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Design method and system for four-rotor robot software platform

A technology of robot software and design method, applied in the direction of control/adjustment system, instrument, non-electric variable control, etc., can solve the problems of redevelopment, waste of time, waste of resources, etc., to improve development efficiency and benefit from secondary development , to avoid the effect of redeveloping the algorithm

Inactive Publication Date: 2019-01-11
SHENYANG SIASUN ROBOT & AUTOMATION
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AI Technical Summary

Problems solved by technology

The technical disadvantage of the quadrotor robot lies in the fact that each manufacturer of the quadrotor UAV system involves economic interests. Large companies keep secrets on algorithm blockade, while small companies explore technical routes in the dark.
The root cause of the correction is that the software is not open source, so its control and motion algorithms need to be redeveloped, which is a waste of time and resources

Method used

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  • Design method and system for four-rotor robot software platform
  • Design method and system for four-rotor robot software platform
  • Design method and system for four-rotor robot software platform

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Embodiment Construction

[0050] The invention provides a software platform design method for a four-rotor robot. With the software platform constructed using the software platform design method, users can easily carry out secondary development after mastering the platform architecture and interface.

[0051] The design method of the four-rotor robot software platform of the present invention specifically includes:

[0052]Carry out the coordinate system conversion of the body plan, body coordinate system, and ground coordinate system in order to describe the motion state of the aircraft. see figure 1 , is a schematic diagram of the coordinate system conversion of the software platform of the quadrotor robot of the present invention, showing the body plan, body coordinate system, and ground coordinate system of the quadrotor robot.

[0053] The parameters such as attitude angle, flight speed, and direction of the quadrotor robot are always related to the coordinate system. To accurately describe the m...

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Abstract

The invention discloses a design method for a four-rotor robot software platform. The design method comprises the following steps that coordinate system conversion of an aircraft body plane graph, anaircraft body coordinate system and a ground coordinate system are conducted so as to describe the motion state of an aircraft, flight motion control is conducted by changing the rotor speed; and according to coordinate system conversion and flight motion control data, a four-rotor dynamics model is established. The design method has the beneficial effects that algorithm re-development is avoided,and the development efficiency is improved.

Description

technical field [0001] The invention relates to the technical fields of intelligent manufacturing, automatic control and intelligent robot, in particular to a design method and system for a software platform of a four-rotor robot. Background technique [0002] The four-rotor robot has a power plant, does not carry people and has four rotors. It overcomes its own weight by using aerodynamic force, can fly remotely or autonomously, can carry loads and can be recovered for one-time or multiple use. At present, the quadrotor robot software, from the most basic flight control to the dynamics technology of the body to the aerodynamics technology, generally relies on each company to develop independently. The technical disadvantage of quadrotor robots is that each manufacturer of the quadrotor UAV system involves economic interests. Large companies keep secrets on algorithm blockade, while small companies explore technical routes in the dark. The root cause of the correction is t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 赵彬王宏玉刘晓帆梁亮孙若怀钱益舟
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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