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CN-121995978-A - Multi-rotor unmanned aerial vehicle rapid capturing mechanism and method based on servo motor control

CN121995978ACN 121995978 ACN121995978 ACN 121995978ACN-121995978-A

Abstract

The invention relates to a multi-rotor unmanned aerial vehicle rapid capturing mechanism and a method, in particular to a servo motor control-based multi-rotor unmanned aerial vehicle rapid capturing mechanism and a servo motor control-based multi-rotor unmanned aerial vehicle rapid capturing method, which solve the technical problem of insufficient recovery safety caused by inaccurate capturing positions of the existing unmanned aerial vehicle capturing mechanism. The rapid capturing mechanism and the rapid capturing method for the multi-rotor unmanned aerial vehicle based on the servo motor control, provided by the invention, take a servo motor control system as a core, combine a blocking rope capturing mechanism, utilize an electric system to cooperate with a mechanical structure to carry out speed and track planning of a capturing unit in real time, can realize nondestructive and rapid capturing of the multi-rotor unmanned aerial vehicle, improve recovery safety and efficiency, simultaneously adopt a five-time polynomial to carry out capturing track and speed planning, reduce mechanical damage to the unmanned aerial vehicle through a smooth motion track, improve safety and reliability, and have high capturing precision and good effect.

Inventors

  • WANG XIAOFAN
  • WANG HAIBIN
  • ZHANG LI
  • XU ZHIPENG
  • CHEN JINBO
  • QUAN KUN

Assignees

  • 西安航天赛能自动化科技有限公司

Dates

Publication Date
20260508
Application Date
20251225

Claims (7)

  1. 1. The multi-rotor unmanned aerial vehicle rapid capturing mechanism based on servo motor control is characterized by comprising two groups of guide rails (1) which are arranged on a landing platform of the unmanned aerial vehicle in parallel, two capturing units and a control driving system; Each capturing unit comprises two servo motors (2), and the two servo motors (2) are oppositely arranged on the two groups of guide rails (1) and are connected through a blocking rope (3); The control driving system comprises a controller and four servo drivers, wherein the output ends of the controller are respectively connected with the input ends of the four servo drivers, the control output ends of the four servo drivers are respectively connected with the control ends of the four servo motors (2), the data output ends of the four servo drivers are respectively connected with the input ends of the controller, and the controller is used for respectively calculating the capturing tracks of the two capturing units according to the landing positions of the unmanned aerial vehicle and respectively outputting control signals to the four servo drivers so as to drive the corresponding servo motors (2) to move along the corresponding guide rails (1).
  2. 2. The rapid multi-rotor unmanned aerial vehicle capturing method based on servo motor control adopts the rapid multi-rotor unmanned aerial vehicle capturing mechanism based on servo motor control as claimed in claim 1, and is characterized by comprising the following steps: step1, measuring the distance between two servo motors (2) positioned on the same guide rail (1) and the distance between two groups of guide rails (1), then establishing a system coordinate system by taking one servo motor (2) as an origin, respectively obtaining initial position coordinates of the other three servo motors (2), and respectively calculating initial center position coordinates of two capturing units according to the initial position coordinates; Step 2, outputting control signals to four servo drivers through a controller, and initializing the four servo motors (2) to enable the four servo motors to be located at zero positions; Step 3, inputting initial center position coordinates of the two capturing units and set falling point coordinates of the unmanned aerial vehicle into a controller, wherein the controller respectively determines boundary conditions of capturing track starting points of the two capturing units according to the initial center position coordinates of the two capturing units; step 4, constructing a fifth-order polynomial for describing the capturing track of the capturing unit, and inputting the fifth-order polynomial into the controller; Step 5, the controller solves the fifth order polynomial by utilizing boundary conditions of the starting point and the end point of the capturing track of the two capturing units to respectively obtain fifth order polynomial coefficients of the two capturing units, so as to obtain capturing tracks of the two capturing units; Step 6, triggering calculation after receiving landing signals of the unmanned aerial vehicle by the controller, calculating real-time theoretical position coordinates of the four servo motors (2) according to the capturing tracks of the two capturing units, respectively outputting control signals to the four servo drivers, respectively driving the corresponding servo motors (2) to move along the corresponding guide rails (1), thereby driving the blocking ropes (3) to move, capturing the multi-rotor unmanned aerial vehicle, and simultaneously, respectively acquiring the real-time position coordinates of the four servo motors (2) by the four servo drivers in real time and transmitting the real-time position coordinates to the controller; And 7, the controller calculates the position errors of the two capturing units according to the real-time position coordinates and the real-time theoretical position coordinates of the four servo motors (2), outputs position compensation signals to the four servo drivers according to the position errors, respectively drives the corresponding servo motors (2) to move along the corresponding guide rails (1) to perform position compensation, and then returns to the step 6 to calculate the real-time theoretical position coordinates of the four servo motors (2) at the next moment until the capturing of the multi-rotor unmanned aerial vehicle is completed.
  3. 3. The rapid acquisition method of a multi-rotor unmanned aerial vehicle based on servo motor control according to claim 2, wherein step 7 is specifically: Step 7.1, the controller calculates the position errors of the two capturing units according to the real-time position coordinates and the real-time theoretical position coordinates of the four servo motors (2); Step 7.2, performing cross coupling calculation on the position error of each capturing unit to obtain the position compensation quantity of the two servo motors (2) in each capturing unit, and respectively outputting position compensation signals to the four servo drivers according to the position compensation quantity, and respectively driving the corresponding servo motors (2) to move along the corresponding guide rail (1) to perform position compensation; and 7.3, returning to the step 6, and calculating real-time theoretical position coordinates of the four servo motors (2) at the next moment until the capture of the multi-rotor unmanned aerial vehicle is completed.
  4. 4. The rapid acquisition method of a multi-rotor unmanned aerial vehicle based on servo motor control according to claim 3, wherein in step 4, the fifth order polynomial is: ; Wherein, the In order to capture the trajectory, In order to capture the time of the capture, 、 、 、 、 、 All are polynomial coefficients of degree five.
  5. 5. The rapid acquisition method of a multi-rotor unmanned aerial vehicle based on servo motor control according to claim 4, wherein in step 1, the initial center position coordinates of the acquisition unit are calculated by the following formula: ; Wherein, the The initial center position coordinates of the capturing units, 、 Is the position coordinates of two servo motors (2) in one capturing unit.
  6. 6. The rapid capturing method of the multi-rotor unmanned aerial vehicle based on servo motor control according to any one of claims 2 to 5, wherein in step 3, the boundary conditions of the capturing track starting point of the capturing unit include an initial center position coordinate, an initial movement speed and an initial acceleration of the capturing unit; The boundary conditions of the capturing track end point of the capturing unit comprise end point center position coordinates, end point movement speed and end point acceleration of the capturing unit.
  7. 7. The method for rapidly capturing a multi-rotor unmanned aerial vehicle based on servo motor control of claim 6, wherein in step3, the initial movement speed and the initial acceleration of the capturing unit, and the final movement speed and the final acceleration of the capturing unit are all 0.

Description

Multi-rotor unmanned aerial vehicle rapid capturing mechanism and method based on servo motor control Technical Field The invention relates to a multi-rotor unmanned aerial vehicle capturing mechanism and a method, in particular to a multi-rotor unmanned aerial vehicle rapid capturing mechanism and a method based on servo motor control. Background The unmanned aerial vehicle capturing technology is a key technology for an unmanned aerial vehicle platform system to autonomously take off and land to execute tasks, at present, the unmanned aerial vehicle faces complex environments such as strong wind, rain and snow after autonomous landing, the attitude of the unmanned aerial vehicle is difficult to keep constant, the dispersion of landing coordinates is large, the capturing window period reserved for a capturing mechanism is very small, and the capturing difficulty is high. The existing platform type unmanned aerial vehicle capturing technology mostly utilizes a barrier rope capturing technology, and a rope fixed on the ground or a platform is utilized to intercept the unmanned aerial vehicle, so that the method is low in cost, but the capturing position is inaccurate, the impact force of the unmanned aerial vehicle can be increased, and once the unmanned aerial vehicle fails or is damaged, the repairing is complex; in addition, when unmanned aerial vehicle flies at a high speed, contact with the barrier rope can cause huge impact, has the risk of mechanical damage. Disclosure of Invention The invention aims to solve the technical problem that the recovery safety of an unmanned aerial vehicle is poor due to inaccurate capturing position of the existing unmanned aerial vehicle capturing mechanism and method, and provides a multi-rotor unmanned aerial vehicle rapid capturing mechanism and method based on servo motor control. In order to achieve the above purpose, the invention adopts the following technical scheme: the quick capture mechanism of the multi-rotor unmanned aerial vehicle based on servo motor control is characterized by comprising two groups of guide rails which are arranged on a landing platform of the unmanned aerial vehicle in parallel, two capture units and a control driving system; each capturing unit comprises two servo motors which are oppositely arranged on two groups of guide rails and are connected through a blocking rope; The control driving system comprises a controller and four servo drivers, wherein the output ends of the controller are respectively connected with the input ends of the four servo drivers, the control output ends of the four servo drivers are respectively and correspondingly connected with the control ends of the four servo motors, the data output ends of the four servo drivers are respectively connected with the input ends of the controller, and the controller is used for respectively calculating the capturing tracks of the two capturing units according to the landing positions of the unmanned aerial vehicle and respectively outputting control signals to the four servo drivers so as to drive the corresponding servo motors to move along corresponding guide rails. The embodiment also provides a multi-rotor unmanned aerial vehicle rapid capturing method based on servo motor control, which adopts the multi-rotor unmanned aerial vehicle rapid capturing mechanism based on servo motor control, and is characterized by comprising the following steps: Step 1, measuring the distance between two servo motors positioned on the same guide rail and the distance between two groups of guide rails when the two servo motors are positioned at zero positions, then establishing a system coordinate system by taking one of the servo motors as an origin, respectively obtaining initial position coordinates of the other three servo motors, and respectively calculating initial center position coordinates of two capturing units according to the initial position coordinates; Step 2, outputting control signals to four servo drivers through a controller, and initializing the four servo motors to enable the four servo motors to be located at zero positions; Step 3, inputting initial center position coordinates of the two capturing units and set falling point coordinates of the unmanned aerial vehicle into a controller, wherein the controller respectively determines boundary conditions of capturing track starting points of the two capturing units according to the initial center position coordinates of the two capturing units; step 4, constructing a fifth-order polynomial for describing the capturing track of the capturing unit, and inputting the fifth-order polynomial into the controller; Step 5, the controller solves the fifth order polynomial by utilizing boundary conditions of the starting point and the end point of the capturing track of the two capturing units to respectively obtain fifth order polynomial coefficients of the two capturing units, so as to obtain capturing tracks of the two capturi