A dual-arm operating flying robot system and method for valve screwing

Abstract

The invention provides a double-arm operation type flying robot system and method for valve screwing. The operation type flying 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 It consists of a pair of two-degree-of-freedom manipulator arms and a manipulator; the main human-machine interface device includes a PC and a force feedback hand controller; it includes the following steps: constructing a system implementation platform, the system implementation platform consists of non-collinear tilting six rotors The aircraft, the operation device and the main-end human-machine interface device are composed; the kinematics and dynamics model of the operational flying robot system is established; the operator remotely controls the valve-screw operation through the main-end human-machine interface device, and establishes the main-end force feedback human. Dynamic models of machine interface devices. The invention solves the under-actuated problem of the traditional multi-rotor unmanned aerial vehicle, greatly improves the fault tolerance and stability of the system, and integrates the visual feedback and the force sense feedback to improve the efficiency of the valve screwing operation.

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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