CN118876095B - Bionic grabbing and flying integrated deformable unmanned aerial vehicle - Google Patents
Bionic grabbing and flying integrated deformable unmanned aerial vehicle Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/40—Modular UAVs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/70—Constructional aspects of the UAV body
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Abstract
本发明公开了一种仿生抓取与飞行一体化可变形无人机，包括第一仿手指模块、第一仿手掌模块、第二仿手指模块和第二仿手掌模块，各模块下方均设置有一螺旋桨及相应驱动器；所述第一仿手指模块与所述第一仿手掌模块之间、所述第一仿手掌模块与第二仿手掌模块之间、所述第二仿手掌模块与所述第二仿手指模块之间均通过复合欠驱动变形结构转动连接；所述复合欠驱动变形结构通过线驱动变形，包括被动式伸缩机构和被动式旋转机构，所述被动式伸缩机构用于调整各模块之间的距离，所述被动式旋转机构用于使仿手指模块相对仿手掌模块旋转，以实现仿生屈伸及抓取功能。
The invention discloses a bionic grasping and flying integrated deformable unmanned aerial vehicle, comprising a first imitation finger module, a first imitation palm module, a second imitation finger module and a second imitation palm module, wherein a propeller and a corresponding driver are arranged below each module; the first imitation finger module and the first imitation palm module, the first imitation palm module and the second imitation palm module, and the second imitation palm module and the second imitation finger module are all rotationally connected through a composite under-actuated deformation structure; the composite under-actuated deformation structure is deformed by line drive, and comprises a passive telescopic mechanism and a passive rotating mechanism, wherein the passive telescopic mechanism is used to adjust the distance between each module, and the passive rotating mechanism is used to rotate the imitation finger module relative to the imitation palm module, so as to realize the bionic flexion and extension and grasping functions.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a bionic grabbing and flying integrated deformable unmanned aerial vehicle.
Background
The traditional aerial operation unmanned aerial vehicle is formed by combining two independent platforms of the unmanned aerial vehicle and the mechanical arm, so that the quality of the whole machine is improved, the size of the unmanned aerial vehicle is remarkably increased, and the unmanned aerial vehicle is unfavorable for flying and cruising and operating in a narrow space. Aiming at the problem, the integrated high-integration design is an important solution, the conventional multi-degree-of-freedom deformation grabbing structure can cause the problems of great increase of the number of drivers, increase of the mass, reduction of the driving efficiency ratio and the like, and the novel deformation structure which combines the high degree of freedom with fewer drivers is also a core problem to be broken through.
Aiming at the problem of grabbing and transporting multiple rotors, a common thinking of researchers is to add an additional manipulator ."Kondak K, Huber F, Schwarzbach M, et al. Aerial manipulation robot composed of an autonomous helicopter and a 7 degrees of freedom industrial manipulator[C]//2014 IEEE international conference on robotics and automation (ICRA). IEEE, 2014: 2107-2112." to add a manipulator mechanism on the multiple rotors, an operation manipulator can grab objects, but in the aspect of kinematics of end effects, most of designs are due to redundancy of the manipulator, and the influence of moment generated by the mass of the manipulator is quite large, so that a control algorithm for coupling the aerial robot and the manipulator becomes complex, the mass ."Roderick W R T, Cutkosky M R, Lentink D. Bird-inspired dynamic grasping and perching in arboreal environments[J]. Science Robotics, 2021, 6(61): eabj7562." of the multiple rotors is increased to be inspired by birds, a bionic aerial robot capable of dynamically inhabiting on a complex surface and grabbing irregular objects is developed, a controller adopts a mode of mixing the gesture, the open loop and the closed loop, but the manipulator is a product of simple combination of the four rotors and the grabbing mechanism, the model of the aerial operation robot with the manipulator is researched by the defect ."Zhang G, He Y, Dai B, et al. Aerial grasping of an object in the strong wind: Robust control of an aerial manipulator[J]. Applied Sciences, 2019, 9(11): 2230." of large volume and structural redundancy, the operation of the manipulator is regarded as noise for unmanned aerial vehicle control, the unmanned aerial vehicle is realized by using a robust controller to realize efficient anti-interference manipulator operation, but the platform is too large and difficult to apply in a small space.
Aiming at the requirements of light weight, high energy efficiency and flexibility of task operations such as autonomous aerial grabbing and the like, the second solution is to grab and transport by utilizing a variable mechanism of a four-rotor self, researches ."Zhao M, Anzai T, Shi F, et al. Design, modeling, and control of an aerial robot dragon: A dual-rotor-embedded multilink robot with the ability of multi-degree-of-freedom aerial transformation[J]. IEEE Robotics and Automation Letters, 2018, 3(2): 1176-1183." are made on various mechanisms at home and abroad in the aspect of a variable-structure unmanned aerial vehicle, a multi-joint articulated type serial aerial robot is provided, complex and large-scale morphological changes can be realized in the air, an online thrust level optimization method is also provided for grabbing objects stably by utilizing the head end and the tail end, the unmanned aerial vehicle has higher thrust utilization rate, physical interaction performance and excellent maneuverability and flexibility, but the platform driver is highly redundant and heavy, the grabbing control is extremely complicated ." Falanga D, Kleber K, Mintchev S, et al. The foldable drone: A morphing quadrotor that can squeeze and fly[J]. IEEE Robotics and Automation Letters, 2018, 4(2): 209-216.", the foldable four-rotor designed can utilize self deformation, the grabbing of the objects by a horn is realized, but the grabbing position is far away from the center of gravity of the body, and the problem of flight control is not facilitated.
Disclosure of Invention
Aiming at the problems existing in the prior art, the embodiment of the application aims to provide a bionic grabbing and flying integrated deformable unmanned aerial vehicle.
The technical scheme of the application is as follows:
A bionic grabbing and flying integrated deformable unmanned aerial vehicle comprises a first finger-imitating module, a first palm-imitating module, a second finger-imitating module and a second palm-imitating module, wherein a propeller and a corresponding driver are arranged below each module;
the first finger-imitating module and the first palm-imitating module, the first palm-imitating module and the second palm-imitating module, and the second palm-imitating module and the second finger-imitating module are all rotationally connected through a composite underactuated deformation structure;
The composite underactuated deformation structure deforms through a line drive and comprises a passive telescopic mechanism and a passive rotating mechanism, wherein the passive telescopic mechanism is used for adjusting the distance between the modules, and the passive rotating mechanism is used for enabling the finger-like module to rotate relative to the palm-like module so as to achieve bionic bending and stretching and grabbing functions.
Further, a decentralization symmetrical configuration is adopted, wherein the modules are uniformly distributed, and the first finger-imitating module and the first palm-imitating module are symmetrically arranged with the second finger-imitating module and the second palm-imitating module.
Further, the passive telescopic mechanism comprises a sliding block-sliding rail assembly and a compression spring, the sliding block slides on the sliding rail to realize the relative movement of the adjacent modules, and the compression spring is sleeved on the sliding rail.
Further, the two groups of the sliding block-sliding rail assemblies are arranged, and the compression spring is sleeved on the sliding rail of one group of the sliding block-sliding rail assemblies.
Further, the passive rotation mechanism includes a torsion spring for reducing friction force upon rotation and a circumferential bearing for providing a driving force for restoration after rotation.
Further, the finger-like modules are provided with a double-layer structure, the double-layer structure is rotatably connected with the finger-like modules through a bolt, one end of the passive telescopic mechanism between the finger-like modules and the palm-like modules is fixed on the double-layer structure, and the circumferential bearing and the torsion spring are sleeved on the bolt and are separated through an upper plate of the double-layer structure.
The composite underactuated deformation structure adopts a mode of single motor line driving deformation, and specifically comprises the steps of respectively arranging fixed pulleys on a bottom plate of a finger-imitating module and a bottom plate of a corresponding double-layer structure, arranging at least one fixed pulley on the bottom plate of a palm-imitating module, fixing one end of a string on the finger-imitating module, and winding the other end of the string along the groove direction of each fixed pulley in sequence and connecting with a servo motor on the other finger-imitating module, wherein a passive telescopic mechanism and a passive rotary mechanism are controlled simultaneously through the servo motor.
Further, the spring constant of the compression spring is smaller than that of the torsion spring.
Further, the intelligent control system further comprises a lithium battery, an electric control board and a flight control board, wherein the lithium battery is used for supplying power to the electric control board, the flight control board, the drivers and the servo motors, the flight control board is used for sending control instructions according to requirements, and the electric control board is used for converting the control instructions and sending the control instructions to the drivers and the servo motors.
Summarizing the application is as follows:
1. the novel bionic grasping and flying integrated variable structure unmanned aerial vehicle can actively deform and adjust two dimension sizes;
2. the unmanned aerial vehicle mechanical framework with the light weight variable structure inspired by hands comprises a line driving structure, an underactuated structure, a telescopic and torsion mechanism and other models;
3. The multifunctional robot can realize various functional applications such as aerial grabbing, aerial perching and the like, for example, the robot can hover and perch in environments such as trunks and the like, and can grab objects with various shapes and the like without adding additional mechanical arms.
The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:
According to the embodiment, the unmanned aerial vehicle is inspired by biological phenomena of a hand grabbing mode and a multi-degree-of-freedom joint, imitates motion modes such as palm grabbing, fingertip clamping and the like of a human, starts from the aspects of miniaturization, integration, multifunction and the like of an aerial operation unmanned aerial vehicle, designs a high-integration, high-adaptability and high-stability bionic grabbing and flying integrated variable structure unmanned aerial vehicle, avoids the problem of low driving efficiency of the unmanned aerial vehicle for aerial object manipulation by a mounting mechanical arm, forms a high-freedom underactuated structure by various motion mechanisms such as active telescoping, passive rotation and the like, realizes an underactuated deformation structure fused by linear transmission and circumferential rotation based on a lightweight variable structure unmanned aerial vehicle structure of a line driven structure, improves the shape diversity and self-adaption of the unmanned aerial vehicle, and researches an active deformation rope driving structure under the condition of only carrying a single power source, and realizes full-size dynamic adjustment of a plane body by using an open loop bionic hand structure so as to grasp various objects and complex multi-degree-of-freedom environment active perching.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic diagram of a principle of grabbing a human hand according to an exemplary embodiment, wherein (a) is a tendon driving structure of fingers, (b) is a surrounding grabbing configuration of the human hand, and (c) is a multi-degree-of-freedom joint structure of the human hand.
Fig. 2 is a schematic diagram of a mechanical design of a novel bionic grabbing and flying integrated deformable unmanned aerial vehicle according to an exemplary embodiment, wherein (a) is a three-dimensional mechanical structure, and (b) is a two-dimensional mechanical schematic diagram.
Fig. 3 is a schematic diagram of a mechanical structure of the novel bionic grabbing and flying integrated deformable unmanned aerial vehicle according to an exemplary embodiment at the minimum size, wherein (a) is a three-dimensional mechanical structure, and (b) is a two-dimensional mechanical structure.
The finger-simulating hand-held device comprises the following components of a finger-simulating hand, a finger-simulating hand, a hand-simulating hand, a servo motor, a fixed pulley, a compression spring, a string, a sliding rail, a sliding block, a screw, a brushless motor, a circumferential bearing, a torsion spring and a torsion spring.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. The term "if" as used herein may be interpreted as "at..once" or "when..once" or "in response to a determination", depending on the context.
The design inspiration of the invention is derived from biological phenomena of a human hand grabbing mode and a multi-degree-of-freedom joint, wherein the tendon driving mode of the finger can be used for efficiently controlling the bending grabbing of the finger structure as shown in (a) of fig. 1, the human hand can obtain a larger grabbing range by utilizing a surrounding type open grabbing contour as shown in (b) of fig. 1, and the multi-degree-of-freedom joint structure of the human hand can be suitable for the shape of a grabbed object as shown in (c) of fig. 1.
The invention designs a bionic grabbing and flying integrated deformable unmanned aerial vehicle by simulating the motion modes of 'palm grabbing' and 'fingertip clamping' of a human being and combining a human hand grabbing structure and a working mechanism, which comprises a first palm simulating module 1, a first palm simulating module 3, a second palm simulating module 2 and a second palm simulating module 4, wherein a propeller 11 and a corresponding driver are arranged below each module, the first palm simulating module 1 and the first palm simulating module 3, the first palm simulating module 3 and the second palm simulating module 4 are all connected through rotation of a compound under-actuated deformation structure, the compound under-actuated deformation structure is deformed through line driving and comprises a passive telescopic mechanism and a passive rotary mechanism, the passive telescopic mechanism is used for adjusting the distance between the modules, and the passive rotary mechanism is used for enabling the palm simulating modules to rotate relatively to the palm simulating modules so as to realize the functions of bending, stretching and grabbing.
In a specific implementation, the first finger-imitating module 1 and the first palm-imitating module 3 are symmetrically arranged with the second finger-imitating module 2 and the second palm-imitating module 4, so that the increase of control difficulty caused by the deviation of the gravity center and the geometric center of the structure due to an asymmetric structure is avoided. Meanwhile, the finger module is not completely designed to imitate the three rotary joints of the index finger, but is simplified into a single rotary mechanism, and the single rotary mechanism can realize the functions of finger bending and stretching and grabbing, so that the compact structure can improve the compactness and the light weight of the platform.
The integrated deformable unmanned aerial vehicle has a configuration very similar to the outline of an open encircling type human hand, has a larger grabbing range, and can improve the contact area with a grabbed object, so that the grabbing reliability is improved. The human hand is inspired by the biological structure of the joint combination with a plurality of degrees of freedom, and the high-degree-of-freedom grabbing structure is formed by utilizing the combination of a plurality of motion mechanisms, so that the grabbing requirement of the human hand is matched. The unmanned aerial vehicle body discards the centralized configuration of traditional four rotor wing horn connection in the main part, adopts four different module evenly distributed's the centralized symmetrical configuration that removes, adopts series connection structural connection between the module, when constituteing integral type deformable configuration, this unmanned aerial vehicle platform central area is close convex, realizes the self-adaptation to different shape objects snatchs.
In order to realize the flying movement in the air, the unmanned aerial vehicle platform uses four brushless motors 12 as main drivers of corresponding propellers 11, drives the propellers 11 to rotate to generate proper thrust, and realizes the functions of taking off, landing and flying of the unmanned aerial vehicle. The four-rotor platform has the advantages of small size, strong maneuverability and the like, and is beneficial to improving the driving capability. The unmanned aerial vehicle system and the grabbing body structure form an imitation human hand integrated unmanned aerial vehicle platform. The center of the platform adopts an integral annular clamping structure design, the design can grasp objects without adding an additional mechanical arm, and the structure can not cause the total mass of the machine body to be obviously increased.
In specific implementation, adjacent modules are connected by a passive telescopic mechanism, the passive telescopic mechanism comprises a sliding block 10-sliding rail 9 assembly and a compression spring 7, preferably, two groups of sliding block 10-sliding rail 9 assemblies can be arranged, and compared with a single group of sliding block 10-sliding rail 9 assemblies, the rigidity of connection can be improved through the double-structure design, and the compression spring 7 is sleeved on one sliding rail 9 and used for achieving restoration after telescopic operation between the modules. It is worth noting that the positions of the two sets of slide blocks 10-slide rails 9 can be adjusted according to the layout, for example, the arrangement of the telescopic mechanism between the palm-like modules and the other two sets of telescopic mechanisms can be slightly different, mainly because the inner space of the palm-like modules is occupied by other parts, which cause the palm-like modules to be distributed on the lower base plate, but the principle and the function of the palm-like modules are not obviously different. The telescopic structure can move linearly along the direction of the slide rail 9 under the action of external force, at the moment, the springs are compressed, the distance between the modules is changed, the machine body completes deformation movement, and when the external force is gradually reduced, the springs are relaxed, and the machine body can restore the original size. In the finger-like module part, the application also adopts a passive rotating mechanism connecting structure, the passive rotating mechanism comprises a torsion spring 14 and a circumferential bearing 13, the circumferential bearing 13 is used for reducing friction force during rotation, and the torsion spring 14 is used for providing driving force for restoring after rotation, so that the finger-like module can rotate like a finger joint. The passive rotation mechanism is installed as shown in fig. 2 (a), wherein the circumferential bearing 13 can reduce the friction force when the "fingertip module" rotates, and the torsion spring 14 can realize the deformation and shape recovery functions similar to those of the compression spring 7. As shown in fig. 2 (a) and fig. 2 (b), the above-mentioned telescopic mechanism and rotary mechanism together constitute a composite bionic deformation structure of the unmanned aerial vehicle, having 5 degrees of freedom, which is driven by only a single servo motor 5, and thus has an under-actuated characteristic. When the grabbing deformation is carried out, the under-actuated characteristic can enable the 5-degree-of-freedom grabbing structure to be passively attached to the outline of the object, and the object is wrapped like the (c) human hand multi-degree-of-freedom structure in fig. 1, so that the self-adaptive grabbing of objects in different shapes is realized.
In an embodiment, the finger-like modules are provided with a double-layer structure, the double-layer structure is rotatably connected with the finger-like modules through a bolt, the sliding blocks 10 of the two groups of sliding blocks 10-sliding rail 9 assemblies are respectively arranged on an upper layer plate and a lower layer plate of the double-layer structure, one end of each sliding rail 9 is correspondingly arranged on a top plate and a bottom plate of the palm-like module, and the circumferential bearing 13 and the torsion spring 14 are sleeved on the bolt and are separated through the upper layer plate of the double-layer structure. In a specific implementation, in order to prevent sliding type from being poked to the components (such as the servo motor 5) in the finger-like module, a sliding block 10-sliding rail 9 assembly arranged above the finger-like module and the palm-like module can be arranged in such a way that one end of the sliding rail 9 is fixed with an upper layer plate with a double-layer structure, and the sliding block 10 is arranged at the other end of the sliding rail 9 and fixedly connected with a top plate of the palm-like module. For a more flexible deformation, the remaining slide 10-slide 9 assembly can then be provided with two slides 10, the compression spring 7 being arranged between the two slides 10, the two slides 10 being respectively fixed to the modules to be connected.
In a specific implementation, the line driving deformation can be realized by adopting a single motor, specifically, each part of the machine body is internally provided with a plurality of light fixed pulleys 6, as shown in (a) of fig. 2, wherein each palm-imitating module is provided with at least one fixed pulley 6, and the bottom plate and the double-layer structure part of each finger-imitating module respectively comprise one fixed pulley 6. Then, one end of a string 8 made of nylon is fixed on the finger-like module, and the other end of the string 8 is wound along the groove direction of each fixed pulley 6 in sequence and finally connected to the turntable of a servo motor 5 of the other finger-like module to form a linear driving basic structure. When the servo motor 5 of the unmanned aerial vehicle starts to rotate, the traction thin rope 8 slides, so that the pulley generates compression motion, at the moment, the spring can be compressed, and the machine body is contracted to reduce the size of the machine body. When no grabbing load exists, the tensile force on the string 8 is equal everywhere, the deformation of the three compression springs 7 is the same, so that the displacement of the telescopic mechanism among the modules is consistent with each other, the rotation deformation of the two compression springs 7 is the same, and the rotation angles of the two finger-like modules are the same. In this way, the body can be deformed in a central symmetry by the driving of the servomotor 5, as shown in fig. 3 (b). In addition, in the face of the demand problem of the multi-degree-of-freedom mechanism for multiple power sources, the unmanned aerial vehicle is based on a driver mode of outputting the maximum utilization rate on an integrated configuration, only one servo motor 5 is used for driving the string 8 to stretch and retract in the deformation mechanism, deformation motion is generated among traction modules, the machine body is driven to generate underactuated deformation, and the number and energy consumption of the drivers are obviously reduced while the bionic hand is enabled to grasp in various modes and deform in high flexibility. In this case, the spring constant of the compression spring 7 may be smaller than that of the torsion spring 14, and the deformation amount of the rotation mechanism is significantly smaller than that of the expansion mechanism under the same force driving of the servo motor 5. Therefore, when the servo motor 5 pulls the string 8 to drive the machine body to deform gradually, the palm-like modules cannot deform significantly in an initial stage, so that a larger opening area for grabbing is kept as much as possible between the two finger-like modules, and grabbing requirements for more large-size objects are met.
In a specific implementation, the unmanned aerial vehicle may further include a lithium battery, an electric power control board, and a flying control board, wherein the lithium battery is used for supplying power to the electric power control board, the flying control board, the brushless motor 12, the servo motor 5, and the like, the flying control board is used for sending control instructions according to requirements, and the electric power control board is used for converting and sending the control instructions to each brushless motor 12 and the servo motor 5.
When the unmanned aerial vehicle is in a normal size, no additional external force is required to be provided by the servo motor 5 to maintain the shape of the unmanned aerial vehicle body, and three views are shown in fig. 2. At the moment, the power of the servo motor 5 is close to the idle power, the energy loss of the deformation structure is reduced, the duration of the unmanned aerial vehicle platform is indirectly improved, the carrying capacity is improved, and when the unmanned aerial vehicle is in a limited deformation form, the finger-like module of the unmanned aerial vehicle is just contacted, and at the moment, three views are shown in figure 3.
In the static situation of maximum (normal) size, the unmanned aircraft's flight system is driven by four propellers 11, the kinetic model of which is consistent with a conventional quadrotor. In the deformed condition, the plane of the propeller 11 is always kept parallel as all the rotational and telescopic deformation movements are in the same horizontal plane, so that the dynamic model is still consistent with the conventional quadrotor. In conclusion, the conventional flight motion control of the unmanned aerial vehicle can be realized directly by using the PID position and posture control algorithm of the traditional four rotors.
When the machine body performs air dynamic deformation, an expected steering engine angle instruction is sent to the servo motor 5, then the servo motor 5 drives the machine body to deform, the parameters are triggered to estimate in real time, and the current physical parameters of the machine body are updated and transmitted to a control algorithm. And the control algorithm calculates the corresponding flight control quantity under the unmanned plane form according to the updated physical parameters, and realizes the flight control of dynamic deformation.
When the machine body performs aerial grabbing, the position of the target object is obtained first, then the machine body plans a reference track which goes to the target point, the reference track is sent to the controller, and the unmanned aerial vehicle flies to the target point according to the reference track. When the target point is reached, the grabbing action is triggered, a desired angle instruction is sent to the servo motor 5, the machine body starts to deform, and the self structure is utilized to grab the object.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof.
Claims (8)
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