A drone with arms and control method thereof

Abstract

The present invention relates to an arm-mounted drone and a control method thereof. The arm-mounted drone comprises a tilting quad-rotor drone, a robotic arm, and a control module. The tilting quad-rotor drone comprises a fuselage, a tilting drive device, and a tilting arm. The robotic arm is mounted below the fuselage, and the control module is mounted above the fuselage. Tilting drives are provided on both sides of the fuselage. Each tilting drive device is connected to a tilting arm, which extends from the front and rear of the fuselage to the rear of the fuselage. The tilting drive device is used to drive the tilting arm to rotate in a vertical plane. Rotating rotor mechanisms that can be driven to rotate are provided at both ends of each tilting arm. The robotic arm, the tilting drive device, and the rotor mechanisms are all connected and driven by the control module. The arm-mounted drone of the present invention adds independent control of the drone's pitching motion, enabling higher-precision tracking and positioning, allowing the arm-mounted drone to perform more precise operations.

Description

Technical Field

[0001] The present invention relates to the technical field of flying robots, and in particular to an arm-mounted drone and a control method thereof. Background Art

[0002] With the rapid development and widespread adoption of drone technology, drones are increasingly being used in production and daily life, for example, in high-altitude harvesting, aerial transportation, power system maintenance, and high-altitude cleaning. Drone technology has brought convenience to many high-altitude work scenarios, improved safety, and reduced operating costs, resulting in significant economic benefits. Consequently, a number of flying robots incorporating drone technology have emerged. Among these flying robots, drones with arms are a particularly popular type. By combining drones with robotic arms, they combine the flexibility and maneuverability of drones with the interactive capabilities of robotic arms, significantly expanding their application scenarios. The maneuverability and interactivity of drones with arms enable them to replace humans in delicate operations in dangerous or challenging situations, presenting them with enormous potential for development.

[0003] Most current drones with arms are based on multi-rotor drones. However, traditional multi-rotor drones only have four controllable degrees of freedom. This underactuation leads to coupling between the drone's position control and attitude control, posing challenges to the drone's positioning and operational accuracy. This also increases the difficulty of control system design, significantly impacting the drone's reliability and safety during high-altitude operations. Although some drones with arms currently exist based on fully-driven multi-rotor drones, their complex control technology and low reliability make them difficult to implement in practice. Summary of the Invention

[0004] In response to the problems existing in the prior art, one of the objectives of the present invention is to provide a drone with arms that can increase independent control of the drone's pitch movement and achieve higher-precision tracking and positioning.

[0005] A second object of the present invention is to provide a control method for an unmanned aerial vehicle with arms.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An arm-equipped drone, comprising a tilt-rotating quad-rotor drone, a robotic arm, and a control module;

[0008] The tilt-quadrotor drone is equipped with a vision module and a positioning module for target detection and positioning, and a tilt drive device is installed on both sides of the fuselage;

[0009] Each tilt drive device is connected to a tilt arm, which extends horizontally from the front of the fuselage to the rear of the fuselage. The tilt drive device is used to drive the tilt arm to rotate in a vertical plane.

[0010] Each tilt arm is provided with a rotor mechanism at both ends;

[0011] The tilting drive device is connected to the control module, and the control module is used to control the action of the tilting drive device;

[0012] The robotic arm is installed directly below the tilt-rotating quadrotor drone, and the end of the robotic arm is suitable for installing different types of end effectors.

[0013] Furthermore, the tilt drive device includes a steering gear and a steering wheel. The steering gear is fixed to the fuselage, and the steering gear and the tilt arm are connected through the steering wheel.

[0014] Furthermore, the tilt arm includes a tilt arm fixing part, a tilt arm cross bar and a support shaft. The support shaft is horizontally hinged to the fuselage. The tilt arm fixing part is fixed to the steering wheel and sleeved on the support shaft. The middle part of the tilt arm cross bar is fixed to the tilt arm fixing part. The rotor mechanism includes a motor and blades. Motors are respectively installed at both ends of the tilt arm cross bar, and the motor drive is connected to the blades.

[0015] Furthermore, the fuselage is fixedly connected to a tilting base, the tilting base is provided with two upward protrusions at intervals, the support shaft is horizontally passed through the two protrusions, and the tilting arm is embedded between the two protrusions.

[0016] Furthermore, the fuselage includes a crossbeam extending from the left side of the fuselage to the right side of the fuselage. The crossbeam is perpendicular to the tilt arm cross bars on both sides. The tilt base and the steering gear are respectively fixed to the crossbeam.

[0017] Furthermore, the robotic arm is equipped with a built-in control core board for identifying the connected end effector device ID and communicating with the control module to adjust the control mode of the end effector to achieve compatibility with different end effectors.

[0018] A control method for an arm-mounted drone comprises the following steps:

[0019] The tilting arm is driven to rotate in a vertical plane by a tilting drive device, so that the tilting arm and the rotor mechanisms arranged at both ends of the tilting arm are tilted;

[0020] Lift is generated by driving the rotor mechanism, and the direction of the lift changes as the tilt arm tilts, increasing independent control over the pitch movement of the drone.

[0021] Furthermore, the motor lift and torque required for the drone to reach the target position are calculated;

[0022] The calculated motor lift and torque are converted into the required servo tilt angle and motor speed using the control allocation scheme;

[0023] According to the conversion results, the steering angle of the servo and the speed of the motor are adjusted accordingly.

[0024] Furthermore, the allocation scheme includes obtaining the mapping relationship between the servo angle and the motor speed to generate the motor lift and torque through force analysis, and converting the problem of solving the mapping relationship between the motor lift and torque and the servo angle and the motor speed into a quadratic programming problem through substitution;

[0025] The Lagrange multiplier method is used to solve the quadratic programming problem and obtain a set of optimal solutions, thereby obtaining the mapping relationship between the motor lift and torque to the servo angle and motor speed.

[0026] Furthermore, the overall control process includes the following steps:

[0027] Automatically identify the type of end effector installed at the end of the robotic arm and match the control mode;

[0028] In flight mode, the robotic arm retracts directly below the drone and remains relatively stationary. Based on the information of the given target operation point, the positioning module and control module control the drone to fly near the target operation point.

[0029] The positioning module and vision module determine that the drone has reached a suitable position for operation and switches to operation mode. The control module controls the drone to maintain a stable attitude and position.

[0030] The visual module identifies the work target and the control module controls the end of the robotic arm to approach the work point to perform the work;

[0031] After confirming that the current task is completed, switch to flight mode and fly to the next target operation point;

[0032] Repeat the above steps until all tasks are completed and return.

[0033] In general, the present invention has the following advantages:

[0034] 1. The tilt-quadrotor drone of this invention builds upon traditional quadrotor drones by installing tilt drive mechanisms on both sides of the fuselage. This allows the tilt arms to rotate in the vertical plane, changing the direction of lift generated by the rotor mechanism. This provides independent control over the drone's pitch motion, enabling higher-precision tracking and positioning. Compared to existing fully-driven multi-rotor drones, the drone of this invention has fewer actuator mechanisms, facilitating the practical application of arm-mounted drones.

[0035] 2. The arm-mounted drone designed by the present invention constructs an aerial interactive platform. By designing a unified interface at the end of the robotic arm, it achieves compatibility and automatic recognition of different types of end effectors, enabling the arm-mounted drone to handle different types of work tasks, thereby improving its scope of application and expanding its application space. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural diagram of an embodiment of the present invention.

[0037] Figure 2 It is a connection diagram of the tilting mechanism.

[0038] Figure 3 It is a structural diagram of the tilting base.

[0039] Figure 4 It is a structural diagram of the tilt arm.

[0040] Figure 5 This is a flow chart of the control algorithm of the tilt-quadrotor UAV according to an embodiment of the present invention.

[0041] Figure 6 It is a structural diagram of the second joint end of the robotic arm.

[0042] Figure 7 This is a flowchart of the high-altitude operation of the UAV with arms according to an embodiment of the present invention.

[0043] In the picture:

[0044] 1-propeller blade; 2-motor; 3-crossbeam; 4-servo; 5-servo bracket; 6-positioning module; 7-control module; 8-motor base; 9-tilt arm crossbar; 10-first tilt arm fixing part; 11-second tilt arm fixing part; 12-power distribution board; 13-battery compartment; 14-robotic arm base; 15-first joint of the robotic arm; 16-second joint of the robotic arm; 17-end effector; 18-battery; 19-vision module; 20-support shaft; 21-tilt base; 22-first bearing; 23-second bearing; 24-steering wheel; 25-motor base fixing part; 26-motor base platform; 27-cross base. DETAILED DESCRIPTION

[0045] The present invention will be described in further detail below.

[0046] like Figure 1 As shown, an arm-mounted drone includes a special "H"-shaped structure consisting of a crossbeam 3 main body and two tilting mechanisms, specifically including a fuselage, a tilting arm, a robotic arm, a replaceable end effector 17, a vision module 19, a positioning module 6 and a control module 7.

[0047] The main body of the crossbeam 3 features a battery compartment 13 for housing the battery 18. Mounting platforms are located on both the upper and lower sides of the battery compartment 13, allowing modules such as the positioning module 6, control module 7, power distribution board 12, robotic arm base 14, and vision module 19 to be placed and connected in their pre-set locations. Fixing holes are designed on both sides of the crossbeam 3 for mounting and connecting the tilt mechanism.

[0048] The visual module 19 is located on the outside of the lower part of the drone and is used for identifying and locating targets;

[0049] The positioning module 6 is located above the drone body and includes various sensors such as GPS and barometer for spatial positioning of the drone;

[0050] The control module 7 is the control core of the UAV, which is used to control the position and posture of the UAV, the motion trajectory of the robotic arm and the action of the end effector 17, as well as the data processing of the positioning module 6 and the vision module 19;

[0051] The tilt mechanism includes a steering gear 4 , a steering gear bracket 5 , a tilt base 21 , a tilt arm, and a support shaft 20 . The tilt arm can rotate around the support shaft 20 .

[0052] The specific connection method of the tilting mechanism is as follows Figure 2 As shown, the steering gear 4 is fixed to a suitable position on one side of the crossbeam 3 via the steering gear bracket 5. The tilt base 21 is also fixed to a suitable position on the side of the crossbeam 3 via the fixing holes. The tilt arm is connected to the tilt base 21 via the support shaft 20, allowing the tilt arm to tilt around the support shaft 20. The tilt arm is connected to the steering gear 4 via the steering wheel 24.

[0053] In order to reduce the friction effect during the tilting process of the tilting arm and improve the tilting accuracy and service life, a double bearing structure is designed on the tilting base 21. Figure 3 As shown, the tilting base 21 has two raised inverted U-shaped columns, each of which has a coaxial through-hole for mounting the support shaft 20. Furthermore, the two inverted U-shaped columns have two bearing mounting holes for mounting a first bearing 22 and a second bearing 23. The support shaft 20 passes through the first bearing 22 and the second bearing 23 through the through-holes.

[0054] In addition, the tilt arm is an integral structure, and its specific structure is as follows Figure 4 As shown, it includes: a tilt arm cross bar 9, a tilt arm fixing part, a motor base platform 26, a motor base fixing part 25, and a cross base 27;

[0055] The tilt arm fixtures consist of a first tilt arm fixture 10 and a second tilt arm fixture 11, arranged in a vertical arrangement. The tilt arm crossbar 9 is secured to the first and second tilt arm fixtures 10, 11 via screws and nuts. The side of the second tilt arm fixture 11 has four mounting holes for the steering wheel 24 and a through-hole for the support shaft 20.

[0056] Motor bases 8 are symmetrically mounted on either side of the tilt arm crossbar 9. These motor bases 8 comprise a motor base platform 26, a motor base fixture 25, and a cross base 27. The motor base platform 26 is secured to the tilt arm crossbar 9 via fixing holes and reinforced by the motor base fixture 25. The cross base 27 is secured to the motor base platform 26 via fixing holes and is used to mount and secure the motor 2. Motor 2 is equipped with blades 1, which generate lift when driven by the motor 2. When the tilt arm tilts, the blades 1 at each end of the tilt arm can rotate accordingly, changing the direction of the lift.

[0057] The above-mentioned tilt mechanism withstands the longitudinal force generated by the tilt arm and the blade 1 through the support shaft 20 and the tilt base 21, and the servo 4 only needs to provide the torque required for tilting, which can reduce the workload of the servo 4 and thus improve the service life and control accuracy of the tilt mechanism.

[0058] Since the quad-rotor drone of this embodiment is a new type of structure, its control algorithm needs to be designed specifically. The specific control algorithm flow of the drone position and attitude control is as follows: Figure 5 As shown in the figure, the desired position and attitude information, along with the drone's current actual position and attitude, are input. The position controller, position-attitude decoupler, and attitude controller then calculate the forces and torques required to achieve the desired position and attitude. Finally, a designed control allocation algorithm converts the required forces and torques into the available servo angles (4) and motor speeds (2). The position and attitude controllers can be designed using conventional PID algorithms (existing technology). The key to control algorithm design lies in the design of the control allocation scheme.

[0059] The specific steps of controlling the allocation plan are as follows:

[0060] Since there is a mapping relationship between the lift f of motor 2 and the speed ω:

[0061] f=C T ω 2 ;

[0062] Among them C T is the tension coefficient of motor 2, which is a known constant.

[0063] For convenience, we first consider the relationship between force and torque and the steering gear 4 rotation angle and motor 2 lift. Through the mechanism of force and torque generation, we obtain the mapping relationship between the steering gear 4 rotation angle and motor 2 lift force and torque (1):

[0064]

[0065] Among them F x ,F y ,F z ,τ x ,τ y ,τ z is the generated force and torque, f l1 ,f l2 ,f r1 ,f r2 ,α l ,α r The lift provided by the four motors 2 and the tilt angle of the two tilt servos 4, l, h, d, k are known constants, c(·) represents cos(·), and s(·) represents sin(·).

[0066] make

[0067] f lx =(f l1 +f l2 )sin(a l );f lz =(f l1 +f l2 )cos(a l );

[0068] f rx =(f r1 +f r2 )sin(a r );f lz =(f r1 +f r2 )cos(a r );

[0069] f=[f lx ,f rx ,f lz ,f rz ] T ; F=[F x ,F z ,τ x ,τ z ] T ;

[0070] Thus, a four-to-four linear mapping relationship can be obtained, so that the value of f can be solved from F.

[0071] Further, by

[0072]

[0073] α l =arctan(f lx / f lz ); α r =arctan(f rx / f rz );

[0074] We can solve for f l1 +f l2 ,f r1 +f r2 ,α l ,α r The value of f can be obtained by combining the mapping relationship (1) with three equations. l1 ,f l2 ,f r1 ,f r2 This is a multi-solution problem and some constraints need to be added to determine a set of feasible solutions.

[0075] Given the following objective function

[0076]

[0077] The control allocation problem is converted into a nonlinear programming problem, and then the optimal solution is solved using the Lagrange multiplier method (existing technology) to obtain the required steering gear 4 angle and motor 2 lift, and finally further converted into the required steering gear 4 angle and motor 2 speed.

[0078] Under the premise of ensuring that the output can generate the force and torque required by the drone, the above objective function has the following advantages: on the one hand, it ensures that the overall speed of the four motors 2 is relatively low, which can reduce the possibility of the speed of a motor 2 being too high or too low, and ensure that the speed of the motor 2 is within the feasible range as much as possible, thereby improving the service life of the motor 2 to a certain extent; on the other hand, it ensures that the speed difference of the motors 2 on the same side is small, so that the lift difference generated by the two motors 2 on the same side is also small, thereby reducing the torque on the tilt arm and reducing the burden on the tilt mechanism.

[0079] like Figure 1 As shown, the arm-carrying drone of this embodiment is equipped with a two-link robotic arm comprising a first robotic arm joint 15 and a second robotic arm joint 16, which can move within the plane of the drone's pitch angle; the robotic arm base 14 is fixed to the center of the platform below the drone, and the robotic arm only moves within a plane perpendicular to the drone's crossbeam 3. The end of the robotic arm can be used to install the end effector 17. The end details of the second robotic arm joint 16 are shown in FIG. Figure 6As shown, a control core board is installed in the second joint 16 of the manipulator arm, and a mounting interface and a signal transmission interface for the end effector 17 are left on the outside of the end of the second joint 16 of the manipulator arm. The end effector 17 is fixed to the end of the manipulator arm via the mounting interface, and signal transmission and control are achieved through the signal transmission interface. The built-in control core board can automatically identify the device ID of the connected end effector 17 and communicate with the control module 7 to adjust the control mode of the end effector 17, achieving compatibility with different end effectors 17.

[0080] The replaceable end effector 17 includes various types such as grippers, magnetic heads, nozzles, and shearing mechanisms, which can be used for various operations such as clamping, magnetic suction, cleaning, and shearing. Each end effector 17 uses a universal mounting interface and signal transmission interface, and is provided with a different identifiable device ID number.

[0081] In this embodiment, the drone part of the arm-mounted drone has five independently controllable degrees of freedom, which can realize independent control of the drone's position, yaw angle and pitch angle; compared with the traditional four-rotor drone, independent control of the drone's pitch angle is added, and combined with the two-link robotic arm inverted under the drone, a movable flight interactive platform is formed, which has higher maneuverability and adaptability, can achieve higher-precision position and attitude control, and can perform more precise operations. By carrying different end effectors 17 at the end of the robotic arm, various high-altitude operation needs such as high-altitude grasping, transportation, cleaning, and picking can be realized.

[0082] In this embodiment, the drone with arms has two working modes: flight mode and operation mode. The switching between the two is determined by the positioning module 6 and the visual module 19 to detect whether the target operation point has been reached.

[0083] like Figure 7 As shown in the figure, in flight mode, the robotic arm is retracted directly below the drone and remains relatively stationary. The controller controls the attitude and position of the drone and moves it to the vicinity of the target operation point.

[0084] When the positioning module 6 and the visual module 19 determine that the target operation point has been reached, the operation mode is switched to operation mode;

[0085] When in operation mode, the controller starts to control the robotic arm. At this time, the drone serves as the mobile base of the robotic arm, keeping its posture as stable as possible so that the trajectory control of the end of the robotic arm can achieve a higher accuracy. Different types of end effectors 17 can be selected to be loaded at the end of the robotic arm according to different operation types.

[0086] Based on the above embodiment, the present invention also provides a control method for an arm-mounted drone, comprising the following steps:

[0087] Step 1: Select the appropriate end effector 17 according to the required task and install it at the end of the robotic arm. The robotic arm automatically identifies the type of end effector 17 and matches the control mode.

[0088] Step 2: The UAV with arms enters flight mode. Given the information of the target operation point, the positioning module 6 and the control module 7 use the designed control algorithm to control the UAV to fly near the target operation point.

[0089] Step 3: The positioning module 6 and the visual module 19 determine that the position suitable for the operation has been reached and switch to the operation mode;

[0090] Step 4: Identify the work target through the visual module 19, and control the end of the manipulator arm to approach the work point through the control module 7, while ensuring the stability of the UAV's posture and the stability of the manipulator arm base 14 to carry out the current work task;

[0091] Step 5: After confirming the completion of the current task, the drone switches to flight mode and flies to the next target operation point;

[0092] Step 6: Repeat steps 1 to 5 until all tasks are completed and returned.

[0093] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A control method for an unmanned aerial vehicle with an arm, characterized in that: The UAV with arms includes a tilt-rotating quad-rotor UAV, a robotic arm, and a control module; The tilt-quadrotor drone is equipped with a vision module and a positioning module for target detection and positioning, and a tilt drive device is installed on both sides of the fuselage; Each tilt drive device is driven and connected to a tilt arm, which extends horizontally from the front of the fuselage to the rear of the fuselage; Each tilt arm is provided with a rotor mechanism at both ends; The tilting drive device is connected to the control module, and the control module is used to control the action of the tilting drive device; The robotic arm is installed directly below the tilt-rotating quadrotor drone, and the end of the robotic arm is adapted to be installed with different types of end effectors; Control methods The following steps are included: The tilting arm is driven to rotate in a vertical plane by a tilting drive device, so that the tilting arm and the rotor mechanisms arranged at both ends of the tilting arm are tilted; By driving the rotor mechanism to generate lift, the direction of the lift changes as the tilt arm tilts, increasing independent control of the UAV's pitch movement; Calculate the motor lift and torque required for the drone to reach its target location; The calculated motor lift and torque are converted into the required servo tilt angle and motor speed using the control allocation scheme; Adjust the steering angle of the servo and the speed of the motor accordingly according to the conversion results; The allocation scheme includes: obtaining the mapping relationship between the servo angle and motor speed to generate motor lift and torque through force analysis; and converting the mapping relationship between motor lift and torque and servo angle and motor speed into a quadratic programming problem through substitution; The Lagrange multiplier method is used to solve the quadratic programming problem and obtain a set of optimal solutions, thereby obtaining the mapping relationship between the motor lift and torque to the servo angle and motor speed; The specific steps of controlling the allocation plan are as follows: Since there is a mapping relationship between the motor lift f and the speed ω: f=C T oh 2 ; Among them C T is the motor tension coefficient, which is a known constant; Considering the relationship between force and torque, steering gear angle and motor lift, the mapping relationship between steering gear angle and motor lift force and torque is obtained through the mechanism of force and torque generation (1): Among them F x ,F y ,F z ,τ x ,τ y ,τ z is the generated force and torque, f l1 ,f l2 ,f r1 ,f r2 ,α l ,α r The lift provided by the four motors and the tilt angles of the two tilt servos are given in the figure. l, h, d, and k are known constants. c(·) represents cos(·), and s(·) represents sin(·). make f lx =(f l1 +f l2 )sin(a l );f lz =(f l1 +f l2 )cos(a l ); f rx =(f r1 +f r2 )sin(a r );f lz =(f r1 +f r2 )cos(a r ); f=[f lx ,f rx ,f lz ,f rz ] T ;F=[F x ,F z ,τ x ,τ z ] T ; Thus, a four-to-four linear mapping relationship can be obtained, so that the value of f can be solved from F; Further, by a l =arctan(f lx / f lz );α r =arctan(f rx / f rz ); We can solve for f l1 +f l2 ,f r1 +f r2 ,α l ,α r The value of f, combined with the mapping relationship (1), can be obtained by a three-equation equation l1 ,f l2 ,f r1 ,f r2 This is a multi-solution problem, and some constraints need to be added to determine a set of feasible solutions. Given the following objective function The control allocation problem is converted into a nonlinear programming problem, and then the Lagrange multiplier method is used to solve the optimal solution to obtain the required servo angle and motor lift, which are finally further converted into the required servo angle and motor speed.

2. The control method according to claim 1, wherein: Overall control process The following steps are included: Automatically identify the type of end effector installed at the end of the robotic arm and match the control mode; In flight mode, the robotic arm retracts directly below the drone and remains relatively stationary. Based on the information of the given target operation point, the positioning module and control module control the drone to fly near the target operation point. The positioning module and vision module determine that the drone has reached a suitable position for operation and switches to operation mode. The control module controls the drone to maintain a stable attitude and position. The visual module identifies the work target and the control module controls the end of the robotic arm to approach the work point to perform the work; After confirming that the current task is completed, switch to flight mode and fly to the next target operation point; Repeat the above steps until all tasks are completed and return.

3. The control method according to claim 1, wherein: The tilt drive device includes a steering gear and a steering wheel. The steering gear is fixed to the fuselage, and the steering gear and the tilt arm are connected through the steering wheel.

4. The control method according to claim 2, wherein: The tilt arm includes a tilt arm fixing part, a tilt arm cross bar and a support shaft. The support shaft is horizontally hinged to the fuselage. The tilt arm fixing part is fixed to the steering wheel and sleeved on the support shaft. The middle part of the tilt arm cross bar is fixed to the tilt arm fixing part. The rotor mechanism includes a motor and blades. Motors are respectively installed at both ends of the tilt arm cross bar, and the motor drive is connected to the blades.

5. The control method according to claim 3, wherein: The fuselage is fixedly connected with a tilting base, the tilting base is provided with two upward protrusions at intervals, the support shaft is horizontally passed through the two protrusions, and the tilting arm is embedded between the two protrusions.

6. The control method according to claim 5, characterized in that: The fuselage includes a crossbeam extending from the left side of the fuselage to the right side of the fuselage. The crossbeam is perpendicular to the tilt arm cross bars on both sides. The tilt base and the steering gear are respectively fixed to the crossbeam.

7. The control method according to claim 1, wherein: The robotic arm has a built-in control core board, which is used to identify the connected end effector device ID and communicate with the control module to adjust the control mode of the end effector to achieve compatibility with different end effectors.

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