Double-arm operation type flight robot system for valve screwing and method

Abstract

The invention provides a double-arm operation type flight robot system for valve screwing and a method. The operation type flight robot system is composed of a non-collinear inclined six-rotor aircraft, a working device and a main-end human-machine interface device, wherein the working device comprises a pair of two-degree-of-freedom mechanical arms and a manipulator. The main-end human-machine interface device comprises a PC machine and a force feedback hand controller. The method comprises the following steps that a system implementation platform is constructed, wherein the system implementation platform is composed of the non-collinear inclined six-rotor aircraft, the working device and the main-end human-machine interface device; a kinematic and dynamic model of the operation-type flight robot system is established; and an operator remotely controls the valve screwing operation through the main-end human-machine interface device, and a dynamic model of the main-end force feedback human-machine interface device is established. The system and the method solve the problem of under-drive of a traditional multi-rotor unmanned aerial vehicle, the fault tolerance and stability of thesystem are greatly improved, visual feedback and force sense feedback are fused, and the valve screwing operation efficiency is improved.

Description

technical field [0001] The invention relates to an aerial operation system of a multi-rotor unmanned aerial vehicle, in particular to an operation system and method for a non-collinear inclined six-rotor aircraft equipped with a mechanical arm to face a valve. Background technique [0002] With the continuous development of UAV technology and the continuous deepening of research on flight control theory, the application fields of multi-rotor aircraft have become more and more extensive, such as aerial photography, safety inspection and agriculture, forestry and plant protection. However, the underactuation of multi-rotors has always been an urgent problem in the field of unmanned aerial vehicles, especially when it comes to the interaction between multi-rotor UAVs and the physical environment. research hotspots. [0003] Nuclear power generation has become a major trend in power production, but its working environment has the characteristics of high radioactivity, high temp...

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Problems solved by technology

[0004] The purpose of the present invention is to solve the above-mentioned existing problems. In view of the characteristics of strong stability and high reliability when the multi-rotor UAV interacts with the physical environment and the task requirements of twisting valves in nuclear power disaster relief, the present invention uses a non- The collinear inclined six-rotor aircraft is used to perform the valve screwing task, which solves the underactuation problem of the traditional multi-rotor UAV; establishes a safe and effective main-end control channel to improve the efficiency of the valve screwing operation

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