CN114248921B - Four-rotor aircraft capable of grabbing and staying in air - Google Patents
Four-rotor aircraft capable of grabbing and staying in air Download PDFInfo
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- CN114248921B CN114248921B CN202111679780.3A CN202111679780A CN114248921B CN 114248921 B CN114248921 B CN 114248921B CN 202111679780 A CN202111679780 A CN 202111679780A CN 114248921 B CN114248921 B CN 114248921B
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- 241000269799 Perca fluviatilis Species 0.000 claims abstract description 4
- 238000005452 bending Methods 0.000 claims description 26
- 210000000078 claw Anatomy 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 3
- 230000036316 preload Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 abstract description 5
- 230000002349 favourable effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 7
- 239000011159 matrix material Substances 0.000 description 6
- 230000005284 excitation Effects 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
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- 230000008859 change Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention relates to a four-rotor aircraft capable of grabbing and staying in the air, wherein a passive invasive clamp for grabbing objects is arranged at the lower part of the four-rotor aircraft, so that the four-rotor aircraft can interact with the environment in the flight process, and the four-rotor aircraft is allowed to perch on a berthing object so as to reduce the energy consumption of the four-rotor aircraft; the four-rotor aircraft is provided with a controller, and the controller is used for estimating the offset of the mass and the mass center of the aircraft so as to improve tracking performance. The four-rotor aircraft is favorable for grabbing objects in the air to stay on the four-rotor aircraft, and further improves the interaction capability with the environment.
Description
Technical Field
The invention belongs to the field of aerial aircrafts, and particularly relates to a four-rotor aircraft capable of grabbing and staying in the air.
Background
Quad-rotor aircraft have many advantages, and these aircraft can be scaled down to very small sizes and can operate in a closed environment. As body size decreases, agility and adaptability increase. The micro-aircraft may enter a building to obtain information in an environment dangerous to humans. However, most research on aircraft is generally limited to surveillance and surveillance applications, with targets limited to "view" and "search" but "not touch. Indeed, since the aircraft is mainly used for monitoring, searching, rescuing and the like, interaction with the environment is avoided. And the lifetime of the quadrotor to perform tasks is limited by the amount of electricity received.
Quad-rotor aircraft have been widely discussed in the literature, from basic hover, trajectory tracking to trick play. However, in most cases previously, it was assumed that the center of mass of a quadrotor coincides with the geometric center. Therefore, it is necessary to design a quadrotor that can grab and stay in the air, enhance the cruising ability of the aircraft, and estimate the offset of mass and centroid to make adjustments.
Disclosure of Invention
The invention aims to provide a quadrotor aircraft which can be grabbed and stopped in the air, and is beneficial to grabbing objects in the air to stop on the quadrotor aircraft, so that the interaction capability with the environment is improved.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a four rotor craft that can snatch and stop in the air, four rotor craft lower part is equipped with the passive invasion type fixture that is used for snatching the object to make four rotor craft can be with environment interaction in the flight, allow four rotor craft to perch on the berthing thing in order to reduce four rotor craft's energy consumption; the four-rotor aircraft is provided with a controller, and the controller is used for estimating the offset of the mass and the mass center of the aircraft so as to improve tracking performance.
Further, the passive invasive clamp comprises a bent arm connecting piece, an elastic hanging frame and two preloaded bent arms, wherein the bent arm connecting piece is arranged in the middle, the inner side ends of the two preloaded bent arms are respectively connected to the lower ends of the bent arm connecting pieces, the elastic hanging frame is arranged in the middle of the upper sides of the two preloaded bent arms, the elastic hanging frame is of a 'U' -shaped structure with a middle trigger rod and two hanging arms, the upper parts of the outer side ends of the two preloaded bent arms are respectively provided with a hook, and the two preloaded bent arms are upwards bent when being subjected to preloaded force and are respectively hung on the hanging arms on the two sides of the elastic hanging frame through the hooks; the lower parts of the outer side ends of the two pre-loading bent arms are respectively provided with an intrusion claw used for grabbing objects, when the lower ends of the middle trigger rods of the elastic hanging frames collide with the objects and are subjected to upward acting force of the objects, the middle trigger rods move upward in a small way and drive the hanging arms on the two sides to swing, so that the hooks of the two pre-loading bent arms are separated from the elastic hanging frames, and the two pre-loading bent arms reversely and downwards pass through the intrusion claws to grab the objects under the action of the force.
Further, the bending arm connecting piece is arranged at the side above the two pre-loading bending arms, namely the bending arm connecting piece and the pre-loading bending arms are not in the same vertical plane; the lower end of the bent arm connecting piece is provided with two connecting parts, and the inner side ends of the two preloaded bent arms are fixedly connected with the two connecting parts through fasteners respectively.
Further, the connecting part is an elastic structure made of extensible materials, is connected with the servo mechanism and keeps in a vertical state under the action of the pre-loading force of the servo mechanism; when the invasive claw is required to be separated from the object, the servo mechanism releases the connecting part, and the connecting part bends upwards under the action of elasticity to restore the bending state, so that the preloaded bending arm and the invasive claw on the preloaded bending arm are driven to be separated from the object.
Further, the upper part of the bending arm connecting piece is fixedly arranged at the lower part of the aircraft, and the upper parts of the hanging arms at the two sides of the elastic hanging frame are respectively connected with the lower part of the aircraft.
Further, a plurality of the passive invasive clamp devices are uniformly arranged at the lower circumference of the aircraft so as to simultaneously and stably grasp an object downwards.
Further, four passive invasive clamps are uniformly arranged around the lower part of the aircraft.
Further, the quadrotor also grabs a quantity of payload by the passive intrusive clamp to achieve a transport function.
Compared with the prior art, the invention has the following beneficial effects: the four-rotor aircraft capable of grabbing and staying in the air can grab objects in the air better and stay in the air through the passive invasive clamp and the design of the controller capable of estimating the mass and the mass center offset of the aircraft, so that the interaction capacity with the environment is improved greatly, and the running energy consumption of the four-rotor aircraft is reduced.
Drawings
Figure 1 is a schematic structural view of a quad-rotor aircraft in accordance with an embodiment of the present invention.
FIG. 2 is a schematic diagram of a passive invasive clamp according to an embodiment of the present invention;
FIG. 3 is a schematic view of an operating state of the passive invasive clamp according to the embodiment of the present invention;
FIG. 4 is a schematic view of another working state of the passive invasive clamp according to the embodiment of the present invention;
figure 5 is a coordinate system and free body diagram of a quad-rotor aircraft in accordance with an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
As shown in fig. 1, the present embodiment provides a quadrotor capable of grabbing and staying in the air, and a passive invasive clamp for grabbing objects is arranged at the lower part of the quadrotor 4, so that the quadrotor can interact with the environment in the flight process, and the quadrotor is allowed to rest on a berthing object to reduce the energy consumption of the quadrotor; the four-rotor aircraft is provided with a controller, and the controller is used for estimating the offset of the mass and the mass center of the aircraft so as to improve tracking performance. The quadrotor may also grasp a quantity of payload through the passive intrusive clamp to achieve a transport function.
As shown in fig. 2-4, the passive invasive clamp comprises a bent arm connecting piece 1, an elastic hanging frame 2 and two pre-loading bent arms 3, wherein the bent arm connecting piece 1 is arranged in the middle, the inner side ends of the two pre-loading bent arms 3 are respectively connected to the lower ends of the bent arm connecting piece 1, the elastic hanging frame 2 is arranged in the middle of the upper sides of the two pre-loading bent arms 3, the elastic hanging frame 2 is of a ' Chinese character ' shaped ' structure with a middle trigger rod 21 and two side hanging arms 22, the upper parts of the outer side ends of the two pre-loading bent arms 3 are respectively provided with a hook 31, and the two pre-loading bent arms 3 are respectively hung on the two side hanging arms 22 of the elastic hanging frame 2 through the hooks 31 when being subjected to pre-loading force; the lower parts of the outer side ends of the two pre-loading bent arms 3 are respectively provided with an intrusion claw 32 for grabbing objects, when the lower ends of the middle trigger rods 21 of the elastic hanging frames 2 collide with the objects and are subjected to upward acting force of the objects, the middle trigger rods 21 move upwards slightly and drive the two side hanging arms 22 to swing due to certain elasticity, so that the hooks 31 of the two pre-loading bent arms 3 are separated from the elastic hanging frames 2, and the two pre-loading bent arms 3 reversely and downwards grab the objects through the intrusion claws 32 under the action of force.
Such a passive invasive clamp can allow the grip to be passively engaged with the contact surface and the grip can be easily disengaged from the contact surface. When the quadrotor is perched on a branch, the easily-separated handle is convenient for the quadrotor to enter the air to continue working.
In this embodiment, the flexure arm connection piece 1 is disposed above and beside the two preloaded flexure arms 3, that is, the flexure arm connection piece 1 and the preloaded flexure arms 3 are not in the same vertical plane, and the preloaded flexure arms 3 and the elastic hanger 2 are in the same vertical plane. The lower end of the bending arm connecting piece 1 is provided with two connecting parts 11, and the inner side ends of the two preloaded bending arms 3 are fixedly connected with the two connecting parts 11 through bolts respectively.
In this embodiment, the connection 11 is an elastic structure made of a ductile material (manufactured by a Shape Deposition Manufacturing (SDM) process). As shown in fig. 1, the connecting part 11 is connected with the servo mechanism 5 under the aircraft 4 and keeps the vertical state under the action of the pre-loading force of the servo mechanism; when the invasive claw is required to be separated from the object, the servo mechanism 5 releases the connecting part 11, and the connecting part bends upwards under the action of elastic force to restore the bending state, so as to drive the preloading bending arm and the invasive claw thereon to separate from the object. In the embodiment, the servo mechanism consists of a driving mechanism in the middle of the lower side of the aircraft, a clamping piece at the rear side of the bent arm connecting piece and a rope for connecting the driving mechanism and the clamping piece, and the clamping piece clamps the connecting part of the bent arm connecting piece from the rear side to force the connecting part to be in a vertical state; when the connecting part is required to be released, the driving mechanism drives the rope to pull backwards, and the traction clamping piece acts to separate from and release the connecting part, so that the connecting part which is out of the blockage is restored to a bending state under the action of elasticity.
In this embodiment, the upper part of the bending arm connector 1 is fixedly mounted on the lower part of the aircraft. The two side hanging arms 22 of the elastic hanging frame 2 are respectively connected with the lower part of the aircraft through the aircraft connecting parts 23 at the upper part of the elastic hanging frame. Because the elastic hanging frame has certain elasticity, the middle trigger rod 21 of the elastic hanging frame 2 can make the hanging arms 22 at the two ends move inwards with small radian after being stressed.
In this embodiment, as shown in fig. 1, four of the passive intrusive fixtures are uniformly provided around the lower part of the aircraft to stably grasp an object downward at the same time.
The working process of the passive invasive clamp is as follows: first, a preload force is applied to the two preload bending arms 3 to bend them upward and to be respectively hung on the both side hanging arms 22 of the elastic hanger 2 via the hooks 31. When the aircraft is to grab an object in the air, the aircraft approaches the object, the lower end of the middle trigger rod 21 of the elastic hanging frame 2 is impacted to the object, the middle trigger rod 21 moves upwards slightly and drives the two side hanging arms 22 to swing inwards slightly due to certain elasticity, the hooks 31 of the two pre-loading bent arms 3 are separated from the elastic hanging frame 2, and the two pre-loading bent arms 3 reversely and downwards grab the object through the invasion claw 32 under the action of force. When the object is to be released, the servo mechanism on the aircraft releases the connecting part 11, and the connecting part 11 bends upwards under the action of the elastic force to restore the bending state, so that the preloaded bending arm 3 and the intrusion claw 32 on the preloaded bending arm are driven to be separated from the object.
In contrast to airborne drag, the present invention uses a hand grip manipulation to manipulate objects directly in the air. The present invention proposes a passive gripper to grip an object, which, unlike other gripping operations, takes into account the flight dynamics due to gripping the payload and describes a dynamic model and control strategy.
In most previous work on quad-rotor aircraft, it was assumed that the center of mass of the quad-rotor aircraft coincides with the geometric center of the quad-rotor aircraft. In the present invention a controller is described that can estimate the offset of the centre of mass of an aircraft after grabbing a load and allow the mass of the payload system of a quad-rotor aircraft to be unknown.
The invention receives the signal from V by running an autonomous high-level position control loop on a control computer ICON Is a four-rotor aircraft attitude estimation. Controlling inter-process communication on a computer by ROS and ROS-M ATLAB Bridge processing. The control computer passes X at a fixed 100Hz frequency BEE An input signal is sent to an ARM7 processor on a quad-rotor aircraft that runs a low level attitude control loop and calculates a desired motor speed.
1. Dynamic model of four-rotor aircraft
When the grip of a quadrotor is used to transport an object, the kinetic model of the quadrotor may change. In the following we will describe the dynamic model and the control strategy.
1. Dynamic model
Figure 5 shows the world coordinate system W, the body coordinate system B and the free body map of a quadrotor. We define roll, pitch and yaw angles (phi, theta and phi) by Z-X-Y euler angles. The rotation matrix is composed ofGiven. The angular velocity of the aircraft is denoted ω, which represents the angular velocity of coordinate B in coordinate W, with components p, q and r in the body coordinate system. Each rotor having an angular velocity omega i And generates a force F based thereon i And moment M i According to the formula
Since the motor dynamics system reacts faster than the rigid dynamics system and the aerodynamic system, we assume that the rotor speed can be reached immediately during the controller development process. Thus, control input u, where u 1 U is the resultant force of a quadrotor 2 、u 3 、u 4 For body torque, this can be expressed in terms of rotor speed
Where L is the distance from the axis of rotation of the rotor to the center of the quad-rotor.
The position vector of the mass center and the geometric center is r CM And r GC Respectively according to
r off ＝[x off y off z off ] T Is the offset in the volumetric coordinate system.
The force acting on the system is gravity, at-z W In the direction, u 1 ＝∑F i At z B In the direction where F i Force from each rotor. The Newton equation of motion affecting the acceleration of the geometric center is
Where α is the angular acceleration of the body coordinate B in the world coordinate W. The Euler equation of this equation set is
Wherein the moment of inertia matrix I CM Refers to along x B -y B -z B The centroid of the shaft. Note that the propeller resultant force u 1 A moment is generated in equation (5) because u 1 The geometric center of action does not coincide with the centroid.
2. Control of a quadrotor aircraft
The present invention proposes a controller to track the geometric center and yaw angle of a specified near hover trajectory, r T (t) and ψ T (t). First, we define the position error and velocity error as
Next we calculate the required force vector:
wherein K is p ,K i ,K v The gain matrix is positively set and the gain matrix is,is an estimate of the quality of the system. Note that the controller effectively multiplies two mα×r in equation (4) off And mω× (ωxr) off ) Considered as disturbance rejected by feedback. This is done because these parameters are typically small in practice relative to other parameters.
Required force vector F des Is of the magnitude of the first control input u 1 . Required roll and pitch anglesAnd theta des By determining the lateral component F required des The required yaw angle ψ T Is obtained from the pose of (2). Calculating moment of the net body frame:
wherein K is R And K ω Is a matrix of diagonal gains that are applied to the system,and->And estimating the centroid offset. Finally, we calculate the required rotor speed by inverting equation (2) to achieve the required speed.
Unlike previous work, the present invention explicitly includes an estimation of system mass and controller center of mass offset, which variations can be significant during payload transmission. The pitch and roll moments caused by the offset vary with the net thrust produced.
2. Inertial parameter estimation
1. Least square method for estimating parameters
The method used in the present invention requires that the unknown parameter θ appear linearly in the equation of motion. The present invention will allow the equation to contain these unknown parameters p. The method converts the motion differential equation into a discrete time equation by using a Tustin conversion method, and can be written into
y j (k+1)＝θ T φ j (k) (9)
Where k is the time step, θ is the parameter vector, φ j And y j The measurement vector of equation j, and the system output, respectively. The purpose is to find an estimated parameter vector
The invention estimates the unknown parameter vector by least square method. The cost function that needs to be minimized is
Wherein lambda is 1 And the weight less than or equal to 1 is a forgetting factor and is used for measuring the weight of old data smaller than new data. Cost function hereIs a function of the square error of k time steps and p equations. Note that this cost function may be minimized in batches or recursively.
Batch least square method
For data collected over k time steps, the solution to the batch least squares problem with forgetting factor 1 is
Wherein the method comprises the steps of
Recursive least squares
The method may also be applied recursively so as to vary with the receipt of new data at each time step. In this case, the parameter vector estimate is updated as:
wherein the method comprises the steps of
Where F (k) is a weight matrix, also based on the inverse recursive update:
continuous excitation: phi is required for both methods j Continuous excitation. If it is
Then the vector phi is measured j The excitation is continued.
Intuitively, this condition means that the dynamics are sufficiently excited to identify unknown parameters. In the batch least squares method, continuous excitation guaranteesAnd is reversible. In the recursive least square method, as can be seen from equation (15), when +.>When becoming a non-full rank, when forgetting factor lambda 1 At less than 1, the adaptive gain F (k) will approach infinity.
2. Application of four-rotor dynamics
The method for estimating the least square method parameters is applied to a four-rotor motion equation.
Estimation of load parameters at hover
When the quad-rotor is commanded to hover in place, the derivative of position and euler angle is zero. Removing these terms from the equation of motion simplifies the parameter estimation method. Consider the equation of motion in the z-axis direction when hovering:
0＝u 1 (z B z W )-mg (17)
calculating k measured values by using m as an unknown parameter and using a batch least square method
Next, we consider the euler equation for the y-axis at hover, taking the resultant force of a quad-rotor aircraft as a known constant u 1 Wherein the abscissa represents the average of the collected data over a time span. Obtaining unknown offset x by least square method off Only the average of the data collected:
the offset of the y-axis is also similar. Note that there is no moment of inertia when hovering, as the term by which they multiply is zero. An experimental benefit of this approach is that the average value can be calculated on the onboard controller and sent back to the control computer at a slower rate. As the moment and angular velocity change continuously. Note that this approach assumes that the robot is not subject to any interference.
Estimation of payload quality in the presence of interference
Newton's equation provides three equations for the mass of the system:
wherein F is x And F y Is a lateral pneumatic disturbance force.
Wherein the unknown parameter vector isSince the mass of the quadrotors and the grips is fixed, this method can be used to determine the mass of the payload. The recursive least squares method can be run in real time, and is particularly useful for identifying whether a quadrotor is successfully picking up or throwing a payload.
Estimation of payload inertia
For centroids offset from geometric centers by some vector r off The Euler equation for the system of (2) is given by (5). The present invention makes two assumptions to adapt these nonlinear systems of equations to the parameter estimation method of the present invention:
the body axis of a quadrotor is close to the mast, so its product of inertia is small.
Excitation is mainly about one axis so ω× (i×ω) can be ignored. Under these assumptions, the equation of motion about the y-axis is
u 1 Is four rotor wingsResultant force of aircraft, u 3 Is the moment applied along the y-axis, x off Is the centroid offset in the x-direction. Where the unknown parameter vector isThe least squares estimation may be applied to flight data where pitch dynamics are sufficiently motivated. Estimating I using equivalent methods for z-axis and x-axis zz ,I xx And y off 。
The invention provides a four-rotor aircraft capable of grabbing and staying in the air. Its bottom is equipped with a lightweight, low complexity grip allowing a quadrotor to grab and rest on a branch or beam and pick up and transport the payload. Unlike conventional quad-rotor aircraft, the present invention may enable the quad-rotor aircraft to interact with the environment, allowing the quad-rotor aircraft to fly and perch on the pole or beam may increase their endurance to perform tasks. In the control aspect of the four-rotor aircraft, the invention provides a controller which can estimate the mass of the system and the mass center offset of the controller. This allows the quadrotor to estimate and adapt the inertia of the payload to improve the tracking performance of the quadrotor.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (7)
1. The four-rotor aircraft capable of grabbing and staying in the air is characterized in that a passive invasive clamp for grabbing objects is arranged at the lower part of the four-rotor aircraft, so that the four-rotor aircraft can interact with the environment in the flight process, and the four-rotor aircraft is allowed to perch on a berthing object so as to reduce the energy consumption of the four-rotor aircraft; the four-rotor aircraft is provided with a controller, and the controller is used for estimating the offset of the mass and the mass center of the aircraft so as to improve the tracking performance;
the passive invasive clamp comprises a bent arm connecting piece, an elastic hanging frame and two preloaded bent arms, wherein the bent arm connecting piece is arranged in the middle, the inner side ends of the two preloaded bent arms are respectively connected to the lower ends of the bent arm connecting pieces, the elastic hanging frame is arranged in the middle of the upper sides of the two preloaded bent arms, the elastic hanging frame is of a 'U' -shaped structure with a middle trigger rod and two hanging arms on the two sides, the upper parts of the outer side ends of the two preloaded bent arms are respectively provided with a hook, and the two preloaded bent arms are bent upwards when being subjected to preloaded force and are respectively hung on the hanging arms on the two sides of the elastic hanging frame through the hooks; the lower parts of the outer side ends of the two pre-loading bent arms are respectively provided with an intrusion claw used for grabbing objects, when the lower ends of the middle trigger rods of the elastic hanging frames collide with the objects and are subjected to upward acting force of the objects, the middle trigger rods move upward in a small way and drive the hanging arms on the two sides to swing, so that the hooks of the two pre-loading bent arms are separated from the elastic hanging frames, and the two pre-loading bent arms reversely and downwards pass through the intrusion claws to grab the objects under the action of the force.
2. A four-rotor aircraft capable of being grabbed and parked in the air as claimed in claim 1, wherein the bending arm connector is arranged above and beside two preloaded bending arms, i.e. the bending arm connector and preloaded bending arms are not in the same vertical plane; the lower end of the bent arm connecting piece is provided with two connecting parts, and the inner side ends of the two preloaded bent arms are fixedly connected with the two connecting parts through fasteners respectively.
3. A quadrotor aircraft capable of being grabbed and parked in the air as claimed in claim 2, wherein said connection is an elastic structure made of ductile material, said connection being connected to the servomechanism and maintained in a vertical condition under the preload force of the servomechanism; when the invasive claw is required to be separated from the object, the servo mechanism releases the connecting part, and the connecting part bends upwards under the action of elasticity to restore the bending state, so that the preloaded bending arm and the invasive claw on the preloaded bending arm are driven to be separated from the object.
4. The four-rotor aircraft capable of being grabbed and stopped in the air according to claim 1, wherein the upper parts of the bending arm connecting pieces are fixedly arranged on the lower part of the aircraft, and the upper parts of the hanging arms on two sides of the elastic hanging frame are respectively connected with the lower part of the aircraft.
5. A four-rotor aircraft capable of being grabbed and stopped in the air according to claim 1, wherein a plurality of said passive invasive clamp devices are uniformly provided at the lower periphery of the aircraft to simultaneously and stably grab an object downwardly.
6. A four-rotor aircraft capable of being grabbed and stopped in the air as recited in claim 5, wherein four of said passive intrusion fixtures are uniformly disposed about a lower portion of the aircraft.
7. A quadrotor aircraft capable of grabbing and staying in the air as claimed in claim 1, wherein said quadrotor aircraft also grabs a quantity of payload by said passive intrusive fixture to effect transport functions.
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| US10744649B2 (en) * | 2017-08-18 | 2020-08-18 | GearWurx | Drone payload system |
| US10787259B2 (en) * | 2018-11-08 | 2020-09-29 | Colorado State University Research Foundation | Compliant bistable gripper for aerial perching and grasping |
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| CN107416195A (en) * | 2017-07-03 | 2017-12-01 | 北京航空航天大学 | A kind of imitative hawk grasping system of aerial operation multi-rotor aerocraft |
| CN108453738A (en) * | 2018-03-30 | 2018-08-28 | 东南大学 | A kind of quadrotor based on Opencv image procossings independently captures the control method of operation in the air |
| DE102019115406A1 (en) * | 2019-06-06 | 2020-12-10 | Emqopter GmbH | Autonomous multicopter with manipulator |
| CN110466765A (en) * | 2019-08-29 | 2019-11-19 | 中国人民解放军国防科技大学 | A kind of accurate control system of hovering |
| CN211844916U (en) * | 2020-01-09 | 2020-11-03 | 中国石油大学(华东) | Flexible manipulator for stopping unmanned aerial vehicle based on irregular terrain |
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