CN112379695B - Control method of rump-tail cooperative variant control system of imitated prey bird - Google Patents
Control method of rump-tail cooperative variant control system of imitated prey bird Download PDFInfo
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- CN112379695B CN112379695B CN202011337111.3A CN202011337111A CN112379695B CN 112379695 B CN112379695 B CN 112379695B CN 202011337111 A CN202011337111 A CN 202011337111A CN 112379695 B CN112379695 B CN 112379695B
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Abstract
A control method of a hip-tail cooperative variant control system of a bird prey belongs to the technical field of aircraft control. The method comprises the following steps of 1, acquiring the motion rule of the tail of the bird with prey; 2. collecting large samples of the movement of the buttocks and the legs imitating the tail movement of the prey; 3. carrying out deep learning on the sample data by using a convolutional neural network, and establishing a mapping relation between tail motion of the bird with prey and hip and leg motion; 4. and (4) controlling the motion of the simulated bird prey aircraft by simulating the motion of the bird prey based on the mapping relation in the step (3). The tail part of the bionic prey bird aircraft is controlled by the hip and leg actions, the control of the multi-degree-of-freedom bionic prey bird aircraft can be realized, and the control mode is simple; in the face of some emergency situations, the tail form of the bird-prey-imitating aircraft needs to be rapidly changed, and the change can be effectively realized by the cooperative control mode; when flying, the bird-prey-imitating flying vehicle can finely adjust the motion of the tail part through the motion of the hip part and the leg part, thereby improving the flying efficiency of the bird-prey-imitating flying vehicle.
Description
Technical Field
The invention belongs to the technical field of aircraft control, and particularly relates to a control method of a hip-tail cooperative variant control system of a bird prey.
Background
Birds are one of the major flying organisms of nature, and have a high flying skill. The tail feather of the birds can play roles in balancing bodies, adjusting speed, changing direction, controlling lifting and the like in the flying process, so that the research on the tail structures of the birds has very important significance on the bionic aircraft.
Along with the gradual and deep research on bird flying, bird-like aircrafts with stronger flying capability are developed, but the aircrafts need to have more degrees of freedom to realize actions similar to tail parts of birds. When the degree of freedom of aircraft is more, if adopt traditional instrument control mode to control each degree of freedom, can't control a plurality of degrees of freedom simultaneously fast and realize certain flight skill on the one hand, on the other hand, to imitating the control operation of bird aircraft of prey very complicated, can't control the aircraft very well. Therefore, the control mode which can quickly and simply control the bionic bird aircraft has good practical significance.
The tail structure of the bird prey is similar to the human hip and leg, so that the human can approximately simulate the motion of the tail of the bird prey through the hip and leg. However, the angle and frequency of the change of the tail of the bird prey are different from those of the human hip and the human leg, so that a mutual mapping relation between the tail of the bird prey and the human hip and the human leg needs to be established. Through the mapping relation, a human can control the flight of the aircraft by simulating the tail action of the bird prey.
Disclosure of Invention
In view of the above problems in the prior art, the present invention aims to provide a control method for a hip-tail cooperative variant control system for a bird prey simulator, which aims to establish a mutual mapping relationship between human hip and leg actions and tail actions of the bird prey, so that a human can control the motion of the tail of the bird prey simulator by simulating the motion of the tail of the bird prey, and thus people can quickly and simply control the bird prey simulator, and various hypersonic flight skills of the bird prey simulator can be realized.
The invention provides the following technical scheme: a control method of a hip-tail cooperative variant control system of a simulated bird with prey is characterized in that: the method comprises the following steps:
step 2, collecting large samples of the movement of the buttocks and the legs of the simulated bird with tail movement;
and 4, controlling the motion of the simulated bird prey aircraft by simulating the motion of the bird prey based on the mapping relation in the step 3.
The control method of the hip-tail cooperative variant control system of the simulated bird prey is characterized in that the hip-tail cooperative variant control system comprises a bird prey tail, the bird prey tail comprises a tail vertebra and a tail feather, the tail of the bird prey is correspondingly provided with a human hip-leg, and the human hip-leg comprises a lumbar vertebra and a leg bone which are in one-to-one correspondence with tail structures of the bird prey.
The control method of the stern-stern cooperative variant control system simulating the birds with prey is characterized in that in the step 1, the motion law of the stern of the birds with prey comprises vertical and horizontal rotation of a caudal vertebra, lateral rotation of the caudal vertebra and opening and closing of a caudal feather, and the stern-leg of the human body simulates the rotation of the caudal part, the twisting of the lumbar vertebra simulates the lateral rotation of the caudal part, and the opening and closing of bones of two legs simulate the opening and closing of the caudal feather through the front, back, left and right rotation of the lumbar vertebra.
The control method of the butt-tail cooperative variant control system imitating the prey is characterized in that in the step 1, each degree of freedom parameter of a caudal vertebra and a caudal feather is identified by adopting a posture sensor, so that each degree of freedom parameter data of the tail of the prey is obtained.
The control method of the hip-tail cooperative variant control system of the simulated bird prey is characterized in that in the step 2, each degree-of-freedom parameter of human hip and leg bones is identified through a posture sensor, and motion data of the hip and the leg are collected.
The control method of the hip-tail cooperative variant control system for the imitated prey bird is characterized in that the acquired data of the large samples of the motions of the hip and the leg are obtained by simulating each degree of freedom of the tail of the prey bird on the basis of acquiring the motion law of the tail of the prey bird.
The control method of the hip-tail cooperative variant control system of the bionic bird with the prey is characterized in that in the step 3, sample data of parameters of various degrees of freedom of the hip and the leg are utilized, deep learning is carried out through a convolutional neural network, and the mapping relation between the parameters of various degrees of freedom of the tail of the bird with the parameters of various degrees of freedom of the motion of the hip and the leg is established.
The control method of the stern-stern cooperative variant control system of the bionic bird is characterized in that in the step 4, after the mapping relation between the stern degree of freedom parameter of the bird with the stern degree of freedom parameter and the hip degree of freedom parameter and the leg degree of freedom parameter of the human body is established, the rotation of the tail vertebrae of the bionic bird aircraft and the opening and closing of the tail feather are controlled through the rotation of the waist vertebrae and the opening and closing of the leg bones.
By adopting the technology, compared with the prior art, the invention has the following beneficial effects:
the tail part of the bionic prey bird aircraft is controlled to move through the movement of the hip part and the leg part, so that the control of the bionic prey bird aircraft with multiple degrees of freedom can be realized, and the control mode of the bionic prey bird aircraft is simplified; in the face of some emergency situations, the tail form of the bird-prey-imitating aircraft needs to be rapidly changed, and the change can be effectively realized by the cooperative control mode; when flying, the bird-prey-imitating flying vehicle can finely adjust the motion of the tail part through the motion of the hip part and the leg part, thereby improving the flying efficiency of the bird-prey-imitating flying vehicle.
Drawings
Fig. 1 is a schematic view of the tail structure of a bird of the prey of the present invention;
FIG. 2 is a schematic view of the hip-leg structure of a human body according to the present invention;
FIG. 3 is a schematic diagram of the freedom of movement diagram of the hip-tail skeleton of the present invention;
fig. 4 is a schematic view of the hip-tail wearing posture sensor of the present invention.
In the figure: 1. a lumbar vertebra; 2. a leg bone; 3. the caudal vertebra; 4. tail feather.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present invention. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details.
Referring to fig. 1-4, a cooperative variation control system for simulating the butt-tail of a bird in prey comprises a tail of the bird in prey and is provided with a human butt-leg corresponding to the tail of the bird in prey, wherein the tail of the bird in prey comprises a tail vertebra (3) and a tail feather (4), and the human butt-leg comprises a lumbar vertebra (1) and a leg bone (2) which correspond to the tail structure of the bird in prey one to one.
The tail vertebra 3 of the bird with prey has three degrees of freedom, so that the tail part rotates up and down, left and right and laterally; the corresponding lumbar vertebrae 1 of the human body can swing and twist back and forth, left and right, and the caudal vertebrae can swing up and down around the shaft 1, swing left and right around the shaft 2 and twist the shaft 3 as shown in fig. 3.
As shown in fig. 3, the tail feathers 4 of the birds of prey can be opened and closed, and the corresponding leg bones 2 of the human body can be opened and closed.
A control method of a hip-tail cooperative variant control system of a simulated bird with a prey comprises the following steps:
step 2, collecting a large sample of the hip and leg actions of the simulated tail movement of the prey: as shown in fig. 4, posture sensors are arranged on the hip and the leg of a human body, and each degree of freedom of the tail of the bird of prey is simulated to obtain a large amount of corresponding degree of freedom parameter data of the lumbar vertebra 1 and the leg bone 2;
and 4, controlling the motion of the simulated bird prey aircraft by simulating the motion of the bird prey based on the mapping relation in the step 3: after a mapping relation between the tail degree of freedom parameters of the bird prey and the hip and leg degree of freedom parameters of a human body is established, the rotation of the tail vertebrae (3) imitating the bird prey aircraft and the unfolding and folding of the tail feather (4) are controlled by unfolding and folding the leg bones (2) and the rotation of the lumbar vertebrae (1). People can also continuously improve the flying posture of the bird-prey imitating aircraft through slight changes of the buttocks and the legs, so that the flying efficiency is improved; people can change the tail posture of the bird-like aircraft by quickly changing the legs and the buttocks in an emergency.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (3)
1. A control method of a hip-tail cooperative variant control system of a simulated bird with prey is characterized in that: the method comprises the following steps:
step 1, obtaining the motion rule of the tail of the bird of prey: the tail part of the bird prey comprises a tail vertebra (3) and tail feathers (4), the tail part of the bird prey is correspondingly provided with a human hip-leg part, and the human hip-leg part comprises a lumbar vertebra (1) and leg bones (2) which are in one-to-one correspondence with the tail part structure of the bird prey; recognizing each degree of freedom parameter of a caudal vertebra (3) and a caudal feather (4) by adopting an attitude sensor so as to obtain each degree of freedom parameter data of the tail of the bird prey;
step 2, carrying out large sample collection on the actions of the buttocks and the legs of the simulated bird tail movement: identifying each freedom degree parameter of human body hip and leg skeletons through a posture sensor, and collecting motion data of the hip and the leg;
step 3, carrying out deep learning on the sample data by using a convolutional neural network, and establishing a mapping relation between tail motion and hip and leg motion of the bird of prey: carrying out deep learning by using sample data of parameters of various degrees of freedom of the buttocks and the legs through a convolutional neural network, and establishing a mapping relation between the parameters of various degrees of freedom of the tail of the bird and the parameters of various degrees of freedom of the movement of the buttocks and the legs;
and 4, controlling the motion of the simulated bird prey aircraft by simulating the motion of the bird prey based on the mapping relation in the step 3: after the mapping relation between the tail degree of freedom parameters of the bird prey and the hip and leg degree of freedom parameters of the human body is established, the rotation of the tail vertebrae (3) of the bionic bird prey aircraft and the opening and closing of the tail feather (4) are controlled by the rotation of the lumbar vertebrae (1) and the opening and closing of the leg bones (2).
2. The control method of the bird-prey hip-tail cooperative variant control system according to claim 1, wherein in the step 1, the motion law of the tail of the bird comprises up-down, left-right rotation of the tail vertebra (3), lateral rotation of the tail vertebra (3) and opening and closing of the tail feather (4), and the hip-leg of the human body simulates tail rotation through the front-back, left-right rotation of the lumbar vertebra (1), the twisting of the lumbar vertebra (1) simulates tail lateral rotation, and the opening and closing of the bones (2) of two legs simulate tail feather opening and closing.
3. The method as claimed in claim 2, wherein said data of the collected big samples of the movement of the buttocks and legs are obtained by simulating the degrees of freedom of the tail of the bird on the basis of the law of motion of the tail of the bird.
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