabilization of system, in face of compared with
When big interference, system is unstable, and therefore, it is necessary to study the high self-balance robots of a stability to realize self-balancing machine
Balance walking, the accurate walking, avoidance of device people.
A kind of control method of self-balance robot, the practical problem urgently handled in practical application there are also it is many not
It is proposed specific solution.
Summary of the invention
It is an object of the invention to propose a kind of control method of self-balance robot to solve described problem.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of control method of self-balance robot includes electrical system, and the electrical system is divided into control module, appearance
State detection module, wireless communication module, execution module, power module；Wherein power module provides stable straight for other parts
Electric power driving module is flowed, the direct current generator that control module issues in instruction control execution module is transported in the way of programming
Row, and feedback loop is formed by encoder；The variation of all directions attitude angle when system motion is measured by attitude detection module,
And it uploads data processing and is analyzed, while data feedback is to master controller, composition control circuit；
The attitude detection module uses sensor acquisition angle velocity and acceleration signal, straight by the DMP of sensor
It connects and reads quaternary number and acceleration and quaternary number is converted directly into robot inclination angle, motor is applied to by control module output
On voltage and steering, motor is controlled.
Optionally, the sensor is six axis inertial sensors.
Optionally, the six axis inertial sensors include 3 axis MEMS accelerometer and three axis MEMS gyro, are also wrapped
Containing a digital movement processor DMP, the data that 3 axis MEMS accelerometer and three axis MEMS gyro acquire can be melted
It closes, complete independently attitude algorithm.
Optionally, the six axis inertial sensors can be connect with other digital sensors is extended to nine axle sensors, energy
The signal for enough exporting nine axis, establishes complete spatial attitude information.
Optionally, the three axis MEMS gyro and the 3 axis MEMS accelerometer acquire x-axis, y-axis and z respectively
The voltage value of axis, is then converted into digital signal by ADC, is transmitted to Master control chip finally by I2C bus.
Optionally, the quaternary number is converted to the formula at robot inclination angle are as follows:
Wherein, Pitch rotation angle is exactly the inclination angle for the self-balance robot that necessary requirement obtains.
Optionally, realize that self-balance robot and external equipment carry out data communication by wireless communication module.
Optionally, the control module includes core controller, and the core controller is microcontroller embedded meter
Calculation machine system.
Optionally, expression formula is set in the control module, angle: balance angular deviation；Gyro_y:y shaft angle speed
Degree；V: velocity deviation；Vi: velocity deviation integral；Gyro_z:z axis angular rate, the expression formula are as follows:
PWM=angleKp+Gyro_yKd+VKps+ViKis+Gyro_zKpt.
Optionally, parameter tuning is carried out using aritical ratio method in the control module.
Compared with prior art, advantageous effects obtained by the present invention are:
1, control method of the invention is carried using sensor acquisition acceleration and acceleration signal by sensor
DMP directly reads quaternary number and acceleration, can be accurately obtained inclination value and magnitude of angular velocity, so that the stability of self-balance robot
It is higher, to realize balance walking, the accurate walking, avoidance of self-balance robot.
2, control method of the invention can carry out external environment adaptive while can utmostly reduce external environment
Interference to self-balance robot, to ensure that its safety and stability.
3, control method of the invention can be reduced the algorithm pressure of master controller, improves the accuracy of data transmission, mentions
The high real-time of system.
Detailed description of the invention
From following description with reference to the accompanying drawings it will be further appreciated that the present invention.Component in figure is not drawn necessarily to scale,
But it focuses on and shows in the principle of embodiment.In different views, identical appended drawing reference specifies corresponding part.
Fig. 1 is a kind of total system figure of the control method of self-balance robot in one of embodiment of the present invention；
Fig. 2 is a kind of control module flow chart of the control method of self-balance robot in one of embodiment of the present invention.
Fig. 3 is a kind of aritical ratio method progress parameter of the control method of self-balance robot in one of embodiment of the present invention
The system diagram of adjusting.
Specific embodiment
In order to enable the objectives, technical solutions, and advantages of the present invention are more clearly understood, below in conjunction with embodiment, to this
Invention is further elaborated；It should be appreciated that described herein, the specific embodiments are only for explaining the present invention, and does not have to
It is of the invention in limiting.To those skilled in the art, after access is described in detail below, other systems of the present embodiment
System, method and/or feature will become obvious.All such additional systems, method, feature and advantage are intended to be included in
It in this specification, is included within the scope of the invention, and by the protection of the appended claims.In description described in detail below
The other feature of the disclosed embodiments, and these characteristic roots will be apparent according to described in detail below.
The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention；It is retouched in of the invention
In stating, it is to be understood that if having term " on ", "lower", " left side ",
The orientation or positional relationship of instructions such as " right sides " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
The description present invention and simplified description, rather than the device or component of indication or suggestion meaning must have a particular orientation, with spy
Fixed orientation construction and operation, therefore the terms describing the positional relationship in the drawings are only for illustration, should not be understood as pair
The limitation of this patent can understand the specific of above-mentioned term for the ordinary skill in the art as the case may be
Meaning.
The present invention is a kind of control method of self-balance robot, and following embodiment is told about according to Fig. 1-3:
Embodiment one:
A kind of control method of self-balance robot includes electrical system, and the electrical system is divided into control module, appearance
State detection module, wireless communication module, execution module, power module；Wherein power module provides stable straight for other parts
Electric power driving module is flowed, the direct current generator that control module issues in instruction control execution module is transported in the way of programming
Row, and feedback loop is formed by encoder；The variation of all directions attitude angle when system motion is measured by attitude detection module,
And it uploads data processing and is analyzed, while data feedback is to master controller, composition control circuit；
The attitude detection module uses sensor acquisition angle velocity and acceleration signal, straight by the DMP of sensor
It connects and reads quaternary number and acceleration and quaternary number is converted directly into robot inclination angle, motor is applied to by control module output
On voltage and steering, motor is controlled.
Wherein, the sensor is six axis inertial sensors；The six axis inertial sensors include that 3 axis MEMS adds
Speedometer and three axis MEMS gyro can be by 3 axis MEMS accelerometers and three axis also comprising a digital movement processor DMP
The data of MEMS gyroscope acquisition are merged, complete independently attitude algorithm；The six axis inertial sensors can be with other numbers
The connection of word sensor is extended to nine axle sensors, can export the signal of nine axis, establish complete spatial attitude information；Institute
The three axis MEMS gyro and the 3 axis MEMS accelerometer stated acquire the voltage value of x-axis, y-axis and z-axis respectively, then lead to
It crosses ADC and is converted into digital signal, be transmitted to Master control chip finally by I2C bus；The quaternary number is converted to robot
The formula at inclination angle are as follows:
Pitch rotation angle is exactly the trolley inclination angle that necessary requirement obtains；Self-balance robot is realized by wireless communication module
Data communication is carried out with external equipment；The control module includes core controller, and the core controller is single-chip microcontroller
Embedded computer system；Expression formula is set in the control module, angle: balance angular deviation；Gyro_y:y shaft angle speed
Degree；V: velocity deviation；Vi: velocity deviation integral；Gyro_z:z axis angular rate, the expression formula are as follows:
PWM=angleKp+Gyro_yKd+VKps+ViKis+Gyro_zKpt；In the control module
Parameter tuning is carried out using aritical ratio method.
Embodiment two:
Referring to Fig. 1, a kind of control method of self-balance robot includes electrical system, and the electrical system is divided into control
Module, attitude detection module, wireless communication module, execution module, power module；Wherein power module provides surely for other parts
Fixed DC power supply drive module, control module issue the direct current generator in instruction control execution module according to the side of programming
Formula operation, and feedback loop is formed by encoder；The variation of all directions attitude angle when system motion is surveyed by attitude detection module
Amount, and uploads data processing and is analyzed, while data feedback is to master controller, composition control circuit；Pass through wireless telecommunications mould
Block realizes that self-balance robot and external equipment carry out data communication.
The attitude detection module uses sensor acquisition angle velocity and acceleration signal, straight by the DMP of sensor
It connects and reads quaternary number and acceleration and quaternary number is converted directly into robot inclination angle, motor is applied to by control module output
On voltage and steering, motor is controlled.
The sensor is six axis inertial sensors comprising 3 axis MEMS accelerometer and three axis MEMS gyro,
Also comprising a digital movement processor DMP, the data that 3 axis MEMS accelerometer and three axis MEMS gyro can be acquired into
Row fusion, complete independently attitude algorithm；And the six axis inertial sensors can connect with other digital sensors and be extended to nine
Axle sensor can export the signal of nine axis, establish complete spatial attitude information.It is described when chip works normally
Three axis MEMS gyro and the 3 axis MEMS accelerometer acquire the voltage values of x-axis, y-axis and z-axis respectively, then pass through
ADC is converted into digital signal, is transmitted to Master control chip finally by I2C bus, main control chip by using 400KHz I2C
Mode communicated with other equipment, piece is embedded with FIFO and high precision oscillator an of temperature sensor, 1024 bytes,
The data of gyroscope and accelerometer can be carried out fusion calculation by DMP digital moving processing engine, directly output quaternary number,
STM32 can be obtained by the inclination angle of robot by simply calculating, and so that main controller is not had to additional execution blending algorithm, has
More times go various parameters and electric machine speed regulation in processing and control module, alleviate the pressure of main control, improve system
Real-time；The quaternary number is converted to the formula at robot inclination angle are as follows:
Quaternary number is exactly the number shaped like ai+bj+ck+d, and wherein a, b, c, d are real numbers, and i, j, k are imaginary number, a2+b2+c2+
The square root of d2, the referred to as mould of quaternary number.Definition:
Q=[w x y z]T
|q|2=w2+x2+y2+z2=1；
A quaternary number can be constructed by rotary shaft and around the angle of the rotary shaft:
W=cos (α/2)
X=sin (α/2) cos (Roll)
Y=sin (α/2) cos (Pitch)
Z=sin (α/2) cos (Yaw)
Wherein, α is the angle around rotary shaft；Cos (Roll), cos (Pitch), cos (Yaw) are rotary shaft in x, y, z side
To component；
Quaternary counts to the conversion at inclination angle:
Wherein, Pitch rotation angle is exactly the inclination angle for the self-balance robot that necessary requirement obtains.
Referring to fig. 2, the present invention must carry out MPU6050 relevant first using the digital moving processor inside MPU6050
Beginningization and setting, are transferred in initializing sensor module, carry out a series of procedure operation by control module, carry out PWM
Output or control motor.
The control module includes core controller, and the core controller is microcontroller embedded department of computer science
System.
Referring to Fig. 3, expression formula is set in the control module, angle: balance angular deviation；Gyro_y:y shaft angle speed
Degree；V: velocity deviation；Vi: velocity deviation integral；Gyro_z:z axis angular rate, the expression formula are as follows:
PWM=angleKp+Gyro_yKd+VKps+ViKis+Gyro_zKpt.
Parameter tuning is carried out using aritical ratio method in the control module, steps are as follows for adjusting:
(1) additional proportion controlling unit, other parameters are set as zero in control module, increase the proportional gain of master controller
Parameter P value observes output valve, until threshold oscillation occurs in system, i.e., it is believed that system reaches critical state, finally determines ratio
Gain parameter P value is the 60%-70% of current value；
(2) after determining proportional gain parameter P value, a biggish Ti value is taken, Ti value is then gradually reduced, until system goes out
It now vibrates, conversely, being gradually increased Ti value, until system oscillation disappears, finally determines that parameter Ti value is the 150%- of current value
180%；
(3) the determination method of parameter differential time constant Td value is identical as proportional gain parameter P value method, when taking nonoscillatory
30%.
In addition, system export nonoscillatory when, as far as possible scaling up gain parameter P value, reduce integration time constant Ti and
Increase derivative time constant Td.
In this embodiment, pair and its people carries out closed-loop control, and result is output to execution after calculating by control module
In module.
Embodiment three:
A kind of control method of self-balance robot includes electrical system, provides stabilization by power module for other parts
DC power supply drive module, control module issue instruction control execution module in direct current generator in the way of programming
Operation, preceding summary initialize a module, which is the initialization operation of entire self-balance robot, including master
The initialization of controller, the initialization of execution module, wireless communication initialization, interrupts initialization operation at sensor initializing, in
Disconnected initialization can accurately control embedded OS, realize a series of functions, and wireless communication module initialization operation can be
Communication between chip provides safeguard, and the initialization of sensor can more accurately detect posture information；And it is made of encoder
Feedback loop；The variation of all directions attitude angle when system motion is measured by attitude detection module, and uploads data processing progress
Analysis, while data feedback is to master controller, composition control circuit；Execution module initialization can carry out the parameter of motor initial
Change, especially the initial value of the encoder in execution module is recorded.
The attitude detection module uses sensor acquisition angle velocity and acceleration signal, straight by the DMP of sensor
It connects and reads quaternary number and acceleration and quaternary number is converted directly into robot inclination angle, motor is applied to by control module output
On voltage and steering, motor is controlled.It controls, needs in self-balancing since general attitude transducer not can be used directly
It is filtered, be fitted etc. according to the selection of real sensor and system situation and calculate, transmitted to obtain controllable posture information,
Reduce the algorithm pressure of master controller.
In the particular embodiment, the sensor is six axis inertial sensors；The six axis inertial sensor packets
3 axis MEMS accelerometer and three axis MEMS gyro are included, also comprising a digital movement processor DMP, 3 axis MEMS can be added
Speedometer and the data of three axis MEMS gyro acquisition are merged, complete independently attitude algorithm；The six axis inertia sensings
Device can connect with other digital sensors and be extended to nine axle sensors, can export the signal of nine axis, establish complete empty
Between posture information；The three axis MEMS gyro and the 3 axis MEMS accelerometer acquire x-axis, y-axis and z-axis respectively
Then voltage value is converted into digital signal by ADC, be transmitted to Master control chip finally by I2C bus；Six axis inertia sensings
Gyroscope dynamic property in device is preferable, and accelerometer static properties is preferable, and according to its characteristic, energy design setting value obtains quaternary
Number.The quaternary number is converted to the formula at robot inclination angle are as follows:
Pitch rotation angle is exactly the trolley inclination angle that necessary requirement obtains；Self-balance robot is realized by wireless communication module
Data communication is carried out with external equipment；The control module includes core controller, and the core controller is single-chip microcontroller
Embedded computer system；
In a preferred embodiment, self-balance robot is using pid control algorithm by designing reasonable PID control ginseng
Number is to complete position control function.PID control is made of proportional unit P, integral unit I and differentiation element D.By Kp, Ki and
The setting of tri- parameters of Kd.PID controller is primarily adapted for use in substantially linear and dynamic characteristic time invariant system, is one
A common feedback loop component in Industry Control Application.This controller carries out the data being collected into and a reference value
Compare, then this difference for calculating new input value, the purpose of this new input value is can to allow the data of system
Reach or be maintained at reference value.Different with other simple control operations, PID controller can be according to historical data and difference
Occurrence rate adjust input value, system can be made more accurate in this way, it is more stable.In this embodiment, using critical ratio
Example method carries out parameter tuning, and steps are as follows for adjusting:
(1) additional proportion controlling unit, other parameters are set as zero in control module, increase the proportional gain of master controller
Parameter P value observes output valve, until threshold oscillation occurs in system, i.e., it is believed that system reaches critical state, finally determines ratio
Gain parameter P value is the 60%-70% of current value；
(2) after determining proportional gain parameter P value, a biggish Ti value is taken, Ti value is then gradually reduced, until system goes out
It now vibrates, conversely, being gradually increased Ti value, until system oscillation disappears, finally determines that parameter Ti value is the 150%- of current value
180%；
(3) the determination method of parameter differential time constant Td value is identical as proportional gain parameter P value method, when taking nonoscillatory
30%.
In addition, system export nonoscillatory when, as far as possible scaling up gain parameter P value, reduce integration time constant Ti and
Increase derivative time constant Td.
Using the real-time position information of the reacted self-balance robot of the encoder in execution module as self-balancing controller
Feedback quantity, the control amount of self-balancing control is obtained by way of the iteration of position, by the difference of control amount and feedback quantity as closing
Result, is output in execution module by the input quantity of ring PID control after calculating.
Wherein, expression formula is set, angle: balance angular deviation；Gyro_y:y axis angular rate；V: velocity deviation；Vi: speed
Spend deviation integration；Gyro_z:z axis angular rate, the expression formula are as follows:
PWM=angleKp+Gyro_yKd+VKps+ViKis+Gyro_zKpt；
The execution module includes motor, driving wheel and the location information for Real-time Feedback self-balance robot
Encoder.Wherein, motor connects driving wheel, and encoder connects motor, and encoder turns the angle change that motor rotation generates
Become the yardage variation of itself, and then generate the variation of electric signal, the variation of electric signal is believed as the position of self-balance robot
Breath feeds back to the self-balancing positioner, and encoder has degree of precision, in real time, accurately feed back self-balancing machine
The location information of device people, Fig. 1 depicted with encoder how with motor realize information feedback；Fig. 2 has depicted control
Information feedback relationship in molding block between pid control algorithm and other modules；Fig. 3 has depicted specific optimization PID control
The design parameter of algorithm processed adjusts step.
In synthesis, the control method of self-balance robot of the invention is easy, can mitigate the algorithm pressure of master controller, obtain
To more accurately dip angle parameter, so that self-balance robot more stability and security.
Although describing the present invention by reference to various embodiments above, but it is to be understood that of the invention not departing from
In the case where range, many changes and modifications can be carried out.That is methods discussed above, system and equipment are examples.
Various configurations can be omitted suitably, replace or add various processes or component.For example, in alternative configuration, can with institute
The order in a different order of description executes method, and/or can add, and omits and/or combine various parts.And about certain
The feature of configuration description can be combined with various other configurations, can such as combine the different aspect and member of configuration in a similar way
Element.In addition, can update as technology develops element therein, i.e., many elements are examples, are not intended to limit the disclosure or right
It is required that range.
Give detail in the description to provide to the thorough understanding for including the exemplary configuration realized.However,
Configuration can be practiced without these specific details for example, having been illustrated with well-known circuit, and process is calculated
Method, structure and technology are without unnecessary details, to avoid fuzzy configuration.The description only provides example arrangement, and unlimited
The scope of the claims processed, applicability or configuration.It is used on the contrary, front will provide the description of configuration for those skilled in the art
Realize the enabled description of described technology.It, can be to the function of element without departing from the spirit or the scope of the present disclosure
It can and arrange and carry out various changes.
To sum up, be intended to foregoing detailed description be considered as it is illustrative and not restrictive, and it is to be understood that below
Claim (including all equivalents) is intended to limit the spirit and scope of the present invention.The above embodiment is interpreted as only using
In illustrating the present invention rather than limit the scope of the invention.After the content for having read record of the invention, technology
Personnel can make various changes or modifications the present invention, these equivalence changes and modification equally fall into the claims in the present invention and limited
Fixed range.
Claims (10)
1. a kind of control method of self-balance robot, which is characterized in that including electrical system, the electrical system is divided into control
Molding block, attitude detection module, wireless communication module, execution module, power module；Wherein power module provides for other parts
Stable DC source drive module, control module issue the direct current generator in instruction control execution module according to programming
Mode is run, and forms feedback loop by encoder；The variation of all directions attitude angle when system motion, by attitude detection module
Measurement, and uploads data processing and is analyzed, while data feedback is to master controller, composition control circuit.
2. the control method of self-balance robot as described in claim 1, which is characterized in that the attitude detection module is adopted
With sensor acquisition angle velocity and acceleration signal, quaternary number and acceleration are directly read by the DMP of sensor and by quaternary
Number is converted directly into robot inclination angle, and motor is controlled in the voltage being applied on motor by control module output and steering
System.
3. the control method of the self-balance robot as described in one of preceding claims, which is characterized in that the sensor
For six axis inertial sensors, the six axis inertial sensors include 3 axis MEMS accelerometer and three axis MEMS gyro, are gone back
Comprising a digital movement processor DMP, the data that 3 axis MEMS accelerometer and three axis MEMS gyro acquire can be carried out
Fusion, complete independently attitude algorithm.
4. the control method of the self-balance robot as described in one of preceding claims, which is characterized in that six axis are used
Property sensor can be connect with other digital sensors is extended to nine axle sensors, can export the signal of nine axis, establish
Whole spatial attitude information.
5. the control method of the self-balance robot as described in one of preceding claims, which is characterized in that three axis
MEMS gyroscope and the 3 axis MEMS accelerometer acquire the voltage value of x-axis, y-axis and z-axis respectively, are then turned by ADC
It changes digital signal into, is transmitted to Master control chip finally by I2C bus.
6. the control method of the self-balance robot as described in one of preceding claims, which is characterized in that the quaternary number
Be converted to the formula at robot inclination angle are as follows:
Wherein, Pitch rotation angle is exactly the inclination angle for the self-balance robot that necessary requirement obtains.
7. the control method of the self-balance robot as described in one of preceding claims, which is characterized in that pass through wireless telecommunications
Module realizes that self-balance robot and external equipment carry out data communication.
8. the control method of the self-balance robot as described in one of preceding claims, which is characterized in that the control mould
Block includes core controller, and the core controller is microcontroller embedded computer system.
9. the control method of the self-balance robot as described in one of preceding claims, which is characterized in that the control mould
Expression formula is set in block, angle: balance angular deviation；Gyro_y:y axis angular rate；V: velocity deviation；Vi: velocity deviation product
Point；Gyro_z:z axis angular rate, the expression formula are as follows:
PWM=angleKp+Gyro_yKd+VKps+ViKis+Gyro_zKpt.
10. the control method of the self-balance robot as described in one of preceding claims, which is characterized in that the control mould
Parameter tuning is carried out using aritical ratio method in block.
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| CN112744308A (en) * | 2021-01-18 | 2021-05-04 | 北京博清科技有限公司 | Overturn-preventing wall-climbing robot and control method |
| CN113911360A (en) * | 2021-11-13 | 2022-01-11 | 太原理工大学 | Single-duct unmanned detection flying robot |
| CN115813332A (en) * | 2023-02-17 | 2023-03-21 | 成都信和创业科技有限责任公司 | Eye tracker detection device for simulating eyeball movement |
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| CN112744308B (en) * | 2021-01-18 | 2022-06-21 | 北京博清科技有限公司 | Overturn-preventing wall-climbing robot and control method |
| CN113911360A (en) * | 2021-11-13 | 2022-01-11 | 太原理工大学 | Single-duct unmanned detection flying robot |
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