CN112092550A - Flying robot suitable for perching, climbing and grabbing and control method thereof - Google Patents
Flying robot suitable for perching, climbing and grabbing and control method thereof Download PDFInfo
- Publication number
- CN112092550A CN112092550A CN202011001408.2A CN202011001408A CN112092550A CN 112092550 A CN112092550 A CN 112092550A CN 202011001408 A CN202011001408 A CN 202011001408A CN 112092550 A CN112092550 A CN 112092550A
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- perching
- robot
- mechanical arms
- flying robot
- controlling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
Abstract
The invention discloses a flying robot suitable for perching, climbing and grabbing, which comprises a robot main body and mechanical arms arranged on two sides of the robot main body; the robot main body comprises a rack, a flight controller arranged on the rack, a propeller, a brushless motor used for driving the propeller to rotate and a camera used for collecting images around the robot; the mechanical arm comprises a steering engine I, a right-angle connecting rod, a steering engine II, an arm body and a bionic claw which are sequentially connected; the flying robot provided by the invention has four three-degree-of-freedom arms, the postures of the arms can be adjusted according to the structural characteristics of the inhabiting objects, so that the arms can stably inhabit on target objects, meanwhile, the climbing of tree disinclings can be simulated, the position of the flying robot can be adjusted, and simple objects can be grabbed for air transportation. The invention also discloses a control method of the flying robot, which can realize different attaching modes of the robot such as horizontal downward attaching, horizontal upward attaching, vertical attaching, oblique attaching and the like.
Description
Technical Field
The invention relates to the field of transportation, reconnaissance and monitoring of flying robots, in particular to a novel multifunctional flying robot structure design capable of perching, climbing and grabbing and a control method thereof.
Background
With the gradual maturity of the related technologies such as flight control algorithm, microprocessor, micro-electromechanical system, etc., the small flying robot has been widely applied to the operation scenes such as small cargo transportation, environmental monitoring, power inspection, post-disaster search and rescue, etc., and has obtained good practical effect. However, the conventional flying robot system can only maintain a flying state during operations such as monitoring and detection. Due to the limitation of the size and load of the small flying robot, the reserve of electric energy which can be effectively carried by the small flying robot is very limited, and the flying time of the whole robot is usually short, thereby bringing new challenges to the continuity of the operation.
Many scholars have proposed the concept of flying perching robots at home and abroad, such as a passive perching device of unmanned aerial vehicle designed by Courtney E of Utah university, a rope-driven under-actuated unmanned aerial vehicle claw proposed by Nadan P M of Fulang forest engineering institute, a modular perching device proposed by Kaiyu Hang of Yale university, a flexible perching device of unmanned aerial vehicle adapted to complex perching requirements proposed by LuoCao of China Petroleum university, and the like. However, the existing flying perching robot can only grasp or perch on or under an object through other modes, but most objects in the environment such as trees have a few branches growing horizontally, branches inclining at a certain angle and trunks growing vertically, so that the research on the flying robots of perching objects with a certain inclination angle and even positioned in the vertical direction is almost blank at present, and firstly, the flying perching robot has no novel perching structure, and secondly, the control and the operation are complex.
Disclosure of Invention
Therefore, the invention aims to improve the continuous operation capability, operation concealment and environmental adaptability of the unmanned aerial vehicle, and develop a flying robot which can adapt to inhabiting objects with different distribution angles and even adjust the self pose according to the structural characteristics of the inhabiting objects. Meanwhile, the novel flying robot is designed by researching the physical structure characteristics of animals with branches and trunks attached to trunks in the nature for a long time and combining with the existing aircraft, has four three-degree-of-freedom 'arms', can adjust the postures of the arms according to the structural characteristics of inhabiting objects, further stably inhabit on target objects, can simulate the idleness of trees to climb, adjust the position of the arms, and can grab simple objects to carry out air transportation. Finally, the invention also provides a control method for realizing different perching modes, namely horizontal downward perching, horizontal upward perching, vertical perching and oblique perching of the flying robot.
The invention relates to a flying robot suitable for perching, climbing and grabbing, which comprises a robot main body and mechanical arms arranged on two sides of the robot main body; the robot main body comprises a rack, a flight controller arranged on the rack, a propeller, a brushless motor used for driving the propeller to rotate and a camera used for collecting images around the robot; the mechanical arm comprises a steering engine I, a right-angle connecting rod, a steering engine fixing seat, a steering engine II, an arm body and a bionic claw which are sequentially connected; the steering engine I is fixed on the rack; the right-angle connecting rod is fixedly connected between a rotating shaft of the steering engine I and a steering engine fixing seat of the steering engine II; the steering engine II is fixed on the steering engine fixing seat; the inner end of the arm body is fixed on a rotating shaft of a steering engine II; the axes of the rotating shaft of the steering engine I and the rotating shaft of the steering engine II are mutually vertical; the bionic claw is hinged to the outer end of the arm body, and the steering engine II drives the bionic claw to rotate relative to the arm body through a belt transmission mechanism.
Further, the arm body comprises an arc-shaped elastic rib and a silica gel pad arranged on a clamping surface of the elastic rib; cellular through holes are distributed in the silica gel pad.
Furthermore, a plurality of belt guiding pieces are distributed on the elastic rib along the longitudinal direction; the belt guide is provided with a clamping groove for guiding the belt of the belt transmission mechanism to move.
Further, teeth for meshing with the belt wheel are integrally formed on the inner surfaces of the two ends of the belt transmission mechanism
Furthermore, two pairs of mechanical arms are respectively arranged on two sides of the rack.
The invention also discloses a control method of the flying robot, which comprises the following steps:
s1. selecting perching objects according to the images collected by the camera and controlling the aircraft to approach the perching objects;
s2, collecting size and shape information of the perching object and distribution information of surrounding obstacles by using a camera to judge whether the perching object is suitable for perching; if not, reselecting the perching object;
s3. selecting perching direction according to the horizontal inclination of the perching object when the perching object is judged to be suitable for perching; and when the horizontal inclination of the perching object is smaller than the threshold value, controlling the flying robot to perch from the upper part or the lower part of the perching object, otherwise, controlling the flying robot to perch from the side of the perching object.
Further, in step s3, when the flying robot perches from above or below the perched object, the method for controlling the flying robot includes the steps of:
s31, controlling steering engines II of the four mechanical arms to rotate to open the mechanical arms;
s32, controlling the steering engines I of the four mechanical arms to rotate so that the mechanical arms are aligned to the perching object;
and S33, controlling the flying robot to approach to the inhabitation object, and controlling steering engines II of the four mechanical arms to rotate reversely to enable the four mechanical arms to hold the inhabitation object tightly.
Further, in step s3, when the flying robot perches from a side of the perching object, the method for controlling the flying robot includes the steps of:
s31, controlling steering engines II of two mechanical arms at the front part of the flying robot to rotate so as to open the mechanical arms;
s32, controlling steering engines I of two mechanical arms in the front of the flying robot to rotate according to the inclination angle of the perching object so that the mechanical arms are aligned to the perching object;
s33, controlling the flying robot to approach to the inhabitation object, and controlling steering engines II of the front two mechanical arms to rotate reversely to enable the front two mechanical arms of the robot to tightly hold the inhabitation object;
s34, controlling steering engines II of the two mechanical arms at the rear part of the flying robot to rotate so as to open the two mechanical arms at the rear part;
s35, controlling steering engines I of the two front mechanical arms which already hold the inhabited object to rotate so that the robot body is close to the inhabited object;
and S36, after the steering engines I of the two rear mechanical arms are controlled to be aligned to the inhabitation target, the steering engines II are controlled to rotate reversely to enable the two rear mechanical arms of the robot to hold the inhabitation target tightly.
The invention has the beneficial effects that:
1. each mechanical arm of the flying robot has two active degrees of freedom, the flying robot is driven by a small steering engine, a bionic claw at the tail end has a passive degree of freedom, and a belt is driven by a steering engine II to be driven passively; the whole arm can be actively deformed to complete actions such as 'grabbing', 'releasing', and the like; meanwhile, the steering engine I can drive each arm to rotate around the machine body, and the grabbing direction of the arm is changed so as to adapt to objects in different directions, such as a tree trunk in the vertical direction; horizontal branches, etc.;
2. the flying robot disclosed by the invention can realize climbing action by controlling the motion of the mechanical arm after perching on an object;
3. the flying robot can realize the grabbing action by controlling the movement of the arms, and realizes the object transportation by matching with a special basket for placing the object;
4. the arm body of the mechanical arm adopts a structure that the buffer is attached to the surface in a smooth manner. The silica gel pad on the surface is a porous structure made of silica gel, the structure has certain flexibility and can adapt to different surface shapes to achieve the purposes of buffering and flexible fitting, and meanwhile, the back of the silica gel pad is provided with a layer of spring reinforcing steel bar with certain elasticity, so that the silica gel pad can be passively deformed according to objects with different shapes and can automatically recover after being deformed;
5. the bionic claw of the mechanical arm can enhance the grabbing force and improve the grabbing stability. The bionic claw is driven passively by a steering engine II, and when the steering engine drives arms to clamp, the claw is automatically buckled inwards, so that the grabbing force is increased; when the steering engine drives the arm to loosen, the claw automatically turns outwards, so that the flying robot is smoothly released.
6. The control method of the flying robot can realize different attaching modes of the robot such as horizontal downward attaching, horizontal upward attaching, vertical attaching, oblique attaching and the like.
Drawings
The technical scheme of the invention is further explained by combining the drawings and the embodiment as follows:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a robotic arm of the present invention;
FIG. 3 is a schematic view of a robotic arm body according to the present invention;
FIG. 4 is a schematic view of the structure of the belt in the belt drive of the present invention;
FIG. 5 is an overall top view of the present invention;
FIG. 6 is an overall front view of the present invention;
FIG. 7 is a schematic view of the robot arm of the present invention automatically adjusting its angle according to the inclination angle of the perched object;
FIG. 8 is a simplified schematic diagram of the present invention perching and climbing from various directions;
FIG. 9 is a schematic view of the present invention gripping an object;
FIG. 10 is a flow chart of the control method of the present invention.
Detailed Description
Example one
As shown in fig. 1, the flying robot suitable for perching, climbing and grabbing of the embodiment comprises a robot main body and two pairs of mechanical arms arranged at two sides of the robot main body; the robot main body comprises a rack 1, a flight controller 2 arranged on the rack 1, a propeller 4, a brushless motor 5 used for driving the propeller 4 to rotate and a camera used for collecting images around the robot; the robot main body of the embodiment is a four-rotor unmanned aerial vehicle, four propeller mounting holes are arranged on a rectangular array on a frame 1 of the robot main body, and a propeller 4 protection frame 3 is arranged at the upper end of each propeller mounting hole; the lower end of the mounting hole is provided with a motor base 6; the four brushless motors 5 are correspondingly arranged on the motor bases 6 in the four mounting holes one by one; each brushless motor 5 is fixedly provided with a propeller 4 on a rotating shaft; the flight controller 2 is fixedly arranged among four mounting holes on the frame 1;
as shown in fig. 2 and 3, the mechanical arm comprises a steering engine I8, a right-angle connecting rod 9, a steering engine II 10, an arm body and a bionic claw 17 which are sequentially connected; the steering engine I8 is fixed on the rack 1 through a steering engine connecting piece 7; the right-angle connecting rod 9 is fixedly connected between the rotating shaft of the steering engine I8 and the fixed seat of the steering engine II 10; the inner end of the arm body is fixed on a rotating shaft of a steering engine II 10 through a U-shaped rib connecting piece 12; the axes of the rotating shaft of the steering engine I8 and the rotating shaft of the steering engine II 10 are mutually vertical; the bionic claw 17 is hinged to the outer end of the arm body through a claw connecting piece 15; the arm body comprises an arc-shaped elastic rib 18 and a silica gel pad 13 arranged on a clamping surface of the elastic rib 18; honeycomb-shaped through holes are distributed in the silica gel pad 13; the elastic ribs 18 are made of spring steel; the steering engine II 10 drives the bionic claw 17 to rotate relative to the arm body through a belt transmission mechanism; the belt transmission mechanism comprises a driving belt wheel 11 fixed on a rotating shaft of the steering engine II 10, a driven belt wheel 16 fixed on a hinge shaft of the bionic claw 17 and a belt connected between the driving belt wheel 11 and the driven belt wheel 16; a plurality of belt guides 14 are longitudinally distributed on the elastic rib 18; the belt guide 14 is provided with a slot for guiding the belt of the belt drive mechanism to move, so that the belt extends along the elastic rib 18, and the belt is prevented from influencing the mechanical arm to perch. As shown in FIG. 7, a steering engine I8 controls a first degree of freedom of the arm, which is used for controlling the pitching oscillation of the whole arm to adapt to perching objects with different inclination angles. The steering engine II 10 controls the second degree of freedom of the arm and is used for controlling the arm to grasp or unfold, and as shown in fig. 9, four arms grasp the arm and then can grasp an object.
As shown in fig. 4, teeth for engaging with the belt wheel are integrally formed on the inner surfaces of both ends of the belt transmission mechanism; in the process of driving the bionic claw 17 to rotate, the rotating distance of the belt is limited, so that the meshing teeth can be only arranged on the sections of the two end parts of the belt.
Example two
As shown in fig. 10, the present embodiment further discloses a control method of the flying robot, including the following steps:
s1. selecting perching objects according to the images collected by the camera and controlling the aircraft to approach the perching objects;
s2, collecting size and shape information of the perching object and distribution information of surrounding obstacles by using a camera to judge whether the perching object is suitable for perching; if not, reselecting the perching object;
s3. when the perch object is judged to be suitable for perching, selecting the perch direction according to the horizontal inclination of the perch object, as shown in FIG. 8; and when the horizontal inclination of the perching object is smaller than the threshold value, controlling the flying robot to perch from the upper part or the lower part of the perching object, otherwise, controlling the flying robot to perch from the side of the perching object.
When the flying robot perches from the upper part or the lower part of the perching object, the control method of the flying robot comprises the following steps:
s31, controlling steering engines II of the four mechanical arms to rotate to open the mechanical arms;
s32, controlling the steering engines I of the four mechanical arms to rotate so that the mechanical arms are aligned to the perching object;
and S33, controlling the flying robot to approach to the inhabitation object, and controlling steering engines II of the four mechanical arms to rotate reversely to enable the four mechanical arms to hold the inhabitation object tightly.
When the flying robot perches from the side of the perching object, the control method of the flying robot comprises the following steps:
s31, controlling steering engines II of two mechanical arms at the front part of the flying robot to rotate so as to open the mechanical arms;
s32, controlling steering engines I of two mechanical arms in the front of the flying robot to rotate according to the inclination angle of the perching object so that the mechanical arms are aligned to the perching object;
s33, controlling the flying robot to approach to the inhabitation object, and controlling steering engines II of the front two mechanical arms to rotate reversely to enable the front two mechanical arms of the robot to tightly hold the inhabitation object;
s34, controlling steering engines II of the two mechanical arms at the rear part of the flying robot to rotate so as to open the two mechanical arms at the rear part;
s35, controlling steering engines I of the two front mechanical arms which already hold the inhabited object to rotate so that the robot body is close to the inhabited object;
and S36, after the steering engines I of the two rear mechanical arms are controlled to be aligned to the inhabitation target, the steering engines II are controlled to rotate reversely to enable the two rear mechanical arms of the robot to hold the inhabitation target tightly.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (8)
1. The utility model provides a flying robot suitable for perch, scramble, snatch which characterized in that: the robot comprises a robot main body and mechanical arms arranged on two sides of the robot main body; the robot main body comprises a rack, a flight controller arranged on the rack, a propeller, a brushless motor used for driving the propeller to rotate and a camera used for collecting images around the robot; the mechanical arm comprises a steering engine I, a right-angle connecting rod, a steering engine fixing seat, a steering engine II, an arm body and a bionic claw which are sequentially connected; the steering engine I is fixed on the rack; the right-angle connecting rod is fixedly connected between a rotating shaft of the steering engine I and a steering engine fixing seat of the steering engine II; the steering engine II is fixed on the steering engine fixing seat; the inner end of the arm body is fixed on a rotating shaft of a steering engine II, and the axes of the rotating shaft of the steering engine I and the rotating shaft of the steering engine II are mutually vertical; the bionic claw is hinged to the outer end of the arm body, and the steering engine II drives the bionic claw to rotate relative to the arm body through a belt transmission mechanism.
2. The flying robot suitable for perching, climbing and grabbing according to claim 1, wherein: the arm body comprises an arc-shaped elastic rib and a silica gel pad arranged on a clamping surface of the elastic rib; cellular through holes are distributed in the silica gel pad.
3. The flying robot suitable for perching, climbing and grabbing according to claim 1, wherein: a plurality of belt guiding pieces are longitudinally distributed on the elastic rib; the belt guide is provided with a clamping groove for guiding the belt of the belt transmission mechanism to move.
4. The flying robot suitable for perching, climbing and grabbing according to claim 1, wherein: the inner surfaces of two ends of the belt transmission mechanism are integrally formed with teeth used for being meshed with the belt wheel.
5. The flying robot suitable for perching, climbing and grabbing according to claim 1, wherein: the two pairs of mechanical arms are respectively arranged on two sides of the rack.
6. A control method of a flying robot as claimed in any one of claims 1 to 5, characterized in that: the method comprises the following steps:
s1. selecting perching objects according to the images collected by the camera and controlling the aircraft to approach the perching objects;
s2, collecting size and shape information of the perching object and distribution information of surrounding obstacles by using a camera to judge whether the perching object is suitable for perching; if not, reselecting the perching object;
s3. selecting perching direction according to the horizontal inclination of the perching object when the perching object is judged to be suitable for perching; and when the horizontal inclination of the perching object is smaller than the threshold value, controlling the flying robot to perch from the upper part or the lower part of the perching object, otherwise, controlling the flying robot to perch from the side of the perching object.
7. The flying robot control method according to claim 6, wherein: in step s3, when the flying robot perches from above or below the perched object, the method for controlling the flying robot includes the steps of:
s31, controlling steering engines II of the four mechanical arms to rotate to open the mechanical arms;
s32, controlling the steering engines I of the four mechanical arms to rotate so that the mechanical arms are aligned to the perching object;
and S33, controlling the flying robot to approach to the inhabitation object, and controlling steering engines II of the four mechanical arms to rotate reversely to enable the four mechanical arms to hold the inhabitation object tightly.
8. The flying robot control method according to claim 6, wherein: in step s3, when the flying robot perches from the side of the perching object, the control method of the flying robot includes the steps of:
s31, controlling steering engines II of two mechanical arms at the front part of the flying robot to rotate so as to open the mechanical arms;
s32, controlling steering engines I of two mechanical arms in the front of the flying robot to rotate according to the inclination angle of the perching object so that the mechanical arms are aligned to the perching object;
s33, controlling the flying robot to approach to the inhabitation object, and controlling steering engines II of the front two mechanical arms to rotate reversely to enable the front two mechanical arms of the robot to tightly hold the inhabitation object;
s34, controlling steering engines II of the two mechanical arms at the rear part of the flying robot to rotate so as to open the two mechanical arms at the rear part;
s35, controlling steering engines I of the two front mechanical arms which already hold the inhabited object to rotate so that the robot body is close to the inhabited object;
and S36, after the steering engines I of the two rear mechanical arms are controlled to be aligned to the inhabitation target, the steering engines II are controlled to rotate reversely to enable the two rear mechanical arms of the robot to hold the inhabitation target tightly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011001408.2A CN112092550A (en) | 2020-09-22 | 2020-09-22 | Flying robot suitable for perching, climbing and grabbing and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011001408.2A CN112092550A (en) | 2020-09-22 | 2020-09-22 | Flying robot suitable for perching, climbing and grabbing and control method thereof |
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| CN112092550A true CN112092550A (en) | 2020-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011001408.2A Pending CN112092550A (en) | 2020-09-22 | 2020-09-22 | Flying robot suitable for perching, climbing and grabbing and control method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911357A (en) * | 2021-10-27 | 2022-01-11 | 西北工业大学太仓长三角研究院 | Vertical plane perches and stops four rotor unmanned aerial vehicle |
| CN114013230A (en) * | 2021-08-31 | 2022-02-08 | 西北工业大学 | Four-rotor robot with wall surface stopping and crawling capabilities |
| WO2024055381A1 (en) * | 2022-09-14 | 2024-03-21 | 中国科学院自动化研究所 | Perching robot and perching method of perching robot |
-
2020
- 2020-09-22 CN CN202011001408.2A patent/CN112092550A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114013230A (en) * | 2021-08-31 | 2022-02-08 | 西北工业大学 | Four-rotor robot with wall surface stopping and crawling capabilities |
| CN114013230B (en) * | 2021-08-31 | 2023-06-06 | 西北工业大学 | Four-rotor robot with wall surface stopping and crawling capabilities |
| CN113911357A (en) * | 2021-10-27 | 2022-01-11 | 西北工业大学太仓长三角研究院 | Vertical plane perches and stops four rotor unmanned aerial vehicle |
| CN113911357B (en) * | 2021-10-27 | 2024-04-12 | 西北工业大学太仓长三角研究院 | Perpendicular face is at four rotor unmanned aerial vehicle that stop |
| WO2024055381A1 (en) * | 2022-09-14 | 2024-03-21 | 中国科学院自动化研究所 | Perching robot and perching method of perching robot |
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