Aerial capture platform and capture method based on two-axis robotic arm

Abstract

The present invention discloses an aerial capture platform and capture method based on a two-axis robotic arm, which belongs to the technical field of aerial capture of target objects, including an aircraft, a two-axis robotic arm and a capture device. One end of the two-axis robotic arm is arranged below the aircraft, and the other end is connected to the capture device. The two-axis robotic arm includes a first rotating arm, a second rotating arm, a first driving structure and a second driving structure. One end of the first rotating arm is rotatably connected to the bottom of the aircraft, and the other end is rotatably connected to one end of the second rotating arm. The first driving structure is arranged on the aircraft for driving the first rotating arm to move, and the second driving structure is arranged on the first rotating arm for driving the second rotating arm to move. The capture device is detachably connected to the other end of the second rotating arm. The two-axis robotic arm combination is installed under the aircraft to complete the interception of aerial targets. The aerial capture platform has a compact structure, moves quickly, and has a high success rate in intercepting aerial targets.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial capture of target objects, and in particular to an aerial capture platform and a capture method based on a two-axis robotic arm. Background Art

[0002] With the continuous development of drone technology, drone applications are becoming increasingly widespread. At the same time, the security risks posed by drones are also increasing. For example, drone interference at airports has led to flight diversions and passenger delays, and drones have lost control during espionage and surveillance. The "Interim Regulations on the Management of Unmanned Aircraft Flights" comprehensively cover and regulate the production, operation, pilot qualifications, airspace use, and flight plan applications of unmanned aircraft. Current drone countermeasures primarily include electromagnetic interference with drone control and GPS signals, and the use of sonic or laser weapons to damage drone components. However, regardless of the countermeasure method, the risk of secondary damage remains after the drone crashes to the ground after being attacked. Therefore, solutions are needed to interfere with falling drones or directly intercept them in mid-air.

[0003] Patent publication number TWM608094U discloses a swarm drone system for capturing flying objects. Multiple drones, each equipped with a control device, collectively mount a capture net via a detacher. The system then moves over the flying object and releases the net, ensuring the object falls within the area defined by the coordinates of the drones. This method utilizes the wide capture range provided by the deployed net, effectively increasing the capture success rate. However, the multi-drone collaboration introduces greater uncertainty, and there is still the risk of secondary damage from a falling net.

[0004] Another patent application, publication number CN116476080A, discloses a method for planning an automated aerial grasping operation based on geometric feasibility. This method includes both flight platform motion planning and robotic arm motion planning. By inputting the target position and obstacle positions, it outputs the flight platform trajectory and the trajectories of each robotic arm joint based on the flight platform trajectory. This method achieves automated aerial grasping through a separate architecture based on geometric feasibility constraints. The robotic arm mounted on the flight platform in this invention is a Delta-type robotic arm, characterized by high precision and strong load-bearing capacity. However, Delta arms are not suitable for capturing flying objects. Summary of the Invention

[0005] One of the purposes of the present invention is to provide an aerial capture platform based on a two-axis robotic arm, which solves the problems of secondary risks and insufficient flexibility in the electrical capture of targets by existing aerial platforms.

[0006] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is as follows:

[0007] An aerial capture platform based on a two-axis robotic arm includes an aircraft, a two-axis robotic arm and a capture device, one end of the two-axis robotic arm is arranged below the aircraft, and the other end is connected to the capture device. The two-axis robotic arm includes a first rotating arm, a second rotating arm, a first driving structure and a second driving structure. One end of the first rotating arm is rotatably connected to the bottom of the aircraft, and the other end is rotatably connected to one end of the second rotating arm. The first driving structure is arranged on the aircraft for driving the first rotating arm to move. The second driving structure is arranged on the first rotating arm for driving the second rotating arm to move. The capture device is detachably connected to the other end of the second rotating arm. The two-axis robotic arm combination is installed under the aircraft to complete the interception of aerial targets. The aerial capture platform has a compact structure, moves quickly, and has a high success rate in intercepting aerial targets.

[0008] Furthermore, the aircraft includes a power supply system and a control system, both of which are arranged in the aircraft, and the power supply system is located above the two-axis robotic arm. The power supply system is connected to the control system, and the power supply system and the two-axis robotic arm are located on the upper and lower sides of the aircraft respectively. When the capture device on the two-axis robotic arm intercepts the target object, the power supply system can stabilize the overall quality and improve the stability of the aircraft in intercepting the target object.

[0009] Furthermore, the control system includes a robotic arm control unit, a robotic arm power unit, an electric regulator, an onboard computer, a flight motor and an automatic driving unit. The robotic arm control unit and the automatic driving unit are both connected to the onboard computer, the robotic arm control unit is connected to the robotic arm power unit, the automatic driving unit is connected to the electric regulator, and the electric regulator is connected to the motor, so as to control the movement trajectory of the aircraft and the movement trajectory of the two-axis robotic arm to collaboratively complete the grasping of the target object.

[0010] Preferably, the automatic driving unit outputs a PWM signal to control the electric regulator, so that the movement of the aircraft is flexible and accurate.

[0011] More preferably, the power supply system includes a battery and a transformer, and the battery is connected to the transformer for supplying power to the two-axis robotic arm and the aircraft respectively.

[0012] More preferably, the capture device is a capture net or a capture hand, and different types of targets can be intercepted and captured by using different capture devices.

[0013] The second purpose of the present invention is to provide an aerial capture method to solve the problem of low success rate in capturing aerial targets in the prior art.

[0014] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is as follows:

[0015] An air capture method comprises the following steps:

[0016] S1. Calculation of target position: After the aircraft (1) is launched into the air, it finds the target and establishes a dynamic model of the target:

[0017]

[0018]

[0019] The subscript "o" represents the target body, g is the acceleration of gravity, t is the time, p is the position of the object at time t, K d is the proportional coefficient of air resistance, and substituting formula (1) into formula (2) yields formula (3):

[0020]

[0021] In formula (3), p0 and v0 are known, and x, y, z, and t are obtained from the test data. The model parameters K can be obtained by fitting using the least squares method. d After obtaining the motion model and model parameters of the target object, the least squares fitting method can be performed on x, y, and z respectively to obtain the initial position, initial velocity, and acceleration on each axis, and calculate the position, velocity, and acceleration of the target object at any time t;

[0022] S2. Calculation of the aircraft's position: The aircraft's flight motor rotates to drive the propeller to provide a thrust F. i and torque M i ,in where k F and k M The propeller thrust coefficient and propeller torque coefficient are respectively used to establish the input u matrix of the aircraft:

[0023]

[0024] where u f is the total tension along the tension direction, u τ is the total torque, and the dynamic model of the aircraft is as follows:

[0025]

[0026] where m u is the mass of the aircraft, m a is the mass of the two-axis robot arm, v u is the linear velocity of the aircraft, Ω is the angular velocity of the aircraft, and J is the moment of inertia matrix of the aircraft;

[0027] S3. Position calculation of the two-axis robotic arm:

[0028] Establish the dynamic model of the two-axis robotic arm:

[0029]

[0030] Where q = [q1, q2] is the angle of each joint of the robot arm, M(q) is the moment of inertia of the two-axis robot arm, is the Coriolis matrix of the two-axis robot arm, τ is the output torque of the brushless motor;

[0031] S4, select the capture point: the flight trajectory of the target object, the motion trajectory of the aircraft and the working trajectory of the two-axis manipulator are mutually constrained. The constraint condition is that the target object and the other end of the two-axis manipulator are at time t c Intersection, that is, the target object grasping point, one end of the two-axis manipulator is always located on the motion trajectory of the aircraft, which is the aircraft grasping positioning point, and the aircraft grasping positioning point is obtained by inversely solving the target object grasping point;

[0032] Step S5, capture: the aircraft moves to the aircraft capture positioning point, and the two-axis robotic arm drives the capture device to move to the target capture point to complete the capture of the target. By estimating the motion trajectory of the target, the movement trajectory of the aircraft and the motion trajectory of the two-axis robotic arm are controlled to achieve the purpose of intercepting or capturing the target in advance.

[0033] Furthermore, step S4 also includes step S4.1, the algorithm for grasping the target object is as follows: grasping time t c It can be picked up at any time after the current time t0, and the grabbing position is determined by t c The target position estimation algorithm at the moment is solved, and the target object estimated trajectory is uniformly obtained from the time period t0 to t0+T, which is recorded as P i =[p i， t i ](i∈[1,n]), where p i For the goal in t i The estimated position at the moment, for each p i , considering the time T required for the aircraft to reach the target grasping point a and the time t i The time difference from the current time t0 is T in ,

[0034] Among them, T s =T in -T a As an evaluation indicator, T sis the time the aircraft waits at the grasping point for the object to move to the grasping point. For each P i , evaluation index T s The larger it is, the better the evaluation of the target grasping point is. By evaluating the selection of the target grasping point through the evaluation indicator, the optimal target grasping point can be obtained during the capture process, thereby improving the success rate of interception and capture.

[0035] Step S4.1 also includes step S4.2, selecting the target object capture point by the optimal capture point selection algorithm: calculating the T corresponding to each estimated position s , take the largest T s Value as a temporary grab point, if T s >0, a temporary grasping point is selected as the grasping point of the target object and the grasping point of the target object is calculated through the algorithm to improve the success rate of grasping the target object.

[0036] Furthermore, in step S4.2, when T s ≤0 is always established, take the evaluation index T s The largest point is used as a temporary grasping point, thereby controlling the aircraft to move to the temporary grasping point. By selecting the temporary grasping point, the target object can be continuously grasped until the grasp is completed. After receiving the grasping command, the aircraft moves quickly and effectively.

[0037] The beneficial effects of the present invention are:

[0038] (1) The aerial capture platform based on the two-axis manipulator is a two-axis manipulator equipped with a capture device and carried by an aircraft to capture the target object. The center of gravity of the two-axis manipulator coincides with the projection of the center of gravity of the aircraft onto the horizontal plane. The aircraft moves flexibly during the capture movement. The drive device is installed close to the aircraft to reduce the weight of the two-axis manipulator and improve the flexibility of the two-axis manipulator. In addition, a battery is installed on the aircraft as a configuration to balance the weight of the two-axis manipulator, thereby improving the stability during the capture process.

[0039] (2) The aerial capture method integrates the dynamic model of the target object, the dynamic model of the aircraft, and the dynamic model of the two-axis manipulator. The flight trajectory of the target object, the motion trajectory of the aircraft, and the working trajectory of the two-axis manipulator are mutually constrained to obtain the grasping point of the target object and the grasping point of the aircraft. The time T that the aircraft waits at the grasping point for the object to move to the grasping point is s To evaluate the effect of the target grasping point, the optimal grasping point selection algorithm is used to obtain the optimal target grasping rate to ensure the success rate of capturing the target. In addition, T s When the grasping fails, the temporary grasping point moved by the aircraft is used to evaluate the grasping failure, which further improves the success rate of capturing the target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of the capture process of the aerial capture method provided by the present invention;

[0041] Figure 2 An axonometric view of the aerial capture platform provided for the present invention;

[0042] Figure 3 A front view of the aerial capture platform provided by the present invention;

[0043] Figure 4 A top view of the aerial capture platform provided by the present invention;

[0044] Figure 5 for Figure 3 Sectional view along line AA;

[0045] Figure 6 A control system diagram of the aircraft provided by the present invention;

[0046] Figure 7 This is a flow chart of the aerial capture method based on a two-axis robotic arm provided by the present invention.

[0047] Reference numerals:

[0048] 1. Aircraft; 2. Two-axis robotic arm; 21. First rotating arm; 22. Second rotating arm; 23. First driving structure; 24. Second driving structure; 3. Capturing device; 4. Battery 4. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the application without making any creative efforts shall fall within the scope of protection of the present invention.

[0050] Example 1

[0051] like Figures 1-6As shown, this embodiment discloses an aerial capture platform based on a two-axis robotic arm, including an aircraft 1, a two-axis robotic arm 2 and a capturing device, one end of the two-axis robotic arm 2 is arranged below the aircraft 1, and the other end is connected to the capturing device, the two-axis robotic arm 2 includes a first rotating arm, a second rotating arm, a first driving structure and a second driving structure, one end of the first rotating arm is rotatably connected to the bottom of the aircraft 1, and the other end is rotatably connected to one end of the second rotating arm, the first driving structure is arranged on the aircraft 1, and is used to drive the first rotating arm to move, the second driving structure is arranged on the first rotating arm, and is used to drive the second rotating arm to move, the capturing device is detachably connected to the other end of the second rotating arm, the two-axis robotic arm 2 has a simple structure and flexible movement, and can accurately complete the capturing action.

[0052] Among them, the first driving structure is a gear transmission structure, which is compact and has stable output torque, and is used to drive the first rotating arm to rotate. The second driving structure is a synchronous belt structure, which is installed at the joint position of the first rotating arm and the second rotating arm. It can reduce the mass of the second rotating arm, make the center of gravity of the two-axis robotic arm 2 close to the center of gravity of the aircraft 1, improve stability, and reduce the load and moment of inertia on the second rotating arm, thereby improving the sensitivity of the capture device at the end of the second rotating arm.

[0053] Furthermore, the aircraft 1 includes a power supply system and a control system, both of which are arranged in the aircraft 1, and the power supply system is located above the two-axis robotic arm 2. The power supply system is connected to the control system. The battery 4 in the power supply system is detachably mounted on the aircraft 1, and the battery 4 coincides with the projection of the two-axis robotic arm 2 onto the horizontal plane, and is used to smoothly capture the target object. After the load increases, the center of gravity of the entire machine moves downward, thereby improving the stability of the aircraft 1 and preventing the target object from impacting the aircraft 1 and causing instability.

[0054] Furthermore, the control system includes a robotic arm control unit, a robotic arm power unit, an electric regulator, an onboard computer, a flight motor and an automatic driving unit. The robotic arm control unit and the automatic driving unit are both connected to the onboard computer. The onboard computer is used to execute the capture algorithm and issue movement and capture instructions. The robotic arm control unit is connected to the robotic arm power unit, the automatic driving unit is connected to the electric regulator, and the electric regulator is connected to the motor for controlling the motor speed and changing the position and posture of the aircraft 1. The robotic arm motion unit controls the first drive structure and the second drive structure through the CAN bus.

[0055] Preferably, the automatic driving unit outputs a PWM signal to control the electric regulator, which is used to control the movement of the multi-rotor aircraft 1 and control the movement of the aircraft 1.

[0056] Preferably, the power supply system includes a battery 4 and a transformer, and the battery 4 is connected to the transformer. The battery 4 is used to simultaneously power the onboard computer, electronic regulator, autopilot and motor. The transformer compresses or steps down the voltage output by the battery 4 to power the two-axis robotic arm 2 to meet the configuration requirements for installing different capture devices.

[0057] More preferably, the capture device is a capture net or a capture hand, and different capture devices are selected according to the type of aerial target. The capture hand is flexible and has high strength, which is suitable for capturing targets with large airspeed and mass. The capture net is convenient for capturing small targets, improves the success rate of capture, and can also prevent damage to the target.

[0058] The working process of the aerial capture platform based on a two-axis robotic arm is as follows:

[0059] When a target object to be captured is found in the air, the onboard computer calculates the target capture point and the capture positioning point of aircraft 1. The automatic driving unit controls the electric regulator, which changes the power output of the motor to drive aircraft 1 to the capture positioning point of aircraft 1. At the same time, the robotic arm control unit receives instructions from the onboard computer to control the output of the robotic arm power unit, change the posture of the first rotating arm and the second rotating arm, and the capture device installed on the second rotating arm moves to the target capture point, waiting for the target to enter the capture device to complete the capture of the aerial target.

[0060] Example 2

[0061] like Figure 1-7 As shown, this embodiment also discloses an air capture method for capturing an object in the air, comprising the following steps:

[0062] S1. Target Position Calculation: After taking off, aircraft 1 discovers the target. While in the air, the target is subject to gravity, air resistance, and the Magnus force. Air resistance is inversely proportional to the square of the velocity, while the Magnus force is related to the object's velocity, angular velocity, radius, and fluid density. For small objects, only gravity and air resistance are considered when building the target's dynamic model:

[0063]

[0064]

[0065] The subscript "o" represents the target body, g is the acceleration of gravity, t is the time, p is the position of the object at time t, K d is the proportional coefficient of air resistance. Substituting formula (1) into formula (2) yields formula 3:

[0066]

[0067] In formula (3), p0 and v0 are known, and x, y, z, and t are obtained from the test data. The model parameters K can be obtained by fitting using the least squares method. d After obtaining the motion model and model parameters of the target object, the least squares fitting can be performed on x, y, and z respectively to obtain the initial position, initial velocity, and acceleration on each axis, and calculate the position, velocity, and acceleration of the target object at any time t;

[0068] S2. Calculation of the position of aircraft 1: Aircraft 1 is powered by a motor. The motor i of aircraft 1 rotates to drive the propeller to provide a pulling force F. i and torque M i ,in where k F and k M The propeller thrust coefficient and propeller torque coefficient are respectively established to establish the input matrix u of aircraft 1:

[0069]

[0070] where u f is the total tension along the tension direction, u τ is the total torque, and the dynamic model of aircraft 1 is as follows:

[0071]

[0072] where m u is the mass of the aircraft 1, m a is the mass of the two-axis robot arm 2, v u is the linear velocity of aircraft 1, Ω is the angular velocity of aircraft 1, and J is the moment of inertia matrix of aircraft 1;

[0073] S3. Position calculation of two-axis robot arm 2:

[0074] Establish the dynamic model of the two-axis robot arm 2:

[0075]

[0076] Where q = [q1, q2] is the angle of each joint of the robot arm, M(q) is the moment of inertia of the two-axis robot arm 2, is the Coriolis matrix of the two-axis robot arm, τ is the output torque of the brushless motor;

[0077] S4. Select the capture point: The flight trajectory of the target object, the motion trajectory of the aircraft 1 and the working trajectory of the two-axis manipulator 2 are mutually constrained. The constraint condition is that the target object and the other end of the two-axis manipulator 2 are at time t cIntersect, one end of the two-axis manipulator 2 is always located on the motion trajectory of the aircraft 1, which are the target grasping point and the aircraft 1 grasping positioning point respectively. The aircraft 1 grasping positioning point is obtained by reversely solving the target grasping point;

[0078] Step S5, capturing: the aircraft 1 moves to the capture positioning point of the aircraft 1, and the two-axis robotic arm 2 drives the capture device to move to the target capture point to complete the capture of the target.

[0079] The target grabbing point is selected based on the position estimation of the flying target and the dynamic characteristics of the aerial capture platform, with the aim of improving the success rate of capturing the flying object.

[0080] Furthermore, in step S4.1, the algorithm for grasping the target object is as follows: grasping time t c It can be picked up at any time after the current time t0, and the grabbing position is determined by t c The target position estimation algorithm at the moment is solved, that is, it is obtained from the dynamic model of the target object, and the target object estimation trajectory is uniformly obtained from the time period t0 to t0+T, which is recorded as P i =[p i , t i ]i∈[1,n], where p i For the goal in t i The estimated position at the moment, for each p i , considering the time T required for aircraft 1 to reach the target object grasping point a and the time t i The difference T from the current time t0 in , it is necessary to make T in >T a That is, the time it takes for the target to reach the target capture point must be greater than the time it takes for the aircraft 1 to move to the capture positioning point of the aircraft 1, so that the two-axis robotic arm 2 can capture or intercept the target. Otherwise, the two-axis robotic arm 2 will miss the capture time.

[0081] Among them, T s =T in -T a As an evaluation indicator, T s is the time that the aircraft 1 waits at the grasping point for the object to move to the grasping point. For each P i , evaluation index T s The larger it is, the better the evaluation of the target object's grasping point is, that is, the lower the difficulty of grasping it is, and the higher the success rate of finally grasping the target object is.

[0082] Furthermore, in step S4.2, the target object capture point is selected by the optimal capture point selection algorithm: the T corresponding to each estimated position is calculated. s , take the largest T sValue as a temporary grab point, if T s > 0, a temporary grasping point is selected as the grasping point of the target object.

[0083] The optimal grasping point selection algorithm is as follows:

[0084] Algorithm 1 Find the optimal grab point

[0085] Input: current moment t0

[0086] Output: The optimal or temp grad point P(t)and label

[0087] P_list = GetPointList(t0)

[0088] for P∈P_list do

[0089] T s =CalculateStayTime(P)

[0090] T s _list=T s _list∪T s

[0091] if T s = = max(T s _list)then

[0092] P_optimal=P

[0093] label=T s >0? optimal: temp

[0094] return [P_optimal, label]

[0095] In the optimal grasping point selection algorithm, the GetPointList function estimates the future position of the target based on its motion model and obtains the corresponding position sequence. Then, the position sequence is traversed and the CalculateStayTime function calculates the T corresponding to each estimated position. s , take the largest T s Value as a temporary grab point, if the T s >0 are both true, then the temporary grasping point is selected as the target grasping point, and the aircraft 1 and the two-axis manipulator 2 are controlled to perform the grasping action.

[0096] Furthermore, in step S4.2, when Ts <0 is always established, take the evaluation index T s The point with the largest value is used as a temporary grasping point, thereby controlling the aircraft 1 to move to the temporary grasping point. If you want to successfully capture the target object, T s >0 point, there will always be T in the actual capture process s If the value is always less than zero, that is, the aircraft 1 cannot reach the target object grasping point on time due to distance or external interference, resulting in failure to capture the target object. In order to avoid this problem, a program is added to the algorithm to encourage early approach to the target object. For the target object trajectory P estimated at the current time t0, i , that is, a temporary grasping point is selected, the aircraft 1 is controlled to move, and the two-axis manipulator 2 equipped with a grasping device on the aircraft 1 does not move, so that the aircraft 1 can move to the position closest to the target object under the control of the encouragement program until T s >0, so that the target outside the boundary can be pursued, the scope of capture is expanded, and at the same time, it can be captured again after a capture error, so as to improve the success rate of capture and prevent the target in the air from causing damage to the objects on the ground.

[0097] The aerial object capture method of the present invention can be used for security and interception tasks, can intercept flying objects in any direction, and can perform aerial interception tasks safely and efficiently.

[0098] Based on the disclosure and teachings of the above description, those skilled in the art may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and any modifications and variations of the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although certain specific terms are used in this description, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims

1. An aerial capture method based on an aerial capture platform with a two-axis robotic arm, wherein the aerial capture platform comprises an aircraft (1), a two-axis robotic arm (2) and a capture device (3), one end of the two-axis robotic arm (2) is arranged below the aircraft (1), and the other end is connected to the capture device (3), characterized in that: The two-axis robotic arm (2) comprises a first rotating arm (21), a second rotating arm (22), a first driving structure (23) and a second driving structure (24); one end of the first rotating arm (21) is rotatably connected to the bottom of the aircraft (1), and the other end is rotatably connected to one end of the second rotating arm (22); the first driving structure (23) is arranged on the aircraft (1) and is used to drive the first rotating arm (21) to move; the second driving structure (24) is arranged on the first rotating arm (21) and is used to drive the second rotating arm (22) to move; the capturing device (3) is detachably connected to the other end of the second rotating arm; The air capture method comprises the following steps: S1. Target position calculation: After the aircraft (1) is launched, it finds the target and establishes a dynamic model of the target: The subscript "o" represents the target object, g is the acceleration of gravity, t is the time, and p is the position of the object at time t. is the proportional coefficient of air resistance, and substituting formula (1) into formula (2) yields formula (3): In formula (3) 、 is known, x, y, z, t are obtained from the test data, and the model parameters can be obtained by fitting through the least squares method. After obtaining the motion model and model parameters of the target object, the least squares fitting method can be performed on x, y, and z respectively to obtain the initial position, initial velocity, and acceleration on each axis, and calculate the position, velocity, and acceleration of the target object at any time t; S2. Calculation of the position of the aircraft (1): The flight motor of the aircraft (1) rotates to drive the propeller to provide pulling force. and torque ,in ,in and The propeller thrust coefficient and propeller torque coefficient are respectively established to establish the input of the aircraft (1) u matrix: ； in is the total tension along the tension direction, is the total torque, the dynamic model of the aircraft (1) is as follows: in m u is the mass of the aircraft (1), m a is the mass of the two-axis robot (2), v u is the linear velocity of the aircraft (1), is the angular velocity of the aircraft (1), J is the moment of inertia matrix of the aircraft (1); S3. Position calculation of the two-axis robotic arm (2): Establish the dynamic model of the two-axis robot arm (2): in are the joint angles of the robotic arm, is the moment of inertia of the two-axis robot (2), is the Coriolis matrix of the two-axis robot (2), Output torque for brushless motor; S4, select the capture point: the flight trajectory of the target object, the motion trajectory of the aircraft (1) and the working trajectory of the two-axis manipulator (2) are mutually constrained, and the constraint condition is that the target object and the other end of the two-axis manipulator (2) are at the same time. Intersection, i.e., the target object grasping point, one end of the two-axis manipulator (2) is always located on the motion trajectory of the aircraft (1), which is the grasping positioning point of the aircraft (1), and the grasping positioning point of the aircraft (1) is obtained by reversely solving the target object grasping point; Step S5, capturing: the aircraft (1) moves to the capture positioning point of the aircraft (1), and the two-axis robotic arm (2) drives the capture device to move to the target object capture point to complete the capture of the target object.

2. The aerial capture method based on the aerial capture platform of the two-axis robotic arm according to claim 1, characterized in that: The aircraft (1) comprises a power supply system and a control system, wherein both the power supply system and the control system are arranged in the aircraft (1), and the power supply system is located above the two-axis manipulator (2), and the power supply system is connected to the control system.

3. The aerial capture method based on the aerial capture platform of the two-axis robotic arm according to claim 2, characterized in that: The control system includes a robotic arm control unit, a robotic arm power unit, an electronic speed controller, an onboard computer, a flight motor, and an automatic driving unit. The robotic arm control unit and the automatic driving unit are both connected to the onboard computer, the robotic arm control unit is connected to the robotic arm power unit, the automatic driving unit is connected to the electronic speed controller, and the electronic speed controller is connected to the motor.

4. The aerial capture method based on the aerial capture platform of the two-axis robotic arm according to claim 3, characterized in that: The automatic driving unit outputs a PWM signal to control the electric regulator.

5. The aerial capture method based on the aerial capture platform of the two-axis robotic arm according to claim 2, characterized in that: The power supply system includes a battery and a transformer, and the battery is connected to the transformer.

6. The aerial capture method based on the aerial capture platform of the two-axis robotic arm according to claim 1, characterized in that: The capturing device (3) is a capturing net or a capturing hand.

7. The aerial capture method based on the aerial capture platform of the two-axis robotic arm according to claim 1, characterized in that: Step S4 also includes step S4.1, the algorithm for grasping the target object is as follows: grasping time Available at the current moment Afterwards, the grab position is determined by The target position estimation algorithm at the moment is solved, and the target estimated trajectory is converted from to +T period evenly obtain n points, recorded as P i =[ p i , t i ](i∈[1 , n ]),in For the goal The estimated position at the moment, for each , considering the time required for the aircraft (1) to reach the target object grasping point And the moment and the current moment The time difference is , in, As an evaluation indicator, is the time that the aircraft (1) waits at the grasping point for the object to move to the grasping point. , evaluation indicators The larger it is, the better the evaluation of the target grasping point is.

8. The aerial capture method based on the aerial capture platform of the two-axis robotic arm according to claim 7, characterized in that: After step S4.1, step S4.2 is also included, selecting the target object capture point by the optimal capture point selection algorithm: calculating the corresponding value of each estimated position , take the largest one Value as a temporary grab point, if , then select the temporary grasping point as the target grasping point.

9. The aerial capture method based on the aerial capture platform of the two-axis robotic arm according to claim 1, characterized in that: In step S4.2, when When the total is established, take the evaluation index The largest point is used as a temporary gripping point, thereby controlling the aircraft (1) to move to the temporary gripping point.

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