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Unmanned aerial vehicle dunking and rebounding self-evolution intelligent system and control method

A technology of intelligent system and control method, applied in the direction of unmanned aerial vehicle, rotorcraft, motor vehicle, etc., can solve the problem of no self-evolution related method. Apply drone to learn to shoot basketball independently, basketball research has not yet appeared, reduce recoil And other issues

Active Publication Date: 2019-10-08
余姚市浙江大学机器人研究中心 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among military UAVs, UAVs carry weapons to destroy targets. Currently, the weapons and equipment installed require the minimum recoil force or even no recoil force. The requirements for weapon equipment reduce the application of UAVs in the military field.
[0006] At the same time, although there are currently some simulation studies on issues related to self-evolution, and some achievements have been made in the research of UAVs playing basketball, the research on the autonomous projection of high-quality basketballs by UAVs has not yet appeared, nor has the self-evolution Related methods are applied to the problem of drones autonomously learning to shoot basketballs

Method used

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  • Unmanned aerial vehicle dunking and rebounding self-evolution intelligent system and control method
  • Unmanned aerial vehicle dunking and rebounding self-evolution intelligent system and control method
  • Unmanned aerial vehicle dunking and rebounding self-evolution intelligent system and control method

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0138] Taking the self-evolution control method of self-evolution control method in a specific environment as an example, a self-evolution intelligent system for UAV slam dunk based on three cameras will be described in detail.

[0139] Step 1, that is, before the drone takes off, measure the quality of the delivered goods, and install devices such as a camera, a drone flight controller module, and an onboard central processing unit (which contains a sensor module) on the drone. Based on the self-evolutionary control method, a control system is established.

[0140] The specific steps of the self-evolution control method are as follows:

[0141] 1) Selection and measurement of key variables: Select key variables that affect the mechanism model in the environment, including three parts: drone control variables, cargo control variables, and environment control variables. The control variable of the drone includes the initial speed v of the flight of the drone, the flight height...

Embodiment 2

[0149] In the following, the control method of the dual-unsteady system will be described in detail by taking the delivery of goods by UAV in the air as an example.

[0150] Step 1. Before the UAV takes off, measure the quality of the delivered goods. Install the camera, UAV flight controller module and on-board CPU (which contains the sensor module) and other devices on the UAV to measure the quality of the UAV. , and is set by the final control rule set for UAV self-evolution.

[0151] Step 2, take off the UAV, and the UAV will fly to the expected destination according to the control method of self-evolution.

[0152] Step 3: The UAV arrives at the position of the projected object. According to the control method of the dual-unsteady system, the goods are projected in the air, and the size of the estimated compensation is quickly calculated, so that the actual attitude value of each channel can track the expected value to ensure that the projectile of the aircraft Smooth tr...

Embodiment 3

[0154] Embodiment 3: The following is an example of the precise delivery of goods by UAVs in a cave in the wild, specifically illustrating the joint control of the self-evolving intelligent system and the dual unstable system, as shown in Figure 19 shown.

[0155]Considering the harsh environment of wild caves, it is impossible to establish a spherical panoramic camera on the ground. The onboard drone camera needs to be a binocular camera, GPS, and a transmitter that can launch markers is installed on the drone.

[0156] Step 1: The UAV receives the specific rescue location, and carries the rescue supplies to the cave where the person is trapped.

[0157] Step 2: The UAV emits markers on the side wall of the cave, recognizes and detects them through the onboard binocular camera, learns from the physical model of the quadrotor drone dunking in an ideal environment, and passes the final marker drop point and time, and The possible trajectory of the launched parabola is calcula...

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Abstract

The invention discloses an unmanned aerial vehicle dunking and rebounding self-evolution intelligent system and control method. The unmanned aerial vehicle intelligent system comprises a four-rotor unmanned aerial vehicle, three cameras, a flight controller, an airborne central processor, a ground data processing base station and a basketball shooting device. The control method comprises a controlmethod of a double-under-stability system and a control method for self-evolutionary learning of the unmanned aerial vehicle. According to the control method of the double-under-stability system, estimated interference is added to an unmanned aerial vehicle under-stability flight model, an interference compensator is designed for approximation in order to compensate the counter-acting force of the estimated interference on the unmanned aerial vehicle, so that unstable factors caused by the estimated interference to the unmanned aerial vehicle can be eliminated, the closed-loop performance ofthe whole double-under-stability system can be enhanced, and the self-repairing of the flying state of the unmanned aerial vehicle can be realized. The control method for self-evolutionary learning ofthe unmanned aerial vehicle is a control method obtained by combining a mechanism model and a data model, wherein the mechanism model is used for establishing rules for a flight track of a basketball, and the data model is used for carrying out learning training through a certain number of samples.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle robots, in particular to a three-camera-based intelligent system and control method for dunking and rebounding self-evolution of an unmanned aerial vehicle. Background technique [0002] As a relatively traditional aircraft, drones use high-efficiency brushless motors as power, and have the advantages of small size, light weight, easy to carry, easy to maintain and use, good maneuverability, and low maintenance costs. It occupies a pivotal position in the special robot industry. UAVs that can fly autonomously have broad prospects in civilian fields, such as map surveying, weather detection, intelligent aerial photography, pesticide spraying, etc., and also play an extremely important role in the military field, which can complete battlefield reconnaissance and surveillance, Positioning calibration, target destruction and so on. [0003] With the increasing attention and use of drones in pe...

Claims

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Application Information

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IPC IPC(8): B64C39/02B64C27/08B64D47/08
CPCB64C39/02B64C27/08B64D47/08B64U10/10
Inventor 孟濬祝文君于惠泽许力
Owner 余姚市浙江大学机器人研究中心
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