CN111993427A - Self-stability-increasing control method, device, terminal, system and readable storage medium for aerial work robot - Google Patents
Self-stability-increasing control method, device, terminal, system and readable storage medium for aerial work robot Download PDFInfo
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Abstract
The invention discloses a self-stability-increasing control method, a self-stability-increasing control device, a self-stability-increasing control terminal, a self-stability-increasing control system and a readable storage medium of an aerial work robot, wherein the method comprises the following steps: acquiring attitude information of the aerial work robot; calculating a position compensation vector based on the attitude information; and performing attitude disturbance compensation control by using the position compensation vector based on inverse kinematics. The invention deduces a position compensation vector formula based on the position vector relation between the operation platform and the tail end operation tool in the attitude transformation process of the aerial operation robot, further monitors the attitude change of the flying platform of the aerial operation robot and correspondingly calculates the position compensation vector in the actual control process, and then controls the joints of the robot to complete compensation control, thereby solving the problem of the disturbance of the tail end operation tool caused by the attitude change of the flying platform, leading the tail end operation tool to achieve the self-stabilization effect and ensuring that the aerial operation robot is not influenced by the attitude disturbance of the flying platform.
Description
Technical Field
The invention belongs to the technical field of aerial work robot control, and particularly relates to a self-stability-increasing control method, a self-stability-increasing control device, a self-stability-increasing control terminal, a self-stability-increasing control system and a readable storage medium of an aerial work robot.
Background
With the rapid development of micro-electromechanical system technology and high power density power system technology, unmanned aerial vehicles, especially rotor unmanned aerial vehicles, have made major breakthroughs and great application progress in the past two decades, such as aerial photography, map creation and measurement, natural disaster rescue, battlefield monitoring and the like. But simple unmanned aerial vehicle also has its restriction and limitation, carry on relevant measuring equipment as unmanned aerial vehicle and can only regard as the passive information observation type robot to have no main action ability, and unmanned aerial operation robot comprises unmanned aerial vehicle flight platform and initiative operation mechanism, has the ability of carrying out initiative operation to the environment, great extension unmanned aerial vehicle's limitation. The air robot is a special mobile robot, and key core technical research of the air robot has important significance for promoting rapid development of civil unmanned aerial vehicles in China and informatization and intelligentization promotion of national defense equipment. At present, an aerial work robot is mainly widely applied to a passive information observation robot, but the application scene is greatly limited, an active execution mechanism (such as a mechanical arm, a dexterous hand and the like) is added on the basis of the information observation type aerial robot to obtain the aerial work robot which can integrate perception observation and active operation, and the aerial work robot is a necessary trend of current aerial robot development and research, the research of the aerial work robot has an important reference significance for promoting the perfection of a mobile work type robot system theory, and the aerial work robot has a wide application prospect in the maintenance operation of national major energy engineering facilities.
The flying platform used by the aerial operation robot is generally a rotor flying platform (such as a helicopter, a quadrotor and the like), and has the common characteristic of under-actuation. And due to the existence of the active operating mechanism, the gravity center position and the received interference of the operating type flying platform system in the working process have strong quick time-varying characteristics, which needs the rotor flying platform to respond by changing the flying posture of the rotor flying platform. However, in the process of modulating the attitude of the flying platform, the tail end of the operating mechanism fixedly connected to the bottom of the flying platform is greatly disturbed so as to deviate from the original position, which is very not beneficial to aerial operation and especially has great influence on precise control.
In view of the above, it is necessary to solve the self-stability problem of the aerial work robot, so as to realize the precise control of the operation end.
Disclosure of Invention
The invention aims to provide a self-stability-increasing control method for an aerial work robot, which solves the problem of disturbance of a work mechanism when the attitude of a flight platform changes, and further realizes accurate control of the tail end of the work mechanism.
In one aspect, the invention provides a self-stability-increasing control method for an aerial work robot, which comprises the following steps:
acquiring attitude information of the aerial work robot;
calculating a position compensation vector based on the attitude information;
and performing attitude disturbance compensation control by using the position compensation vector based on inverse kinematics.
Further preferably, the attitude information is a translation offset and a rotation transformation matrix of a body coordinate system of the flying platform when the attitude of the aerial work robot changes, and the position compensation vector is as follows:
in the formula, OBIs a manipulator base coordinate system in an initial state
Of origin, O'BIs a manipulator base coordinate system after posture transformation
P is the target position of the end-working tool,
in order to be a position compensation vector, the position compensation vector,
is the manipulator base coordinate of the initial state
A target position vector of the lower end work tool,VtV'andVRV'respectively, translational offset and rotational transformation matrices (i.e., obtained by airborne visual sensor measurement and IMU inertial measurement) of the flight platform body coordinate system before and after attitude transformation, I3×3Is an identity matrix of the same order,VtBbase coordinates of manipulator in initial state
And flight platform body coordinate system
T is the matrix transpose sign.
The robot position and attitude are obtained based on airborne vision sensor measurement, IMU inertial measurement and other measurements, and then a translation deviation and rotation transformation matrix expressed by the robot position and attitude is obtained.
Wherein one state exists is the manipulator basis coordinate system
The displacement does not occur, and the translation displacement of the flight platform body coordinate system before and after the attitude transformation is ignoredVtV'And initial state manipulator base coordinates
And flight platform body coordinate system
Original offset vector ofVtBAt this time, the position compensation vector
Further preferably, the attitude information is acquired based on an onboard sensor on the aerial work robot.
Further preferably, the onboard sensors comprise a vision sensor and an IMU.
Preferably, the acquired attitude information comprises a translation offset of a body coordinate system of the flight platform, a rotation transformation matrix and manipulator base coordinates in an initial state when the attitude of the aerial work robot changes
A target position vector of the lower end work tool.
In a second aspect, the present invention provides a self-stability-increasing control device for an aerial work robot, comprising:
acquiring a posture module: the attitude information of the aerial work robot is acquired;
a position compensation vector calculation module: for calculating a position compensation vector based on the attitude information;
the compensation control module: for inverse kinematics based attitude disturbance compensation control using the position compensation vector S1: and establishing a coordinate system of the aerial work robot.
In a third aspect, the invention provides a self-stability-increasing control terminal of an aerial work robot, which comprises a processor and a memory, wherein the memory stores a computer program, and the processor calls the computer program to execute the steps of the method.
In a fourth aspect, the invention provides a self-stability-increasing control system for aerial work robots, which comprises aerial work robots and control modules, wherein the control modules are connected with power modules of the aerial work robots, and the control modules are the self-stability-increasing control devices or the self-stability-increasing control terminals.
In a fifth aspect, the invention provides a readable storage medium storing a computer program for being invoked by a processor for performing the steps of the method.
Advantageous effects
The self-stability-increasing control method provided by the invention researches the change situation of a manipulator base coordinate system, an end effector coordinate system and a tool coordinate system in the attitude transformation process of the aerial work robot, deduces a position compensation vector based on the position vector relation, so that the joint angle required by achieving the target attitude is obtained by inverse kinematics, the joint of the robot is controlled to complete compensation control, the problem of disturbance of an end work tool caused by the attitude change of a flying platform is solved, the end work tool achieves the self-stability effect, the aerial work robot is ensured to normally work without being influenced by the attitude disturbance of the flying platform, and the precise control of the end work tool is realized.
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Fig. 1 is a schematic flow chart of the self-stability-increasing control method of the invention.
FIG. 2 is an inverse kinematics based pose disturbance compensation geometry.
Detailed Description
The invention provides a self-stability-increasing control method for an aerial work robot, which is used for solving the problem of tail end disturbance of a work mechanism caused by the change of the flight attitude of a flight platform. According to the invention, a position compensation vector is solved by researching a vector relation satisfied in the attitude change process of the flight platform, and then a joint angle vector required when the target pose is reached is obtained by utilizing inverse kinematics, so that the relevant joint is controlled to achieve the self-stabilization effect. The present invention will be described with reference to the accompanying drawings. The described embodiments are only some embodiments of the invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
In order to implement the self-stability-increasing control method according to the embodiment of the present invention, firstly, a coordinate system of the unmanned aerial work robot needs to be constructed. Aiming at the characteristic that the structure of a composite system of the unmanned aerial work robot is complex, a kinematics model of the system is established in a unified coordinate system.
Step 1: firstly, a coordinate system of the unmanned aerial work robot is established, and a kinematics model of the system is established in a unified coordinate system aiming at the characteristic that the unmanned aerial work robot is a composite system with a complex structure. As shown in fig. 2.
Representing the world coordinate system, zIVertically upwards and in the opposite direction of gravity, OIIs the origin of the world coordinate system.
Body coordinate system representing a flight platform, with origin of coordinates OVPreferably in the geometric center of the flying platform, and zVThe direction is up.
Is a manipulator base coordinate system (manipulator, i.e. operating mechanism) with an origin OBIs a mounting point of the operating mechanism and the flying platform.
Based on the coordinate system, the process of studying the attitude change of the flying platform according to the present invention is shown in fig. 2, and it can be seen from the figure that when the attitude of the flying platform changes (deviates from the middle position in the figure), the end working tool moves to a position P' other than point P without the attitude compensation control, so the objective of the present embodiment is to maintain the end working tool at point P by actively controlling the movement of the working mechanism.
Specifically, the influence of the position deviation is considered, and when the flying platform moves and changes in posture, the coordinates
And
respectively become
And
the end effector with the central point P is directly arranged on the mechanical arm, and vectors are calculated from different directions
I.e. the sum of the two sides of the equation below is
Wherein,
is a coordinate system
The vector of the lower target foreign object position (obtained according to the position information detected by the airborne vision sensor) is also an expected position point after compensation control;VtBas a coordinate system
And a coordinate system
The original position offset vector in between,VtV'andVRV'are respectively a coordinate system
To a coordinate system
The translation offset and rotation transformation matrix of (a)VtV'AndVRV'obtained by airborne vision sensor measurement and IMU inertial measurement unit, respectively), position compensation vector
Comprises the following steps:
wherein, I3×3Is an identity matrix.
Therefore, based on the principle, the method for controlling the self-stability increase of the aerial work robot provided by the embodiment of the invention comprises the following steps:
s1: and acquiring attitude information of the aerial work robot.
In the specific embodiment, the attitude and position information is acquired by using the onboard sensor (visual odometer + IMU), and the problem of low precision of the GPS technology can be solved by using the visual inertial odometer VIO (visual odometer + IMU). The general visual sensor has a good effect in most scenes with rich textures, but if the general visual sensor meets scenes with few characteristics such as glass and white walls, the general visual sensor cannot basically work, positioning and tracking are easy to lose during rapid movement, monocular vision cannot measure the scale, but the vision does not drift, so that the rotation and translation can be directly measured. For an IMU, due to the existence of zero offset and noise, the IMU has very large accumulated errors after being used for a long time; the low-precision IMU long-time integral pose is easy to disperse, and the high-precision price is generally expensive; meanwhile, the IMU has the advantages of high output frequency, capability of outputting 6DoF measurement information and the like, and the relative displacement data has high precision in a short time. There is therefore a certain complementary nature of the visual and IMU positioning schemes; therefore, when the visual sensor rapidly moves and fails in a short time, IMU data are fused, short-time accurate positioning can be provided for vision, meanwhile, zero offset of the IMU is estimated by using visual positioning information, and divergence and accumulated errors of the IMU caused by the zero offset are reduced. Through the fusion of the two, the problem of low output frequency of visual pose estimation can be solved, meanwhile, the pose estimation precision is improved to a certain extent, and the whole system is more robust, so that the visual odometer and the IMU are selected to acquire the pose information in the embodiment.
S2: a position compensation vector is calculated based on the attitude information. The translation offset of the body coordinate system of the flight platform when the attitude of the aerial work robot changes can be obtained by using the airborne sensor to obtain the position and the attitudeVtV'Rotation transformation matrixVRV'And initial state manipulator base coordinates
Target position vector of lower end working tool
And then using the derived position compensation vector
The position compensation vector is calculated by the formula (2).
S3: and performing attitude disturbance compensation control by using the position compensation vector based on inverse kinematics. Namely, the disturbance problem of the end working tool caused by the attitude change of the flying platform is compensated by using the inverse kinematics of the working mechanism, namely, the movement of the working mechanism is actively controlled, so that the end working tool is not influenced by the attitude change of the flying platform and deviates from the position of the end working tool in the correct operation, and the aerial robot can normally operate.
In particular, the resulting position compensation vector is utilized
(
Also considered as the desired spatial orientation of the taskQuantity xd T) Then obtaining a joint space position vector q by inverse kinematics solutiondSo that it satisfies:
then the obtained joint space position vector q is useddAnd the control end is transmitted to enable the controller to correspondingly control the joints of the robot, so that the robot can reach the target position. Wherein,
the inverse kinematics equation for the working mechanism is prior art, and therefore, the calculation process of the inverse kinematics is not specifically described in this embodiment. The working mechanism includes, but is not limited to, a series or parallel type mechanism.
Based on the above self-stability-increasing control method, the present invention further provides a self-stability-increasing control device for an aerial work robot, comprising: the system comprises an attitude module acquisition module, a position compensation vector calculation module and a compensation control module which are connected with each other. The attitude module acquires attitude information for acquiring the aerial work robot; the position compensation vector calculation module is used for calculating a position compensation vector based on the attitude information; and the compensation control module is used for performing attitude disturbance compensation control on the basis of inverse kinematics by using the position compensation vector.
For the implementation process of each module, please refer to the content of the above self-stability-increasing control method, which is not described herein again. It should be understood that the above described division of functional blocks is merely a division of logical functions and that in actual implementation there may be additional divisions, for example, where multiple elements or components may be combined or integrated into another system or where some features may be omitted, or not implemented. Meanwhile, the integrated unit can be realized in a hardware form, and can also be realized in a software functional unit form.
In some embodiments, the invention further provides a self-stability-increasing control terminal of an aerial work robot, which comprises a processor and a memory, wherein the memory stores a computer program, and the processor calls the computer program to execute the steps of the self-stability-increasing control method. It should also be understood that in some embodiments, the self-stabilizing control terminal is also a controller that integrates processing functions as well as storage functions.
In some embodiments, the invention further provides a self-stability-increasing control system for an aerial work robot, which includes the aerial work robot and a control module, the control module is connected with a power module of the aerial work robot, the control module is the self-stability-increasing control device or the self-stability-increasing control terminal, that is, the control module is a control center, and a relevant algorithm is run to realize control over a work mechanism in the aerial work robot.
In some embodiments, the invention provides a readable storage medium storing a computer program that is invoked by a processor to perform the steps of the method for increasing stability.
It should be understood that in the embodiments of the present invention, the Processor may be a Central Processing Unit (CPU), and the Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The memory may include both read-only memory and random access memory, and provides instructions and data to the processor. The portion of memory may also include non-volatile random access memory. For example, the memory may also store device type information.
The readable storage medium is a computer readable storage medium, which may be an internal storage unit of the controller described in any of the foregoing embodiments, for example, a hard disk or a memory of the controller. The readable storage medium may also be an external storage device of the controller, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the controller. Further, the readable storage medium may also include both an internal storage unit of the controller and an external storage device. The readable storage medium is used for storing the computer program and other programs and data required by the controller. The readable storage medium may also be used to temporarily store data that has been or will be output.
It should be emphasized that the examples described herein are illustrative and not restrictive, and thus the invention is not limited to the examples described in the specific embodiments, but rather, other embodiments may be devised by those skilled in the art without departing from the spirit and scope of the present invention, and it is intended to cover all modifications, alterations, and equivalents included within the scope of the present invention.
Claims (9)
1. A self-stability-increasing control method of an aerial work robot is characterized by comprising the following steps: the method comprises the following steps:
acquiring attitude information of the aerial work robot;
calculating a position compensation vector based on the attitude information;
and performing attitude disturbance compensation control by using the position compensation vector based on inverse kinematics.
2. The method of claim 1, wherein: the attitude information is a translation offset and a rotation transformation matrix of a body coordinate system of the flight platform when the attitude of the aerial work robot changes, and the position compensation vector is as follows:
in the formula, OBIs a manipulator base coordinate system in an initial state
Of origin, O'BIs a manipulator base coordinate system after posture transformation
P is the target position of the end-working tool,
in order to be a position compensation vector, the position compensation vector,
is the manipulator base coordinate of the initial state
A target position vector of the lower end work tool,VtV'andVRV'respectively a translation deviation and rotation transformation matrix of a body coordinate system of the flight platform before and after attitude transformation, I3×3Is an identity matrix of the same order,VtBbase coordinates of manipulator in initial state
And flight platform body coordinate system
T is the matrix transpose sign.
3. The method of claim 2, wherein: the attitude information is obtained based on an onboard sensor on the aerial work robot.
4. The method of claim 3, wherein: the onboard sensor includes a vision sensor and an IMU.
5. The method of claim 2, wherein: the obtained attitude information comprises translation offset, rotation transformation matrix and initial of a body coordinate system of the flying platform when the attitude of the aerial work robot changesState of manipulator base coordinates
A target position vector of the lower end work tool.
6. A self-stability-increasing control device of an aerial work robot is characterized in that: the method comprises the following steps:
acquiring a posture module: the attitude information of the aerial work robot is acquired;
a position compensation vector calculation module: for calculating a position compensation vector based on the attitude information;
the compensation control module: for inverse kinematics based attitude disturbance compensation control using the position compensation vector S1: and establishing a coordinate system of the aerial work robot.
7. The utility model provides an aerial work robot's steady control terminal of increase certainly which characterized in that: comprising a processor and a memory, said memory storing a computer program, said processor invoking said computer program to perform the steps of the method of any one of claims 1-5.
8. A self-stability-increasing control system of an aerial work robot is characterized in that: comprising an aerial work robot and a control module connected to the power module of the aerial work robot, the control module being the device of claim 6 or the terminal of claim 7.
9. A readable storage medium, characterized by: a computer program is stored, which is invoked by a processor to perform the steps of the method according to any of claims 1-5.
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| PCT/CN2021/075681 WO2022048112A1 (en) | 2020-09-03 | 2021-02-06 | Aerial operation robot for power transmission line maintenance and automatic stability augmentation control method therefor |
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