CN114967719A - Quadrotor unmanned aerial vehicle combined with single-foot hopping robot and control method - Google Patents
Quadrotor unmanned aerial vehicle combined with single-foot hopping robot and control method Download PDFInfo
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Abstract
The invention belongs to the field of aircraft robots, and discloses a quadrotor unmanned aerial vehicle combined with a single-foot hopping robot and a control method. The invention can provide extra lift force for the take-off and rising phases of the rotor unmanned aerial vehicle, obtain larger rising acceleration, realize faster soft landing in the landing phase, and simultaneously can enable the rotor unmanned aerial vehicle to change the flight height more rapidly in the low-altitude flight process, thereby improving the maneuverability of the unmanned aerial vehicle; kinetic energy and gravitational potential energy when can falling rotor unmanned aerial vehicle turn into the elastic potential energy of the elastic power mechanism part of spring robot series connection, for subsequent take-off and rise provide power, improved rotor unmanned aerial vehicle's duration to a certain extent.
Description
Technical Field
The invention belongs to the field of aircraft robots, and particularly relates to a quadrotor unmanned aerial vehicle combined with a single-foot hopping robot and a control method.
Background
The unmanned aerial vehicle is a flying robot which is operated remotely by ground personnel through a radio remote control device or is carried with a control program on the unmanned aerial vehicle to realize autonomy or semi-autonomy, and with the development of communication, electronic information and energy technology, the research is receiving wide attention and developing rapidly. Current traditional aircraft, especially the most common four rotor unmanned aerial vehicle, adopt efficient brushless motor as power, have the size little, light in weight, high durability and use, mobility is good, maintenance cost low grade advantage, occupy the position of putting a great deal of weight in the special robot trade, the wide application is in the aspects such as map survey and drawing, meteorological detection, intelligent aerial photography, accurate agriculture, electric power is patrolled and examined, environmental protection renovation, also play extremely important effect in the middle of the military field simultaneously, can accomplish tasks such as battlefield reconnaissance and supervision, location school shoot, target destruction.
Multi-rotor drones are powered by batteries, of which lithium and nickel-metal hydride batteries are most commonly used with excellent performance and price advantage. However, on the premise that the electricity storage technology is not fundamentally changed, the energy load of the unit weight of the battery is not large in lifting space, and the endurance time can be improved only by improving the total capacity of the battery, so that heavier and more batteries are needed, but the weight of the airplane body is increased at the same time, so that the power consumption is improved, and the flight time and the task expansion are limited.
On the other hand, the lift force of the multi-rotor unmanned aerial vehicle during takeoff and rising is provided by the propellers, and the acceleration of the multi-rotor unmanned aerial vehicle is limited by the performance of the propellers and the motors for providing power for the propellers; meanwhile, after the multi-rotor unmanned aerial vehicle approaches the ground through slow deceleration in the landing stage, the landing gear is in contact with the ground to consume and absorb the impact energy between the multi-rotor unmanned aerial vehicle and the ground. The maneuverability when the many rotor unmanned aerial vehicle rises and falls has been restricted to above characteristic.
Disclosure of Invention
The invention aims to provide a quadrotor unmanned aerial vehicle combined with a single-foot hopping robot and a control method, and aims to solve the technical problems.
In order to solve the technical problems, the specific technical scheme of the quadrotor unmanned aerial vehicle combined with the single-foot hopping robot and the control method is as follows:
a quadrotor unmanned aerial vehicle combined with a single-foot hopping robot comprises a quadrotor unmanned aerial vehicle body, a flight controller, an airborne central processing unit and a ground data processing base station, wherein the airborne central processing unit is positioned on the quadrotor unmanned aerial vehicle body, the quadrotor unmanned aerial vehicle comprises the single-foot hopping robot, the single-foot hopping robot is positioned below the quadrotor unmanned aerial vehicle body and between undercarriage,
the single-foot hopping robot can drive the body of the quadrotor unmanned aerial vehicle to carry out hopping motion;
the unmanned aerial vehicle flight controller is used for controlling the flight of the unmanned aerial vehicle, automatically keeping the normal flight attitude of the airplane and controlling the bouncing action of the single-foot bouncing robot;
the airborne central processing unit is used for coordinating the data processing and control instruction sending work of the quad-rotor unmanned aerial vehicle and the single-foot hopping robot, receiving the data sent by the ground data processing base station, sending an instruction to the unmanned aerial vehicle flight controller, and controlling the flight speed of the unmanned aerial vehicle so as to control the flight attitude and the flight trajectory; the initial bouncing speed and the initial attitude angle of the single-foot bouncing robot are used for controlling the bouncing track; the ground data processing base station is used for coordinating the data processing work of the whole system, planning the flight track and the bounce track of the unmanned aerial vehicle and the bounce robot, and monitoring the motion states of the unmanned aerial vehicle and the bounce robot in the flight and bounce processes in real time and modifying tasks so as to intervene the motion.
Furthermore, the single-foot bouncing robot comprises a leg mechanical structure, wherein the leg mechanical structure is a leg structure simulating a night monkey and consists of 7 rigid connecting pieces, the 7 rigid connecting pieces are provided with A, B, C, D, F, G, H, K, L, M single-degree-of-freedom nodes, and each single-degree-of-freedom node represents a hinge point of each connecting piece and is respectively a Link-DBF connecting piece, a Link-DG connecting piece, a Link-FH connecting piece, a Link-AKC connecting piece, a Link-KM connecting piece, a Link-MLP connecting piece and a Link-GHCL connecting piece; two ends of the Link-DBF connecting piece are respectively hinged with the Link-DG connecting piece and the Link-FH connecting piece; the Link-DG connecting piece and the Link-FH connecting piece are hinged with the Link-GHCL connecting piece after being crossed; the Link-AKC connecting piece is hinged with the Link-GHCL connecting piece; the Link-GHCL connecting piece is hinged with the Link-MLP connecting piece; the Link-KM connecting piece is hinged with the Link-AKC connecting piece and the Link-MLP connecting piece; the node A and the node B are fixed points on the body of the hopping robot, and the node P is a contact point between the leg of the robot and the ground, namely a toe; the legs are extended by rotating the Link-DBF Link clockwise about the node B, the legs are tightened by rotating the Link-DBF Link counterclockwise, and the motion trajectory of the node P is a straight line passing through the node B during the extension and tightening of the legs.
Further, the single-foot bouncing robot comprises a power motor and a power gear set; the power motor is a brushless motor; the power gear set comprises a low-speed gear bull gear, a low-speed gear pinion, a high-speed gear bull gear and a high-speed gear pinion; the high-speed gear pinion is sleeved on a motor shaft of the power motor, and the high-speed gear bull gear is meshed with the high-speed gear pinion; the low-speed gear pinion is coaxially connected with the high-speed gear bull; the large gear of the low-speed gear is meshed with the small gear of the low-speed gear.
Furthermore, the single-foot hopping robot comprises a serial elastic power mechanism; a plastic base, a torsion spring and a Link-DBF connecting piece of a leg mechanical structure are sequentially sleeved on a gear shaft of a low-speed gear large gear of the power gear set, the plastic base is fixedly connected with the low-speed gear large gear, one end of the torsion spring is fixed on the plastic base, and the other end of the torsion spring is fixed on the Link-DBF connecting piece of the leg mechanical structure. When in bounce, the power motor transmits and twists the torsional spring through the power gear set, and then releases the torsional spring to extend and take off the leg mechanical structure of the bouncing robot.
Furthermore, the four-rotor unmanned aerial vehicle body comprises a rack, an undercarriage, a connecting piece of the four-rotor unmanned aerial vehicle body and the single-foot hopping robot, a battery, a bidirectional electric regulator and a brushless motor.
Further, the flight controller includes an interface for a gyroscope, accelerometer, magnetometer, GPS module, and other hardware.
The invention also discloses a method for controlling the throwing articles by the quadrotor unmanned aerial vehicle combined with the single-foot hopping robot, which comprises the following steps:
step 1: installing a special device above a four-rotor unmanned aerial vehicle body for fixing a thrown object, accelerating the flying of the unmanned aerial vehicle at a specific angle, enabling the device to release the thrown object, projecting the thrown object to a target point along a preset path, carrying out parabolic motion on the object in the air, calculating an initial speed and a speed direction through the preset motion path and the target point, wherein the initial speed and the speed direction are consistent with the instantaneous speed and the initial attitude angle of the unmanned aerial vehicle at the time of parabolic motion;
step 2: the analysis of the motion track can be simplified into that the object is thrown at the initial speed
From the flight, the following movement is a parabolic movement in three dimensions, v 0 Is the instantaneous velocity at the moment of ball throwing, v horizontal And v vertical Is the component of the initial velocity in the horizontal direction as well as in the vertical direction; theta is the moment of ball throwing
Angle to the z-axis, Ang XZ Is the angle at which the initial velocity is inclined in the direction of the xz plane, Ang YZ Is v 0 Angle of inclination in the direction of yz plane, wherein Ang XZ And Ang YZ Measured by the attitude sensor IMU,
the initial velocities are represented by a, b, c, and d, respectively
The velocity components in the directions of the x-axis, the y-axis, the horizontal plane and the z-axis can be obtained by the following expression according to the trigonometric function relationship:
from the above formula, the relational expression tan can be obtained 2 θ＝tan 2 Ang XZ +tan 2 Ang YZ And the included angle theta between the initial speed and the z axis is as follows:
therefore, the first and second electrodes are formed on the substrate,
according to the formula of the projectile motion,
the available flight time t is:
the soaring peak height is:
the distance between the jump drop point P and the origin O is as follows:
included angle theta between the connecting line of the falling point direction and the x axis XOP Satisfies the following formula:
and step 3: deducing according to the step 2, knowing the relation between the position of the drop point P and the initial speed and the speed direction, namely the relation between the position of a landing point and the instantaneous speed and the initial attitude angle of the unmanned aerial vehicle at the time of throwing the object, the process of throwing the object by taking off the object by the unmanned aerial vehicle is simplified into a black box, the input quantity of the black box is a power control signal of a motor, the output quantity is the instantaneous speed and the attitude angle of the unmanned aerial vehicle at the moment of throwing the object, the relation between the position of the landing point and the initial speed is actually the relation between the position of the landing point and the power of the motor, the power control signal of the motor of the unmanned aerial vehicle and the leg extension gain coefficient of the bouncing robot both correspond to the initial jumping speed, and the corresponding relation can be obtained by measuring and recording for a plurality of times in the process of running the real object, during the process of taking off and throwing the object of the unmanned aerial vehicle, the required attitude angle of the body can be obtained by substituting the position of the falling point and the initial speed into the formula on the premise of setting the initial speed.
The invention also discloses a control method for rapidly changing the flight height of the quadrotor unmanned aerial vehicle combined with the single-foot hopping robot in the low-altitude flight process, which comprises the following steps:
step 1: the camera is installed on the quad-rotor unmanned aerial vehicle, the position of an object moving in the air is captured through the camera, and a customized racket is fixed on a frame of the unmanned aerial vehicle for hitting the object;
step 2: the camera and the onboard central processing unit of the unmanned aerial vehicle are used for processing and calculating images in real time to obtain the state of the article, and the state of the article is effectively estimated according to a Kalman filter to define the state of the article as
Wherein s is b ，
The position and the speed of the article are represented, the image is obtained through a camera, the image is processed and calculated by a central processing unit, and the linear continuous system of the article is processed by time tau k Discretization is performed, x b [k]Represents t k The state of the article at the moment, and the state equation of the article are expressed as
x b [k+1]＝A[k]x b [k]+B[k]+w[k]
z[k]＝H[k]x b [k]+v[k]
Wherein
H[K]＝[I 3*3 0 3*3 ]
w k represents the system noise at time k,
vk represents the observed noise at time k,
the time T elapsed when the article reaches the designated hitting point and the speed V before the article reaches the hitting point can be obtained by calculating in the onboard central processing unit through the Kalman filter pre (ii) a Simultaneously setting the state x of the highest point expected after the object is hit hb Velocity V after impact at the impact point post According to Newton's second law, according to the speed of the article at the striking pointDegree, obtaining the state of the article at the actual highest point as x ab X of this ab Is the speed V after being hit with the article post Defining a minimum loss function of the article
C＝(x hb -x ab ) 2
Minimizing the loss function C by a gradient descent method to obtain the speed of the object after being hit at a hit point
V post Through V pre And V post The state of the unmanned aerial vehicle reaching the article hitting point can be obtained by reverse thrust, namely the state x of the racket on the unmanned aerial vehicle at the moment uav ，
And step 3: by calculation, the unmanned plane has the opportunity of x within the time T uav The attitude reaches the object hitting point, and meanwhile, the power control signal of the motor of the unmanned aerial vehicle and the leg extension gain coefficient of the bounce robot are calculated according to the relationship between the attitude of the body of the unmanned aerial vehicle and the instantaneous speed and attitude angle of the body when the unmanned aerial vehicle hits the object, so that the body state is x uav Make unmanned aerial vehicle realize bumping thing.
The quadrotor unmanned aerial vehicle combined with the single-foot hopping robot and the control method have the following advantages:
(1) the invention can provide additional lift force for the take-off and rising phases of the rotor unmanned aerial vehicle to obtain larger rising acceleration, thereby completing special tasks, such as throwing articles and extraterrestrial planet exploration under the environment of low gravity and low atmospheric density. On the other hand, make rotor unmanned aerial vehicle realize more quick soft landing in the stage of descending, improve rotor unmanned aerial vehicle's mobility.
(2) The invention can enable the rotor unmanned aerial vehicle to change the flight height more rapidly in the low-altitude flight process, realize obstacle crossing of complex terrains, and can be used for tasks such as ruin rescue, mine clearance and the like.
(3) The invention can convert the kinetic energy and the gravitational potential energy of the unmanned gyroplane when falling into the elastic potential energy of the elastic power mechanism part connected in series with the hopping robot, thereby providing power for subsequent take-off and rising and improving the cruising ability of the unmanned gyroplane to a certain extent.
Drawings
Fig. 1 is a schematic view of the overall structure of a quad-rotor unmanned aerial vehicle according to the invention;
FIG. 2 is a schematic structural view of a single-foot hopping robot of the invention;
FIG. 3 is a leg topology structure diagram of the single-foot hopping robot of the invention;
FIG. 4 is a schematic structural view of a power gearset of the present invention;
FIG. 5 is a schematic view of a tandem elastic power mechanism according to the present invention;
FIG. 6 is a schematic diagram of a quad-rotor drone parabolic motion analysis of the present invention;
the notation in the figure is: 1. Link-DBF connectors; 2. a Link-DG connection; 3. Link-FH connectors; 4. a Link-AKC connector; 5. a Link-KM connector; 6. a Link-MLP connection; 7. a Link-GHCL connection; 21. a low-speed gear bull gear; 22. a low-speed stage gear pinion; 23. a high-speed gear bull gear; 24. a high-speed stage gear pinion; 25. a power motor; 31. a torsion spring; 32. a gear shaft; 33. a plastic base.
Detailed Description
In order to better understand the purpose, structure and function of the present invention, a quad-rotor drone combined with a single-foot bounce robot and a control method thereof are described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the quadrotor unmanned aerial vehicle combined with the single-foot hopping robot of the invention comprises a quadrotor unmanned aerial vehicle body, the single-foot hopping robot, a flight controller, an onboard central processing unit and a ground data processing base station. The single-foot hopping robot is located below the four-rotor unmanned aerial vehicle body and between the undercarriage. Airborne central processing unit is located four rotor unmanned aerial vehicle fuselage.
The four-rotor unmanned aerial vehicle body is a common unmanned aerial vehicle on the market, and comprises a rack, an undercarriage, a four-rotor unmanned aerial vehicle body, and a single-foot hopping robot connecting piece, a battery, an electric controller and a brushless motor.
The single-foot hopping robot comprises a leg mechanical structure, a power motor, a power gear set and a series elastic power mechanism.
The mechanical structure and the working principle of the leg part of the single-foot hopping robot are as follows:
the leg mechanical structure of the single-foot bouncing robot is a leg structure simulating a night monkey, and as shown in fig. 2, the leg mechanical structure consists of 7 rigid connecting pieces, including a Link-DBF connecting piece 1, a Link-DG connecting piece 2, a Link-FH connecting piece 3, a Link-AKC connecting piece 4, a Link-KM connecting piece 5, a Link-MLP connecting piece 6 and a Link-GHCL connecting piece 7. Two ends of the Link-DBF connecting piece 1 are respectively hinged with the Link-DG connecting piece 2 and the Link-FH connecting piece 3; the Link-DG connecting piece 2 and the Link-FH connecting piece 3 are hinged with the Link-GHCL connecting piece 7 after crossing; the Link-AKC connecting piece 4 is hinged with a Link-GHCL connecting piece 7; the Link-GHCL connecting piece 7 is hinged with the Link-MLP connecting piece 6; the Link-KM connecting piece 5 is hinged with the Link-AKC connecting piece 4 and the Link-MLP connecting piece 6.
As shown in fig. 3, the leg topology of the single-foot hopping robot is shown. A, B, C, D, F, G, H, K, L, M are single-degree-of-freedom nodes in total, which represent the hinge point of each connecting piece, wherein the node A and the node B are fixed points on the body of the hopping robot. The node P is the robot leg-to-ground contact point, i.e., the toe. The Link-DBF connecting piece 1 can rotate clockwise around the node B to enable the leg to extend, rotate anticlockwise to enable the leg to tighten, and in the extending and tightening processes of the leg, the motion track of the node P is a straight line passing through the node B, so that in the bouncing process of the robot, the robot body cannot generate serious imbalance and even overturn due to force application of the leg, and angular momentum can be balanced.
The power motor is a brushless motor, has the performance characteristics of ultra-thin, light weight and large torsion, and needs to further reduce the rotating speed and increase the torsion for driving the hopping of the hopping robot, so that the power motor is provided with a power gear set which is a typical two-stage cylindrical gear reducer for reducing the speed and increasing the torsion of the power motor transmission, and as shown in fig. 4, the power gear set is an assembly effect diagram of the power gear set. The power gear set includes a low gear bull gear 21, a low gear pinion gear 22, a high gear bull gear 23, and a high gear pinion gear 24. A high-speed gear pinion 24 is sleeved on a motor shaft of a power motor 25, and a high-speed gear bull gear 23 is meshed with the high-speed gear pinion 24; the low-speed gear pinion 22 is coaxially connected with the high-speed gear bull 23; the low gear large gear 21 meshes with the low gear small gear 22.
As shown in an assembly effect diagram of the series elastic power mechanism in fig. 5, a plastic base 33, a torsion spring 31 and a Link-DBF connecting piece 1 of a leg mechanical structure are sequentially sleeved on a gear shaft 32 of a large low-speed gear wheel 21 of a power gear set, the plastic base 33 is fixedly connected with the large low-speed gear wheel 21, one end of the torsion spring 31 is fixed on the plastic base 33, and the other end of the torsion spring 31 is fixed on the Link-DBF connecting piece 1 of the leg mechanical structure. During bouncing, the power motor 25 transmits and twists the torsion spring 31 through the power gear set, and then releases the torsion spring 31 to enable the leg mechanical structure of the bouncing robot to extend and bounce. The series elastic powertrain can jump higher than a rigid bounce mechanism with the same power density. The actuator transfers the energy to the elastic element (torsion spring 31) instead of directly accelerating the body, which greatly prolongs the energy storage time of the robot leg contacting the ground during the bounce, thereby increasing the net energy transferred. During take-off, the energy in the elastic element can be released to the leg without the power limitation of the actuator, so that the bouncing power of the robot exceeds the limit of the motor. And in the falling process, the gravitational potential energy and the kinetic energy of the rotor unmanned aerial vehicle and the bouncing robot can be absorbed by the elastic element, so that the buffering effect is achieved, and energy can be provided for the next takeoff and rising.
The unmanned aerial vehicle flight controller integrates sensing measurement modules such as a gyroscope, an accelerometer, a magnetometer and a GPS (global positioning system) and interfaces of other hardware, is used for controlling the flight of the unmanned aerial vehicle, automatically keeps the normal flight attitude of the aircraft and controls the bouncing action of the single-foot bouncing robot. The flight controller system collects state data of the unmanned aerial vehicle and the single-foot hopping robot measured by the sensors in real time, transmits the state data and parameters to the airborne central processing unit in real time, receives commands and data sent by the airborne central processing unit, outputs control instructions for electric tuning through calculation and processing, and realizes control of various flight modes of the unmanned aerial vehicle and control of the single-foot hopping robot.
The airborne central processing unit is used for coordinating the data processing and control instruction sending work of the quad-rotor unmanned aerial vehicle and the single-foot hopping robot, receiving the data sent by the ground data processing base station, sending an instruction to the unmanned aerial vehicle flight controller, and controlling the flight speed of the unmanned aerial vehicle so as to control the flight attitude and the flight trajectory; and the initial bouncing speed and the initial posture angle of the single-foot bouncing robot so as to control the bouncing track.
The ground data processing base station is used for coordinating the data processing work of the whole system, planning the flight track and the bounce track of the unmanned aerial vehicle and the bounce robot, monitoring the motion states of the unmanned aerial vehicle and the bounce robot in the flight and bounce processes in real time, and modifying tasks so as to intervene the motion. The method comprises the steps of processing data such as the posture, the position and the motion state of the quad-rotor unmanned aerial vehicle, and processing data such as the posture and the motion state of the single-foot hopping robot. And updating and solving the flight speed and position of the quad-rotor unmanned aerial vehicle, the initial speed and the initial attitude angle of the single-foot hopping robot, and sending the updated and calculated result to the airborne central processing unit to execute corresponding control.
Example 1:
the following describes a control method for throwing an article by using a quad-rotor unmanned aerial vehicle combined with a single-foot hopping robot as an example.
A purpose-made device is installed above the fuselage of the quad-rotor unmanned aerial vehicle and used for fixing the ball, and after the unmanned aerial vehicle accelerates at a specific angle, the device releases the ball to enable the ball to project to a target point along a preset path. The ball body carries out parabolic motion in the air, and initial speed and speed direction can be calculated through a preset motion path and a target point, and the initial speed and the speed direction are consistent with the instantaneous speed and the initial attitude angle of the unmanned aerial vehicle at the moment of throwing the ball.
For the analysis of the motion trail, the method can be simplified into the initial velocity of the sphere
From the vacation, the following movement is a parabolic movement in three-dimensional space, which is schematically shown in fig. 6. Wherein v is 0 Is the instantaneous velocity at the moment of ball throwing, v horizontal And v vertical Is the component of the initial velocity in the horizontal direction as well as in the vertical direction; theta is the moment of ball throwing
Angle to z-axis, Ang XZ Is the angle at which the initial velocity is inclined in the direction of the xz plane, Ang YZ Is v 0 The angle of inclination in the direction of the yz plane. Wherein, Ang XZ And Ang YZ Measured by an attitude sensor IMU.
In FIG. 6, the lengths of the 4 auxiliary lines are a, b, c and d respectively, which represent the initial speeds
The velocity components in the directions of the x-axis, the y-axis, the horizontal plane and the z-axis can be obtained by the following expression according to the trigonometric function relationship:
from the above formula, the relational expression tan can be obtained 2 θ＝tan 2 AngXZ+tan 2 AngYZ, the included angle theta between the initial speed and the z axis is as follows:
therefore, the first and second electrodes are formed on the substrate,
according to the formula of the projectile motion,
the available flight time t is:
the soaring peak height is:
the distance between the jump drop point P and the origin O is as follows:
included angle theta between the connecting line of the falling point direction and the x axis XOP Satisfies the following formula:
according to the derivation, the relation between the position of the drop point P and the initial speed and the speed direction can be known, namely the relation between the position of the drop point P and the instantaneous speed and the initial attitude angle of the unmanned aerial vehicle at the moment of throwing the ball. The takeoff and ball throwing process of the unmanned aerial vehicle is simplified into a black box, the input quantity of the black box is a power control signal of a motor, and the output quantity is the instantaneous speed and the attitude angle of the unmanned aerial vehicle at the moment of ball throwing. The relation between the position of the falling point and the initial speed is actually the relation between the position of the falling point and the power of the motor, the power control signal of the motor of the unmanned aerial vehicle and the leg extension gain coefficient of the hopping robot correspond to the initial take-off speed, and the corresponding relation can be obtained through multiple measurement records in the real object running process. In the process of taking off and throwing objects of the unmanned aerial vehicle, the required attitude angle of the body can be obtained by substituting the landing point position and the initial speed into the formula on the premise of setting the initial speed. This is a drop point control strategy developed according to theoretical derivation.
Example 2:
the following describes a control method for rapidly changing the flying height during low-altitude flight by taking a quad-rotor unmanned aerial vehicle combined with a single-foot hopping robot as an example to pitch the ball.
The camera is installed well on this four rotor unmanned aerial vehicle, catches the position at the ball of aerial motion through the camera, and the racket of fixed a customization is used for batting in this unmanned aerial vehicle frame simultaneously.
The state of the small ball is obtained by utilizing the real-time image processing and calculation of the camera of the unmanned aerial vehicle and the onboard central processing unit, and the state of the small ball is effectively estimated according to the Kalman filter. Defining the state of the ball as
Wherein s is b ，
The position and the speed of the small ball are shown, the image is obtained through the camera, and the central processing unit processes and calculates the position and the speed. Linearly continuous system of pellets in time tau k Discretization is performed, x b [k]Represents t k The state of the ball at the moment and the state equation of the ball are expressed as
x b [k+1]＝A[k]x b [k]+B[k]+w[k]
z[k]＝H[k]x b [k]+v[k]
Wherein
H[k]＝[I 3*3 0 3*3 ]
w k represents the system noise at time k
vk represents the observed noise at time k
The unmanned aerial vehicle is supposed to contact with the ball at a certain height to realize the hitting of the ball, the ball is thrown out from the set height, the time T elapsed when the ball reaches the designated hitting point and the speed V before the ball reaches the hitting point can be obtained by calculating in the onboard central processing unit through the Kalman filter pre 。
Setting the later hope of the ball being hitState x of highest point hb Velocity V after impact at the impact point post According to Newton's second law, the state of the ball at the actual highest point is obtained as x according to the speed of the ball at the hitting point ab X is the value of ab Is the velocity V after impact with the ball post Is described in (1). Defining a spherical minimum loss function
C＝(x hb -x ab ) 2
The loss function C is minimized by a gradient descent method, and the speed V of the ball after being hit at a hitting point is obtained post . Through V pre And V post The state of the unmanned aerial vehicle reaching the ball hitting point can be obtained by reverse thrust, namely the state x of the racket on the unmanned aerial vehicle at the moment uav 。
By calculation, the unmanned plane has the opportunity of x within the time T uav The attitude reaches the hitting point, and meanwhile, the power control signal of the motor of the unmanned aerial vehicle and the leg extension gain coefficient of the bounce robot are calculated according to the relationship between the attitude of the body of the unmanned aerial vehicle and the instantaneous speed of hitting the ball by the unmanned aerial vehicle and the attitude angle of the body, so that the body state is x uav Make unmanned aerial vehicle realize bumping the ball.
It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (8)
1. A quadrotor unmanned aerial vehicle combined with a single-foot hopping robot comprises a quadrotor unmanned aerial vehicle body, a flight controller, an airborne central processing unit and a ground data processing base station, wherein the airborne central processing unit is positioned on the quadrotor unmanned aerial vehicle body;
the unmanned aerial vehicle flight controller is used for controlling the flight of the unmanned aerial vehicle, automatically keeping the normal flight attitude of the airplane and controlling the bouncing action of the single-foot bouncing robot;
the airborne central processing unit is used for coordinating the data processing and control instruction sending work of the quad-rotor unmanned aerial vehicle and the single-foot hopping robot, receiving the data sent by the ground data processing base station, sending an instruction to the unmanned aerial vehicle flight controller, and controlling the flight speed of the unmanned aerial vehicle so as to control the flight attitude and the flight trajectory; the initial bouncing speed and the initial attitude angle of the single-foot bouncing robot are used for controlling the bouncing track; the ground data processing base station is used for coordinating the data processing work of the whole system, planning the flight track and the bounce track of the unmanned aerial vehicle and the bounce robot, and monitoring the motion states of the unmanned aerial vehicle and the bounce robot in the flight and bounce processes in real time and modifying tasks so as to intervene the motion.
2. The quadrotor unmanned aerial vehicle combined with the monopod hopping robot as claimed in claim 1, wherein the monopod hopping robot comprises a leg mechanical structure, the leg mechanical structure is selected to be a leg structure simulating a night monkey and is composed of 7 rigid connecting pieces, the 7 rigid connecting pieces have A, B, C, D, F, G, H, K, L, M single-degree-of-freedom nodes, each single-degree-of-freedom node represents a hinge point of each connecting piece, and the single-degree-of-freedom nodes are respectively a Link-DBF connecting piece (1), a Link-DG connecting piece (2), a Link-FH connecting piece (3), a Link-AKC connecting piece (4), a Link-KM connecting piece (5), a Link-MLP connecting piece (6) and a Link-GHCL connecting piece (7); two ends of the Link-DBF connecting piece (1) are respectively hinged with the Link-DG connecting piece (2) and the Link-FH connecting piece (3); the Link-DG connecting piece (2) and the Link-FH connecting piece (3) are hinged with the Link-GHCL connecting piece (7) after being crossed; the Link-AKC connecting piece (4) is hinged with the Link-GHCL connecting piece (7); the Link-GHCL connecting piece (7) is hinged with the Link-MLP connecting piece (6); the Link-KM connecting piece (5) is hinged with the Link-AKC connecting piece (4) and the Link-MLP connecting piece (6); the node A and the node B are fixed points on the body of the hopping robot, and the node P is a contact point between the leg of the robot and the ground, namely a toe; the Link-DBF connecting piece (1) rotates around the node B clockwise to enable the leg to be stretched, the Link-DBF connecting piece rotates anticlockwise to enable the leg to be tightened, and in the stretching and tightening processes of the leg, the motion track of the node P is a straight line passing through the node B.
3. A quad-rotor unmanned aerial vehicle combined with a monopod hopping robot as claimed in claim 1, wherein the monopod hopping robot includes a power motor (25) and a power gear set; the power motor (25) is a brushless motor; the power gear set comprises a low-speed gear bull gear (21), a low-speed gear pinion (22), a high-speed gear bull gear (23) and a high-speed gear pinion (24); the high-speed gear pinion (24) is sleeved on a motor shaft of the power motor (25), and the high-speed gear bull gear (23) is meshed with the high-speed gear pinion (24); the low-speed gear small gear (22) is coaxially connected with the high-speed gear large gear (23); the large gear (21) of the low-speed gear is meshed with the small gear (22) of the low-speed gear.
4. The quad-rotor unmanned aerial vehicle in combination with a monopod hopping robot as claimed in claim 3, wherein the monopod hopping robot includes a tandem elastic power mechanism; a plastic base (33), a torsion spring (31) and a Link-DBF connecting piece (1) of a leg mechanical structure are sequentially sleeved on a gear shaft (32) of a low-speed gear large gear (21) of the power gear set, the plastic base (33) is fixedly connected with the low-speed gear large gear (21), one end of the torsion spring (31) is fixed on the plastic base (33), and the other end of the torsion spring is fixed on the Link-DBF connecting piece (1) of the leg mechanical structure. When the robot bounces, the power motor (25) transmits the torsional spring (31) through the power gear set, and then the torsional spring (31) is released to enable the leg mechanical structure of the bouncing robot to extend and jump.
5. The quadrotor unmanned aerial vehicle combined with the monopod hopping robot as claimed in claim 1, wherein the quadrotor unmanned aerial vehicle body comprises a frame, an undercarriage, a connecting piece of the quadrotor unmanned aerial vehicle body and the monopod hopping robot, a battery, a bidirectional electric regulator and a brushless motor.
6. A quad-rotor unmanned aerial vehicle incorporating a monopod hopping robot as claimed in claim 1, wherein the flight controller includes a gyroscope, an accelerometer, a magnetometer, a GPS module, and interfaces to other hardware.
7. A method of controlling the control of items tossed using a quad-rotor drone combined with a single-foot hopping robot as claimed in any one of claims 1 to 6, characterised by the following steps:
step 1: a special device is arranged above the body of the quad-rotor unmanned aerial vehicle and used for fixing a throwing article, after the unmanned aerial vehicle takes off at a specific angle in an accelerating way, the device releases the throwing article, the throwing article is projected to a target point along a preset path, the object performs throwing motion in the air, the initial speed and the speed direction are calculated through the preset motion path and the target point, and the initial speed and the speed direction are consistent with the instantaneous speed and the initial attitude angle of the unmanned aerial vehicle at the throwing moment;
step 2: the analysis of the motion track can be simplified into that the object is thrown at the initial speed
From the flight, the following movement is a parabolic movement in three dimensions, v 0 Is the instantaneous velocity at the moment of ball throwing, v horizontal And v vertical Is the component of the initial velocity in the horizontal direction as well as in the vertical direction; theta is the moment of ball throwing
Angle to z-axis, Ang XZ Is the angle at which the initial velocity is inclined in the direction of the xz plane, Ang YZ Is v 0 Angle of inclination in the direction of yz plane, wherein Ang XZ And Ang YZ Measured by the attitude sensor IMU,
using a, b, c and d as tablesInitial velocity
Velocity components in the directions of the x-axis, the y-axis, the horizontal plane and the z-axis can be obtained by the following expression according to the trigonometric function relationship:
from the above formula, the relational expression tan can be obtained 2 θ＝tan 2 Ang XZ +tan 2 Ang YZ And the included angle theta between the initial speed and the z axis is as follows:
therefore, the first and second electrodes are formed on the substrate,
according to the formula of the projectile motion,
the available flight time t is:
the soaring peak height is:
the distance between the jump drop point P and the origin O is as follows:
included angle theta between the connecting line of the falling point direction and the x axis XOP Satisfies the following formula:
and 3, step 3: deducing according to the step 2, knowing the relation between the position of the drop point P and the initial speed and the speed direction, namely the relationship between the position of a landing point and the instantaneous speed and the initial attitude angle of the unmanned aerial vehicle at the time of throwing the object, the process of throwing the object by the unmanned aerial vehicle is simplified into a black box, the input quantity of the black box is a power control signal of a motor, the output quantity is the instantaneous speed and the attitude angle of the unmanned aerial vehicle at the moment of throwing the object, the relationship between the position of the landing point and the initial speed is actually the relationship between the position of the landing point and the power of the motor, the power control signal of the motor of the unmanned aerial vehicle and the leg stretching gain coefficient of the bouncing robot both correspond to the initial speed of starting jumping, and the corresponding relationship can be obtained by measuring and recording for a plurality of times in the process of running the real object, during the process of taking off and throwing the object of the unmanned aerial vehicle, the required attitude angle of the body can be obtained by substituting the position of the falling point and the initial speed into the formula on the premise of setting the initial speed.
8. A control method for rapidly changing the flight altitude of a quad-rotor unmanned aerial vehicle combining a single-foot hopping robot during low-altitude flight by using the quad-rotor unmanned aerial vehicle combining the single-foot hopping robot as claimed in any one of claims 1 to 6, wherein the control method comprises the following steps:
step 1: the camera is installed on the quad-rotor unmanned aerial vehicle, the position of an object moving in the air is captured through the camera, and a customized racket is fixed on a frame of the unmanned aerial vehicle for hitting the object;
step 2: the camera of the unmanned aerial vehicle and the onboard central processing unit are used for processing and calculating images in real time to obtain the state of the article, the state of the article is effectively estimated according to a Kalman filter, and the state of the article is defined as
Wherein s is b ，
The position and the speed of the article are represented, the image is obtained through a camera, the image is processed and calculated by a central processing unit, and the linear continuous system of the article is processed by time tau k Discretization is performed, x b [k]Represents t k The state of the article at the moment, and the state equation of the article are expressed as
x b [k+1]＝A[k]x b [k]+B[k]+w[k]
z[k]＝H[k]x b [k]+v[k]
Wherein
H[k]＝[I 3*3 0 3*3 ]
w k represents the system noise at time k,
vk represents the observed noise at time k,
the time T elapsed when the article reaches the designated hitting point and the speed V before the article reaches the hitting point can be obtained by calculating in the onboard central processing unit through the Kalman filter pre (ii) a Simultaneously setting the state x of the highest point expected after the object is hit hb Velocity V after impact at the impact point post According to Newton's second law, the state of the article at the actual highest point is obtained as x according to the speed of the article at the striking point ab X is the value of ab Is the speed V after being hit with the article post Defining a function of minimum loss of the article
C＝(x hb -x ab ) 2
Minimizing the loss function C by a gradient descent method to obtain the speed V of the object after being hit at a hit point post Through V pre And V post The state of the unmanned aerial vehicle reaching the article hitting point can be obtained by reverse thrust, namely the state x of the racket on the unmanned aerial vehicle at the moment uav ，
And step 3: by calculation, the unmanned plane has the opportunity of x within the time T uav The attitude reaches the object hitting point, and meanwhile, the power control signal of the motor of the unmanned aerial vehicle and the leg extension gain coefficient of the bounce robot are calculated according to the relationship between the attitude of the body of the unmanned aerial vehicle and the instantaneous speed and attitude angle of the body when the unmanned aerial vehicle hits the object, so that the body state is x uav Make unmanned aerial vehicle realize bumping thing.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115991253A (en) * | 2023-02-17 | 2023-04-21 | 北京理工大学 | Jumping and flying integrated device |
| CN116198620A (en) * | 2023-02-17 | 2023-06-02 | 北京理工大学 | Bionic single-foot jumping robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115991253A (en) * | 2023-02-17 | 2023-04-21 | 北京理工大学 | Jumping and flying integrated device |
| CN116198620A (en) * | 2023-02-17 | 2023-06-02 | 北京理工大学 | Bionic single-foot jumping robot |
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