A bionic-based flying robot neck-eye system and control method

Abstract

The invention discloses a bionic-based flight mechanical neck-and-eye system and its control method, including an aircraft system, a mechanical neck-and-eye system, an airborne computing device, and a flight control unit; the mechanical neck-and-eye system includes a A mechanical neck, a binocular visual-inertial system installed at the end of the mechanical neck, a main controller of the mechanical neck that controls the movement of the mechanical neck; the binocular visual-inertial system includes a binocular camera and an inertial measurement unit, and the binocular visual-inertial system It is used to conduct active observation and complete the pose estimation of the end of the mechanical neck; the mechanical neck is a six-degree-of-freedom series mechanical neck, and the invention forms a binocular visual-inertial system composed of a double fisheye and an inertial measurement unit at the end of the mechanical neck. Perception system, this system has a larger observation range, variable camera pose, and the ability to actively perceive the environment, which can solve the problem of limited vision of the aircraft in the indoor environment to a certain extent, and can also compensate for the shaking of the screen.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a bionic-based flying machine neck-eye system and a control method. Background technique [0002] UAVs have a wide range of space movement capabilities and fast response capabilities, so they are widely used in military, agricultural, inspection and other fields. In recent years, people have begun research on flying robotic arms. The robotic arm is installed on the body of the multi-rotor unmanned aerial vehicle to achieve more complex and multi-degree-of-freedom operations. [0003] Since the image sensor used by the multi-rotor aircraft to perceive the environment autonomously is usually connected to the aircraft body, cameras and other equipment are generally installed on the airborne gimbal to compensate for the angle shake of the aircraft body. However, this installation method is often limited by the position of the body when observing the environment, resulting in ...

AI Technical Summary

Problems solved by technology

[0007] The cameras in the above-mentioned patents are all connected to the airframe. The above-mentioned system will be limited by the position of the airframe during the flight of the indoor narrow scene, resulting in incomplete observation of the environment, and it is impossible to avoid certain failure environments.

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