CN115180135B - Inhabiting robot and inhabiting method of inhabiting robot - Google Patents
Inhabiting robot and inhabiting method of inhabiting robot Download PDFInfo
- Publication number
- CN115180135B CN115180135B CN202211113536.5A CN202211113536A CN115180135B CN 115180135 B CN115180135 B CN 115180135B CN 202211113536 A CN202211113536 A CN 202211113536A CN 115180135 B CN115180135 B CN 115180135B
- Authority
- CN
- China
- Prior art keywords
- target
- perch
- perching
- robot
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 208000028804 PERCHING syndrome Diseases 0.000 claims abstract description 141
- 241000269799 Perca fluviatilis Species 0.000 claims abstract description 135
- 210000000078 claw Anatomy 0.000 claims abstract description 70
- 230000009471 action Effects 0.000 claims abstract description 16
- 210000002414 leg Anatomy 0.000 claims description 35
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 19
- 210000000629 knee joint Anatomy 0.000 claims description 19
- 210000004394 hip joint Anatomy 0.000 claims description 14
- 230000004927 fusion Effects 0.000 claims description 9
- 239000000126 substance Substances 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 4
- 230000008447 perception Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 32
- 230000008569 process Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000001737 promoting effect Effects 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 238000002310 reflectometry Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 241000269800 Percidae Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/28—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture specially adapted for farming
Abstract
The invention provides a perching type robot and a perching method thereof, and the perching type robot relates to the technical field of robots and comprises the following steps: the system comprises a machine body, a control unit, a perch module and a data acquisition unit; the control unit is arranged in the machine body, the perching module and the data acquisition unit are arranged on the machine body, and the perching module and the data acquisition unit are electrically connected with the control unit; the perching module comprises at least one perching leg and at least one perching claw; the perching legs are respectively connected with the perching claws and the machine body; the data acquisition unit is used for acquiring target data in a target area; the control unit is used for controlling the inhabitation type robot to fly to the inhabitation target based on the image, the point cloud data and the navigation data of the target area, and controlling and adjusting the state of at least one inhabitation leg and at least one inhabitation claw so as to adjust the inhabitation pose of the inhabitation type robot on the inhabitation target, complete inhabitation actions, realize large-range monitoring of the target under the forest, and promote effective means for monitoring under the forest.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a perching type robot and a perching method of the perching type robot.
Background
In recent years, with the development of robotics, various industries have extremely urgent demands for automation and intellectualization, especially for forest fire prevention and control, forest census and the like.
At present, a multistage prevention and control system is mainly formed by a forest field observation tower, an aerial unmanned aerial vehicle, a remote sensing satellite and the like. However, there is no effective monitoring means for under-forest monitoring, especially for activities of under-forest targets, and therefore monitoring activities of under-forest targets is an urgent problem to be solved.
Disclosure of Invention
The invention provides an inhabitation type robot and an inhabitation method of the inhabitation type robot, which are used for solving the defect that the movement of an under-forest target cannot be monitored in the prior art and realizing the real-time monitoring of the under-forest target.
The present invention provides a perch robot, comprising: the system comprises a machine body, a control unit, a perch module and a data acquisition unit; the control unit is arranged in the machine body, the perching module and the data acquisition unit are arranged on the machine body, and the perching module and the data acquisition unit are electrically connected with the control unit; the perch module comprises at least one perch leg and at least one perch claw; the perching legs are respectively connected with the perching claws and the machine body;
the data acquisition unit is used for acquiring target data in a target area; the target data comprises an image of the target area, point cloud data and navigation data;
the control unit is used for controlling the inhabitation robot to fly to an inhabitation target based on the image, the point cloud data and the navigation data of the target area, and controlling and adjusting the state of the at least one inhabitation leg and the at least one inhabitation claw so as to adjust the inhabitation pose of the inhabitation robot on the inhabitation target and finish the inhabitation action.
According to the inhabitation type robot provided by the invention, at least one flying unit is further arranged on the machine body; each flight unit is electrically connected with the control unit and used for controlling the flight state of the inhabiting robot.
According to the present invention, there is provided a perch robot, the flight unit comprising: a horn and rotor; wherein the content of the first and second substances,
the horn respectively with the organism with the horn corresponds the rotor is connected.
According to the perch type robot provided by the invention, a data receiving unit is also arranged in the robot body; wherein the content of the first and second substances,
the data receiving unit is respectively connected with the data acquisition unit and the control unit and is used for receiving the target data acquired by the data acquisition unit and sending the target data to the control unit so that the control unit determines a sensing result based on the target data, sends a first control signal to a motor of the rotor wing and sends a second control signal to the perching module; wherein the perception result comprises a position of the perch target and a current pose of the perch robot.
According to the perch robot provided by the present invention, the perch leg comprises a hip joint, a knee joint, an ankle joint, and a link; wherein, the first and the second end of the pipe are connected with each other,
the hip joint is connected with the body;
the hip joint and the knee joint, and the knee joint and the ankle joint are respectively connected through the connecting rods;
the ankle joint is connected with the perching claw.
According to the inhabitation type robot provided by the invention, the inhabitation claw comprises a driving guide rail, a driving sliding block, at least one claw holding line and at least one claw loosening line; wherein the content of the first and second substances,
the driving sliding block is arranged on the driving guide rail and used for controlling the tightness of the claw holding line and the claw loosening line;
the driving guide rail is arranged on the connecting rod between the knee joint and the ankle joint and is used for driving the driving sliding block to slide up and down;
the claw holding line and the claw releasing line are both connected with the driving sliding block.
According to the perch type robot provided by the invention, the data acquisition unit comprises a laser radar sensor, at least one looking-around camera device and at least one combined navigation sensor; wherein, the first and the second end of the pipe are connected with each other,
the laser radar sensor, the all-round looking camera equipment and the all-combined navigation sensor are all arranged on the machine body;
the laser radar sensor is used for acquiring point cloud data of the target area;
the all-round-looking camera equipment is used for acquiring an image of the target area;
the combined navigation sensor is used for acquiring navigation data of the target area.
The invention also provides a perching method of the perching type robot, which is applied to the perching type robot and comprises the following steps:
acquiring target data of a target area acquired by a data acquisition unit; the target data comprises an image, point cloud data and navigation data of the target area;
controlling the perch robot to fly to an perch target based on the image, the point cloud data, and the navigation data of the target area;
and adjusting the inhabitation pose of the inhabitation type robot on the inhabitation target to finish the inhabitation action.
According to an embodiment of the present invention, the method for perching a robot, which controls a flight mode of the perch robot and flies to a perch target based on the image of the target area, the point cloud data, and the navigation data, comprises:
identifying a habitat target of the target area based on the image of the target area, determining the habitat target;
based on the perch target, the image, the point cloud data and the navigation data, performing fusion positioning on the perch target, and determining the position of the perch target;
planning a perch route based on the location of the perch target;
controlling the perch robot to fly to a location of the perch target based on the perch route.
The present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of perching a perched robot as any of the above.
The present invention provides a perch robot, comprising: the system comprises a machine body, a control unit, a perch module and a data acquisition unit; the control unit is arranged in the machine body, the perching module and the data acquisition unit are arranged on the machine body, and the perching module and the data acquisition unit are electrically connected with the control unit; the perching module comprises at least one perching leg and at least one perching claw; the perching legs are respectively connected with the perching claws and the machine body; the data acquisition unit is used for acquiring target data in a target area; the target data comprises an image, point cloud data and navigation data of a target area; the control unit is used for controlling the inhabitation type robot to fly to the inhabitation target based on the image, the point cloud data and the navigation data of the target area, controlling and adjusting the state of at least one inhabitation leg and at least one inhabitation claw, adjusting the inhabitation pose of the inhabitation type robot on the inhabitation target, completing the inhabitation action, realizing the long-time inhabitation of the inhabitation type robot, realizing the large-range and long-time monitoring of the targets under the forest, and promoting an effective means for the monitoring under the forest.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of a perch robot provided by the present invention;
FIG. 2 is a schematic structural diagram of a machine body and a data acquisition unit provided by the invention;
FIG. 3 is a schematic structural diagram of a habitat module provided in the present invention;
FIG. 4 is a schematic structural view of a perch claw provided by the present invention;
FIG. 5 is a schematic flow chart of a method for perching a perched robot provided by the present invention;
fig. 6 is a schematic view of the perching process of the perching robot provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
The perching robot provided by the invention can be applied to the application scene of target monitoring, such as forest or city monitoring, and comprises: the system comprises a machine body, a control unit, a perch module and a data acquisition unit; the control unit is arranged in the machine body, the perching module and the data acquisition unit are arranged on the machine body, and the perching module and the data acquisition unit are electrically connected with the control unit; the perching module comprises at least one perching leg and at least one perching claw; the perching legs are respectively connected with the perching claws and the machine body; the data acquisition unit is used for acquiring target data in a target area; the target data comprises an image, point cloud data and navigation data of a target area; the control unit is used for controlling the inhabitation type robot to fly to the inhabitation target based on the image, the point cloud data and the navigation data of the target area, controlling and adjusting the state of at least one inhabitation leg and at least one inhabitation claw, adjusting the inhabitation pose of the inhabitation type robot on the inhabitation target, completing the inhabitation action, realizing the long-time inhabitation of the inhabitation type robot, realizing the large-range and long-time monitoring of the targets under the forest, and promoting an effective means for the monitoring under the forest.
The perch robot of the present invention is described below with reference to fig. 1 to 4.
Fig. 1 is a schematic structural view of the perch robot provided in the present invention, and as shown in fig. 1, the perch robot includes a body 101, a control unit (not shown), a perch module 102, and a data acquisition unit 103; the control unit is arranged in the machine body 101, the perch module 102 and the data acquisition unit 103 are both arranged on the machine body 101, and the perch module 102 and the data acquisition unit 103 are both electrically connected with the control unit; the perch module 102 includes at least one perch leg 1021 and at least one perch claw 1022; the perch leg 1021 is connected to the perch claw 1022 and the body 101, respectively;
the data acquisition unit 103 is used for acquiring target data in a target area; the target data comprises an image, point cloud data and navigation data of the target area;
the control unit is configured to control the perch robot to fly to a perch target based on the image of the target area, the point cloud data, and the navigation data, and control and adjust states of the at least one perch leg 1021 and the at least one perch claw 1022, so as to adjust a perch pose of the perch robot on the perch target, thereby completing a perch action.
Specifically, the data acquisition units 103 are installed above and around the machine body 101, and the habitat module 102 is installed at the bottom of the machine body 101; the control unit can receive target data acquired by the data acquisition unit 103, wherein the target data comprises an image, point cloud data and navigation data of a target area, the target area is an inhabitation area of the inhabitation robot, and the control unit can realize a flight mode of controlling the inhabitation robot and control the inhabitation robot to fly to an inhabitation target in the target area according to the image, the point cloud data and the navigation data of the target area; when the perch robot flies to the perch target, the control unit can adjust the perch pose of the perch robot on the perch target by controlling and adjusting the states of the perch legs 1021 and the perch claws 1022, so as to ensure that the perch robot is in a horizontal state, thereby ensuring the monitoring effect.
The present invention provides a perch robot, comprising: the system comprises a machine body, a control unit, a perch module and a data acquisition unit; the control unit is arranged in the machine body, the perching module and the data acquisition unit are arranged on the machine body, and the perching module and the data acquisition unit are electrically connected with the control unit; the perch module comprises at least one perch leg and at least one perch claw; the perching legs are respectively connected with the perching claws and the machine body; the data acquisition unit is used for acquiring target data in a target area; the target data comprises an image, point cloud data and navigation data of a target area; the control unit is used for controlling the inhabitation type robot to fly to the inhabitation target based on the image, the point cloud data and the navigation data of the target area, controlling and adjusting the state of at least one inhabitation leg and at least one inhabitation claw, adjusting the inhabitation pose of the inhabitation type robot on the inhabitation target, completing the inhabitation action, realizing the long-time inhabitation of the inhabitation type robot, realizing the large-range and long-time monitoring of the targets under the forest, and promoting an effective means for the monitoring under the forest.
Optionally, at least one flying unit is further arranged on the body; each flying unit is electrically connected with the control unit and used for controlling the flying state of the perch type robot.
Optionally, the flying unit comprises: a horn and rotor; wherein, the first and the second end of the pipe are connected with each other,
the horn respectively with the organism with the horn corresponds the rotor is connected.
Specifically, each flight unit is installed around the organism, and the rotor that the flight unit includes passes through the horn and the organism is connected to realize that rotor and the control unit electricity are connected, including rotor machine controller in the rotor, rotor machine controller is used for receiving control unit's a control signal, rotates through a control signal drive rotor.
It should be noted that the rotor rotates during the takeoff and flight process of the perch robot, when the perch robot perches on the perch target and adjusts the pose of the perch robot; after the pose adjustment of the inhabitation type robot is finished, namely when the inhabitation type robot is in the inhabitation state, the rotary wing does not rotate, so that the power consumption of the inhabitation type robot is greatly reduced, and the inhabitation type robot can be monitored for a long time.
Optionally, the data acquisition unit comprises a lidar sensor, at least one look-around camera device, and at least one combined navigation sensor; wherein the content of the first and second substances,
the laser radar sensor, the all-around camera equipment and the all-combined navigation sensor are all arranged on the machine body;
the laser radar sensor is used for acquiring point cloud data of the target area;
the all-round-looking camera equipment is used for acquiring an image of the target area;
the combined navigation sensor is used for acquiring navigation data of the target area.
Specifically, the laser radar sensor is mounted at the top of the body and can acquire point cloud data of the surrounding environment of the target area, wherein the point cloud data comprises information such as the position, distance and reflectivity of each point in the surrounding environment of the target area; the all-round looking camera equipment is arranged around the machine body, can acquire images of the surrounding environment of a target area so as to identify the inhabitation target and the obstacle, and can also be used as a remote monitoring camera to provide images of the surrounding environment for background operators; the combined navigation sensor is a positioning sensor, and navigation data acquired by the combined navigation sensor comprises satellite navigation data and inertial navigation data, so that fusion positioning is provided for the inhabiting robot.
According to the perching type robot, the control unit in the robot body receives point cloud data of a target area acquired by the laser radar sensor, images of the target area acquired by the panoramic camera equipment and navigation data of the target area acquired by the combined navigation sensor to control the rotation state of the rotor wings in each flight unit, so that the perching type robot flies to the perching target, the perching type robot can complete perching action, long-time perching of the perching type robot is achieved, large-range and long-time monitoring of targets under forests is achieved, and effective means are promoted for forest monitoring.
Fig. 2 is a schematic structural diagram of the airframe, the flying unit and the data acquisition unit provided by the present invention, as shown in fig. 2, a laser radar sensor 202, at least one look-around camera device 203 and at least one combined navigation sensor 204 are arranged on the airframe 201, a plurality of flying units 205 are arranged on the airframe 201, and the flying units 205 include a boom 2051 and a rotor 2052; wherein, the horn 2051 is respectively connected with the body 201 and the rotor 2052 corresponding to the horn 2051; after receiving target data respectively acquired by the laser radar sensor 202, the panoramic camera devices 203 and the combined navigation sensors 204, the control unit in the body 201 can control the motor of the rotor to drive the rotor 2052 to rotate according to the target data, so as to control the perching robot to realize vertical take-off, air flight, vertical landing and the like.
Optionally, a data receiving unit is further disposed in the body; wherein, the first and the second end of the pipe are connected with each other,
the data receiving unit is respectively connected with the data acquisition unit and the control unit and is used for receiving the target data acquired by the data acquisition unit and sending the target data to the control unit so that the control unit can determine a sensing result based on the target data, send a first control signal to a motor of the rotor wing and send a second control signal to the perching module; wherein the perception result comprises a position of the perch target and a current pose of the perch robot;
it should be noted that the combined navigation sensor has pose sensing capability, that is, whether the perched robot has an inclination angle can be judged; when the current pose of the inhabiting robot fed back by the combined navigation sensor is received by the data receiving unit, the control unit judges whether the inhabiting robot is in a balanced state or not according to the current pose; under the condition that the perch robot is in a balanced state, the control unit does not send a first control signal to a rotor motor of the rotor and does not send a second control signal to a sliding module motor in the perch module, namely the pose of the perch robot is not adjusted; under the condition that the inhabitation type robot is not in a balanced state, the control unit sends a first control signal to a rotor motor of the rotor so that the rotor rotates, and sends a second control signal to a sliding module motor in the inhabitation module, and the inhabitation claw is tightly held or loosened through the up-and-down sliding of the sliding module, so that the pose of the inhabitation type robot is jointly adjusted, the body level of the inhabitation type robot is ensured, and the monitoring effect is ensured.
Optionally, a battery is further disposed in the body to supply power to the control unit, the data receiving unit, and the other modules.
Specifically, the data receiving unit can receive target data collected by the data collecting unit and send the target data to the control unit, after the control unit receives the target data, the control unit identifies the inhabitation targets according to the target data and performs fusion positioning on the inhabitation targets to determine the positions of the inhabitation targets and sends first control signals to a motor of the rotor to control the rotation of the rotor, the current pose of the inhabitation type robot can be determined according to the target data, and when the current pose of the inhabitation type robot does not reach a balance state, namely an inclination angle exists, second control signals can be sent to the inhabitation module to adjust the inhabitation module.
In practice, after receiving point cloud data collected by a laser radar sensor, images collected by a panoramic camera device and navigation data collected by a combined navigation sensor, a control unit identifies a target in the images through a deep neural network to determine a perching target; and then realizing reliable positioning of the inhabitation robot according to a fusion positioning algorithm, namely determining the position of the inhabitation target in the image according to a point cloud data and image fusion mode, acquiring the distance between the current position of the inhabitation robot and the position of the inhabitation target from the point cloud data, and then realizing the positioning of the inhabitation target according to navigation data.
It should be noted that, the perching robot is positioned by solely depending on the point cloud data collected by the laser radar sensor, the image collected by the look-around camera device and the navigation data collected by the combined navigation sensor, and local positioning exists, but the overall positioning capability is not provided; although the integrated navigation sensor has global positioning capability, the signal of the integrated navigation sensor is easy to be interfered, especially in the environment which is easy to be shielded such as forest; the lidar sensor can provide distance information, but the information is not rich enough; the panoramic camera equipment can collect abundant image characteristics, but does not collect distance information, so point cloud data collected by the laser radar sensor, images collected by the panoramic camera equipment and navigation data collected by the combined navigation sensor need to be fused.
After the position of the inhabitation target is determined, the control unit can determine a feasible space track by using a motion planning method according to the current pose of the inhabitation robot, and then carry out track interpolation on the space motion track to obtain the target pose of the inhabitation robot in each control period; and calculating pose deviation, namely space distance, according to the current pose and the target pose of the inhabitation type robot in each control period, dividing the space distance by the control time to obtain the robot speed in the current control period, decomposing the speed to each rotor motor in the inhabitation type robot, and realizing the control of the rotor motor, namely converting the control deviation into a control instruction of the inhabitation type robot so as to control the movement of the inhabitation type robot.
It should be noted that the positioning of the target area (i.e. the habitat area), the identification and positioning of the habitat target, and the habitat process of the habitat robot can be automatically realized by the control unit, and the habitat of the habitat robot can be controlled in a remote control manner without external intervention.
Optionally, the perch leg comprises a hip joint, a knee joint, an ankle joint, and a linkage; wherein the hip joint is connected with the body; the hip joint and the knee joint, and the knee joint and the ankle joint are respectively connected through the connecting rods; the ankle joint is connected with the perching claw.
Specifically, the perching legs are respectively connected with the perching claws and the machine body, wherein hip joints of the perching legs are directly connected with the machine body so as to realize the connection of the perching legs with the machine body; the hip joint and the knee joint of the perching leg and the knee joint and the ankle joint of the perching leg are respectively connected through a connecting rod; the ankle joint is directly connected with the inhabiting claw.
It should be noted that the body and the perching module are connected by the hip joint of the perching leg, and can jointly form a movement mechanism of the perching robot, so that the perching robot can fly in the air, and can also automatically identify and position the perching target through the data acquisition unit, automatically land on the perching target in a bird-like perching mode, and adjust the perching pose of the perching robot through the perching leg, so that long-time perching and monitoring can be realized, and large-scale and long-time monitoring operation of forests, cities and the like can be performed.
Fig. 3 is a schematic structural diagram of the perch module provided in the present invention, taking one of the perch legs included in the perch module and the perch claw connected to the perch leg as an example for explanation, as shown in fig. 3, the perch module includes the perch leg 301 and the perch claw 302, wherein the perch leg 301 includes a hip joint 3011, a knee joint 3012, an ankle joint 3013 and a connecting rod 3014, wherein the hip joint 3011 and the knee joint 3012 are connected by the connecting rod 3014, the knee joint 3012 and the ankle joint 3013 are connected by the connecting rod 3014, and the ankle joint 3012 and the perch claw 302 are connected.
Optionally, the perching claw comprises a drive rail, a drive slider, at least one gripper wire, and at least one release wire; the driving sliding block is arranged on the driving guide rail and used for controlling the tightness of the claw holding line and the claw loosening line; the driving guide rail is arranged on the connecting rod between the knee joint and the ankle joint and is used for driving the driving sliding block to slide up and down; the gripper wire and the release wire are both connected with the driving slider.
It is to be noted that the perching claw adopts a front-back grasping mode design, realizes the holding claw and the loosening claw through a rope traction mode and an inner-outer active traction mode,
specifically, the driving slide block is arranged on the driving guide rail and comprises a driving slide block motor, and the driving slide block is respectively connected with the claw holding line and the claw loosening line; the drive guide rail is arranged on the connecting rod between the knee joint and the ankle joint. The control unit can judge whether the inhabiting claw contacts with the inhabiting target or not by receiving target data respectively collected by the panoramic camera equipment and the laser radar sensor; after the inhabitation claw contacts the inhabitation target, the control unit sends a second control signal to the driving sliding block motor; after receiving a second control signal sent by the control unit, the driving slide block motor drives the driving slide block to slide upwards or downwards on the driving guide rail, wherein in the process of sliding upwards on the driving slide block, the driving slide block pulls the gripper wire to enable the perching gripper to grip the perching target; in the process that the driving slide block slides downwards, the driving slide block pulls the loosening claw line, so that the inhabiting claws loosen the inhabiting targets.
Optionally, the tail end of the inhabitation claw can be provided with a contact sensor, and whether the inhabitation claw contacts with the inhabitation target or not can be judged through the contact sensor; after the contact sensor judges that the inhabitation claw contacts the inhabitation target, the contact sensor can send a third control signal to the driving slide block motor; after the driving slider motor receives the third control signal sent by the contact sensor, the driving slider motor enables the driving slider to slide upwards or downwards on the driving guide rail, so that the driving slider pulls the gripper wire to tighten the inhabiting claw, the inhabiting claw is enabled to grip the inhabiting target, or the driving slider pulls the gripper wire to loosen the inhabiting target, and the inhabiting claw is enabled to loosen the inhabiting target.
Fig. 4 is a schematic structural view of the perching claw provided by the present invention, and as shown in fig. 4, the perching claw includes a driving rail 401, a driving slider 402, at least one claw-holding line 403, and at least one claw-releasing line 404; the driving slider 402 is mounted on the driving rail 401, the driving rail 401 is mounted on a connecting rod between the knee joint and the ankle joint, and the grip wire 403 and the release wire 404 are both connected with the driving slider 402.
Based on the description of the perching robot in the above embodiments, the perching method of the perching robot provided by the present invention is described below, and the perching method of the perching robot described below is applied to the perching robot described above.
Fig. 5 is a schematic flow chart of a method for perching a perching robot according to the present invention, as shown in fig. 5, the method includes: step 510-step 530; wherein the content of the first and second substances,
It should be noted that the perching method of the perching robot provided by the present invention is applied to an application scene of target monitoring, for example, forest or city monitoring. The execution main body of the inhabitation method of the inhabitation type robot provided by the invention can be the inhabitation type robot provided by the invention or a control module used for executing the inhabitation method of the inhabitation type robot in the inhabitation type robot.
Specifically, target data of a target area can be acquired through a data acquisition unit in the perch robot; wherein the target area is an inhabitation area of the inhabitation type robot, namely an area to be monitored; the target data comprises an image of a target area, point cloud data and navigation data, the point cloud data comprises information such as the position, distance and reflectivity of each point in the surrounding environment of the target area, and the navigation data comprises satellite navigation data and inertial navigation data.
Specifically, the habitat target is a target on which the habitat of the perch robot stays while being monitored, for example, a branch, a house, or a wall; and controlling the inhabitation type robot to fly to the inhabitation target according to the acquired image, point cloud data and navigation data of the target area.
And step 530, adjusting the inhabitation pose of the inhabitation type robot on the inhabitation target to finish the inhabitation action.
Specifically, whether the current pose of the inhabitation robot on the inhabitation target has an inclination angle can be judged through the combined navigation sensor, so that whether the inhabitation robot is in a balanced state is judged; under the condition that the inhabiting robot is in a balanced state, the inhabiting pose of the inhabiting robot can not be adjusted; under the condition that perching formula robot is not in balanced state, send first control signal through the control unit among the perching formula robot to the rotor motor of rotor among the perching formula robot for the rotor rotates, and send second control signal to the sliding module motor, perch the claw through the upper and lower slip of sliding module and grip or perch the claw and loosen, with this position appearance of adjusting the perching formula robot jointly, in order to guarantee the organism level of perching formula robot, accomplish the action of perching, ensure monitoring effect.
It should be noted that after the perching action is completed, the perching robot enters the perching state, is monitored by using the panoramic camera device, automatically identifies the suspicious target and the behavior of the suspicious target in the target area by using an image identification method, and automatically reports the behavior of the suspicious target and the suspicious target if the behavior of the suspicious target and the suspicious target is found; the reporting is to report the suspicious object and the behavior of the suspicious object to the background monitoring system through a wireless Communication network, for example, the fourth Generation Mobile Communication technology (4G) or the fifth Generation Mobile Communication technology (5G) 5G signal.
The invention provides a perching method of a perching type robot, which comprises the steps of acquiring target data of a target area acquired by a data acquisition unit; the target data comprises an image, point cloud data and navigation data of a target area; controlling the inhabitation type robot to fly to the inhabitation target according to the image, the point cloud data and the navigation data of the target area; the perching pose of the perching type robot is adjusted, the perching action is completed, the long-time perching of the perching type robot is realized, the large-range and long-time monitoring of the under-forest target is realized, and an effective means is promoted for the under-forest monitoring.
Optionally, a specific implementation manner of the step 520 includes the following steps:
step 1) identifying the inhabitation target of the target area based on the image of the target area, and determining the inhabitation target.
Specifically, according to the image of the target area, the inhabitation target of the target area is identified through the deep neural network, and the inhabitation target is determined.
And 2) performing fusion positioning on the inhabiting target based on the inhabiting target, the image of the target area, the point cloud data and the navigation data, and determining the position of the inhabiting target.
Specifically, according to the inhabitation target, the image of the target area, the point cloud data and the navigation data, the reliable positioning of the inhabitation robot is realized according to a fusion positioning algorithm, namely, the position of the inhabitation target in the image is determined according to the fusion mode of the point cloud data and the image, then the distance between the current position of the inhabitation robot and the position of the inhabitation target is obtained from the point cloud data, then the positioning of the inhabitation target is realized according to the navigation data, and the position of the inhabitation target is determined.
And 3) planning a perching route based on the position of the perching target.
Specifically, a feasible space track is automatically planned by using a motion planning method according to the position of the inhabitation target and the current pose of the inhabitation type robot, and then the space motion track is subjected to track interpolation to obtain the target pose of the inhabitation type robot in each control period; and calculating pose deviation, namely space distance, according to the current pose and the target pose of the inhabitation type robot in each control period, dividing the space distance by the control time to obtain the robot speed in the current control period, decomposing the speed to each rotating motor in the inhabitation type robot, and realizing the control of the rotating motors, namely converting the control deviation into a control instruction of the inhabitation type robot so as to control the inhabitation type robot to move, thereby realizing the planning of the inhabitation route.
And 4) controlling the inhabiting robot to fly to the position of the inhabiting target based on the inhabiting route.
Specifically, the perch robot may be controlled to fly to the location of the perch target according to the perch route.
According to the inhabitation method of the inhabitation type robot, the inhabitation target of the target area is identified based on the image of the target area, and the inhabitation target is determined; locating the perch target based on the perch target, the image of the target area, and the point cloud data, and determining the position of the perch target; planning an perch route based on the location of the perch target; based on the perching route, the perching type robot is controlled to fly to the position of the perching target, the perching pose of the perching type robot is adjusted, perching actions are completed, long-time perching of the perching type robot is achieved, large-range and long-time monitoring of the target under the forest is achieved, and effective means is promoted for forest monitoring.
Fig. 6 is a schematic view of the perching process of the perching robot provided in the present invention, as shown in fig. 6, the perching process of the perching robot includes two motion states of flight and perching; when the robot is ready to perch, the perch robot is in a flying state, in the flying process, target data are collected through a data collecting unit in the perch robot, the perch target is identified through a control unit and is positioned, after the position of the perch target is determined, the perch robot enters the perch state, the perch robot starts flying to the perch target, and the perch target is aimed at and is close to the perch target through the matching between the machine body and the perch module; after the inhabiting target is found, the inhabiting robot sequentially extends the inhabiting legs and opens the inhabiting claws through the control of the control unit, then aligns with the inhabiting target and flies to the inhabiting target, and after the inhabiting target is contacted, the inhabiting claws tightly grip the inhabiting target to realize the gripping of the inhabiting target; after the inhabiting target is grasped, the inhabiting robot enters a position and posture adjusting state, and the inhabiting position and posture of the inhabiting robot on the inhabiting target are adjusted together through the combination of the inhabiting legs, the inhabiting claws and the control unit according to the current position and posture of the inhabiting robot so as to keep the integral balance; after the perching pose is adjusted, the perching type robot enters a perching monitoring state, the perching type robot executes a field monitoring task, and when a suspicious target and a suspicious behavior are found, the suspicious target and the suspicious behavior are reported to a background monitoring system through a wireless network, so that background related personnel can take effective measures in time.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of perching a perched robot provided by the above-described methods, the method comprising: acquiring target data of a target area acquired by a data acquisition unit; the target data comprises an image, point cloud data and navigation data of the target area; controlling the perch robot to fly to a perch target based on the image, the point cloud data, and the navigation data of the target area; and adjusting the inhabitation pose of the inhabitation type robot to finish the inhabitation action.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A perch robot, comprising: the system comprises a machine body, a control unit, a perch module and a data acquisition unit; the control unit is arranged in the machine body, the inhabitation module and the data acquisition unit are arranged on the machine body, and the inhabitation module and the data acquisition unit are electrically connected with the control unit; the perch module comprises at least one perch leg and at least one perch claw; the perching legs are respectively connected with the perching claws and the machine body;
the data acquisition unit is used for acquiring target data in a target area; the target data comprises an image, point cloud data and navigation data of the target area;
the control unit is used for controlling the perching robot to fly to a perching target and controlling and adjusting the states of the at least one perching leg and the at least one perching claw based on the image, the point cloud data and the navigation data of the target area so as to adjust the perching pose of the perching robot on the perching target and finish perching actions;
the perch leg comprises a hip joint, a knee joint, an ankle joint and a connecting rod; wherein the content of the first and second substances,
the hip joint is connected with the body; the hip joint and the knee joint, and the knee joint and the ankle joint are respectively connected through the connecting rods; the ankle joint is connected with the inhabiting claw;
the perching claw comprises a driving guide rail, a driving sliding block, at least one claw holding line and at least one claw loosening line; wherein the content of the first and second substances,
the driving sliding block is arranged on the driving guide rail and used for controlling the tightness of the claw holding line and the claw loosening line; the driving guide rail is arranged on the connecting rod between the knee joint and the ankle joint and is used for driving the driving sliding block to slide up and down; the gripper wire and the release wire are both connected with the driving slider.
2. The perch robot of claim 1, wherein said body further has at least one flight unit disposed thereon; each flight unit is electrically connected with the control unit and used for controlling the flight state of the inhabiting robot.
3. The perch robot of claim 2, wherein said flight unit comprises: a horn and rotor; wherein, the first and the second end of the pipe are connected with each other,
the horn respectively with the organism with the horn corresponds the rotor is connected.
4. The perch robot of claim 3, wherein a data receiving unit is further disposed within said housing; wherein the content of the first and second substances,
the data receiving unit is respectively connected with the data acquisition unit and the control unit and is used for receiving the target data acquired by the data acquisition unit and sending the target data to the control unit so that the control unit determines a sensing result based on the target data, sends a first control signal to a motor of the rotor wing and sends a second control signal to the perching module; wherein the perception result comprises a position of the perch target and a current pose of the perch robot.
5. The perch robot of claim 1, wherein said data acquisition unit comprises a lidar sensor, at least one look-around camera device, and at least one combination navigation sensor; wherein, the first and the second end of the pipe are connected with each other,
the laser radar sensor, the all-around camera equipment and the all-combined navigation sensor are all arranged on the machine body;
the laser radar sensor is used for acquiring point cloud data of the target area;
the all-round-looking camera equipment is used for acquiring an image of the target area;
the combined navigation sensor is used for acquiring navigation data of the target area.
6. A method for perching a perched robot, which is applied to the perched robot of any one of claims 1 to 5, comprising:
acquiring target data of a target area acquired by a data acquisition unit; the target data comprises an image, point cloud data and navigation data of the target area;
controlling the perch robot to fly to an perch target based on the image, the point cloud data, and the navigation data of the target area;
and adjusting the inhabitation pose of the inhabitation type robot on the inhabitation target to finish the inhabitation action.
7. The method of claim 6, wherein said controlling the perch robot to fly to a perch target based on the image of the target area, the point cloud data, and the navigation data comprises:
identifying a habitat target of the target area based on the image of the target area, determining the habitat target;
based on the perch target, the image, the point cloud data and the navigation data, performing fusion positioning on the perch target, and determining the position of the perch target;
planning an perch route based on the location of the perch target;
controlling the perch robot to fly to a location of the perch target based on the perch route.
8. A non-transitory computer-readable storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing a method of perching a robot as in claim 6 or claim 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211113536.5A CN115180135B (en) | 2022-09-14 | 2022-09-14 | Inhabiting robot and inhabiting method of inhabiting robot |
| PCT/CN2022/125010 WO2024055381A1 (en) | 2022-09-14 | 2022-10-13 | Perching robot and perching method of perching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211113536.5A CN115180135B (en) | 2022-09-14 | 2022-09-14 | Inhabiting robot and inhabiting method of inhabiting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115180135A CN115180135A (en) | 2022-10-14 |
| CN115180135B true CN115180135B (en) | 2022-12-06 |
Family
ID=83524864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211113536.5A Active CN115180135B (en) | 2022-09-14 | 2022-09-14 | Inhabiting robot and inhabiting method of inhabiting robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115180135B (en) |
| WO (1) | WO2024055381A1 (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200039076A1 (en) * | 2016-03-04 | 2020-02-06 | Ge Global Sourcing Llc | Robotic system and method for control and manipulation |
| CN105667779B (en) * | 2016-04-11 | 2017-05-17 | 吉林大学 | Intelligent flying robot capable of perching on walls at different inclination angles |
| CN110488863A (en) * | 2019-08-07 | 2019-11-22 | 清华大学 | Air-ground amphibious unmanned platform |
| US20210370733A1 (en) * | 2019-12-23 | 2021-12-02 | California Institute Of Technology | Synchronized Multi-Modal Robot |
| CN112092550A (en) * | 2020-09-22 | 2020-12-18 | 重庆大学 | Flying robot suitable for perching, climbing and grabbing and control method thereof |
| CN112455661B (en) * | 2020-11-10 | 2022-06-10 | 南京航空航天大学 | Unmanned aerial vehicle who possesses flexible configuration of modularization and perch contact |
| CN113400872A (en) * | 2021-07-08 | 2021-09-17 | 沈阳大学 | Air-ground dual-purpose six-foot robot |
| CN114013230B (en) * | 2021-08-31 | 2023-06-06 | 西北工业大学 | Four-rotor robot with wall surface stopping and crawling capabilities |
| CN114801613A (en) * | 2022-05-07 | 2022-07-29 | 中国电子科技南湖研究院 | Deformable small four-rotor four-foot crawling robot and control method thereof |
-
2022
- 2022-09-14 CN CN202211113536.5A patent/CN115180135B/en active Active
- 2022-10-13 WO PCT/CN2022/125010 patent/WO2024055381A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| CN115180135A (en) | 2022-10-14 |
| WO2024055381A1 (en) | 2024-03-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9975632B2 (en) | Aerial vehicle system | |
| CN108306217B (en) | Intelligent autonomous overhead high-voltage line wire flying inspection system and method | |
| CN107065932B (en) | Control method of disaster detection quad-rotor unmanned aerial vehicle | |
| CN103855644B (en) | Many rotary wind types Intelligent overhead-line circuit scanning test robot | |
| CN109398688B (en) | Rotor flight double-mechanical-arm target positioning and grabbing system and method | |
| CN110011223A (en) | Multiple no-manned plane cooperation method for inspecting and system suitable for region transmission line of electricity | |
| CN203983835U (en) | Many rotary wind types Intelligent overhead-line circuit scanning test robot | |
| JP2017509330A (en) | System and method for strolling pets | |
| CN208873047U (en) | A kind of inspection device based on multi-rotor unmanned aerial vehicle | |
| CN110716549A (en) | Autonomous navigation robot system for map-free area patrol and navigation method thereof | |
| JP6791561B2 (en) | Methods and devices for supplying energy to UAVs | |
| US10745132B1 (en) | Tow control handle for unmanned aerial vehicle | |
| CN109557880A (en) | A kind of ecological cruising inspection system based on unmanned plane | |
| CN107450556A (en) | A kind of independent navigation intelligent wheel chair based on ROS | |
| CN113554775B (en) | Unmanned aerial vehicle electric power inspection system | |
| CN116755474A (en) | Electric power line inspection method and system for unmanned aerial vehicle | |
| JP2023015381A (en) | Ruggedized autonomous helicopter platform | |
| CN114080905A (en) | Picking method based on digital twins and cloud picking robot system | |
| CN108390312A (en) | A kind of overhead distribution line circuit scanning test robot operational method | |
| CN115180135B (en) | Inhabiting robot and inhabiting method of inhabiting robot | |
| CN107414861A (en) | The wheeled rescue robot of remote command | |
| JP2018007677A (en) | Method for guiding target object and uav | |
| CN116989771B (en) | Ground-air cooperation method, system and device for detecting structural defects | |
| CN116724281A (en) | Unmanned aerial vehicle control method, unmanned aerial vehicle, flight system and storage medium | |
| CN107908163A (en) | A kind of unmanned plane Reconnaissance system based on unmanned naval vessels |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |