CN-121979296-A - Multi-degree-of-freedom pose adjustment method for large-length-diameter-ratio target

CN121979296ACN 121979296 ACN121979296 ACN 121979296ACN-121979296-A

Abstract

The invention discloses a multi-degree-of-freedom pose adjustment method for a large-length-diameter-ratio target, which belongs to the technical field of multi-degree-of-freedom pose adjustment of automatic spraying equipment, and comprises the steps of firstly, obtaining the pose deviation of the tail end of the target, and establishing a five-link model and a positive kinematics model of a pose adjustment device. The method comprises the steps of sequentially constructing a five-link model along the tail end of a large-length-diameter-ratio target, a pitching unit, a gyrating unit, a traversing unit and a supporting leg unit, constructing a positive kinematic transformation matrix based on products of 5-link coordinate transformations, and inversely solving adjustment amounts of all motion axes of a pose adjustment device when the pose of the target is deviated from the tail end based on the positive kinematic transformation matrix. Finally, according to the inverse solution result, adjusting each motion axis of the pose adjusting device to realize the pose adjustment of multiple degrees of freedom of the tail end of the target with large length-diameter ratio. The invention realizes high-precision adjustment of the terminal gesture, solves the problem of precision adjustment of the target gesture of the automatic spraying length-diameter ratio, and has better practicability.

Inventors

CHEN YAHUI
LIU HUASEN
SUN SIYU
HU ZHIYUAN
TANG ZIYUAN
LV ZHIYUAN
LIU FAMING
WANG MINGYANG
HUANG JINGJIN
WANG FEI
LEI PEI
LUO LINGLING
TU FUQUAN
LIANG JIE
TANG KAI
GAO MENG

Assignees

成都飞机工业（集团）有限责任公司

Dates

Publication Date: 20260505
Application Date: 20260407

Claims (6)

1. A multi-degree-of-freedom pose adjusting method of a large-length-diameter-ratio target is characterized by comprising the following steps of: S1, obtaining the attitude deviation of the tail end of the target , , , ); Wherein: the horizontal plane transverse movement adjustment amount is used; the vertical surface lifting adjustment amount is; The adjustment amount is the rotation of the horizontal plane; the pitching adjustment amount is the vertical plane; step S2, establishing a five-link model and a positive kinematic model of the pose adjusting device; The pose adjusting device comprises a main body and a support leg unit positioned at the periphery of the bottom of the main body, wherein the support leg unit is used for adjusting the pitching angle, the yaw angle and the vertical height of the main body, the main body comprises a pitching unit, a turning unit and a traversing unit which are sequentially arranged from top to bottom, and the periphery of the traversing unit is provided with the support leg unit; s21, sequentially constructing a five-link model along the tail end of the target with the large length-diameter ratio, a pitching unit, a turning unit, a traversing unit and a supporting leg unit; s22, establishing an expression matrix of each connecting rod; S23, constructing a positive kinematic transformation matrix based on the product of 5 connecting rod coordinate transformations; s3, based on the forward kinematics transformation matrix, reversely solving the deviation of each motion axis of the pose adjusting device at the target tail end , , , ) The amount of adjustment at that time; and S4, adjusting each motion axis of the pose adjusting device according to the inverse solution result in the step S3 so as to realize the multi-degree-of-freedom pose adjustment of the tail end of the target with large length-diameter ratio.
2. The multi-degree-of-freedom pose adjustment method of the large-length-diameter-ratio target according to claim 1, wherein in the step S2, a working bench, a revolving bench, a traversing bench and a bottom frame which are sequentially arranged from top are respectively and correspondingly arranged on the pitching unit, the revolving unit, the traversing unit and the supporting leg unit, the pitching unit is used for driving the working bench to swing around a bearing support axis on the revolving bench, the revolving unit is used for driving the revolving bench to revolve around a supporting bearing axis on the traversing bench, the traversing unit is used for driving the traversing bench to linearly move relative to the bottom frame, and the supporting leg unit is used for achieving adjustment of pitching angle, yaw angle and vertical height position of the bottom frame.
3. The method for adjusting the pose of multiple degrees of freedom of a large aspect ratio target according to claim 2, wherein said step S21 comprises the steps of: (1) Establishing an initial connecting rod coordinate system at the bottom of the support leg unit; Establishing a first link coordinate system at the intersection point of the support leg unit and the transverse movement unit; Establishing a second connecting rod coordinate system on the center line of the transverse moving unit; Constructing a third connecting rod coordinate system at the intersection point of the center axis of the pitching arc of the revolving rack motion and the center axis of the revolving arc; A fourth connecting rod coordinate system is constructed at the intersection point of the center axis of the pitching arc of the working bench movement and the center axis of the revolving arc; Constructing a fifth connecting rod coordinate system at the terminal center point of the target with the large length-diameter ratio; (2) The first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the fifth connecting rod are respectively arranged between the initial connecting rod coordinate system and the first connecting rod coordinate system, between the first connecting rod coordinate system and the second connecting rod coordinate system, between the second connecting rod coordinate system and the third connecting rod coordinate system, between the third connecting rod coordinate system and the fourth connecting rod coordinate system and between the fourth connecting rod coordinate system and the fifth connecting rod coordinate system.
4. The method for adjusting the pose of multiple degrees of freedom of a large aspect ratio target according to claim 3, wherein in the step S22, an expression matrix of first to fifth links is established: ; ; ; ; ; wherein L1 is the length of the third connecting rod and is equal to the distance from the traversing shaft to the axis of the circle center of the revolution; the third connecting rod joint angle is equal to the rotary motion angle of the pose adjusting device; The joint angle of the fourth connecting rod is equal to the pitching motion angle of the pose adjusting device; d1 is the offset of the first connecting rod and is equal to the ground clearance of the transverse moving unit; d2 is the second link offset and is equal to the traversing unit centerline to the first coordinate system The distance of the axis; d3 is the third link offset and is equal to the distance from the third link to the origin of coordinates of the third link coordinate system; d4 is the fifth link offset and is equal to the distance from the origin of coordinates of the fourth link coordinate system to the large aspect ratio target; l2 is the fifth link length and is equal to the length of the large aspect ratio target.
5. The method for adjusting pose of multiple degrees of freedom of a large aspect ratio target according to claim 4, wherein in the step S23, the positive kinematic transformation matrix is: ; Wherein: ; ; ; ; ; ; ; ; ; ; ; 。
6. The method for adjusting the pose of multiple degrees of freedom of a large aspect ratio target according to claim 5, wherein in said step S3, an adjustment amount is obtained , , , ) The method comprises the following steps: Step S31 assume that And (2) and Each element in (a) represents a target value; Wherein nx, ny and nz are respectively 、、 ; Ox, oy, oz are respectively 、、 ; , , Respectively is 、、 ; Qx, qy, qz are respectively 、、 ; Step S32 based on step S31, simultaneous equations And (3) solving to obtain: ; Step S33 based on step S31, simultaneous equations And (3) solving to obtain: ; step S34 based on step S31, simultaneous equations And (3) solving to obtain: ; step S35 based on step S31, simultaneous equations And (3) solving to obtain: ; Wherein: the deviation of the pose adjusting device at the tail end is% , , , ) The actual adjustment amount of the vertical surface lifting during the process; the deviation of the pose adjusting device at the tail end is% , , , ) The actual adjustment amount of horizontal plane transverse movement.

Description

Multi-degree-of-freedom pose adjustment method for large-length-diameter-ratio target Technical Field The invention belongs to the technical field of multi-degree-of-freedom pose adjustment of automatic spraying equipment, and particularly relates to a multi-degree-of-freedom pose adjustment method of a large-length-diameter-ratio target. Background Currently, the degree of automation of aerial spray equipment is limited, especially for spraying of large aspect ratio aerial targets. For example, the chinese existing patent CN111300081a discloses a pose-adjusting device and pose-adjusting method for realizing multi-degree-of-freedom motion, which utilizes a screw lifter, a cross sliding table, a tension spring and a ball-and-socket structure to realize six-degree-of-freedom motion of the component. The X/Y direction translational movement and the A/B/C direction micro-adjustment of the airplane component can be manually and rapidly adjusted, and the Z direction lifting movement and the A direction rotation movement of the airplane component can be quantitatively controlled in real time by means of quantitative adjustment of the spiral lifter, so that six-degree-of-freedom movement is realized. However, the existence of the fit clearance of the spherical hinge reduces the repeated positioning precision and rigidity of the platform, and the requirement of accurate adjustment of the target angle with large length-diameter ratio is difficult, and meanwhile, the four spiral lifters are combined with the spherical hinge to connect with the parallel driving platform for posture adjustment, so that the requirements on algorithm precision and synchronous control precision are high, and the mechanism motion clamping stagnation is easy to cause, thereby influencing the working stability. Disclosure of Invention The invention aims to provide a multi-degree-of-freedom pose adjustment method for a large-length-diameter-ratio target, which aims to solve any one of the problems and realize accurate adjustment of the pose of the large-length-diameter-ratio target. The invention is realized mainly by the following technical scheme: A multi-degree-of-freedom pose adjusting method of a large-length-diameter-ratio target comprises the following steps: S1, obtaining the attitude deviation of the tail end of the target ,,,); Wherein: the horizontal plane transverse movement adjustment amount is used; the vertical surface lifting adjustment amount is; The adjustment amount is the rotation of the horizontal plane; the pitching adjustment amount is the vertical plane; step S2, establishing a five-link model and a positive kinematic model of the pose adjusting device; The pose adjusting device comprises a main body and a support leg unit positioned at the periphery of the bottom of the main body, wherein the support leg unit is used for adjusting the pitching angle, the yaw angle and the vertical height of the main body, the main body comprises a pitching unit, a turning unit and a traversing unit which are sequentially arranged from top to bottom, and the periphery of the traversing unit is provided with the support leg unit; s21, sequentially constructing a five-link model along the tail end of the target with the large length-diameter ratio, a pitching unit, a turning unit, a traversing unit and a supporting leg unit; s22, establishing an expression matrix of each connecting rod; S23, constructing a positive kinematic transformation matrix based on the product of 5 connecting rod coordinate transformations; s3, based on the forward kinematics transformation matrix, reversely solving the deviation of each motion axis of the pose adjusting device at the target tail end ,,,) The amount of adjustment at that time; and S4, adjusting each motion axis of the pose adjusting device according to the inverse solution result in the step S3 so as to realize the multi-degree-of-freedom pose adjustment of the tail end of the target with large length-diameter ratio. Specifically, the expression matrix of each link refers to a ‌ homogeneous transformation matrix ‌, also referred to as a ‌ link transformation matrix ‌ or ‌ a matrix, for describing the relative position and posture between adjacent links in robotics or mechanomology. In order to better realize the invention, in the step S2, a working bench, a revolving bench, a traversing bench and a bottom frame which are sequentially arranged from the top are respectively and correspondingly arranged, the pitching unit is used for driving the working bench to swing around a bearing support axis on the revolving bench, the revolving unit is used for driving the revolving bench to revolve around a bearing support axis on the traversing bench, the traversing unit is used for driving the traversing bench to linearly move relative to the bottom frame, and the supporting leg unit is used for realizing adjustment of the pitching angle, the yaw angle and the vertical height position of the bottom frame. In