A control device for a robotic arm of a drone

Abstract

The present invention relates to a control device for a drone robotic arm. The device comprises a data processing module connected to the drone robotic arm, a data capture device I located on the human hand for collecting hand motion information, and a data capture device II located on the human shoulder for collecting arm motion information. The data processing module converts the collected data into instructions for synchronized movement of the drone robotic arm. The device uses the data capture device to obtain the relative three-dimensional coordinate positions of the human hand and arm, and converts these into instructions for controlling the drone robotic arm's movements via a backend cloud server, thus achieving indirect control of the drone robotic arm.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a control device for a UAV mechanical arm. Background Art

[0002] With the development of intelligent industry, drone technology has been widely used, playing its advantages and roles in various industries. It is now mostly used for shooting and observation. There are also robotic arms installed on drones. The cameras on the drones are used to obtain external conditions and observe the operated objects. The remote control controls the robotic arms under the drones, allowing them to complete relatively simple grasping operations.

[0003] In the existing technology, the driving solution for drone robotic arms includes sensor glove technology. Traditional sensor glove technology can only obtain the parameters of the robotic arm to control the robotic arm, but cannot achieve indirect control of the drone robotic arm. Summary of the Invention

[0004] In order to achieve the above-mentioned purpose, the present invention provides a control device for a drone robotic arm. The relative three-dimensional coordinate positions of the human palm and arm are obtained and converted into instructions for controlling the movements of the drone robotic arm through a background cloud server, thereby realizing indirect control of the drone robotic arm. The principle of the present invention is simple, the acquisition device used occupies a small volume, and the requirement for use space is relatively small.

[0005] This is achieved through the following technical solution: a control device for a UAV robotic arm, comprising a collection device for collecting human motion data, and a data processing module connected to the UAV robotic arm;

[0006] The acquisition device includes a data capture device I located on the human hand for collecting hand motion information, and a data capture device II located on the human shoulder for collecting arm motion information;

[0007] The collection device transmits the collected information to the background cloud server of the data processing module;

[0008] The backend cloud server is used to convert the collected data into instructions for the drone's robotic arm to move. The drone's robotic arm moves according to the data calculated by the backend cloud server.

[0009] Preferably, the data capture device II includes a single-chip computer II, an angle sensor and a pull-wire displacement sensor. The pull wire of the pull-wire displacement sensor is connected to the rotating shaft of the angle sensor and then connected to the palm strap or wrist strap. The connected angle sensor and pull-wire displacement sensor are set as a group and installed on one side of the human body.

[0010] Preferably, it also includes a mounting frame for mounting the angle sensor and the wire displacement sensor, the mounting frame is adapted to the human shoulder, and the mounting frame is provided with a wearing opening.

[0011] Preferably, each set of pull-wire displacement sensors and angle sensors are connected to the palm strap and wrist strap respectively. The intersection points of the palm strap, wrist strap and pull-wires are characteristic sample points. The real-time data of the two characteristic sample points are used as relative coordinates and uploaded to the background cloud server for data conversion, which is converted into data for controlling the movement of the drone's mechanical arm. Each set of pull-wire displacement sensors and angle sensors are used to measure the spatial coordinate points of the characteristic sample points.

[0012] Preferably, the data capture device I includes a sensor glove, which is provided with a single-chip computer I, multiple flexible sensors, a palm strap and a wrist strap, and the flexible sensor is used to sense the bending information of the finger.

[0013] Preferably, the palm strap is arranged at the palm position of the sensing glove, and the wrist strap is arranged at the wrist of the sensing glove.

[0014] Preferably, the pull wire of the displacement sensor is connected to the angle sensor, the displacement sensor is installed on the back of the human body, and the angle sensor is installed on the shoulder of the human body.

[0015] Preferably, four groups of wire displacement sensors and angle sensors are provided, and every two groups of wire displacement sensors and angle sensors are symmetrically arranged on both sides of the human body.

[0016] Compared with the existing technology, the beneficial effects of the present invention are: data capture device I is used to collect hand movement information, and data capture device II is used to collect arm movement information. The real-time data of the characteristic sample points of the intersection of the palm strap and wrist strap with the pull line are used as relative coordinates, and then uploaded to the background cloud server for data conversion, which is converted into data for controlling the movement of the drone mechanical arm. Compared with the existing technology, the collection device of the present invention occupies a small volume, has a simple principle, is controlled according to an algorithm, has high control accuracy, and can also achieve indirect control of the drone mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the present invention;

[0018] FIG2 is a circuit diagram of the data capture device II of the present invention;

[0019] FIG3 is a circuit diagram of the data capture device I of the present invention;

[0020] Figure 4 is a schematic diagram of the UAV mechanical arm;

[0021] Figure 5 is a diagram showing the path planning of the UAV manipulator arm of the present invention;

[0022] Figure 6 is a schematic diagram of the structure of the present invention;

[0023] Figure 7 is a schematic diagram of the distribution of various structures of the collection device of the present invention;

[0024] FIG8 is a schematic diagram of the mounting frame structure of the present invention.

[0025] Numbers shown in the accompanying drawings: 1, sensor glove; 2, flexible sensor; 3, pull wire; 4, pull wire displacement

[0026] Sensor; 5. Angle sensor; 6. Palm strap; 7. Wrist strap; 8. Mounting bracket; 81. Wearing port. DETAILED DESCRIPTION

[0027] The present invention will be further described below with reference to specific embodiments. As shown in Figures 1-8 , a control device for a drone robotic arm includes a data acquisition device for collecting human motion data and a data processing module connected to the drone robotic arm. The acquisition device includes a data capture device I located on the human hand for collecting hand motion information, and a data capture device II located on the human shoulder for collecting arm motion information. Data capture device II includes a single-chip microcontroller II, a wire displacement sensor 4, and an angle sensor 5. The wire displacement sensor 4 and angle sensor 5 are mounted on the human shoulder via a wearable mounting bracket 8. The mounting bracket has a fitting opening 81, similar to the upper part of a shirt, making it easy for the operator to wear the device through the fitting opening 81. Mounting bracket 8 can be made of plastic, reducing the oscillation of the angle sensor 5 and wire displacement sensor 4 on the human body without adding weight, which could affect the collected data. The pull wire 3 of the pull wire displacement sensor 4 passes through the main axis of the angle sensor 5 and is connected to the palm strap 6 or wrist strap 7. The pull wire of the pull wire displacement sensor 4 and the angle sensor 5 are connected as a group. After each group of pull wire displacement sensors 4 and angle sensors 5 are connected, they are respectively connected to the palm strap 6 and wrist strap 7. The intersection of the palm strap 6 and wrist strap 7 with the pull wire is the characteristic sample point. With the human shoulder as the reference, each group of pull wire displacement sensors 4 and angle sensors 5 is used to measure the spatial coordinate points of the characteristic sample points. The real-time data of the two characteristic sample points is used as the transformation of the relative three-dimensional coordinate position, and the palm inclination angle is calculated based on the two characteristic sample points.

[0028] Data capture device I comprises a pair of sensor gloves 1, which are conventional. Both gloves are equipped with a single-chip microcontroller (MCU) I and five flexible sensors 2. These gloves, based on conventional sensor gloves 1, are equipped with a palm strap 6 and a wrist strap 7. The flexible sensors 2 sense finger bending. MCU I is located at the wrist of the sensor glove 1 and is electrically connected to the flexible sensors 2. The five flexible sensors 2 are located at the knuckles of the fingers and convert the finger bending information of the sensor glove 1 into electrical signals via MCU I. The operator wears the sensor gloves 1 on each hand. The core technology of the gloves lies in monitoring and motion recognition of the flexible sensors 2 (Flex2.2) on the fingers. Data collected by MCU I is transmitted to data capture device I via a Wi-Fi transparent transmission module. The information collected by data capture devices I and II is then uploaded to a backend cloud server. MCUs I and II are conventional, and their internal structures are not marked in the figure.

[0029] As shown in Figure 4, this invention uses a 6-DOF drone robotic arm as an example. Servo 1, Servo 2, and Servo 3 are vertical rotation servos, while Servo 0 and Servo 4 are horizontal rotation servos. Servo 5 is a servo for finger bending (consisting of five small servos that control the bending of each finger). The lengths of the three connecting rods of the robotic arm are I1, I2, and I3, respectively. The rotation angle of Servo 1 is θ1, Servo 2 is θ2, Servo 3 is θ3, Servo 4 is θ4, and Servo 5 is θ5.

[0030] The control scheme for the drone's robotic arm is as follows: As shown in Figure 5, the path planning principle uses geometric methods to solve inverse kinematics. Based on the target point, the inverse kinematic solutions for the robotic arm's parameters are obtained. The path planning algorithm's optimization strategy uses minimum power consumption, which means minimizing the sum of the rotation angles of the robotic arm's joints. Since the rotation angles of servos 0, 4, and 5 are fixed with respect to the same coordinate point, the minimum sum of the rotation angles of servos 1, 2, and 3 is calculated. Based on the values of θ1, θ2, and θ3 at the minimum, PWM signals are sent to drive servos 1, 2, and 3. Based on the degree of finger bending, a PWM signal is sent to drive servo 5. Based on the palm tilt angle calculated by the server, a PWM signal is sent to drive servo 4. The three-dimensional coordinates of the target point, P(x, y, z), are used. To ensure that the robotic arm's linkage structure is coplanar with the target point, the rotation angle of servo 0 is calculated by . A PWM signal is sent to drive servo 0.

[0031] The path planning scheme for the UAV's lower robotic arm is as follows:

[0032] (1) The microcontroller that controls the robotic arm on the drone first reads the three-dimensional coordinates sent by the host computer through the onboard Bluetooth module; (2) The microcontroller determines whether the three-dimensional coordinates can be reached by the robotic arm; (3) If it can, If the target is reached, calculate the zero rotation angle of the servo so that the manipulator and the target point are in the same plane. (4) With the center coordinate of the manipulator's lower arm rotation center O'(0,0) as the center and l1 as the radius, draw a circle O', select a point M(m,n) on it, and |MP'| ≤ l2+l3, and calculate the value range of the coordinates of point M; (5) Traverse the value space of M, select point M1; with M(m,n) as the center and l2 as the radius, draw a circle M; with P'(a,b) as the center and l3 as the radius, draw a circle P', and calculate the coordinates of the two points N(i,j); calculate θ1, θ2, θ3 based on the coordinates of the intersection; (6) Calculate f=min(θ1, θ2, θ3), traverse and compare, and find the solution corresponding to θ1, θ2, θ3 when the minimum value is reached.

[0033] A conventional drone is remotely controlled to a high-altitude operation location. Once the drone is hovering, the operator, wearing sensor gloves 1, shoulder angle sensors 5, and cable displacement sensors 4, uses the drone's camera to remotely control the robotic arm based on real-time images. The data calculation process uses information collected by Data Capture Devices I and II to calculate the relative three-dimensional coordinate position of the human arm at the shoulder. The backend, using path planning methods, converts this relative three-dimensional coordinate data into angle data for the drone's robotic arm's servo, thereby indirectly controlling the drone's robotic arm.

[0034] It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art may make various changes or modifications to the present invention, and these equivalent forms also fall within the scope limited by the application.

Claims

1. A control device for a drone robotic arm, characterized by: It includes a collection device for collecting human motion data and a data processing module connected to the UAV's mechanical arm; The acquisition device includes a data capture device I located on the human hand for collecting hand motion information, and a data capture device II located on the human shoulder for collecting arm motion information; The collecting device transmits the collected information to the backend cloud server of the data processing module; The backend cloud server is used to convert the collected data into instructions for the movement of the drone mechanical arm, and the drone mechanical arm moves according to the data calculated by the backend cloud server; The data capture device II comprises a single chip computer II, an angle sensor (5), a pull-wire displacement sensor (4), a palm strap (6) and a wrist strap (7); the pull-wire (3) of the pull-wire displacement sensor (4) is connected to the rotating shaft of the angle sensor (5), and then connected to the palm strap (6) or the wrist strap (7); the connected angle sensor (5) and pull-wire displacement sensor (4) are arranged as a set and installed on one side of the human body; The data capture device I comprises a sensor glove (1), wherein the sensor glove (1) is provided with a single chip computer I, a plurality of flexible sensors (2), a palm strap (6) and a wrist strap (7), wherein the flexible sensor (2) is used to sense bending information of the finger; the intersection of the palm strap (6) or the wrist strap (7) and the pull wire (3) is a characteristic sample point, and each set of the pull wire displacement sensor (4) and the angle sensor (5) is used to measure the spatial coordinate point of the characteristic sample point; The palm band (6) is arranged at the palm position of the sensing glove (1), and the wrist band (7) is arranged at the wrist of the sensing glove (1); The displacement sensor is installed on the back of the human body, and the angle sensor (5) is installed on the shoulder of the human body.

2. The control device for a UAV mechanical arm according to claim 1, characterized in that: It also includes a mounting frame (8) for mounting the angle sensor (5) and the wire displacement sensor (4), the mounting frame (8) being adapted to fit the human shoulder, and the mounting frame (8) being provided with a wearing opening (81).

3. The control device for a UAV mechanical arm according to claim 1, characterized in that: Four groups of the pull-wire displacement sensors (4) and angle sensors (5) are provided, and each two groups of the pull-wire displacement sensors (4) and angle sensors (5) are symmetrically arranged on both sides of the human body.

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