WO2017211031A1

WO2017211031A1 - Unmanned aerial vehicle mechanical arm control method and device

Info

Publication number: WO2017211031A1
Application number: PCT/CN2016/102119
Authority: WO
Inventors: 郝祁; 兰功金; 卜亚圣
Original assignee: 南方科技大学
Priority date: 2016-06-07
Filing date: 2016-10-14
Publication date: 2017-12-14
Also published as: CN106064378A

Abstract

An unmanned aerial vehicle mechanical arm control method and device, the method comprising: wearable sensing equipment (41) obtaining arm motion information and sending said motion information to a first controller (42), and the first controller (42) generating a control command by filtering and encoding the motion information and sending the control command to a wireless transmitter (43) of a terminal; the wireless transmitter (43) of the terminal sending said control instruction to an unmanned aerial vehicle, a second controller (44) of the unmanned aerial vehicle decoding the control instruction so as to obtain control information, and a mechanical arm (45) of the unmanned aerial vehicle moving according to the control information.

Description

Control method and device for robot arm

Technical field

Embodiments of the present disclosure relate to hardware control techniques, such as to a method and apparatus for controlling a robotic arm of a drone.

Background technique

With the development of technology, people gradually use robots to assist people in their daily work. For some complicated tasks, robots are usually provided on the robot to perform more precise operations through the robot arm.

The related robots are mostly ground robots. The robotic arm has certain limitations in the application of remote tasks. It is generally applicable to land rescue and accident handling. It is not applicable to long-range high-altitude or surface tasks. Complex terrain such as ruins, ground robot arm also has limitations. Especially for the water surface environment or the amphibious environment, there are obvious deficiencies in the robot arm of the ground robot. In addition, related ground robot arm remote synchronization tasks, generally use the remote control to control the robot arm or camera to perform tasks, which does not simulate the process of the human arm to perform tasks synchronously, especially for new users, often takes a long time Time operation training can be familiar with the control of the ground robot manipulator task execution.

Summary of the invention

The present disclosure provides a control method and device for a robot arm of a drone, which performs real-time synchronous control on a high-precision remote of a robot arm of a drone, which has strong stability, simple control method and can complete complicated manipulation actions to adapt to complex surroundings.

In a first aspect, an embodiment of the present disclosure provides a method for controlling a robot arm of a drone, including:

The wearable sensing device acquires motion information of the arm and transmits the motion information to the first controller, and the first controller filters and encodes the motion information to generate a control instruction, and sends the control instruction a wireless transmitter to the terminal;

The wireless transmitter of the terminal sends the control command to the drone, and the second controller of the drone decodes the control command to obtain control information, and the robot arm of the drone is controlled according to the Information to exercise.

In a second aspect, an embodiment of the present disclosure further provides a control device for a robot arm of a drone, including:

a wearable sensing device configured to acquire motion information of the arm and send the motion information to the first controller;

The first controller is configured to filter and encode the motion information to generate a control instruction, and send the control command to a wireless transmitter of the terminal;

The wireless transmitter of the terminal is configured to send the control command to the drone;

a second controller, configured to decode the control instruction to obtain control information;

A robot arm configured to move in accordance with the control information, wherein the second controller and the robot arm are integrated in the drone.

The present disclosure also provides a non-transitory computer readable storage medium storing computer executable instructions arranged to perform the above method.

The present disclosure acquires the motion information of the user's arm through the wearable sensing device, reduces the phenomenon that the related robot cannot perform the task effectively and accurately in the complex environment during the execution of the task, and realizes the high precision of the robot arm of the drone. Remote real-time synchronous control, the scheme has strong stability, simple control method and can complete complex manipulation actions to adapt to complex environments.

DRAWINGS

1 is a flowchart of a method for controlling a robot arm of a drone according to Embodiment 1 of the present disclosure;

2 is a schematic diagram of a drone equipped with a robot arm according to Embodiment 1 of the present disclosure;

3 is a flowchart of a method for controlling a robot arm of a drone according to a second embodiment of the present disclosure;

4 is a flowchart of a method for controlling a robot arm of a drone according to Embodiment 3 of the present disclosure;

5 is a structural diagram of a control device for a robot arm of a drone according to Embodiment 4 of the present disclosure;

6 is a schematic structural diagram of a control device for a robot arm of a drone according to Embodiment 5 of the present disclosure;

7 is a schematic diagram of a process of simulating a human body arm movement by a mechanical arm according to Embodiment 5 of the present disclosure;

FIG. 8 is a schematic diagram of a corresponding relationship between a human arm and a mechanical arm according to Embodiment 5 of the present disclosure.

detailed description

The present disclosure will be described in detail below with reference to the accompanying drawings and embodiments. It is understood that the embodiments described herein are merely illustrative of the disclosure and are not intended to be limiting. In addition, it should be noted that, for the convenience of description, only some but not all of the structures related to the present disclosure are shown in the drawings.

Embodiment 1

1 is a flowchart of a method for controlling a robot arm of a drone according to Embodiment 1 of the present disclosure. The present embodiment is applicable to a situation in which a task needs to be performed with high accuracy in a complicated environment, and the method can be performed by a drone and Use the end device to execute.

In step 110, the wearable sensing device acquires motion information of the user's arm and transmits the motion information to the first controller, and the first controller filters and encodes the motion information to generate a control instruction, and The control command is sent to the wireless transmitter of the terminal.

Among them, the wearable device can be directly worn on the user's arm, and the interactive function can be completed through integrated hardware and software. Illustratively, when the user's arm swings, the sensor integrated inside the wearable sensing device can sense, collect the swing direction, distance and the like of the arm. After the sensor acquires the motion information of the arm, the motion information is sent to the first controller. Optionally, the sensor and the first controller communicate and interact through the Bluetooth 4.0, and the filtering unit in the controller filters the motion information. After the noise interference is removed, a control instruction is generated by the coding unit according to the filtered motion information, and the control command is sent to the wireless transmitter of the terminal. Optionally, the controller can be integrated on the wearable sensing device, and the wearable sensing device and the terminal can be wired through the serial port.

In step 120, the wireless transmitter of the terminal sends the control command to the drone, and the second controller of the drone decodes the control command to obtain control information, and the mechanical machine of the drone The arm moves in accordance with the control information.

The terminal may be a ground control terminal, and the terminal and the drone communicate data through the wireless network, and the wireless transmitter of the terminal sends a control command to the drone, and the drone receives the control command and passes the second controller. Decoding the control command to obtain control information, wherein the control information is information for controlling movement of the robot arm of the drone. Illustratively, FIG. 2 is a schematic diagram of a drone equipped with a robot arm according to Embodiment 1 of the present disclosure. As shown in the figure, the robot arm 02 is mounted under the drone 01.

In the technical solution of the embodiment, the wearable sensor acquires the action of the user's arm, and the robot arm carried by the drone synchronizes the arm motion simulation, thereby reducing the related robot in the process of performing the task in the face of complex The heterogeneous environment can not effectively and accurately perform the task of synchronous tasks, and realizes high-precision remote real-time synchronous control of the robot arm of the drone. The scheme has strong stability, simple control method and can complete complicated manipulation actions to adapt to complex environments.

Based on the foregoing technical solution, the control information may include: control information of degrees of freedom of at least one node. Among them, the robot arm can usually include one or more rotatable nodes. As the number of nodes increases, the flexibility of the robot arm is higher, and the more complex actions can be taken to complete more complex tasks. In this solution, the control information is determined according to the degree of freedom of the user's arm node swing, and is used to control the arm joint to perform the swing of the corresponding degree of freedom to simulate the motion of the user's arm, and the operation process is simple and easy.

Embodiment 2

3 is a flowchart of a method for controlling a robot arm of a drone according to a second embodiment of the present disclosure. On the basis of the foregoing embodiment, a process for performing a task by a drone is provided. Part of the composition, directing the drone to fly to the mission site, through the robotic arm to complete the task execution.

In step 210, the drone acquires image information in real time through the mounted camera and transmits the image information to the terminal for display on the display screen of the terminal.

Exemplarily, the drone in the solution adopts a multi-rotor drone. When the drone is in flight, the image is collected in real time and transmitted to the terminal, and the terminal displays the surrounding environment of the drone through the display screen.

In step 220, the drone flies according to a flight instruction issued by a remote controller of the terminal.

Wherein, when the drone is far away from the mission site, the user controls the flight of the drone to reach the designated site through the remote controller according to the environmental information of the drone displayed on the terminal display screen.

In step 230, the wearable sensing device acquires motion information of the user's arm and transmits the motion information to the first controller, and the first controller filters and encodes the motion information to generate a control instruction, and The control command is sent to the wireless transmitter of the terminal.

In step 240, the wireless transmitter of the terminal sends the control command to the drone, and the second controller of the drone decodes the control command to obtain control information, and the mechanical machine of the drone The arm moves in accordance with the control information.

In the technical solution of the embodiment, after the terminal displays the environment information of the drone, the drone arrives at the task site according to the instruction of the remote controller, and the user controls the arm of the drone to perform the arm through the wearable sensing device. The corresponding action to perform the task reduces the phenomenon that the related robot cannot perform the task effectively and accurately in the complex environment during the execution of the task, and realizes the robot arm of the drone. High-precision remote real-time synchronous control, the scheme has strong stability, simple control method and can complete complex manipulation actions to adapt to complex environments.

Embodiment 3

4 is a flow chart of a method for controlling a robot arm of a drone according to a third embodiment of the present disclosure. Based on the above embodiment, a control process of a robot arm is given.

In step 310, the wearable sensing device acquires motion information of the user's arm and transmits the motion information to the first controller, and the first controller filters and encodes the motion information to generate a control instruction, and The control command is sent to the wireless transmitter of the terminal.

In step 320, the wireless transmitter of the terminal sends the control command to the drone, and the second controller of the drone decodes the control command to obtain control information, and the mechanical machine of the drone The arm moves in accordance with the control information.

In step 330, the second controller acquires motion state information of the robot arm of the drone in real time, and adjusts the motion of the robot arm in real time according to the motion state information and the control information.

Exemplarily, the second controller adopts a Proportion Integration Differentiation (PID) control algorithm to form a closed loop control, and compares the acquired motion state information of the robot arm with the control information to be executed, and the real-time calibration control arm The movement is such that the robotic arm simulates the movement of the user's arm efficiently and accurately to perform the task.

The technical solution of the embodiment reduces the problem that the related robot cannot perform the task effectively and accurately in the complicated environment during the execution of the task, and realizes the high-precision remote real-time synchronous control of the robot arm of the drone, and the scheme is stable. Strong, simple control method and complex control actions to adapt to complex environments.

Based on the foregoing embodiment, the wearable sensing device acquiring the motion information of the user's arm may include: the wearable sensing device acquires motion information of the user's arm through the integrated inertial unit. Illustratively, the inertial unit is configured to measure the axial attitude angle (or angular rate) of the object as well as the acceleration. Optionally, taking three nodes as an example, the inertia unit includes three single-axis accelerometers and three single-axis gyros, and the accelerometer is used to detect an acceleration signal of an independent three-axis of the arm coordinate system, and the gyro is used for detecting The angular velocity signal of the arm relative to the navigation coordinate system is obtained by measuring the angular velocity and acceleration of the arm in three-dimensional space to obtain the motion posture of the arm. In this solution, the motion information of the user's arm is collected by the inertia unit in the wearable device, and the acquisition accuracy is high, and the motion posture of the user's arm is simulated reasonably.

Embodiment 4

5 is a structural diagram of a control device for a robot arm of a drone according to Embodiment 4 of the present disclosure. As shown, the control device includes: a wearable sensing device 41, a first controller 42, and a wireless transmitter 43 of the terminal. The second controller 44 and the robot arm 45.

The wearable sensing device 41 is configured to acquire motion information of the user's arm and transmit the motion information to the first controller.

The first controller 42 is configured to filter and encode the motion information to generate a control command and transmit the control command to a wireless transmitter of the terminal.

The wireless transmitter 43 of the terminal is arranged to transmit the control command to the drone.

The second controller 44 is arranged to decode the control command to obtain control information.

The robot arm 45 is arranged to move in accordance with the control information, wherein the second controller and the robot arm are integrated in the drone.

In the technical solution of the embodiment, the motion information of the user arm is acquired by the wearable sensing device, and the motion information is sent to the first controller, where the first controller performs filtering, coding, and generation control on the motion information. And transmitting, to the wireless transmitter of the terminal, the wireless transmitter of the terminal sends the control command to the drone, and the second controller of the drone decodes the control instruction Obtaining control information, the robot arm of the drone moves according to the control information, which reduces the problem that the related robot cannot perform an effective and accurate task in a complex environment during the execution of the task, and realizes the drone The high-precision remote real-time synchronous control of the manipulator has strong stability, simple control method and complex control actions to adapt to complex environments.

Based on the foregoing embodiment, the control information may include: control information of degrees of freedom of at least one node.

Based on the above embodiment, the control device may further include: a camera configured to collect image information in real time, the camera is mounted on the drone; and the second controller is further configured to: the camera The collected image information is sent to the terminal for display on a display screen of the terminal, and the drone is controlled to fly according to a flight instruction issued by a remote controller of the terminal.

On the basis of the foregoing embodiment, the second controller may be further configured to: acquire motion state information of the robot arm of the drone in real time, and adjust the state according to the motion state information and the control information in real time. The movement of the robot arm.

Based on the above embodiment, the wearable sensing device may include: an inertial unit configured to acquire motion information of the user's arm.

The above product can perform the method provided by any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

Embodiment 5

FIG. 6 is a schematic structural diagram of a control device for a robot arm of a drone according to Embodiment 5 of the present disclosure. This embodiment can provide an optional example based on the above embodiment.

As shown in the figure, the camera 11 of the drone captures the image information of the surrounding environment in real time, and after the information is processed by the video display mixer 12, the wireless video transmitter 13 of the drone wirelessly transmits the image information to the ground terminal. The wireless video receiver 14 displays the image information through the display 15 and feeds back to the user 16. When the drone has not arrived at the mission site, the user 16 transmits a flight command to the wireless data receiver 24 of the drone via the wireless data transmitter 23 via the remote controller 22, and the drone multi-rotor 25 flies according to the flight instruction. . Upon reaching the destination, the user 16 acquires the motion information of the arm through the human arm inertial sensing unit 21 in the wearable sensing device, the information is transmitted to the controller 31 via Bluetooth 4.0, and the controller 31 encodes the information and wirelessly The digital transmitter 32 is sent out, and the wireless data receiver 33 of the drone receives the information and obtains control information by decoding by the controller 34. The controller 34 drives the robot arm 26 to move through the robot arm motor according to the control information. . At the same time, during the movement of the drone robot arm 26, the motion information is acquired in real time by the robot arm inertia unit 35 and transmitted to the controller 34 via Bluetooth 4.0 to set the motion of the unmanned robot arm in real time.

The process of controlling the movement of the robot arm by the human arm is as shown in FIG. 7. FIG. 7 is a schematic diagram showing the process of simulating the movement of the human arm by the mechanical arm provided in the fifth embodiment of the present disclosure. The human body inertial sensing unit 21 comprises three parts, namely an inertial unit 1, an inertial unit 2 and an inertial unit 3, wherein the inertial unit _{1 has} two parameters of X ₁ and Y ₁ , and the inertial unit _{2 has} a parameter of X ₂ . The inertia unit 3 has two parameters, X ₃ and Y ₃ . After the inertial unit obtains the parameter value of the parameter in real time, the controller 31 encodes the parameter value and sends it to the wireless data transmission receiver 33 through the wireless transmitter 32 . The controller 34 decodes the information and drives the motor 1 to the motor 5 to drive the drone robot arm 26, respectively. The mechanical arm inertial sensing unit 35 also includes three inertial units (the inertial unit 4, the inertial unit 5 and the inertial unit 6), wherein the inertial unit 4 has two parameters X ₁₁ and Y ₁₁ , and the inertial unit 5 has X ₂₂ One parameter, the inertia unit 6 has two parameters, X ₃₃ and Y ₃₃ , each of which feeds back the parameter information to the controller 34 . Wherein the X ₁₁ and Y ₁₁ parameters correspond to the X ₁ and Y ₁ parameters, the X ₂₂ parameter corresponds to the X ₂ , and the X ₃₃ and Y ₃₃ parameters correspond to the X ₃ and Y ₃ parameters. FIG. 8 is a schematic diagram of a corresponding relationship between a human arm and a mechanical arm according to Embodiment 5 of the present disclosure. Wherein, the parameters X ₁ , Y ₁ , X ₂ , X ₃ , and Y ₃ respectively simulate the rotation of the three joint nodes of the human arm. For example, the scheme can also increase the inertial parameter information of the finger, such as X ₄ , The parameter on the corresponding arm is X ₄₄ .

The technical solution provided by the embodiment implements the corresponding task by simulating the movement of the human arm by the robot arm, thereby reducing the problem that the related robot cannot perform the task effectively and accurately in the complicated environment during the execution of the task, and realizes The high-precision remote real-time synchronous control of the UAV manipulator has strong stability, simple control method and complex control actions to adapt to complex environments.

Embodiments of the present disclosure also provide a non-transitory computer readable storage medium storing computer executable instructions arranged to perform the methods of the above embodiments.

Industrial applicability

The control method and device for the robot arm of the disclosed embodiment provide real-time synchronous control of the high-precision remote control of the robot arm of the unmanned aerial vehicle with high stability, simple control method and complex control actions to adapt to complex environments. .

Claims

A method for controlling a robot arm of a drone, comprising:

The wearable sensing device acquires motion information of the arm and transmits the motion information to the first controller, and the first controller filters and encodes the motion information to generate a control instruction, and sends the control instruction a wireless transmitter to the terminal;

The wireless transmitter of the terminal sends the control command to the drone, and the second controller of the drone decodes the control command to obtain control information, and the robot arm of the drone is controlled according to the control Information is exercised.
The method of claim 1 wherein said control information comprises:

Control information for the degree of freedom of at least one node.
The method of claim 1 further comprising:

The drone acquires image information in real time through the mounted camera, and transmits the image information to the terminal for display on the display screen of the terminal;

The drone flies according to a flight instruction issued by a remote controller of the terminal.
The method of claim 1, after the robotic arm of the drone moves according to the control information, the method further comprises:

The second controller acquires motion state information of the robot arm of the drone in real time, and adjusts the motion of the robot arm in real time according to the motion state information and the control information.
The method according to any one of claims 1 to 4, wherein the wearable sensing device acquires motion information of the arm comprises:

The wearable sensing device acquires motion information of the arm through an integrated inertial unit.
A control device for a robotic arm of a drone, comprising:

a wearable sensing device configured to acquire motion information of the arm and send the motion information to the first controller;

The first controller is configured to filter and encode the motion information to generate a control instruction, and send the control command to a wireless transmitter of the terminal;

The wireless transmitter of the terminal is configured to send the control command to the drone;

a second controller configured to decode the control command to obtain control information;

A robot arm configured to move in accordance with the control information, wherein the second controller and the robot arm are integrated in the drone.
The apparatus of claim 1 wherein said control information comprises:

Control information for the degree of freedom of at least one node.
The apparatus of claim 1 further comprising:

a camera configured to acquire image information in real time, the camera being mounted on the drone;

The second controller is further configured to:

And transmitting image information collected by the camera to the terminal for display on a display screen of the terminal, and controlling the drone to fly according to a flight instruction issued by a remote controller of the terminal.
The apparatus of claim 1 wherein said second controller is further configured to:

The motion state information of the robot arm of the drone is acquired in real time, and the motion of the robot arm is adjusted in real time according to the motion state information and the control information.
The device of any of claims 1-4, wherein the wearable sensing device comprises:

The inertia unit is set to acquire motion information of the arm.
A non-transitory computer readable storage medium storing computer executable instructions arranged to perform the method of any of claims 1-5.