Undersurface autonomous mobile platform based on low-pitching flight of unmanned aerial vehicle and control method

Abstract

The invention provides a bottom autonomous mobile platform based on low-pitching flight of an unmanned aerial vehicle and a control method, and relates to the technical field of unmanned aerial vehicle application. The autonomous mobile platform comprises a quad-rotor unmanned aerial vehicle, a connecting mechanism and a wheel type mobile vehicle body, and the quad-rotor unmanned aerial vehicle is located at the bottom of the autonomous mobile platform and used for providing power needed by flying of the quad-rotor unmanned aerial vehicle in the air and walking of the wheel type mobile vehicle body on the bottom face and generating thrust needed by pressing and attaching of the wheel type mobile vehicle body to the bottom face; the connecting mechanism is located in the middle of the autonomous mobile platform and used for connecting the quadrotor unmanned aerial vehicle and the wheel type mobile vehicle body, measuring and calculating the pressure change between the quadrotor unmanned aerial vehicle and the wheel type mobile vehicle body and measuring and calculating the relative position between the quadrotor unmanned aerial vehicle and the wheel type mobile vehicle body; the wheel type moving vehicle body is located on the top of the autonomous moving platform and tightly attached to the bottom face, and is used for achieving automatic advancing of the autonomous moving platform on the bottom face. The method is used for health detection of the bottom surfaces of bridges such as modern urban rail transit viaducts and cross-sea bridges.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle applications, and in particular to a bottom autonomous mobile platform based on low-flying unmanned aerial vehicle and a control method. Background Art

[0002] With the unprecedented construction and development of modern urban rail transit viaducts, railway viaducts, cross-sea bridges and other road bridges, the construction of bridge disease detection platforms is a very important and timely means of their maintenance, life extension and maintenance cost reduction. Traditional detection methods and platforms can no longer meet the needs of the rapid development of modern bridges. The main manifestations are: (1) The measurement methods and readings are greatly affected by human errors; (2) The efficiency is low, labor-intensive and time-consuming, which affects the normal use of bridges and has certain operational risks; (3) The cost is high and large equipment such as bridge inspection vehicles are required.

[0003] With the development of drone application research in recent years, drones have also been used for bridge inspection. Using drone inspection has the following advantages: (1) Drones can directly reach the inspection site without other auxiliary measures, saving costs; (2) No need to set up a scaffold or hanging basket to cooperate with personnel inspection, greatly improving safety; (3) For some parts of the bridge that are inaccessible, such as the belly and cables, drones can get close to observe and understand more details; (4) During routine inspections of bridges, especially urban bridges, there is no need to block roads and interrupt traffic; (5) Under the premise that weather conditions permit, bridge inspections are carried out with high timeliness.

[0004] It can be seen that building a new type of bridge inspection platform based on drones is of great significance to reducing inspection costs and promoting the rapid development of my country's transportation industry. However, in the existing technology, the process of using drones to inspect bridges is usually to inspect the upper surface of the bridge, and since drones cannot walk freely on the bridge ground, the distance between the drone and the bridge surface during the flight inspection will be unstable, which will affect the inspection results of the bridge.

[0005] Therefore, there is an urgent need to design an autonomous bottom mobile platform based on low-flying UAV to solve the defects in the existing technology. Summary of the invention

[0006] The purpose of the present invention is to provide an autonomous bottom surface mobile platform and control method based on low-flying drones. Through low-flying, autonomous walking can be achieved on the bottom surface of large bridges; by carrying non-contact detection devices such as cameras and cameras, it can be used for health detection of the bottom surfaces of modern urban rail transit viaducts, railway viaducts, cross-sea bridges, etc. The purpose is to solve the problem of affecting the detection results of bridges in the prior art.

[0007] On the one hand, the present application provides a bottom-based autonomous mobile platform based on low-flying drones, the autonomous mobile platform comprising a quadrotor drone, a connecting mechanism and a wheeled mobile body, the quadrotor drone being located at the bottom of the autonomous mobile platform, for providing the power required for itself to fly in the air and for the wheeled mobile body to walk on the bottom surface, and for generating the thrust required to press the wheeled mobile body against the bottom surface; the connecting mechanism being located in the middle of the autonomous mobile platform, for connecting the quadrotor drone and the wheeled mobile body, for calculating the pressure change between the quadrotor drone and the wheeled mobile body, and for calculating the relative position between the quadrotor drone and the wheeled mobile body; the wheeled mobile body being located at the top of the autonomous mobile platform and in close contact with the bottom surface, for realizing automatic movement of the autonomous mobile platform on the bottom surface.

[0008] Furthermore, the quadrotor UAV includes a body, a connecting rod, four rotors and a controller, the four rotors are evenly distributed at the four corners of the quadrotor UAV body and are connected to the body through the connecting rod; the controller is electrically connected to the drive motors of the four rotors, and the controller is used to control the four rotors based on the posture of the quadrotor UAV, the posture of the wheeled mobile body and the relative position between the quadrotor UAV and the wheeled mobile body.

[0009] Furthermore, the quadrotor drone includes a first attitude sensor for obtaining the attitude of the quadrotor drone, and the wheeled mobile body includes a second attitude sensor for obtaining the attitude of the wheeled mobile body, and the first attitude sensor and the second attitude sensor are electrically connected to the controller respectively.

[0010] Furthermore, the connecting mechanism includes an upper connecting frame, a lower connecting frame, a spring and a ranging sensor, the upper connecting frame is fixedly connected to the wheeled mobile body, the lower connecting frame is fixedly connected to the quad-rotor drone body, the upper end of the spring is connected to the bottom of the upper connecting frame, and the other end is connected to the top of the lower connecting frame, and the ranging sensor is installed between the upper connecting frame and the lower connecting frame.

[0011] Furthermore, the distance measuring sensor is used to measure the change in distance between the quad-rotor drone and the wheeled mobile vehicle; and the spring is used to measure the change in pressure between the quad-rotor drone and the wheeled mobile vehicle.

[0012] Furthermore, the controller automatically adjusts the speed of the drive motors of the four rotors based on the change in distance between the quad-rotor drone and the wheeled mobile body and the change in pressure between the quad-rotor drone and the wheeled mobile body, so that the wheeled mobile body is tightly attached to the bottom surface.

[0013] Furthermore, the wheeled mobile vehicle body includes a body and four wheels, and the four wheels are all Mecanum wheels.

[0014] In the second aspect, the present application provides a control method for a bottom autonomous mobile platform based on low-dive flight of an unmanned aerial vehicle. The control method is applied to the above-mentioned bottom autonomous mobile platform based on low-dive flight of an unmanned aerial vehicle, and the control method includes: S1. Before the autonomous mobile platform operates, the autonomous mobile platform is moved to the bottom of the bottom surface; S2. The unmanned aerial vehicle controller starts the driving device of the four-rotor to make the autonomous mobile platform stagnate in the air; S3. The first thrust required to be generated by the four-rotor of the unmanned aerial vehicle at this time is calculated by the gravity and inertial force of the autonomous mobile platform; S4. Based on the first thrust, the driving device of the four-rotor is controlled by the unmanned aerial vehicle controller to realize the aerial movement of the automatic mobile platform; S5. When the autonomous mobile platform is close to the horizontal bottom surface for detection, the four-rotor unmanned aerial vehicle is controlled to adopt low-dive flight. Mode; S6, based on the gravity of the autonomous mobile platform and the support force of the bottom surface on the wheeled mobile body, the second thrust that the drone quadrotor needs to generate at this time is calculated; S7, based on the second thrust, the driving device of the quadrotor is controlled by the drone controller to realize the aerial movement of the automatic mobile platform; S8, when the autonomous mobile platform is close to the inclined bottom surface for detection, the quadrotor drone is controlled to adopt a low-dive flight mode; S9, based on the gravity of the autonomous mobile platform, the support force of the bottom surface on the wheeled mobile body, the angle between the wheeled mobile body and the horizontal plane, and the angle between the quadrotor drone and the horizontal plane, the third thrust that the drone quadrotor needs to generate at this time is calculated; S10, based on the third thrust, the driving device of the quadrotor is controlled by the drone controller to realize the aerial movement of the automatic mobile platform.

[0015] Furthermore, the first thrust calculation formula is:

[0016] F 推力1 =-G 移动平台 -F 惯性力 ;

[0017] In the formula, F 推力1 Expressed as the first thrust, G 移动平台 It is represented by the gravity of the quadcopter, the connecting mechanism and the wheeled mobile body, F 惯性力 It is expressed as the inertial force that needs to be overcome during the acceleration of the autonomous mobile platform;

[0018] The second thrust calculation formula is:

[0019] F 推力2 =-G 移动平台 -F 支撑力 ;

[0020] In the formula, F推力2 Expressed as the second thrust, G 移动平台 It is represented by the gravity of the quadcopter, the connecting mechanism and the wheeled mobile body, F 支撑力 It is expressed as the support force of the bottom surface on the autonomous mobile platform;

[0021] F 支撑力 =nkΔl;

[0022] Where n is the number of springs installed in the connection structure, k is the elastic coefficient of the spring, and Δl is the distance change between the quadrotor drone and the wheeled mobile vehicle detected by the ranging sensor;

[0023] The third thrust calculation formula is:

[0024]

[0025] F 支撑力 =nkΔl;

[0026] In the formula, F 推力3 Expressed as the third thrust, G 移动平台 It is represented by the gravity of the quadcopter, the connecting mechanism and the wheeled mobile body, F 支撑力 It is expressed as the supporting force of the bottom surface on the autonomous mobile platform, n is the number of springs installed in the connection structure, k is the elastic coefficient of the spring, Δl is the distance change between the quadrotor UAV and the wheeled mobile body detected by the ranging sensor, α is expressed as the angle between the wheeled mobile body and the horizontal plane, and β is expressed as the angle between the quadrotor UAV and the horizontal plane.

[0027] Furthermore, the method comprises:

[0028] F 前进力 ≤F 支撑力 μ;

[0029] Where μ is the friction coefficient between the wheels and the bottom surface of the wheeled mobile vehicle;

[0030] The thrust required by each rotor of the quadrotor drone is calculated according to the first thrust, the second thrust and the third thrust as well as the structure and the direction of the quadrotor drone. The drone controller adjusts the driving motor of the quadrotor accordingly, so that the drone drives the autonomous mobile platform to move in the desired direction and detects while moving.

[0031] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the control method for the bottom autonomous mobile platform based on the low-flying drone is implemented.

[0032] In a fourth aspect, an embodiment of the present invention further provides a readable storage medium, which, when the instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to execute the above-mentioned control method for the bottom autonomous mobile platform based on the low-flying drone.

[0033] The beneficial effects of the present invention are:

[0034] The embodiment of the present application provides a bottom autonomous mobile platform based on low-flying quadcopter drones. Through the organic combination of quadcopter drones and wheeled mobile bodies, the large-scale walking on the bottom of large bridges is well solved; by utilizing the existing mature control technology of quadcopter drones, the wheeled mobile body can be made close to the bottom surface, and the movement of the automatic mobile platform can be achieved by controlling the wheel speed of the wheeled mobile body; through the flexible connection, the pressure change between the quadcopter drone and the wheeled mobile body can be sensed in real time, so that the wheeled mobile body can be well close to the bottom surface of the bridge, and sufficient pressure (to prevent sliding) can be provided for the rotation of the wheels of the wheeled mobile body; combined with the attitude measurement of the quadcopter drone and the wheeled mobile body, and the distance measurement between the two, the relative position relationship between the quadcopter drone and the wheeled mobile body can be calculated. It can be seen that the present invention has broad application prospects in the health detection of the bottom surface of bridges such as viaducts, railway viaducts, and cross-sea bridges, and further guarantees the detection accuracy of bridges. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] Figure 1 It is a front view of a bottom autonomous mobile platform based on low-flying UAV provided in Example 1 of the present invention.

[0037] Figure 2 This is a top view of a bottom autonomous mobile platform based on a low-flying drone provided in Example 1 of the present invention.

[0038] Figure 3 It is a front view of a bottom surface autonomous mobile platform based on low-flying UAV provided in Example 1 of the present invention when the autonomous mobile platform is close to the bottom surface of the bridge.

[0039] Figure 4 It is a schematic diagram of the power generated when a bottom autonomous mobile platform based on a low-flying drone is close to the bottom surface of a horizontal bridge provided by Example 1 of the present invention.

[0040] Figure 5 It is a schematic diagram of the power generated when a bottom autonomous mobile platform based on a low-flying drone is close to the bottom surface of an inclined bridge provided by Example 1 of the present invention.

[0041] Figure 6This is a flow chart of a control method for a bottom autonomous mobile platform based on low-flying UAV provided in Example 2 of the present invention.

[0042] Figure 7 This is a partial block diagram of an electronic device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0043] It should be mentioned before discussing the exemplary embodiments in more detail that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the operations as sequential processes, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0044] It should be understood that, although the terms "first", "second", etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are used only to distinguish one unit from another unit. For example, without departing from the scope of the exemplary embodiments, the first unit may be referred to as the second unit, and similarly the second unit may be referred to as the first unit. The term "and / or" used herein includes any and all combinations of one or more of the listed associated items.

[0045] The present invention will now be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, which only illustrates the basic structure of the present invention in a schematic manner, and therefore only shows the components related to the present invention.

[0046] Example 1

[0047] The specific implementation is as follows:

[0048] like Figure 1-5 As shown, it is a schematic diagram of a bottom-surface autonomous mobile platform based on low-flying UAV provided in this embodiment.

[0049] As an example, the autonomous mobile platform includes a quadrotor drone 1, a connecting mechanism 2 and a wheeled mobile body 3. The quadrotor drone 1 is located at the bottom of the autonomous mobile platform, and is used to provide the power required for itself to fly in the air and for the wheeled mobile body 3 to walk on the bottom surface, and to generate the thrust required to press the wheeled mobile body 3 against the bottom surface; the connecting mechanism 2 is located in the middle of the autonomous mobile platform, and is used to connect the quadrotor drone 1 and the wheeled mobile body 3, calculate the pressure change between the quadrotor drone 1 and the wheeled mobile body 3, and calculate the relative position between the quadrotor drone 1 and the wheeled mobile body 3; the wheeled mobile body 3 is located at the top of the autonomous mobile platform and is close to the bottom surface, and is used to realize the automatic forward movement of the autonomous mobile platform on the bottom surface.

[0050] In some feasible embodiments, the quad-rotor drone 1 includes a body, a connecting rod 13, four rotors 12 and a controller. The four rotors 12 are evenly distributed at the four corners of the quad-rotor drone body and are connected to the body through the connecting rod 13; the controller is electrically connected to the drive motors of the four rotors 12, and the controller is used to control the four rotors 12 based on the posture of the quad-rotor drone 1, the posture of the wheeled mobile body 3 and the relative position between the quad-rotor drone 1 and the wheeled mobile body 3. Specifically, by using mature drone flight control technology, the controller independently controls the drive motors of the four rotors, so that the four rotors can cooperate to provide the power required for the autonomous movement of the mobile platform. This power mainly includes two parts: one part is the power required to keep the autonomous mobile platform flying in the air; the other part is the power required to press the mobile platform against the bottom surface of the bridge.

[0051] In some feasible embodiments, the quadrotor drone 1 includes a first attitude sensor for obtaining the attitude of the quadrotor drone 1, and the wheeled mobile body 3 includes a second attitude sensor for obtaining the attitude of the wheeled mobile body 3, and the first attitude sensor and the second attitude sensor are electrically connected to the controller respectively.

[0052] In some feasible embodiments, the connecting mechanism 2 includes an upper connecting frame 21, a lower connecting frame 22, a spring 23 and a distance sensor 24, wherein the upper connecting frame 21 is fixedly connected to the wheeled mobile body 3, the lower connecting frame 22 is fixedly connected to the body of the quad-rotor drone, the upper end of the spring 23 is connected to the bottom of the upper connecting frame 21, and the other end is connected to the top of the lower connecting frame 22, and the distance sensor 24 is installed between the upper connecting frame 21 and the lower connecting frame 22. The distance sensor 24 is used to measure the distance change between the quad-rotor drone 1 and the wheeled mobile body 3; the spring 23 is used to measure the pressure change between the quad-rotor drone 1 and the wheeled mobile body 3. The controller automatically adjusts the speed of the drive motor of the four rotors 12 based on the distance change between the quad-rotor drone 1 and the wheeled mobile body 3 and the pressure change between the quad-rotor drone 1 and the wheeled mobile body 3, so that the wheeled mobile body 3 is close to the bottom surface. Specifically, the stiffness of the spring 23 and the distance measured by the ranging sensor 24 are used to automatically calculate the pressure change between the quadrotor drone and the wheeled mobile body, and the relative position between the quadrotor drone and the wheeled mobile body can be calculated. The controller automatically adjusts the speed of the drive motors of the four rotors based on this, so that the wheeled mobile body is close to the bottom surface of the bridge.

[0053] In some feasible implementations, the wheeled mobile body 3 includes a body 31 and four wheels 32, and the four wheels 32 are all Mecanum wheels. By selecting the Mecanum wheels and automatically adjusting the speed of the driving motor of the Mecanum wheels, the wheeled mobile body can be moved, and the drone can be driven to move in the same direction as the wheeled mobile body.

[0054] In the above-mentioned implementation, the organic combination of the quad-rotor drone and the wheeled mobile vehicle body solves the problem of large-scale walking on the bottom of a large bridge; by utilizing the existing mature control technology of the quad-rotor drone, the wheeled mobile vehicle body can be made close to the bottom surface, and the movement of the automatic mobile platform can be achieved by controlling the wheel speed of the wheeled mobile vehicle body; the pressure change between the quad-rotor drone and the wheeled mobile vehicle body can be sensed in real time through the flexible connection, so that the wheeled mobile vehicle body can be better close to the bottom surface of the bridge, and sufficient pressure (to prevent sliding) can be provided for the rotation of the wheels of the wheeled mobile vehicle body; the relative position relationship between the quad-rotor drone and the wheeled mobile vehicle body can be calculated by combining the posture measurement of the quad-rotor drone and the wheeled mobile vehicle body, and the distance measurement between the two. It can be seen that the present invention has broad application prospects in the health detection of the bottom surface of bridges such as viaducts, railway viaducts, and cross-sea bridges, and further guarantees the detection accuracy of bridges.

[0055] Example 2

[0056] See also Figure 6, which is a flow chart of a control method for a bottom autonomous mobile platform based on low-flying UAV provided in this embodiment.

[0057] To facilitate subsequent understanding, the overall inventive concept of the control method is explained here: the motion trajectory of the wheeled mobile body is generated by manual control instructions, and then the motion instructions of the wheeled mobile body are generated; the wheeled mobile body motion controller combines the motion instructions and the detected posture of the wheeled mobile body to generate motion control instructions; after receiving the motion control instructions, the wheeled mobile body will move by controlling the rotation of the Mecanum wheel; the connecting mechanism drives the rotor UAV to move through the interaction of forces; the rotor UAV posture detection can be used for rotor UAV control; through the respective posture detection of the rotor UAV and the wheeled mobile body and the detection of the displacement sensor in the connecting mechanism, the relative position between the rotor UAV and the wheeled mobile body can be calculated, and this position can be used for the control of the rotor UAV.

[0058] The specific implementation is as follows:

[0059] The control method comprises:

[0060] S1. Before the autonomous mobile platform operates, move the autonomous mobile platform below the bottom surface.

[0061] S2. The UAV controller starts the driving device of the quadrotor, causing the autonomous mobile platform to stop in the air.

[0062] S3. The first thrust that the quad-rotor of the UAV needs to generate is obtained by calculating the gravity and inertia force of the autonomous mobile platform.

[0063] S4. Based on the first thrust, the driving device of the quadrotor is controlled by the drone controller to achieve the aerial movement of the automatic mobile platform.

[0064] S5. When the autonomous mobile platform is in close contact with a horizontal bottom surface for detection, the quad-rotor drone is controlled to adopt a low-flying flight mode.

[0065] S6. Calculate the second thrust that the quad-rotor of the UAV needs to generate based on the gravity of the autonomous mobile platform and the support force of the bottom surface on the wheeled mobile body.

[0066] S7. Based on the second thrust, the driving device of the quadrotor is controlled by the drone controller to achieve the aerial movement of the automatic mobile platform.

[0067] S8. When the autonomous mobile platform is in close contact with the inclined bottom surface for detection, the quad-rotor drone is controlled to adopt a low-flying flight mode.

[0068] S9. The third thrust required to be generated by the quadrotor of the UAV is calculated based on the gravity of the autonomous mobile platform, the supporting force of the bottom surface on the wheeled mobile body, the angle between the wheeled mobile body and the horizontal plane, and the angle between the quadrotor UAV and the horizontal plane.

[0069] S10. Based on the third thrust, the driving device of the quadrotor is controlled by the drone controller to achieve aerial movement of the automatic mobile platform.

[0070] In some feasible implementations, the first thrust calculation formula is:

[0071] F 推力1 =-G 移动平台 -F 惯性力 ;

[0072] In the formula, F 推力1 Expressed as the first thrust, G 移动平台 It is represented by the gravity of the quadcopter, the connecting mechanism and the wheeled mobile body, F 惯性力 It is expressed as the inertial force that needs to be overcome during the acceleration of the autonomous mobile platform;

[0073] The second thrust calculation formula is:

[0074] F 推力2 =-G 移动平台 -F 支撑力 ;

[0075] In the formula, F 推力2 Expressed as the second thrust, G 移动平台 It is represented by the gravity of the quadcopter, the connecting mechanism and the wheeled mobile body, F 支撑力 It is expressed as the support force of the bottom surface on the autonomous mobile platform;

[0076] F 支撑力 =nkΔl;

[0077] Where n is the number of springs installed in the connection structure, k is the elastic coefficient of the spring, and Δl is the distance change between the quadrotor drone and the wheeled mobile vehicle detected by the ranging sensor;

[0078] The third thrust calculation formula is:

[0079]

[0080] F 支撑力 =nkΔl;

[0081] In the formula, F 推力3 Expressed as the third thrust, G 移动平台 It is represented by the gravity of the quadcopter, the connecting mechanism and the wheeled mobile body, F 支撑力is represented by the supporting force of the bottom surface on the autonomous mobile platform, n is the number of springs installed in the connection structure, k is the elastic coefficient of the spring, Δl is the distance change between the quad-rotor drone and the wheeled mobile body detected by the ranging sensor (24), α is represented by the angle between the wheeled mobile body and the horizontal plane, and β is represented by the angle between the quad-rotor drone and the horizontal plane.

[0082] In some possible implementations, the method includes:

[0083] F 前进力 ≤F 支撑力 μ;

[0084] Where μ is the friction coefficient between the wheels and the bottom surface of the wheeled mobile vehicle;

[0085] The thrust required by each rotor of the quadrotor drone is calculated according to the first thrust, the second thrust and the third thrust as well as the structure and the direction of the quadrotor drone. The drone controller adjusts the driving motor of the quadrotor accordingly, so that the drone drives the autonomous mobile platform to move in the desired direction and detects while moving.

[0086] That is, before the operation, the autonomous mobile platform equipped with the intelligent detection camera is first moved to the bottom of the bridge; then the drone controller starts the driving device of the quadcopter, so that the autonomous mobile platform is suspended in the air, but the wheeled mobile body has not yet pressed against the bottom of the bridge. At this time, the thrust generated by the drone quadcopter only needs to overcome the gravity and inertia of the mobile platform. When the autonomous mobile platform is close to the horizontal bottom of the bridge and drives the intelligent detection camera for detection, the quadcopter drone needs to adopt a low-dive flight mode, so that the thrust generated by the drone quadcopter needs to overcome the gravity of the autonomous mobile platform and the support force of the bottom on the wheeled mobile body. When the autonomous mobile platform is close to the inclined bottom and drives the intelligent detection camera for detection, the quadcopter drone needs to adopt a low-dive flight mode, so that the thrust generated by the drone quadcopter needs to overcome the gravity of the autonomous mobile platform and the support force of the bottom on the wheeled mobile body, and keep the autonomous mobile platform stable.

[0087] It is not difficult to find that this embodiment is a method embodiment corresponding to the first embodiment, and this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the first embodiment.

[0088] Example 3

[0089] See also Figure 7An embodiment of the present invention further provides an electronic device, comprising: a memory and a processor; the memory stores at least one program instruction; the processor loads and executes the at least one program instruction to implement the control method for the bottom autonomous mobile platform based on the low-flying drone provided in Example 2.

[0090] The memory 702 and the processor 701 are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 701 and the memory 702 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor 701 is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor 701.

[0091] The processor 701 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management and other control functions. The memory 702 can be used to store data used by the processor 701 when performing operations.

[0092] Example 4

[0093] The embodiment of the present invention further proposes a storage medium, on which a control method for a bottom surface autonomous mobile platform based on a drone low-flying flight is stored, and when the control program for the bottom surface autonomous mobile platform based on a drone low-flying flight is executed, the steps of the control method for the bottom surface autonomous mobile platform based on a drone low-flying flight as described above are implemented. Since this storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here one by one.

[0094] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can know all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the scope of protection of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A bottom-surface autonomous mobile platform based on low-flying drone, the autonomous mobile platform comprising a quad-rotor drone (1), a connecting mechanism (2) and a wheeled mobile body (3), characterized in that: The quad-rotor drone (1) is located at the bottom of the autonomous mobile platform, and is used to provide the power required for the quad-rotor drone to fly in the air and for the wheeled mobile vehicle (3) to walk on the bottom surface, and to generate the thrust required for the wheeled mobile vehicle (3) to be pressed against the bottom surface; The connecting mechanism (2) is located in the middle of the autonomous mobile platform and is used to connect the quad-rotor drone (1) and the wheeled mobile vehicle (3), measure the pressure change between the quad-rotor drone (1) and the wheeled mobile vehicle (3), and measure the relative position between the quad-rotor drone (1) and the wheeled mobile vehicle (3); The wheeled mobile vehicle body (3) is located on the top of the autonomous mobile platform and is closely attached to the bottom surface, and is used to enable the autonomous mobile platform to automatically move forward on the bottom surface.

2. The bottom surface autonomous mobile platform based on low-flying drone according to claim 1 is characterized in that: The quad-rotor drone (1) comprises a body, a connecting rod (13), four rotors (12) and a controller, wherein the four rotors (12) are evenly distributed at four corners of the body of the quad-rotor drone and are connected to the body via the connecting rod (13); The controller is electrically connected to the drive motors of the four rotors (12), and the controller is used to control the four rotors (12) based on the posture of the quad-rotor drone (1), the posture of the wheeled mobile body (3), and the relative position between the quad-rotor drone (1) and the wheeled mobile body (3).

3. The bottom surface autonomous mobile platform based on low-flying drone according to claim 2 is characterized in that: The quadrotor drone (1) comprises a first attitude sensor for acquiring the attitude of the quadrotor drone (1); the wheeled mobile vehicle (3) comprises a second attitude sensor for acquiring the attitude of the wheeled mobile vehicle (3); the first attitude sensor and the second attitude sensor are electrically connected to the controller respectively.

4. The bottom surface autonomous mobile platform based on low-flying drone according to claim 1 is characterized in that: The connecting mechanism (2) comprises an upper connecting frame (21), a lower connecting frame (22), a spring (23) and a distance measuring sensor (24); the upper connecting frame (21) is fixedly connected to the wheeled mobile vehicle body (3); the lower connecting frame (22) is fixedly connected to the body of the quad-rotor unmanned aerial vehicle; the upper end of the spring (23) is connected to the bottom of the upper connecting frame (21), and the other end is connected to the top of the lower connecting frame (22); and the distance measuring sensor (24) is installed between the upper connecting frame (21) and the lower connecting frame (22).

5. The bottom surface autonomous mobile platform based on low-flying drone according to claim 4 is characterized in that: The distance measuring sensor (24) is used to measure the change in distance between the quad-rotor drone (1) and the wheeled mobile vehicle (3); The spring (23) is used to measure the pressure change between the quad-rotor drone (1) and the wheeled mobile vehicle body (3).

6. The bottom surface autonomous mobile platform based on low-flying drone according to claim 5 is characterized in that: The controller automatically adjusts the rotation speed of the drive motors of the four rotors (12) based on the change in the distance between the quad-rotor drone (1) and the wheeled mobile body (3) and the change in the pressure between the quad-rotor drone (1) and the wheeled mobile body (3), so that the wheeled mobile body (3) is closely attached to the bottom surface.

7. The bottom surface autonomous mobile platform based on low-flying drone according to claim 1 is characterized in that: The wheeled mobile vehicle body (3) comprises a vehicle body (31) and four wheels (32), and the four wheels (32) are all Mecanum wheels.

8. A method for controlling a bottom autonomous mobile platform based on a low-flying drone, characterized in that: The control method is applied to the bottom autonomous mobile platform based on the low-flying flight of the unmanned aerial vehicle according to any one of claims 1 to 7, and the control method includes: S1. Before the autonomous mobile platform operates, move the autonomous mobile platform below the bottom surface; S2, the UAV controller starts the driving device of the quadrotor, so that the autonomous mobile platform stops in the air; S3, calculating the first thrust that the quad-rotor of the UAV needs to generate at this time through the gravity and inertial force of the autonomous mobile platform; S4. Based on the first thrust, the driving device of the quadrotor is controlled by the drone controller to achieve aerial movement of the automatic mobile platform; S5. When the autonomous mobile platform is close to the horizontal bottom surface for detection, the quad-rotor drone is controlled to adopt a low-flying flight mode; S6. Calculate the second thrust that the quad-rotor of the UAV needs to generate based on the gravity of the autonomous mobile platform and the support force of the bottom surface on the wheeled mobile vehicle body; S7, based on the second thrust, controlling the driving device of the quadrotor through the drone controller to achieve aerial movement of the automatic mobile platform; S8. When the autonomous mobile platform is close to the inclined bottom surface for detection, the quad-rotor drone is controlled to adopt a low-flying flight mode; S9, calculating the third thrust required to be generated by the quad-rotor of the UAV at this time based on the gravity of the autonomous mobile platform, the support force of the bottom surface on the wheeled mobile vehicle body, the angle between the wheeled mobile vehicle body and the horizontal plane, and the angle between the quad-rotor UAV and the horizontal plane; S10. Based on the third thrust, the driving device of the quadrotor is controlled by the drone controller to achieve aerial movement of the automatic mobile platform.

9. The method for controlling the bottom autonomous mobile platform based on the low-flying UAV according to claim 8 is characterized in that: The first thrust calculation formula is: F 推力1 =-G 移动平台 -F 惯性力 ; In the formula, F 推力1 Expressed as the first thrust, G 移动平台 It is represented by the gravity of the quadcopter, the connecting mechanism and the wheeled mobile body, F 惯性力 It is expressed as the inertial force that needs to be overcome during the acceleration of the autonomous mobile platform; The second thrust calculation formula is: F 推力2 =-G 移动平台 -F 支撑力 ; In the formula, F 推力2 Expressed as the second thrust, G 移动平台 It is represented by the gravity of the quadcopter, the connecting mechanism and the wheeled mobile body, F 支撑力 It is expressed as the support force of the bottom surface on the autonomous mobile platform; F 支撑力 =nkΔl; Where n is the number of springs installed in the connection structure, k is the elastic coefficient of the spring, and Δl is the distance change between the quadrotor drone and the wheeled mobile vehicle detected by the ranging sensor; The third thrust calculation formula is: F 支撑力 =nkΔl; In the formula, F 推力3 Expressed as the third thrust, G 移动平台 It is represented by the gravity of the quadcopter, the connecting mechanism and the wheeled mobile body, F 支撑力 It is expressed as the supporting force of the bottom surface on the autonomous mobile platform, n is the number of springs installed in the connection structure, k is the elastic coefficient of the spring, Δl is the distance change between the quadrotor UAV and the wheeled mobile body detected by the ranging sensor, α is expressed as the angle between the wheeled mobile body and the horizontal plane, and β is expressed as the angle between the quadrotor UAV and the horizontal plane.

10. The control method for the bottom autonomous mobile platform based on the low-flying UAV according to claim 9 is characterized in that: The method comprises: F 前进力 ≤F 支撑力 m; Where μ is the friction coefficient between the wheels and the bottom surface of the wheeled mobile vehicle; Calculate the thrust required to be provided by each rotor of the quad-rotor drone according to the first thrust, the second thrust, and the third thrust as well as the structure of the quad-rotor drone and the orientation of the quad-rotor drone; The drone controller adjusts the quadcopter's drive motor accordingly, allowing the drone to drive the autonomous mobile platform in the desired direction, performing inspections while moving.

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