CN107933915A - A kind of air-robot based on six rotor wing unmanned aerial vehicles - Google Patents

Abstract

The present invention discloses a kind of air-robot based on six rotor wing unmanned aerial vehicles, it includes six rotor wing unmanned aerial vehicles, aircraft mounted control system and two degrees of freedom mechanical arm, six rotor wing unmanned aerial vehicles are six rotorcraft, six rotor wing unmanned aerial vehicle fuselage roofs are provided with aircraft mounted control system, and six rotor wing unmanned aerial vehicle fuselage bottoms are provided with two degrees of freedom mechanical arm；Aircraft mounted control system includes flight control system and mechanical arm control system.The present invention solves the problems, such as six rotor wing unmanned aerial vehicles and external environment condition interjob, realizes the application range for aerial or ground target seizure, expanding air-robot, also has the advantages that reliable and stable, safety is flexible, easy to operate.

Description

An aerial robot based on a six-rotor UAV

technical field

The invention relates to an aerial robot, in particular to an aerial robot based on a six-rotor drone.

Background technique

The six-rotor UAV is an unmanned flight system equipped with avionics such as automatic controllers, communication systems, sensors, and data processing units, and can complete autonomous flight tasks without human interference. It can quantitatively evaluate its own flight status and surrounding environment according to the airborne equipment, so as to formulate reasonable countermeasures and flight strategies. In addition, when its own mechanical mechanism fails, the six-rotor UAV can also adopt the optimal solution according to the current structural characteristics. Due to these unique advantages, the hexacopter UAV has gradually become an irreplaceable aerial platform and has a wide range of applications in military and civilian applications. In the military, it can be used for tasks such as battlefield survey, no-fly patrol, electronic countermeasures, and intelligence acquisition; in civilian use, it can be used for environmental monitoring, power detection, high-voltage line inspection, forest fire prevention, and agricultural and forestry spraying.

At present, domestic and foreign robotic arms that perform high-altitude operations cannot operate freely and quickly, and there are limitations in terrain and height. If the robotic arm is installed on the rotorcraft, the degree of freedom of robotic arm control can be greatly increased, and the application of the robotic arm can be expanded. scope. The six-rotor UAV can automatically take off and land without a runway, and can achieve fixed-point hovering. In addition, the six-rotor UAV has a pair of redundant blades than the quad-rotor UAV, so it has stronger wind resistance. Therefore, loading the robotic arm on the six-rotor UAV can improve the stability and robustness of the robotic arm during operation.

A single-rotor aerial robot with a robotic arm has broad application prospects. For example, it can quickly reach special environments that ground robots cannot enter (such as fire, flood, and earthquake disaster sites) to perform delicate tasks such as installing or recovering operating equipment. In the existing technology, aerial robots based on rotorcraft can move freely in three-dimensional space, have the advantages of vertical take-off and landing, fixed-point hovering, high flexibility, and strong maneuverability, and can replace humans to complete high-risk environmental information acquisition and operations and other tasks.

Contents of the invention

In order to solve the defects of the prior art that the six-rotor UAV interacts with the external environment, the present invention provides an aerial robot based on the six-rotor UAV, which can expand the application field of the aerial robot and assist manual execution of some high-risk tasks. Reduce the possibility of casualties and improve operating efficiency.

To achieve the above object, the present invention adopts the following technical solutions:

An aerial robot based on a six-rotor drone, which includes a six-rotor drone, an airborne control system and a two-degree-of-freedom mechanical arm. The six-rotor drone is a six-rotor aircraft, and the top of the six-rotor drone fuselage is installed There is an on-board control system, and a two-degree-of-freedom mechanical arm is installed at the bottom of the six-rotor UAV body;

The airborne control system includes the flight control system and the robotic arm control system. The flight control system collects the flight data of the six-rotor UAV in real time, and generates instructions for real-time transmission after processing to control the six rotor motors and the robotic arm of the six-rotor UAV. The control system collects the position and attitude information of each joint of the two-degree-of-freedom manipulator in real time, and issues instructions to adjust the angle of each rotating joint and the position and attitude of the gripper after processing.

Furthermore, the six rotor motors are 3508-690kv brushless motors, and their directions are opposite in pairs;

The six rotor motors are controlled by six ESCs and connected to the corresponding six rotors.

Furthermore, the fuselage of the six-rotor UAV includes a tripod, an arm, a center plate and a mounting rod, and six rotors are respectively installed on the motor bases at the ends of the six arms, and a mounting rod is provided directly below the center plate , a lithium battery is hung under the mounting bar;

The on-board control system is installed on the center plate, and the mounting rod is fixedly connected to the two-degree-of-freedom mechanical arm;

The central board is a U-shaped connecting board.

Further, the fuselage of the six-rotor UAV is made of carbon fiber;

The six rotors are all made of nylon carbon fiber glass fiber composite material.

Further, the two-degree-of-freedom mechanical arm includes a base, a front-end connecting rod, a rear-end connecting rod, a gripper, and a steering module. The end is connected to the front connecting rod through the first rotating joint, the front connecting rod is connected to the rear connecting rod through the second rotating joint, the rear connecting rod is connected to the holder through the third rotating joint, and the first rotating joint , The second revolving joint and the third revolving joint are controlled by a high-torque digital servo to rotate 0-180 degrees;

According to the control signal of the onboard control system, the steering gear model controls the digital steering gear at each joint to adjust the angle of each rotating joint of the two-degree-of-freedom manipulator and the position and attitude of the gripper.

Further, the gripper is composed of anthropomorphic manipulator claws, and the manipulator claws include two sets of half-claws whose insides are sawtooth-shaped arc surfaces, and each set of half-claws is composed of three layers of sawtooth-shaped sheets connected by bolts.

Further, the flight control system includes an STM32F427 embedded module, an inertial measurement unit, an altimeter, a magnetometer and a dual-mode GPS module. The STM32F427 embedded module, an inertial measurement unit, an altimeter and a magnetometer are all installed vertically on the airborne control board. The modular GPS module is installed on the bracket pole of the center plate of the six-rotor UAV;

The inertial measurement unit, altimeter, magnetometer and dual-mode GPS module are used to measure the attitude angle, three-axis acceleration, three-axis angular velocity, flight height and latitude and longitude information of the aerial robot. The collected information is processed by the STM32F427 embedded module Generate instructions, which are sent to the six ESCs in real time through the six I/O ports to control the six rotor motors of the hexacopter UAV;

The dual-mode GPS module is an integrated module of GPS and electronic compass.

Further, the control system of the manipulator includes a central processing unit, an accelerometer, an angular velocity meter and a linear velocity meter, all of which are vertically installed on the airborne control board;

The accelerometer, angular velocity meter and linear velocity meter are used to measure the position, linear velocity, angular velocity and corresponding acceleration information of each joint of the two-degree-of-freedom manipulator. The central processing unit sends instructions to the digital steering gear for adjustment according to the collected information Correspondingly rotate the angle of the joint and the position and posture of the gripper.

Further, the motion of the two-degree-of-freedom manipulator is controlled by the manipulator control system according to the optimal compliance criterion of each joint, which calculates the inverse kinematic solution of the manipulator according to the following formula:

Among them, F(L) is the objective function for solving the inverse solution of the manipulator, L is the currently described manipulator, n is the number of joints, q _i (L) is the target position of the i-th joint, and q _id is the i-th joint the current location of .

Further, the ratio of the length of the front-end link, the back-end link of the two-degree-of-freedom robot arm to the length of the gripper is 0.45:0.45:1.

Beneficial effect:

The invention solves the problem of interactive operation between the six-rotor UAV and the external environment, realizes the capture of air or ground targets, expands the application range of aerial robots, and has the advantages of stability, reliability, safety and flexibility, and convenient operation.

Description of drawings

Fig. 1 is the overall structure schematic diagram of an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a six-rotor UAV according to an embodiment of the present invention;

3 is a schematic structural diagram of a two-degree-of-freedom mechanical arm according to an embodiment of the present invention;

Fig. 4 is a structural block diagram of the flight control system of an embodiment of the present invention;

Fig. 5 is a structural block diagram of a control system of a manipulator according to an embodiment of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

The present invention is an aerial robot based on a six-rotor unmanned aerial vehicle, as shown in Fig. It is a hexacopter aircraft, with an on-board control system 2 installed on the top of the fuselage of the six-rotor drone 1, and a two-degree-of-freedom mechanical arm 3 installed at the bottom of the fuselage of the six-rotor drone 1;

The airborne control system 2 includes a flight control system and a robotic arm control system. The flight control system collects the flight data of the hexacopter UAV 1 in real time, and generates instructions for real-time transmission after processing to control the six rotor motors of the hexacopter UAV 1. 5. The manipulator control system collects the position and attitude information of each joint of the two-degree-of-freedom manipulator 3 in real time, and issues instructions to adjust the angle of each rotating joint and the position and attitude of the gripper 11 after processing;

The six rotor motors 5 are 3508-690kv brushless motors, and their steering directions are opposite in pairs, generating yaw force to offset the torque generated by the rotor 6 on the fuselage;

The six rotor motors 5 are controlled by six electric regulators 22, and are respectively connected to the corresponding six rotors 6 to provide rotational speed;

The six-rotor UAV 1 is composed of a fuselage, six rotors 6 and six brushless motors 5, providing a mobile platform for the two-degree-of-freedom mechanical arm 3;

The fuselage of the six-rotor UAV 1 includes a tripod 7, six arms 8, a two-layer center plate 9 and a mounting rod 10. A mounting rod 10 is provided directly below the center plate 9. Batteries, which are convenient to provide power sources for aerial robots;

An on-board control system 2 is installed on the center plate 9, and the mounting rod 10 is fixedly connected to the two-degree-of-freedom mechanical arm 3;

The central plate 9 is a U-shaped connecting plate;

The fuselage of the six-rotor UAV 1 is made of carbon fiber, which has the advantages of low density, high hardness, and light weight. It also avoids the shortcomings of metal materials that are prone to metal fatigue and corrosion resistance, and plays the role of a structural frame;

The six rotors 6 are all made of nylon carbon fiber glass fiber composite material, which has the advantages of light weight, high strength, and good corrosion resistance; six rotors 6 are respectively installed on the motor bases at the ends of the six arms 8 to provide lift for the upward movement of the aircraft And provide the control force and moment of flight motion.

As shown in Figure 3, the two-degree-of-freedom mechanical arm 3 includes a base 15, a front-end connecting rod 14, a rear-end connecting rod 12, a gripper 11 and a steering module, and the front end of the base 15 is connected to the six-rotor UAV 1. The mounting rod 10 is fixedly connected, the rear end of the base 15 is connected with the front connecting rod 14 through the first rotating joint 131, the front connecting rod 14 is connected with the rear connecting rod 12 through the second rotating joint 132, and the rear connecting rod 12 and the holder 11 are connected by the third rotary joint 133, the first rotary joint 131, the second rotary joint 132 and the third rotary joint 133 are all controlled by a large torque digital steering gear 28 to perform 0-180 degree rotation ;

The steering gear model controls the digital steering gear 28 at each joint to adjust the angle of each rotating joint of the two-degree-of-freedom mechanical arm 3 and the position and attitude of the gripper 11 according to the control signal of the onboard control system 2;

The gripper 11 is composed of anthropomorphic manipulator claws. The manipulator claws include two sets of half-claws whose insides are sawtooth-shaped arc surfaces. Each set of half-claws is composed of three layers of zigzag-shaped sheets connected by bolts to clamp irregular objects.

As shown in Figure 4, the flight control system includes STM32F427 embedded module 19, inertial measurement unit 18, altimeter 16, magnetometer 20 and dual-mode GPS module 17, STM32F427 embedded module 19, inertial measurement unit 18, altimeter 16 and magnetometer 20 are all installed vertically on the airborne control board, and the dual-mode GPS module 17 is installed on the support rod 4 of the center plate 9 of the six-rotor UAV 1 to prevent the interference of large currents on the compass;

Inertial measurement unit 18, altimeter 16, magnetometer 20 and dual-mode GPS module 17 are used to measure attitude angle (pitch angle, roll angle, yaw angle), three-axis acceleration, three-axis angular velocity, flight height and longitude and latitude information of aerial robot , the collected information is processed by the STM32F427 embedded module 19 with a processing speed of 500MHz to generate instructions, and the instructions are transmitted to the six ESCs 22 in real time through the six I/O ports 21 to control the six-rotor UAV 1. Six rotor motors 5;

The dual-mode GPS module 17 is an integrated module of GPS and electronic compass.

As shown in Figure 5, the mechanical arm control system includes a central processing unit 26, an accelerometer 24, an angular velocity meter 25 and a linear velocity meter 27, all vertically installed on the airborne control panel;

Accelerometer 24, angular velocity meter 25 and linear velocity meter 27 are used to measure the position, linear velocity, angular velocity and corresponding acceleration information of each joint of the two-degree-of-freedom mechanical arm 3, and the central processing unit 26 sends instructions to send to The digital steering gear 28 is used to adjust the angle of the corresponding rotating joint and the position and posture of the gripper 11 .

The embodiment of the present invention is that the aerial robot relies on the six-rotor UAV 1 to reach the top of the target or the required work area, and maintains a hovering state according to the flight control system. The two-degree-of-freedom robotic arm 3 adjusts its position and posture according to the target or task requirements through the robotic arm control system to accurately complete the task. The aerial robot based on the six-rotor unmanned aerial vehicle of the present invention has the advantages of strong flexibility, high operation precision, and good stability, and is suitable for replacing humans or ground robots to complete some high-risk tasks.

The present invention introduces the optimal joint compliance criterion to optimize the operability of the manipulator, and uses an optimization algorithm to solve the objective function of the inverse solution of the kinematics of the manipulator is:

Among them, F(L) is the objective function for solving the inverse solution of the manipulator, L is the currently described manipulator, n is the number of joints, q _i (L) is the target position of the i-th joint, and q _id is the i-th joint the current location of . Therefore, finding the kinematics inverse solution can be transformed into solving the problem of the minimum value of the objective function F(L). The present invention uses the artificial weed algorithm to solve this optimization problem, and the specific pseudocode is:

random weed location

After the objective function is optimized by the artificial weed algorithm, not only the optimal compliance of the joints can be obtained, but also the ratio of the lengths of the front end link 14, the rear end link 12 and the gripper 11 of the two-degree-of-freedom manipulator 3 is 0.45 :0.45:1.

For the limitation of the protection scope of the present invention, those skilled in the art should understand that on the basis of the technical solution of the present invention, various modifications or deformations that those skilled in the art can make without creative labor are still within the protection scope of the present invention within.

Claims (10)

1. a kind of air-robot based on six rotor wing unmanned aerial vehicles, it includes six rotor wing unmanned aerial vehicles (1), aircraft mounted control system (2) With two degrees of freedom mechanical arm (3), it is characterised in that：Six rotor wing unmanned aerial vehicle (1) is six rotorcraft, six rotor wing unmanned aerial vehicles (1) fuselage roof is provided with aircraft mounted control system (2), and six rotor wing unmanned aerial vehicles (1) fuselage bottom is provided with two degrees of freedom mechanical arm (3)；

The aircraft mounted control system (2) includes flight control system and mechanical arm control system, and flight control system gathers in real time The flying quality of six rotor wing unmanned aerial vehicles (1), produces instruction real-time Transmission, to control six of six rotor wing unmanned aerial vehicles (1) after processing Rotor motor (5), mechanical arm control system gather position and the attitude information in two degrees of freedom mechanical arm (3) each joint in real time, place Issue an instruction to adjust the angle of each cradle head and position and the posture of clamper (11) after reason.

2. the air-robot according to claim 1 based on six rotor wing unmanned aerial vehicles, it is characterised in that：Six rotors Motor (5) is 3508-690kv brushless electric machines, and its steering is opposite two-by-two；

Six rotor motors (5) adjust (22) control by six electricity, and are connected respectively with corresponding six rotors (6).

3. the air-robot according to claim 1 or 2 based on six rotor wing unmanned aerial vehicles, it is characterised in that：Six rotation Wing unmanned plane (1) fuselage includes foot stool (7), horn (8), central plate (9) and carry bar (10), the electricity of six horn (8) ends Corresponding respectively on engine base to be provided with six rotors (6), central plate (9) is arranged right below carry bar (10), carry bar (10) lower section Hang with lithium battery；

Aircraft mounted control system (2) is installed, carry bar (10) and two degrees of freedom mechanical arm (3) are affixed on the central plate (9)；

The central plate (9) is U-shaped connecting plate.

4. the air-robot according to claim 1 or 2 based on six rotor wing unmanned aerial vehicles, it is characterised in that：Six rotation Wing unmanned plane (1) fuselage uses carbon fibre materials；

Six rotors (6) use nylon carbon fibre glass composite.

5. the air-robot according to claim 1 or 2 based on six rotor wing unmanned aerial vehicles, it is characterised in that：Described two certainly Pedestal (15), preceding end link (14), rear end link (12), clamper (11) and steering engine module, pedestal are included by degree mechanical arm (3) (15) front end and the carry bar (10) of six rotor wing unmanned aerial vehicles (1) are affixed, and the rear end of pedestal (15) passes through the first cradle head (131) it is connected with preceding end link (14), between preceding end link (14) and rear end link (12) by the second cradle head (132) even Connect, be connected between rear end link (12) and clamper (11) by the 3rd cradle head (133), the first cradle head (131), Two cradle heads (132) and the 3rd cradle head (133) are controlled by big torsion digital steering engine (28) to carry out the rotation of 0-180 degree Turn；

The actuator model controls the digital rudder controller (28) of each joint according to the control signal of aircraft mounted control system (2) Adjust the angle of two degrees of freedom mechanical arm (3) each cradle head and position and the posture of clamper (11).

6. the air-robot according to claim 5 based on six rotor wing unmanned aerial vehicles, it is characterised in that：The clamper (11) it is made of anthropomorphous machine's paw, mechanical paw includes half pawl that two groups of inner sides are zigzag arc surface, and every group of half pawl is by three Composition is bolted in layer zigzag thin slice.

7. the air-robot according to claim 1 or 2 based on six rotor wing unmanned aerial vehicles, it is characterised in that：The flight Control system include STM32F427 flush bonding modules (19), Inertial Measurement Unit (18), altimeter (16), magnetometer (20) and Bimodulus GPS module (17), STM32F427 flush bonding modules (19), Inertial Measurement Unit (18), altimeter (16) and magnetometer (20) it is vertically mounted on airborne control panel, bimodulus GPS module (17) is installed on six rotor wing unmanned aerial vehicles (1) central plate (9) On cradling piece (4)；

The Inertial Measurement Unit (18), altimeter (16), magnetometer (20) and bimodulus GPS module (17) are used for measuring aerial machine Attitude angle, 3-axis acceleration, three axis angular rates, flying height and the latitude and longitude information of device people, collected information by STM32F427 flush bonding modules (19) produce instruction after being handled, instruction passes through the transmission in real time respectively of six I/O ports (21) (22) are adjusted to control six rotor motors (5) of six rotor wing unmanned aerial vehicles (1) to six electricity；

The bimodulus GPS module (17) is GPS and electronic compass integration module.

8. the air-robot according to claim 1 or 2 based on six rotor wing unmanned aerial vehicles, it is characterised in that：The machinery Arm control system includes central processing unit (26), accelerometer (24), turn meter (25) and linear velocity meter (27), vertical peace On airborne control panel；

The accelerometer (24), turn meter (25) and linear velocity meter (27) are used for measuring two degrees of freedom mechanical arm (3) respectively pass Position, linear velocity, angular speed and the corresponding acceleration information of section, central processing unit (26) refer to according to the delivering collected Make to digital rudder controller (28) is sent to adjust the position of the angle of corresponding cradle head and clamper (11) and posture.

9. the air-robot according to claim 5 based on six rotor wing unmanned aerial vehicles, it is characterised in that：The two degrees of freedom The movement of mechanical arm (3) is controlled by mechanical arm control system according to the optimal compliance criterion in each joint, the criterion according to Following formula calculating machine arm Inverse Kinematics Solution：

<mrow> <mi>min</mi> <mi> </mi> <mi>F</mi> <mrow> <mo>(</mo> <mi>L</mi> <mo>)</mo> </mrow> <mo>=</mo> <mi>m</mi> <mi>i</mi> <mi>n</mi> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msup> <mrow> <mo>&amp;lsqb;</mo> <msub> <mi>q</mi> <mi>i</mi> </msub> <mrow> <mo>(</mo> <mi>L</mi> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>q</mi> <mrow> <mi>i</mi> <mi>d</mi> </mrow> </msub> <mo>&amp;rsqb;</mo> </mrow> <mn>2</mn> </msup> </mrow>

Wherein, F (L) is the object function for solving the inverse solution of mechanical arm, and L is presently described mechanical arm, and n is joint number, q_i(L) For the target location in i-th of joint, q_idFor the current location in i-th of joint.

10. the air-robot according to claim 9 based on six rotor wing unmanned aerial vehicles, it is characterised in that：Described two freely Spend the preceding end link (14) of mechanical arm (3), the ratio of rear end link (12) and clamper (11) length is 0.45:0.45:1.