CN-121979264-A - Unmanned aerial vehicle control system and method based on single-axis weighing sensor

CN121979264ACN 121979264 ACN121979264 ACN 121979264ACN-121979264-A

Abstract

The application provides an unmanned aerial vehicle control system and method based on a single-axis weighing sensor, wherein an external force input handle is arranged at a first end of a fuselage of an unmanned aerial vehicle, the first single-axis weighing sensor is arranged at a joint of the external force input handle and the fuselage, a second single-axis weighing sensor and a third single-axis weighing sensor are arranged at a second end, opposite to the first end, of the unmanned aerial vehicle, the second single-axis weighing sensor and the third single-axis weighing sensor are used for detecting external force in a second direction of the unmanned aerial vehicle, a fourth single-axis weighing sensor is arranged at a third end of the unmanned aerial vehicle, the fourth single-axis weighing sensor is used for detecting external force in a third direction of the unmanned aerial vehicle, and a processing module is used for calculating comprehensive external force of the unmanned aerial vehicle based on a detection value and controlling the unmanned aerial vehicle in real time according to the comprehensive external force. The unmanned aerial vehicle real-time stable control with low cost is realized based on the single-axis sensor with light weight, small volume and low cost.

Inventors

Liu Hanchuan
ZHENG CANLUN
WANG ZHIKUN
XU JINMING
ZHAO SHIYU

Assignees

浙江大学
西湖大学

Dates

Publication Date: 20260505
Application Date: 20260407

Claims (10)

1. A control system of an unmanned aerial vehicle based on a single-axis weighing sensor is characterized in that the system comprises an unmanned aerial vehicle and a plurality of single-axis weighing sensors, An external force input handle is arranged at the first end of the unmanned aerial vehicle body and is used for inputting external force to the unmanned aerial vehicle from the outside; the connection part of the external force input handle and the machine body is provided with a first single-shaft weighing sensor, and the first single-shaft weighing sensor is used for detecting external force in a first direction of the unmanned aerial vehicle; A second single-shaft weighing sensor and a third single-shaft weighing sensor are arranged at a second end, opposite to the first end, of the unmanned aerial vehicle, the second single-shaft weighing sensor and the third single-shaft weighing sensor are used for detecting external force in a second direction of the unmanned aerial vehicle, and the first direction is perpendicular to the second direction; a fourth single-shaft weighing sensor is arranged at the third end of the unmanned aerial vehicle and used for detecting external force in a third direction of the unmanned aerial vehicle, and the third direction is perpendicular to the first direction and the second direction; And the processing module is used for calculating the comprehensive external force of the unmanned aerial vehicle based on the detection values of the first single-axis weighing sensor, the second single-axis weighing sensor, the third single-axis weighing sensor and the fourth single-axis weighing sensor, and controlling the unmanned aerial vehicle in real time according to the comprehensive external force.
2. The system of claim 1, wherein the system further comprises a controller configured to control the controller, And taking the mass center of the unmanned aerial vehicle as an origin, taking the plane of the unmanned aerial vehicle as an x-y axis plane, establishing a three-dimensional coordinate system, taking the first direction as a y axis, taking the second direction as an x axis, and taking the third direction as a z axis.
3. The system of claim 1, wherein the system further comprises a controller configured to control the controller, The second single-axis weighing sensor and the third single-axis weighing sensor are in an x-y plane of a three-dimensional coordinate system established by taking the unmanned aerial vehicle body as a reference, and the second single-axis weighing sensor and the third single-axis weighing sensor are symmetrical along a y axis.
4. The system of claim 1, wherein the system further comprises a controller configured to control the controller, The external force input handle is fixedly connected with the machine body through a first concave part, the first single-shaft weighing sensor is installed in the first concave part, and the first concave part is matched with the first single-shaft weighing sensor in size; the second end of the unmanned aerial vehicle is provided with a second concave part and a third concave part along the x-axis direction relatively, the second single-axis weighing sensor is arranged in the second concave part, the third single-axis weighing sensor is arranged in the third concave part, and the first concave part and the second concave part are respectively matched with the first single-axis weighing sensor and the second single-axis weighing sensor in size; and the fourth single-shaft weighing sensor is arranged on the plane of the bottom of the unmanned aerial vehicle body.
5. The system of claim 1, wherein the system further comprises a controller configured to control the controller, The first single-axis sensor is the same as the second single-axis sensor and the third single-axis sensor in linear distance, and is larger than the first single-axis sensor is the fourth single-axis sensor in linear distance.
6. A method of unmanned aerial vehicle control based on a single axis load cell, the method being applied to the system of any one of claims 1-5, the method comprising: Acquiring detection values of the first single-axis weighing sensor, the second single-axis weighing sensor, the third single-axis weighing sensor and the fourth single-axis weighing sensor; And generating the unmanned aerial vehicle control instruction based on the external force information.
7. The method of claim 6, wherein said calculating external force information of the drone by fusing the detection values comprises: Calculating sub-external force values in all directions based on the sum of detection values of the single-axis weighing sensors in the same direction; acquiring coordinates of each single-axis weighing sensor in a three-dimensional coordinate system established by taking the unmanned aerial vehicle body as a reference object; Calculating a distance of the origin of the three-dimensional coordinate system based on the coordinates in the same direction as each detection value; And calculating the sub-total external moment corresponding to each sub-total force based on the product of the distance and the counter-stress.
8. The method of claim 6, wherein prior to said fusing the detected values to calculate external force information for the drone, the method further comprises: receiving measured values of all single-shaft weighing sensors; Determining a filtering value of each single-axis weighing sensor according to the distances between each single-axis weighing sensor and the external force input handle and the flight state of the unmanned aerial vehicle; Filtering the corresponding measured values according to the filtering values of each single-axis weighing sensor to obtain correction values; And carrying out analog-to-digital conversion on the correction value to obtain the detection value.
9. The method of claim 6, wherein after the calculating the external force information of the unmanned aerial vehicle by fusing the detection values, the method further comprises: calculating the attitude change amount according to the external force information; Calculating a correction instruction based on the attitude change amount; and controlling the gesture of the unmanned aerial vehicle according to the correction instruction, wherein the real-time gesture of the unmanned aerial vehicle after control meets the balance requirement.
10. The method of claim 8, wherein the determining the filtered value of each single-axis load cell based on the respective single-axis load cell's flight status from the external force input handle and the drone comprises: determining a real-time flight state of the unmanned aerial vehicle; Determining a fuselage environment interference influence factor of the unmanned aerial vehicle according to the real-time flight state; According to the distance between each single-axis weighing sensor and the external force input handle, determining the adjustment margin of the environmental interference influence factor of the machine body to obtain a filter adjustment factor corresponding to each single-axis weighing sensor; And calculating the filtering value of each single-axis weighing sensor based on the product of the filtering adjustment factor and the basic filtering value.

Description

Unmanned aerial vehicle control system and method based on single-axis weighing sensor Technical Field The application relates to the technical field of unmanned aerial vehicle flight control, in particular to an unmanned aerial vehicle control system and method based on a single-axis weighing sensor. Background In recent years, the vigorous development of low-altitude economy fully reveals the great potential of unmanned aerial vehicles in various application scenes. Particularly, under the mode of cooperative operation with human beings, for example, under the scenes of loading and transporting goods by unmanned aerial vehicles and the like, the unmanned aerial vehicles serve as an aerial power platform, can assist the human beings to finish complex production tasks such as load carrying, equipment installation and the like, and remarkably improves the operation efficiency and flexibility. In such a man-machine cooperation scenario, the quad-rotor unmanned helicopter needs to reach a designated position in the process of executing a task, maintains a hovering state, then transfers the cargo onto the unmanned plane carrying platform from the position of the cargo output, and in the process of transferring the cargo, the unmanned plane is often subjected to external force and external moment applied by an operator or an external environment. These external effects are often difficult to describe by accurate mathematical models, and at the same time can have a significant impact on the dynamics of the unmanned aerial vehicle, possibly even leading to reduced flight stability or failure of task execution. Therefore, how to accurately estimate the unknown external force and external moment in real time, so that the unmanned aerial vehicle control system is compensated and responded in real time and adaptively based on the estimation result under the condition that human intervention is not needed, and the method has become a key technical challenge for guaranteeing the safety and high efficiency of the four-rotor aircraft to finish the collaborative task. External force sensing is taken as a basic condition of self-adaptive measurement, and in various technical paths for realizing external force sensing, a direct measurement method is widely focused due to higher response speed and measurement accuracy. However, for a four-rotor unmanned aerial vehicle platform with small size and low loading capacity, the conventional multi-axis force sensor is complex in structure, large in mass and relatively high in manufacturing cost, and is difficult to directly integrate on a flight platform which is extremely sensitive to weight and space, so that the hardware cost and algorithm cost of stable control of the unmanned aerial vehicle attitude are improved. In addition, in some existing indirect estimation methods based on dynamic models or filtering algorithms, although additional sensors are not needed, the estimation accuracy and the robustness of the method are often difficult to meet the requirements of high-reliability cooperation tasks when facing unmodeled dynamics, parameter uncertainty and complex external disturbance. Therefore, a system for adaptively, rapidly and accurately sensing external force/torque on a small four-rotor unmanned aerial vehicle is needed to control the unmanned aerial vehicle. Disclosure of Invention In view of the above, the present application provides an unmanned aerial vehicle control system and method based on a single-axis weighing sensor, which are used for realizing the effects of low cost, low dead weight and high accuracy of unmanned aerial vehicle external force measurement. The first aspect of the application provides an unmanned aerial vehicle control system based on a single-axis weighing sensor, which is characterized in that the system comprises an unmanned aerial vehicle and a plurality of single-axis weighing sensors, An external force input handle is arranged at the first end of the unmanned aerial vehicle body and is used for inputting external force to the unmanned aerial vehicle from the outside; the connection part of the external force input handle and the machine body is provided with a first single-shaft weighing sensor, and the first single-shaft weighing sensor is used for detecting external force in a first direction of the unmanned aerial vehicle; A second single-shaft weighing sensor and a third single-shaft weighing sensor are arranged at a second end, opposite to the first end, of the unmanned aerial vehicle, the second single-shaft weighing sensor and the third single-shaft weighing sensor are used for detecting external force in a second direction of the unmanned aerial vehicle, and the first direction is perpendicular to the second direction; a fourth single-shaft weighing sensor is arranged at the third end of the unmanned aerial vehicle and used for detecting external force in a third direction of the unmanned aerial vehicle, and the third direction i