CN113031637B - Multi-flying-robot integrated operation platform - Google Patents
Multi-flying-robot integrated operation platform Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention relates to a collective operation platform of multiple flying robots, belonging to the technical field of control technology, guidance technology, sensing technology and wireless communication. The centralized operation platform comprises a central control module, sub aircraft modules and load modules, wherein the sub aircraft modules are uniformly distributed on two sides of the central control module, and the load modules are arranged on the central control module; the central control module is used for calculating attitude information required to be executed by each sub aircraft module and sending a driving instruction to the sub aircraft modules, the sub aircraft modules adjust the attitude according to the received driving instruction and feed the attitude information of the sub aircraft modules back to the central control module, and the purpose of executing tasks is achieved by adjusting and controlling the attitude of each sub aircraft module to adjust the attitude of the load module. The integrated operation platform has a long-distance flexible and accurate rescue function, a short-distance omnidirectional treatment function and a flexible penetration and intelligent fault-tolerant function, and can enable the flying robot to better execute complex tasks.
Description
Technical Field
The invention relates to a collective operation platform of multiple flying robots, belonging to the technical field of control technology, guidance technology, sensing technology and wireless communication.
Background
At present, according to the rescue needs after sudden explosion in cities, an aircraft is required to carry a fire extinguishing bomb launching device, a rescue rope projecting device and the like remotely for remote fire rescue, and demolition and evacuation operations of explosives, and the aircraft has good fault tolerance and flexibility. The multi-flight unmanned aerial vehicle cluster system is a good mode for realizing the functions, namely a plurality of aircrafts form a flight group, has good cooperativity, and has a wide application prospect in the field of urban fire rescue.
However, the member aircrafts in the conventional cluster aircraft system only need to exchange information without connection on a mechanical structure, that is, the system is distributed control of a plurality of single individuals, has the defects of limited performance of single aircrafts and low adaptability, and cannot well execute complex tasks with high requirements on the performance of a cluster flight system.
Disclosure of Invention
In order to enable the flying robots to better adapt to complex environments of rescue scenes, the invention provides a multi-flying robot integrated operation platform, the flying robots are fixedly connected into a whole by a connecting device, and the member aircrafts have interaction of force and moment, so that the integrated body can flexibly change the structure, the integrated body is deformed by changing the postures of the sub aircrafts, and the postures of a fire extinguishing bomb launching device, a rescue rope projecting device and a manipulator are adjusted to achieve the purpose of executing tasks.
The purpose of the invention is realized by the following technical scheme.
A collective operation platform of a multi-flying robot comprises a central control module, sub aircraft modules and a load module;
the central control module is used for calculating attitude information (including attitude angles and tension) required to be executed by each sub aircraft module and sending a driving instruction to the sub aircraft modules;
the sub aircraft module adjusts the attitude according to the received driving instruction sent by the central control module and feeds the attitude information adjusted by the sub aircraft module back to the central control module so as to judge whether the driving instruction execution is normal or not;
the load module is a rescue tool required by executing a task;
the sub aircraft modules are uniformly distributed on two sides of the central control module, each sub aircraft module is fixedly connected with the central control module through a rod-shaped connecting structure, and the load module is installed on the central control module;
when the integrated operation platform executes the task, the attitude of the load module is adjusted by regulating and controlling the attitude of each sub aircraft module under the relevant instruction of the central control module so as to achieve the purpose of executing the task.
Furthermore, the central control module is also communicated with a ground station system, so that the ground station system can remotely control and monitor the running state of the centralized operation platform.
Furthermore, the central control module comprises a central processing unit, a flight control I and a control bus I, wherein the flight control I is used for acquiring the position and attitude information of the sub aircraft modules and transmitting the position and attitude information to the central processing unit, and the central processing unit calculates attitude angles and tension vectors required to be executed by the sub aircraft modules through a flight control algorithm and sends driving instructions to the sub aircraft modules through the control bus I.
Furthermore, the sub aircraft module comprises a calculation processor, a flight control II and a control bus II, the calculation processor transmits the received driving instruction sent by the central control module to the flight control II, so that the sub aircraft module executes the attitude angle and the tension vector of the driving instruction, meanwhile, the flight control II acquires the attitude information after the sub aircraft module executes the driving instruction and feeds the acquired information back to the central control module through the calculation processor and the control bus II, and the central control module judges whether the driving instruction is normally executed.
Further, the load module can select rescue tools with different loads according to different execution tasks;
when long-distance (within 1 kilometer) flexible and accurate rescue is implemented, the load module can select a fire extinguishing bomb launching device, a rescue rope ejection device and the like, the load module can aim at a target by changing the attitude angle of the load module, and the force and the moment generated in the launching process by the integrated body are flexibly interacted by the interactive control means such as admittance control and the like, so that the integrated body is kept stable in the launching process;
when the treatment is carried out in a near distance (within 2 meters) in an omnidirectional way, the load module is a manipulator, the posture of the manipulator is controlled and adjusted by coordinating a plurality of aircraft modules, a certain posture track is tracked according to the operation requirement of the manipulator, the manipulator approaches to a target in a proper posture, and the position and the posture of the manipulator are adjusted simultaneously in the treatment process until the treatment task is completed.
The integrated operation platform has a flexible penetration function, and the working principle is as follows: when the aircraft integrated body needs to penetrate through a heterogeneous space of a multi-obstacle or enter a building, the plurality of sub aircraft modules cooperatively rotate around the kinematic pair according to the size of the space, the complex environment which needs to pass is adapted through deformation, and after the complex environment reaches an operation place, the plurality of sub aircraft modules can rotate around the kinematic pair again to be deformed into an operation state to form for operation.
The integrated operation platform has an intelligent fault-tolerant function, and the working principle is as follows: when the sub aircraft module is in a fault state, the central control module can coordinate the cooperative motion of other sub aircraft modules to compensate the fault aircraft module, so that the whole collective operation platform still keeps certain motion capability and has fault tolerance in the task execution process. If the sub aircraft module connected with the load is in an abnormal state, the central control module can send related instructions to the sub aircraft module, the sub aircraft module without fault is separated in a decomposition mode, and other tasks are executed or the sub aircraft module is evacuated from the field; if the sub aircraft module without the connected load is in an abnormal state, the central control module can send related instructions to the sub aircraft module, the failed sub aircraft module is separated in a decomposition mode, and the integrated operation platform continues to execute the original task.
Has the beneficial effects that:
(1) The collective-connection operating platform of the multi-flying robot is different from a traditional collective aircraft system, the collective-connection body of the multi-flying robot is an integral body formed by connecting devices of all sub aircraft, and all member aircraft have force and moment interaction, so that the collective-connection body can flexibly change the structure, and the collective-connection body is deformed by changing the postures of all the sub aircraft, so that the postures of a transmitting device or a manipulator can be adjusted to achieve the purpose of executing tasks; and the integrated operation platform adopts a centralized control mode, the central control module makes a decision and generates an instruction to each sub aircraft, and receives information fed back by the sub aircraft in real time, the integrated degree is high, and the integrated operation platform has high synergetics, so that the integrated operation platform has multiple functions of long-distance flexible and accurate rescue, short-distance omnidirectional treatment, flexible sudden defense, intelligent fault tolerance and the like, and can meet multiple requirements of urban explosion fire rescue.
(2) The integrated operation platform of the multi-flying robot can realize flexible penetration and intelligent fault-tolerant functions, and ensures that the flying robot has certain safety guarantee in the condition that the flying robot needs to pass through a heterogeneous space of a multi-obstacle or enters the interior of a building or a sub aircraft module fails; and the integrated operation platform has the advantages of high synergy, flexible deformation, high fault tolerance and the like, and is convenient for prolonging the service life and the operation efficiency of the fire rescue flying robot, so that the flying robot can better adapt to the complex environment of a rescue scene.
Drawings
Fig. 1 is a schematic diagram illustrating the collective operation platform passing through a narrow space in the embodiment.
Fig. 2 is an exploded schematic view of a sub aircraft module connected to a load in the collective operation platform according to the embodiment in the event of a failure.
Fig. 3 is an exploded schematic view of a sub aircraft module without a connection load in the collective operation platform according to the embodiment.
Detailed Description
The present invention is further illustrated below with reference to specific embodiments, wherein the process is conventional unless otherwise specified.
Example 1
A collective operation platform of a multi-flying robot comprises a central control module, sub aircraft modules and a load module;
the central control module comprises a central processing unit, a flight control I and a control bus I, wherein the central processing unit can adopt TX2 and other computer processing embedded development boards with operation functions and data storage functions according to the realized functions and the size of data storage; the central processing unit can be connected with a flight control I through a USB, the flight control I is used for acquiring position and attitude information of the sub aircraft modules and transmitting the position and attitude information to the central processing unit, the central processing unit calculates attitude confidence such as attitude angles and tension vectors required to be executed by each sub aircraft module through a flight control algorithm and sends driving instructions to each sub aircraft module through a control bus I;
the mechanical structure of the sub aircraft module can select a four-rotor robot as required, the sub aircraft module comprises a calculation processor, a flight control II and a control bus II, the calculation processor transmits a received driving instruction sent by the central control module to the flight control II, so that the sub aircraft module executes an attitude angle and a tension vector of the driving instruction, meanwhile, the flight control II acquires attitude information after the sub aircraft module executes the driving instruction and transmits the acquired information to the calculation processor, and the calculation processor feeds the attitude information of the sub aircraft module back to the central control module through the control bus II, so that the central control module can judge whether the driving instruction is normally executed;
the load module is a rescue tool required by executing tasks, and rescue tools with different loads can be selected according to different executed tasks; when long-distance (within 1 kilometer) flexible and accurate rescue is implemented, the load module is a fire extinguishing bomb launching device, a rescue rope projecting device and the like; when the treatment is carried out in a short distance (within 2 meters) in an omnidirectional way, the load module is a manipulator;
the sub aircraft modules are uniformly distributed on two sides of the central control module, each sub aircraft module is fixedly connected with the central control module through a rod-shaped connecting structure, and the load module is installed on the central control module; the central control module can also communicate with a ground station system through a local area network, so that the ground station system can remotely control and monitor the running state of the centralized operation platform;
the collective-connection operation platform has a long-distance flexible and accurate rescue function, a short-distance omnidirectional disposal function and flexible penetration and intelligent fault tolerance functions, and the principle is as follows:
the principle of the long-distance flexible and accurate rescue function is as follows: the integrated operation platform has full-drive and omnidirectional movement capabilities, the load module is fixedly connected to the integrated flying platform, and under the condition that the integrated body is kept hovering, the central control module sends instructions to the sub aircraft modules, so that the postures of the sub aircraft modules can be adjusted, the integrated body is deformed, and the posture angle of the load module is further changed. If the collective and conjunctive body composed of n sub aircraft modules exists, the pulling force of the n sub aircraft modules can point to different directions, the collective and conjunctive body can be kept hovering by adjusting the magnitude and the direction of the n pulling force vectors, the posture of the load module is adjusted, the load module aims at a target, and the force and the moment generated in the launching process by the collective and conjunctive body are flexibly interacted by the interactive control means such as admittance control, so that the collective and conjunctive body is kept stable in the launching process, the site can be evacuated after the task is completed, and the secondary use is facilitated.
Principle of short-range omnidirectional treatment function: in a combat area, if explosives need to be dismantled and removed, a plurality of sub aircraft modules are selected to construct a collective operation platform to dispose dangerous goods according to the size and the weight of a manipulator. In the process of moving away the object, under the condition that the integrated body keeps hovering, the central control module sends an instruction to each sub aircraft module, the postures of the sub aircraft modules can be adjusted, and then the integrated body is deformed, so that the posture of the manipulator can be adjusted. And tracking a certain attitude track according to the operation requirement of a load module, namely a manipulator, so that the manipulator approaches to the target at a proper attitude, and simultaneously adjusting the position and the attitude of the manipulator in the process of approaching the target by the integrated operation platform until the treatment task is completed.
Principle of flexible penetration function: when the collective operation platform needs to pass through a heterogeneous space of multiple obstacles or enter the interior of a building, according to the size of the space, the central control module calculates through a control algorithm to obtain a tension vector required by deformation caused by cooperative motion of the collective operation platform and rotation around a kinematic pair, and sends the tension vector to the sub aircraft module for corresponding deformation, so that the collective operation platform can pass through a window or a complex environment, as shown in fig. 1. For example, if the horizontal dimension of the window is insufficient, the attitude angles of the sub aircraft modules may be adjusted so that the sub aircraft modules pass in sequence in an inclined attitude.
Principle of intelligent fault-tolerant function: in the process of executing tasks by the integrated operation platform, when the central control module detects that the attitude angle and the tension vector fed back by the sub aircraft module are inconsistent with the driving instruction, the sub aircraft module is indicated to have a fault, if the sub aircraft module connected with the load is in an abnormal state, the central control module can send a related instruction to the sub aircraft module, the fault-free sub aircraft module is separated in a decomposition mode, and other tasks are executed or the site is evacuated, as shown in fig. 2; if the sub aircraft module without the connected load is in an abnormal state, the central control module can send related instructions to the sub aircraft module, the failed sub aircraft module is separated in a decomposition mode, and the integrated operation platform continues to execute the original task, as shown in fig. 3.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. The utility model provides a collection of many flying robot allies oneself with operation platform which characterized in that: the integrated operation platform comprises a central control module, a sub aircraft module and a load module;
the central control module is used for calculating attitude information required to be executed by each sub aircraft module and sending a driving instruction to the sub aircraft modules; the central control module comprises a central processing unit, a flight control I and a control bus I, wherein the flight control I is used for acquiring the position and attitude information of the sub aircraft modules and transmitting the position and attitude information to the central processing unit, and the central processing unit calculates the attitude information required to be executed by each sub aircraft module by running a flight control algorithm and sends a driving instruction to each sub aircraft module through the control bus I;
the sub aircraft module adjusts the attitude according to the received driving instruction sent by the central control module and feeds back the attitude information adjusted by the sub aircraft module to the central control module so as to judge whether the driving instruction is normally executed; the flight control II acquires attitude information of the sub aircraft module after the driving instruction is executed and feeds the acquired information back to the central control module through the calculation processor and the control bus II, so that the central control module can judge whether the driving instruction is normally executed;
the load module is a rescue tool required for executing tasks;
the sub aircraft modules are uniformly distributed on two sides of the central control module, each sub aircraft module is fixedly connected with the central control module through a rod-shaped connecting structure, and the load module is arranged on the central control module;
when the integrated operation platform executes the task, the attitude of the load module is adjusted by regulating and controlling the attitude of each sub aircraft module under the relevant instruction of the central control module so as to achieve the purpose of executing the task;
when the integrated operation platform needs to pass through a heterogeneous space with multiple obstacles or enter the interior of a building in the task execution process, under the relevant instruction of the central control module, all the sub aircraft modules rotate around the kinematic pair in a coordinated manner to generate deformation so as to adapt to the complex environment needing to pass through, and after the integrated operation platform reaches an operation place, all the sub aircraft modules rotate around the kinematic pair again as required to deform into an operation state configuration so as to carry out operation;
when a fault occurs in the task execution process of the integrated operation platform, if the sub aircraft module connected with the load is in an abnormal state, the central control module sends a related instruction to the sub aircraft module, the sub aircraft module without the fault is separated in a decomposition mode, and other tasks are executed or the site is evacuated; and if the sub aircraft module without the connected load is in an abnormal state, the central control module sends a related instruction to the sub aircraft module, and the failed sub aircraft module is separated in a decomposition mode, so that the collective operation platform continues to execute the original task.
2. The collective operations platform of many flying robots of claim 1, characterized in that: the central control module is also communicated with a ground station system, so that the ground station system can remotely control and monitor the running state of the centralized operation platform.
3. The collective operations platform of many flying robots of claim 1, characterized in that: when the integrated operation platform carries out rescue within 1 kilometer, the load module is a fire extinguishing bomb launching device or a rescue rope ejecting device; when the integrated operation platform is used for omnidirectional treatment within 2 meters, the load module is a manipulator.
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