Visual servo and multi-task control method for flying mechanical arm based on spherical model

Abstract

The invention provides a visual servo and multi-task control method for a flying mechanical arm based on a spherical model. According to the method, an adopted servo structure comprises a drone, a mechanical arm and a control module, wherein the mechanical arm is mounted on the mechanical arm mounting surface of the drone, a depth camera is further arranged on the mechanical arm mounting surface,the shooting angle of the depth camera and the mechanical arm mounting surface form an angle, the control module enables the depth camera and the mechanical arm to be combined into a robot hand-eye calibration system, an actuator is arranged at the tail end of the mechanical arm, the control module is a control module capable of controlling the flight of the drone, when the flying mechanical arm needs to operate the target, the control module evaluates the target distance through the depth camera, if the target is located outside the operation range of the mechanical arm, the control module drives the drone to fly towards the target, and if the target is located within the operation range of the mechanical arm, the control module drives the mechanical arm to operate the target. According to the method, the mechanical arm with active control capability can be mounted on the drone.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for visual servoing and multi-task control of a flying manipulator based on a spherical model. Background technique [0002] Unmanned aerial vehicle (UAV) system has the characteristics of strong mobility, high flexibility, etc., and can fly freely in the three-dimensional world, so it has been widely used in many industries in different fields in recent years, such as industrial factory inspection, battlefield reconnaissance, natural disaster reconnaissance, map creation It has a wide range of applications in measurement and measurement. [0003] The flying manipulator system is to install a manipulator with a certain degree of freedom on the UAV. Compared with the conventional UAV, the operational UAV system has many advantages. It can realize the control of air or ground targets during flight. Quick capture, can quickly reach complex environments tha...

AI Technical Summary

Problems solved by technology

[0003] The flying manipulator system is to install a manipulator with a certain degree of freedom on the UAV. Compared with the conventional UAV, the operational UAV system has many advantages. It can realize the control of air or ground targets during flight. Quick capture, can quickly reach complex environments that ground robots cannot enter to perform delicate tasks such as installing or recovering measurement equipment; The physical interaction between flying robotic arms is of great significance

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