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Viewpoint Optimization Method for flying robot Inspecting Transmission Towers Based on Point Cloud Model

Chinese Journal of Electronics 2018年第5期27卷 976-984页

作者： LIU Chang'an DONG Ruifang JIN Lu WU Hua School of Control and Computer Engineering North China Electric Power University

This paper presents a method to derive optimal viewpoints for flying robot based transmission tower inspection, which applies point cloud model. A safe envelope is established according to safe transmission tower inspection rules. Essential inspection factors are proposed to evaluate the quality of candidate viewpoints, which includes visibility, dimensionality feature of point cloud as well as the distance between viewpoint and transmission power. A score function is constructed to quantify candidate viewpoints, while multiple attribute decision theory is applied to calculate the weight of each factor. Particle swarm optimization(PSO) is used to find the optimal viewpoints set. Both simulation experiment and practical observations are carried out. The results prove that optimal viewpoints have a great contribution for accurate transmission tower inspection. Final results are compared to patch-based method and proved to be feasible.

关键词： Transmission tower inspection Viewpoint optimization Point cloud model Particle swarm optimization(PSO) flying robot

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A novel autonomous self-assembly distributed swarm flying robot

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Chinese Journal of Aeronautics 2013年第3期26卷 791-800页

作者： Wei Hongxing Li Ning Liu Miao Tan Jindong School of Mechanical Engineering and Automation Beihang University Shanghai Institute of Microsystem and Information Technology Biomedical Engineering Department University of Tennessee

Swarm intelligence embodied by many species such as ants and bees has inspired scholars in swarm robotic researches. This paper presents a novel autonomous self-assembly distributed swarm flying robot-DSFR, which can drive on the ground, autonomously accomplish self-assembly and then fly in the air coordinately. Mechanical and electrical designs of a DSFR module, as well as the kinematics and dynamics analysis, are specifically investigated. Meanwhile, this paper brings forward a generalized adjacency matrix to describe configurations of DSFR structures. Also, the distributed flight control model is established for vertical taking-off and horizontal hovering, which can be applied to control of DSFR systems with arbitrary configurations. Finally, some experiments are carried out to testify and validate the DSFR design, the autonomous self-assembly strategy and the distributed flight control laws.

关键词： Distributed control Flight control system flying robot Self assembly Swarm intelligence

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Collaborative Control of a Mother-child Type UGV Platform,a flying robot,and a Ground robot

Collaborative Control of a Mother-child Type UGV Platform,a ...

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2018中国汽车工程学会年会

作者： NI Jun XU Bin WANG Yang XIANG Changle Beijing Institnfe of Technology

This paper reports an collaborative system with UAVs,a UGV Platform,and a ground robots,which is called unmanned ground carrier（UGC）.The UGC is able to conduct complex mission through the collaborative remote control between the UGV platform,UAVs,and ground robots.The details of the design of the UGV platform and the carried flying robot are described.The collaborative control strategy between them is described,including the control signal flow,yaw moment control of the platform,tyre slip ratio control of the platform,and the H-infinity control of the carried flying robot.The experiments of various missions show the functions of the UGC and performance of the collaborative controller between the UGV platform,flying robot,and ground robot.

关键词： collaborative control flying robot unmanned ground vehicle dynamics control

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Design and Experiment of a Deformable Bird-inspired UAV Perching Mechanism

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Journal of Bionic Engineering 2021年第6期18卷 1304-1316页

作者： Long Bai Hao Wang Xiaohong Chen Jia Zheng Liming Xin Yupeng Deng Yuanxi Sun State Key Laboratory of Mechanical Transmission Chongqing UniversityChongqing400030China College of Advanced Manufacturing Engineering Chongqing University of Posts and TelecommunicationsChongqing400065China School of Computer Engineering and Science Shanghai UniversityShanghai200444China

Energy consumption and acoustic noise can be significantly reduced through perching in the sustained flights of small Unmanned Aerial Vehicles(UAVs).However,the existing flying perching robots lack good adaptability or loading capacity in unstructured environments.Aiming at solving these problems,a deformable UAV perching mechanism with strong adaptability and high loading capacity,which is inspired by the structure and movements of birds'feet,is presented in this paper.Three elastic toes,an inverted crank slider mechanism used to realize the opening and closing movements,and a gear mechanism used to deform between two configurations are included in this mechanism.With experiments on its performance towards different objects,Results show that it can perch on various objects reliably,and its payload is more than 15 times its weight.By integrating it with a quadcopter,it can perch on different types of targets in outdoor environments,such as tree branches,cables,eaves,and spherical lamps.In addition,the energy consumption of the UAV perching system when perching on objects can be reduced to 0.015 times that of hovering.

关键词： Perching mechanism Bionic design UAV flying robot Grasper

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