阅读说明：本技术 一种基于隧道穹顶检测的旋翼飞行机器人系统及控制方法 (Rotor flying robot system based on tunnel dome detection and control method ) 是由 丁力 李冬伟 叶霞 刘凯磊 康绍鹏 单文桃 于 2021-09-06 设计创作，主要内容包括：本发明公开了一种基于隧道穹顶检测的旋翼飞行机器人系统及控制方法,涉及隧道检测技术领域。本发明包括四旋翼飞行器、混联检测平台、被动式柔性探测头、二自由度起落架和视觉导航单元；混联检测平台与四旋翼飞行器连接,视觉导航单元安装于四旋翼飞行器底部,二自由度起落架均布在四旋翼飞行器周侧且两者固定连接,被动式柔性探测头与四旋翼飞行器主体连接；四旋翼飞行器吊舱中分别安装有控制单元、执行单元、报警单元、监控中心和监控传输设备。本发明解决了隧道穹顶数据无法实时检测,检测数据精度低,检测设备成本高且无法维修的问题,大大提高了隧道穹顶检测的工作效率和灵活性。(The invention discloses a rotor flying robot system based on tunnel dome detection and a control method, and relates to the technical field of tunnel detection. The invention comprises a four-rotor aircraft, a series-parallel detection platform, a passive flexible probe, a two-degree-of-freedom undercarriage and a visual navigation unit; the parallel-serial detection platform is connected with the four-rotor aircraft, the visual navigation unit is arranged at the bottom of the four-rotor aircraft, the two-degree-of-freedom landing gears are uniformly distributed on the periphery of the four-rotor aircraft and are fixedly connected with the four-rotor aircraft, and the passive flexible probe is connected with the main body of the four-rotor aircraft; a control unit, an execution unit, an alarm unit, a monitoring center and monitoring transmission equipment are respectively arranged in the four-rotor aircraft nacelle. The tunnel dome detection method and device solve the problems that tunnel dome data cannot be detected in real time, detection data accuracy is low, detection equipment cost is high, and maintenance cannot be performed, and work efficiency and flexibility of tunnel dome detection are greatly improved.)

1. The utility model provides a rotor flying robot system based on tunnel dome detects which characterized in that: the system comprises a four-rotor aircraft (1), a series-parallel detection platform (2), a passive flexible probe (3), a two-degree-of-freedom undercarriage (4) and a visual navigation unit (5);

the hybrid detection platform (2) is connected with the four-rotor aircraft (1) through bolts, the visual navigation unit (5) is installed at the bottom of the four-rotor aircraft (1), the two-degree-of-freedom undercarriage (4) is uniformly distributed on the periphery of the four-rotor aircraft (1) and fixedly connected with the four-rotor aircraft (1), and the passive flexible probe (3) is connected with the main body of the four-rotor aircraft (1);

a control unit (6), an execution unit, an alarm unit, a monitoring center and monitoring transmission equipment are respectively arranged in the pod of the four-rotor aircraft (1); the execution unit is connected with the control unit, and the alarm unit is connected with the output end of the control unit;

the control unit (6) comprises a flight motion control subunit for controlling the four-rotor aircraft (1), a motion control subunit for controlling the two-degree-of-freedom undercarriage (4) and a motion control subunit for controlling a tripod head (35) in the visual navigation unit (5); the monitoring center comprises flight path planning software, data analysis software and control instruction generation software.

2. The rotary-wing flying robot system based on tunnel dome detection according to claim 1, characterized in that the four-rotor aircraft (1) comprises an upper base plate (13) and a lower base plate (14) which are electrically adjusted and arranged up and down, and the upper base plate (13) and the lower base plate (14) are fixedly connected through a plurality of supporting frames;

the support assembly frame is composed of two support frames (12), a horn (11) is fixed between the two support frames (12), a motor base (8) is installed at one end, far away from the four-rotor aircraft (1), of the horn (11), a brushless motor (9) is installed at the top of the motor base (8), and a carbon blade (10) is installed at the output end of the brushless motor (9);

the multifunctional hanging basket is characterized in that a plurality of short frames (7) are fixed at the bottom of the lower bottom plate (14), a hanging plate is fixed at the bottom of each short frame (7), a hanging basket is formed between each hanging plate and the lower bottom plate (14), and a lithium battery (15) is arranged in each hanging basket.

3. The rotary-wing flying robot system based on tunnel dome detection is characterized in that the hybrid detection platform (2) comprises an upper spring base (20) and a lower spring base (16) which are arranged up and down, and the upper spring base (20) and the lower spring base (16) are fixedly connected through a support rod (17);

a plurality of spring connectors (19) are arranged on the peripheral side surface of the upper spring base (20), a plurality of connecting blocks are fixed on the upper surface of the lower spring base (16), and a spring (18) is connected between each connecting block and each spring connector (19);

base (20) upper surface installs respectively on the spring and prevents touching ball (22) and sensor support frame (21), it is inboard that ball (22) are located sensor support frame (21) to prevent touching, just install sensor (23) in the recess of sensor support frame (21).

4. A rotary wing flying robot system based on tunnel dome detection according to claim 2, characterized in that the passive flexible probe (3) comprises a first connecting frame (24), an ultrasonic sensor (28), a wear-resistant head cover (27), a first servo motor (26) and a first link (25);

the first connecting frame (24) is arranged at the bottom of the lower bottom plate (14), and the first connecting frame (24) is connected with the wear-resistant head cover (27) through a first connecting rod (25); the ultrasonic sensor (23) is arranged at one end of a wear-resistant head sleeve (27), and the other end of the wear-resistant head sleeve (27) is connected with a first connecting rod (25) and driven by a first servo motor (26);

the two-degree-of-freedom undercarriage (4) comprises a second connecting frame (33), a second connecting rod (32), a third connecting rod (30), a second servo motor (31) and a landing frame (29); the second connecting frame (33) is arranged at the bottom of the lower bottom plate (14), the second connecting rod (32) is connected with the third connecting rod (30) through a rotating joint, and the floor falling frame (29) is fixedly connected with the third connecting rod (30);

the visual navigation unit (5) comprises an infrared camera (34), a holder (35) and an industrial personal computer, wherein the industrial personal computer is composed of a small onboard computer, visual processing software and a 4TB storage hard disk.

5. A rotary-wing flying robot system based on tunnel dome detection according to claim 4, characterized in that the flying motion control subunit controlling the quad-rotor craft (1) comprises wireless data transfer module, accelerometer, barometer, gyroscope and magnetic compass;

the execution unit comprises a plurality of brushless motors (9) on a four-rotor aircraft (1), a plurality of second servo motors (31) on a two-degree-of-freedom undercarriage (4), an industrial personal computer on a visual navigation unit (5) and a first servo motor (26) for controlling a passive flexible probe (3);

the alarm unit comprises a buzzer and an LED, and the monitoring center comprises a mobile phone, a mobile notebook computer and a monitoring room monitoring console.

6. A method of controlling a rotary-wing flying robot system based on tunnel dome detection according to any one of claims 1-5, comprising the steps of:

step 1, initialization: initializing a tunnel dome detection rotor flying robot control unit (6);

step 2, parameter setting: setting the takeoff speed, the forward flying speed, the turning speed and the landing speed of the tunnel dome detection rotor flying robot, the calibration parameters of a passive flexible probe (3), the parameters of a robust controller, the driving parameters of a brushless motor (9), a first servo motor (26) and a second servo motor (31) and the infrared camera parameters through a monitoring center;

step 3, judging an autonomous flight mode: judging whether to enter an autonomous flight mode, if so, entering a step 4, and if not, entering a step 5;

step 4, a remote manual remote control mode: entering a remote manual remote control mode, controlling a tunnel dome by an operator of a monitoring center through a remote controller to detect that the rotor flying robot takes off autonomously, lifting an undercarriage, lifting to a preset height, carrying out single-line tracking inspection, switching the mode into turning control or forward flying inspection according to whether the current rotor flying robot meets a single-line tracking end point, and carrying out two-line tracking inspection until the current rotor flying robot meets a two-line tracking end point after the turning control is finished, and then, automatically landing the rotor flying robot and putting down the undercarriage;

step 5, planning a flight path: if the rotor wing flying robot enters the autonomous flying mode, the monitoring center plans a flight path which can ensure that all areas can be detected and the shortest energy consumption can be realized for the rotor wing flying robot according to the pre-obtained basic information of the detected tunnel, wherein the basic information of the detected tunnel comprises the tunnel body length and the tunnel body height;

step 6, an autonomous flight mode: the autonomous flight mode is divided into four modes, each mode is provided with a corresponding remote control button, and different mode buttons are switched to enter different mode areas;

and 7, stopping the rotor wing flying robot after the inspection task is finished, and returning to the step 3 if the task is not finished.

7. A control method of a rotary-wing flying robot system based on tunnel dome detection according to claim 6, characterized in that the robust controller in step 2 comprises a linear active-disturbance-rejection controller for controlling the four-rotor aircraft (1), a feedback-free open-loop controller for controlling the motion of the two-degree-of-freedom undercarriage (4), and a linear active-disturbance-rejection controller for controlling the pan-tilt (35) in the visual navigation unit (5).

8. The method for controlling the rotor flying robot system based on the tunnel dome detection according to claim 6, wherein the track planning mode in the step 5 is specifically as follows:

and calculating and generating a preset track of the rotor flying robot according to the basic information of the detected tunnel by adopting track planning software of the monitoring center.

9. A control method of a rotary-wing flying robot system based on tunnel dome detection according to claim 6, wherein the four modes in step 6 comprise a takeoff control mode, a patrol inspection control mode, a turning control mode and a landing control mode.

Technical Field

The invention belongs to the technical field of tunnel detection, and particularly relates to a rotor flying robot system based on tunnel dome detection and a control method.

Background

Since the 21 st century, the construction of traffic infrastructure has been an important content of national economic infrastructure, wherein the construction of tunnels is an important link in the construction of traffic infrastructures. Common tunnel problems include tunnel leakage, dome subsidence, hole wall cracking, lining surface variation and the like, so the tunnel needs to be regularly detected and maintained. At present, tunnel detection is mainly completed manually, time and labor are wasted, and the problems of missed detection and false detection easily exist. Especially tunnel domes, whose defects are difficult to detect manually. How to improve the tunnel dome detection efficiency and reduce the manual detection cost is a difficult problem of domestic and overseas exploration.

The current tunnel dome detection mode is generally divided into two modes, the first mode adopts a total station instrument to carry out manual detection, namely, a detector detects the mark points in the tunnel one by one, but the mode cannot monitor detection data in real time, cannot ensure the detection precision and even can miss detection on dangerous sections; the second method is to bury the detection tube in the tunnel dome, and place a plurality of sensors in each detection tube for detecting the crack and subsidence of the dome, but this method needs to bury the detection tube in the dome soil layer, and the cost is high, and is unfavorable for maintenance when the sensor breaks down. Therefore, a rotor flying robot system based on tunnel dome detection and a control method are designed to solve the technical problems.

Disclosure of Invention

The invention provides a rotor flying robot system based on tunnel dome detection and a control method thereof, and solves the problems that tunnel dome data in the existing market cannot be detected in real time, the detection data precision is low, the detection equipment cost is high, and the maintenance cannot be carried out.

In order to solve the technical problems, the invention is realized by the following technical scheme:

the invention relates to a rotor flying robot system based on tunnel dome detection, which comprises a four-rotor aircraft, a series-parallel detection platform, a passive flexible probe, a two-degree-of-freedom undercarriage and a visual navigation unit, wherein the four-rotor aircraft is connected with the parallel-series detection platform; the parallel-serial detection platform is connected with the four-rotor aircraft through bolts, the visual navigation unit is installed at the bottom of the four-rotor aircraft, the two-degree-of-freedom undercarriage is uniformly distributed on the periphery of the four-rotor aircraft and fixedly connected with the four-rotor aircraft, and the passive flexible probe is connected with the four-rotor aircraft main body; a control unit, an execution unit, an alarm unit, a monitoring center and monitoring transmission equipment are respectively arranged in the four-rotor aircraft nacelle; the execution unit is connected with the control unit, and the alarm unit is connected with the output end of the control unit; the control unit comprises a flight motion control subunit for controlling the four-rotor aircraft, a motion control subunit for controlling the two-degree-of-freedom undercarriage and a motion control subunit for controlling a holder in the visual navigation unit; the monitoring center comprises flight path planning software, data analysis software and control instruction generation software.

Furthermore, the four-rotor aircraft comprises an upper base plate and a lower base plate which are electrically adjusted and arranged up and down, and the upper base plate and the lower base plate are fixedly connected through a plurality of supporting assembly frames; the support group frame comprises two support frames, is fixed with the horn between two support frames, the horn is kept away from the one end of four rotor crafts and is installed motor base, brushless motor is installed at motor base top, the carbon blade is installed to the brushless motor output.

The hanging cage is characterized in that a plurality of short frames are fixed at the bottom of the lower base plate, hanging plates are fixed at the bottoms of the short frames, hanging cages are formed between the hanging plates and the lower base plate, and lithium batteries are arranged in the hanging cages.

Further, the series-parallel detection platform comprises an upper spring base and a lower spring base which are arranged up and down, and the upper spring base is fixedly connected with the lower spring base through a support rod.

A plurality of spring connectors are arranged on the peripheral side surface of the upper spring base, a plurality of connecting blocks are fixed on the upper surface of the lower spring base, and springs are connected between the connecting blocks and the spring connectors; the upper surface of the base on the spring is respectively provided with a touch-proof ball and a sensor support frame, the touch-proof ball is positioned on the inner side of the sensor support frame, and a sensor is arranged in a groove of the sensor support frame.

Further, the passive flexible probe comprises a first connecting frame, an ultrasonic sensor, a wear-resistant head sleeve, a first servo motor and a first connecting rod; the first connecting frame is arranged at the bottom of the lower bottom plate and is connected with the wear-resistant head sleeve through a first connecting rod; the ultrasonic sensor is arranged at one end of the wear-resistant head sleeve, and the other end of the wear-resistant head sleeve is connected with the first connecting rod and driven by the first servo motor.

The two-degree-of-freedom undercarriage comprises a second connecting frame, a second connecting rod, a third connecting rod, a second servo motor and a landing frame; the second connecting frame is arranged at the bottom of the lower bottom plate, the second connecting rod is connected with the third connecting rod through a rotating joint, and the floor falling frame is fixedly connected with the third connecting rod; the visual navigation unit comprises an infrared camera, a holder and an industrial personal computer, wherein the industrial personal computer consists of a small onboard computer, visual processing software and a 4TB storage hard disk.

Further, the flight motion control subunit for controlling the four-rotor aircraft comprises a wireless data transmission module, an accelerometer, a barometer, a gyroscope and a magnetic compass.

The execution unit comprises a plurality of brushless motors on the four-rotor aircraft, a plurality of second servo motors on the two-degree-of-freedom undercarriage, an industrial personal computer on the visual navigation unit and a first servo motor for controlling the passive flexible probe.

The alarm unit comprises a buzzer and an LED, and the monitoring center comprises a mobile phone, a mobile notebook computer and a monitoring room monitoring console.

A control method of a rotor flying robot system based on tunnel dome detection comprises the following steps:

step 1, initialization: initializing a tunnel dome detection rotor flying robot control unit;

step 2, parameter setting: setting the takeoff speed, the forward flying speed, the turning speed and the landing speed of the tunnel dome detection rotor flying robot, the calibration parameters of a passive flexible probe, the parameters of a robust controller, the driving parameters of a brushless motor, a first servo motor and a second servo motor and the infrared camera parameters through a monitoring center;

step 3, judging an autonomous flight mode: judging whether to enter an autonomous flight mode, if so, entering a step 4, and if not, entering a step 5;

step 4, a remote manual remote control mode: entering a remote manual remote control mode, controlling a tunnel dome by an operator of a monitoring center through a remote controller to detect that the rotor flying robot takes off autonomously, lifting an undercarriage, lifting to a preset height, carrying out single-line tracking inspection, switching the mode into turning control or forward flying inspection according to whether the current rotor flying robot meets a single-line tracking end point, and carrying out two-line tracking inspection until the current rotor flying robot meets a two-line tracking end point after the turning control is finished, and then, automatically landing the rotor flying robot and putting down the undercarriage;

step 5, planning a flight path: if the rotor wing flying robot enters the autonomous flying mode, the monitoring center plans a flight path which can ensure that all areas can be detected and the shortest energy consumption can be realized for the rotor wing flying robot according to the pre-obtained basic information of the detected tunnel, wherein the basic information of the detected tunnel comprises the tunnel body length and the tunnel body height;

step 6, an autonomous flight mode: the autonomous flight mode is divided into four modes, each mode is provided with a corresponding remote control button, and different mode buttons are switched to enter different mode areas;

and 7, stopping the rotor wing flying robot after the inspection task is finished, and returning to the step 3 if the task is not finished.

Further, the robust controller in step 2 comprises a linear active disturbance rejection controller for controlling the quad-rotor aircraft, a feedback-free open-loop controller for controlling the motion of the two-degree-of-freedom undercarriage, and a linear active disturbance rejection controller for controlling a pan-tilt in the visual navigation unit.

Further, the route planning method in the step 5 specifically includes:

and calculating and generating a preset track of the rotor flying robot according to the basic information of the detected tunnel by adopting track planning software of the monitoring center.

Further, the four modes in the step 6 include a takeoff control mode, a patrol control mode, a turning control mode and a landing control mode.

The invention has the following beneficial effects:

1. the tunnel dome detection method and the tunnel dome detection system solve the problems that tunnel dome data cannot be detected in real time, detection data accuracy is low, detection equipment is high in cost and cannot be maintained, the tunnel dome is detected in real time at low cost, detection results are transmitted to a ground monitoring center in real time to be monitored, and working efficiency and flexibility of tunnel dome detection are greatly improved.

2. According to the invention, the sensor is arranged in the groove of the sensor support frame and is matched with the anti-touch ball, so that the sensor can be effectively prevented from being damaged due to direct contact with the dome in the flight detection process of the four-rotor aircraft, and the flight detection stability of the four-rotor aircraft is greatly improved.

Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of the general structure of a tunnel dome detection rotor flying robot system of the invention.

Fig. 2 is a schematic structural diagram of a quad-rotor aircraft of the tunnel dome detection rotorcraft system of the present invention.

Fig. 3 is a schematic structural view of a hybrid detection platform of the tunnel dome detection rotor flying robot system of the present invention.

FIG. 4 is a schematic structural diagram of a passive flexible probe of the tunnel dome detection rotorcraft system of the present invention.

FIG. 5 is a schematic structural view of a two-degree-of-freedom undercarriage of a tunnel dome detection rotor flying robot system according to the present invention.

FIG. 6 is a schematic structural diagram of a tunnel dome detection rotor flying robot system vision navigation unit of the present invention.

FIG. 7 is a diagram of the hardware components of the flight motion control system of the present invention.

FIG. 8 is a control flow diagram of the control system of the present invention.

Fig. 9 is a block diagram of a takeoff control principle of the rotor flying robot of the invention.

Figure 10 is a block diagram of the present invention rotor flying robot position and attitude control concept.

FIG. 11 is a block diagram of the rotor flying robot turning control principle of the present invention.

Fig. 12 is a block diagram of the principle of the rotor flying robot landing control of the present invention.

FIG. 13 is a schematic diagram of the track planning of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1-a four-rotor aircraft, 2-a series-parallel detection platform, 3-a passive flexible probe, 4-a two-degree-of-freedom undercarriage, 5-a visual navigation unit, 6-a control unit, 7-a short frame, 8-a motor base, 9-a brushless motor, 10-a carbon blade, 11-a horn, 12-a support frame, 13-an upper base plate, 14-a lower base plate, 15-a lithium battery, 16-a spring lower base, 17-a support rod, 18-a spring, 19-a spring connector, 20-a spring upper base, 21-a sensor support frame, 22-a contact-preventing ball, 23-a sensor, 24-a first connection frame, 25-a first connection rod, 26-a first servo motor, 27-a wear-resistant head cap, 28-an ultrasonic sensor, 29-a floor frame, 30-a third connecting rod, 31-a second servo motor, 32-a second connecting rod, 33-a second connecting frame, 34-an infrared camera and 35-a tripod head.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-13, the invention is a rotor flying robot system based on tunnel dome detection, comprising a four-rotor aircraft 1, a hybrid detection platform 2, a passive flexible probe 3, a two-degree-of-freedom undercarriage 4 and a visual navigation unit 5;

the parallel-serial detection platform 2 is connected with the four-rotor aircraft 1 through bolts, the visual navigation unit 5 is installed at the bottom of the four-rotor aircraft 1, the two-degree-of-freedom undercarriage 4 is uniformly distributed on the periphery of the four-rotor aircraft 1 and fixedly connected with the four-rotor aircraft 1, and the passive flexible probe 3 is connected with the main body of the four-rotor aircraft 1;

a control unit 6, an execution unit, an alarm unit, a monitoring center and monitoring transmission equipment are respectively arranged in a pod of the four-rotor aircraft 1; the alarm unit is connected with the output end of the control unit;

the control unit 6 comprises a flight motion control subunit for controlling the four-rotor aircraft 1, a motion control subunit for controlling the two-degree-of-freedom undercarriage 4 and a motion control subunit for controlling the cradle head in the visual navigation unit 5, wherein the motion control subunit for controlling the two-degree-of-freedom undercarriage 4 and the motion control subunit for controlling the cradle head 35 in the visual navigation unit 5 are used for receiving information of the visual navigation unit 5, the passive flexible probe 3 and the two-degree-of-freedom undercarriage 4 and sending an execution instruction to the execution unit, and the control unit 6 comprises a flight controller arranged on the four-rotor aircraft 1 and a control system arranged in an industrial personal computer of the visual navigation unit 5; the monitoring center comprises track planning software, data analysis software and control instruction generation software and is used for remotely controlling the tunnel dome detection rotor flying robot system and observing tunnel dome detection data in real time.

Preferably, the four-rotor aircraft 1 comprises an upper baseplate 13 and a lower baseplate 14 which are electrically adjusted and arranged up and down, and the upper baseplate 13 and the lower baseplate 14 are fixedly connected through a plurality of supporting frames;

the support assembly frame is composed of two support frames 12, a horn 11 is fixed between the two support frames 12, a motor base 8 is installed at one end, far away from the four-rotor aircraft 1, of the horn 11, a brushless motor 9 is installed at the top of the motor base 8, and a carbon blade 10 is installed at the output end of the brushless motor 9;

a plurality of short frames 7 are fixed at the bottom of the lower bottom plate 14, a hanging plate is fixed at the bottom of each short frame 7, a hanging cabin is formed between each hanging plate and the lower bottom plate 14, and a lithium battery 15 is arranged in each hanging cabin; this quad-rotor aircraft 1 serves as a main body to realize the movement of the entire system in three-dimensional space.

Preferably, the series-parallel detection platform 2 is in a spring arm configuration, and comprises an upper spring base 20 and a lower spring base 16 which are arranged up and down, wherein the upper spring base 20 and the lower spring base 16 are fixedly connected through a support rod 17;

a plurality of spring connectors 19 are arranged on the peripheral side surface of the upper spring base 20, a plurality of connecting blocks are fixed on the upper surface of the lower spring base 16, and springs 18 are connected between the connecting blocks and the spring connectors 19;

the upper surface of the spring upper base 20 is respectively provided with the anti-touch ball 22 and the sensor support frame 21, the anti-touch ball 22 is positioned on the inner side of the sensor support frame 21, the sensor 23 is arranged in the groove of the sensor support frame 21, and the sensor 23 is arranged in the groove of the sensor support frame 21 to prevent the sensor 23 from being damaged due to direct contact with a dome.

Preferably, the passive flexible probe 3 comprises a first connecting frame 24, an ultrasonic sensor 28, a wear-resistant head cover 27, a first servo motor 26 and a first connecting rod 25; the ultrasonic sensor 28 is used for detecting tunnel dome defects and providing altitude information for the quad-rotor aircraft 1;

the first connecting frame 24 is arranged at the bottom of the lower bottom plate 14, and the first connecting frame 24 is connected with the wear-resistant head cover 27 through a first connecting rod 25; the ultrasonic sensor 28 is arranged at one end of the wear-resistant head sleeve 27, and the other end of the wear-resistant head sleeve 27 is connected with the first connecting rod 25 and driven by the first servo motor 26;

the two-degree-of-freedom undercarriage 4 comprises a second connecting frame 33, a second connecting rod 32, a third connecting rod 30, a second servo motor 31 and a floor stand 29; the second connecting frame 33 is arranged at the bottom of the lower bottom plate 14, the second connecting rod 32 is connected with the third connecting rod 30 through a rotating joint, and the floor frame 29 is fixedly connected with the third connecting rod 30; the second servo motor 31 controls the movement of the third link 30, and the two-degree-of-freedom undercarriage 4 is used for protecting the rotor flying robot from safely landing and preventing the carbon blades 10 from colliding with foreign matters and falling in the air;

the visual navigation unit 5 comprises an infrared camera 34, a cloud deck 35 and an industrial personal computer, wherein the industrial personal computer is carried in the nacelle and consists of a small onboard computer, visual processing software and a 4TB storage hard disk and is used for processing shot view images in real time and providing position information required by flight for the four-rotor aircraft 1 by utilizing the visual navigation unit 5.

Preferably, the flight motion control subunit controlling the quadrotor 1 comprises a wireless data transmission module, an accelerometer, a barometer, a gyroscope and a magnetic compass;

the execution unit comprises a plurality of brushless motors 9 on the four-rotor aircraft 1, a plurality of second servo motors 31 on the two-degree-of-freedom undercarriage 4, an industrial personal computer on the visual navigation unit 5 and a first servo motor 26 for controlling the passive flexible probe 3;

the alarm unit comprises a buzzer and an LED (light emitting diode) and is used for triggering a buzzing alarm sound and a flashing prompt when abnormal conditions occur, and the monitoring center comprises a mobile phone, a mobile notebook computer and a monitoring room monitoring console.

A control method of a rotor flying robot system based on tunnel dome detection comprises the following steps:

step 1, initialization: initializing a tunnel dome detection rotor flying robot control unit 6;

step 2, parameter setting: setting the takeoff speed, the forward flying speed, the turning speed and the landing speed of the tunnel dome detection rotor flying robot, the calibration parameters of the passive flexible detection head 3, the parameters of the robust controller, the driving parameters of the brushless motor 9, the first servo motor 26 and the second servo motor 31 and the infrared camera parameters through the monitoring center;

step 3, judging an autonomous flight mode: judging whether to enter an autonomous flight mode, if so, entering a step 4, and if not, entering a step 5;

step 4, a remote manual remote control mode: entering a remote manual remote control mode, controlling a tunnel dome by an operator of a monitoring center through a remote controller to detect that the rotor flying robot takes off autonomously, lifting an undercarriage, lifting to a preset height, carrying out single-line tracking inspection, switching the mode into turning control or forward flying inspection according to whether the current rotor flying robot meets a single-line tracking end point, and carrying out two-line tracking inspection until the current rotor flying robot meets a two-line tracking end point after the turning control is finished, and then, automatically landing the rotor flying robot and putting down the undercarriage;

step 5, planning a flight path: if the rotor wing flying robot enters the autonomous flying mode, the monitoring center plans a flight path which can ensure that all areas can be detected and the shortest energy consumption can be realized for the rotor wing flying robot according to the pre-obtained basic information of the detected tunnel, wherein the basic information of the detected tunnel comprises the tunnel body length and the tunnel body height;

step 6, an autonomous flight mode: the autonomous flight mode is divided into four modes, each mode is provided with a corresponding remote control button, and different mode buttons are switched to enter different mode areas;

and 7, stopping the rotor wing flying robot after the inspection task is finished, and returning to the step 3 if the task is not finished.

Preferably, the robust controller in step 2 includes a linear active disturbance rejection controller for controlling the quad-rotor aircraft 1, a feedback-free open loop controller for controlling the motion of the two-degree-of-freedom undercarriage 4, and a linear active disturbance rejection controller for controlling the pan-tilt 35 in the visual navigation unit 5.

Preferably, the route planning method in step 5 specifically includes:

and calculating and generating a preset track of the rotor wing flying robot according to the basic information of the detected tunnel by adopting track planning software of the monitoring center.

Preferably, the four modes in the step 6 include a takeoff control mode, a patrol control mode, a turning control mode and a landing control mode;

a takeoff control mode: an operator sends a working instruction to the tunnel dome detection rotor flying robot through the monitoring center, a plurality of brushless motors 9 of the rotor flying robot start to work, a plurality of carbon blades 10 rotate and generate lift force, the rotor flying robot vertically rises until the passive flexible probe 3 touches the tunnel dome, the tunnel dome height value obtained by the passive flexible probe 3 is different from the expected height value given by the monitoring center, after the adjustment of the linear active disturbance rejection controller, a control adjustment signal is sent to the height dynamics model of the four-rotor aircraft 1, the rotating speed of the four blades 10 is further controlled to change, the difference value between the tunnel dome height value obtained by the carbon passive flexible probe 3 and the expected height value given by the monitoring center is reduced, and when the preset height is reached, the takeoff control mode stops. In a take-off control mode, a small onboard computer in the industrial personal computer sends an action instruction to the two-degree-of-freedom undercarriage 4, the two-degree-of-freedom undercarriage 4 is lifted through a feedback-free open-loop controller, and the semicircular two-degree-of-freedom undercarriage 4 is parallel to the paddle disk surfaces of the carbon blades 10;

and a patrol control mode: when the rotor flying robot reaches a specified flight starting point, the control unit 6 is switched to an inspection control mode, the rotating speed value of one pair of blades in the plurality of carbon blades 10 is changed, so that the rotor flying robot autonomously flies forward along a preset track, the difference between the actual position and the attitude of the rotor flying robot obtained by calculation of the visual navigation unit 5 and the expected position and the attitude obtained by planning of the monitoring center is made, after the adjustment of the linear auto-disturbance rejection controller, a control adjustment signal is sent to the position and attitude dynamic model of the quadrotor 1, the rotating speed change of the plurality of carbon blades 10 is further controlled, the difference between the position and the attitude of the rotor flying robot and the position and attitude given by the monitoring center is reduced, and when the rotor flying robot reaches a single-line terminal point, the inspection control mode is stopped;

the turning control mode is as follows: when the rotor flying robot reaches the single-line terminal, the control unit 6 is switched to a turning control mode, the rotating speed values of the carbon blades 10 are changed, so that the rotor flying robot turns and flies, the difference between the actual turning angle of the rotor flying robot obtained by calculation of the visual navigation unit 5 and the expected turning angle obtained by planning of the monitoring center is made, after adjustment of the linear active disturbance rejection controller, a control adjustment signal is sent to a yaw dynamic model of the four-rotor aircraft 1, the rotating speed change of the carbon blades 10 is further controlled, the difference between the actual turning angle of the rotor flying robot and the given turning angle of the monitoring center is reduced, when the rotor flying robot reaches the two-line starting point, the turning control mode is stopped, and the rotor flying robot enters the inspection control mode again;

and (3) a landing control mode: when the rotor flying robot reaches a second-line terminal, the control unit 6 is switched to a landing control mode, the rotating speed values of the carbon blades 10 are changed, so that the rotor flying robot lands autonomously, the difference between the actual landing position of the rotor flying robot obtained by calculation of the visual navigation unit and the expected landing position obtained by planning of the monitoring center is made, after adjustment of the linear active disturbance rejection controller, a control adjustment signal is sent to a height dynamics model of the quadrotor 1, the rotating speed change of the carbon blades 10 is further controlled, the difference between the actual position of the rotor flying robot and the given landing position of the monitoring center is reduced, and when the rotor flying robot reaches the given landing position, the landing control mode is stopped;

preferably, the principle of the linear active disturbance rejection controller is:

where u is the linear active disturbance rejection control law, k₁And k₂As a controller parameter, r_e、Andgiven the signal sum and its first and second derivatives respectively,andthe system state quantity is estimated by a linear extended state observer in the linear active disturbance rejection controller, and meanwhile, the error disturbance of the system can also be estimated by the linear extended observer and compensated.

Preferably, the principle of the feedback-free open-loop controller is to directly control two rotary joints of the two-degree-of-freedom undercarriage to reach a predetermined angle, and the control comprises two modes of controlling the two-degree-of-freedom undercarriage 4 to ascend and controlling the two-degree-of-freedom undercarriage 4 to retract.

Preferably, the highly dynamic model of the quad-rotor aircraft is:

in the formula of U₁For control commands in the takeoff control mode, θ is the pitch angle of the quad-rotor aircraft, φ is the roll angle of the quad-rotor aircraft, m is the mass of the quad-rotor aircraft, g is the weight acceleration, z is the height of the quad-rotor aircraft,the linear velocity of the four-rotor aircraft in the height direction is added.

Preferably, the position and attitude dynamics model of the quad-rotor aircraft is:

in the formula of U₂And U₃Respectively roll and pitch control commands of the four-rotor aircraft, psi is the turning angle of the four-rotor aircraft, I_xAnd I_yThe rotational inertia of the four-rotor aircraft around the x and y axes respectively, the x and y are the positions of the four-rotor aircraft,andlinear acceleration in the direction of the four-rotor aircraft position,andrespectively, the attitude angular acceleration of the four-rotor aircraft.

Preferably, the yaw dynamics model of the quad-rotor aircraft is:

in the formula of U₄For four-rotor aircraft turning control commands, I_zThe moment of inertia around the z-axis is the four-rotor aircraft.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.