The invention provides an external disturbance classification method and system for an unmanned aerial vehicle, and the method comprises the following steps: configuring a single-degree-of-freedom mechanical arm module to a preset contact surface position, and enabling a force sensor module at the front end of the single-degree-of-freedom mechanical arm module to measure the normal contact force of the unmanned aerial vehicle and the contact surface in real time; estimating total disturbance suffered by the unmanned aerial vehicle through a total disturbance estimation sub-module according to the motor rotating speed and the state information of the unmanned aerial vehicle; classifying according to the estimated total disturbance and the contact disturbance measured by the force sensor module, and resolving the estimated wind disturbance and contact disturbance through a wind disturbance and contact disturbance classification sub-module. The system comprises a single-degree-of-freedom mechanical arm module, a force sensor module and an external disturbance classification module. The invention is suitable for long-time low-frequency contact disturbance, so that the unmanned aerial vehicle can accurately execute contact application in an environment in which wind disturbance exists at the same time.

    本发明提供了一种无人机的外部扰动分类方法及系统,其方法包括如下步骤:通过配置所述单自由度机械臂模块到预设接触面位置,所述单自由度机械臂模块前端的所述力传感器模块实时测量所述无人机与接触面的法向接触力;根据所述无人机的电机转速和状态信息,通过总扰动估计子模块估计所述无人机受到的总扰动;根据估计的总扰动和所述力传感器模块测量的接触扰动进行分类,通过风扰动和接触扰动分类子模块解算估计的风扰动和接触扰动;其系统包括单自由度机械臂模块、力传感器模块和外部扰动分类模块。本发明适用于长时间低频的接触扰动,从而在风扰动同时存在的环境下,无人机能精确地执行接触类应用。


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    Title :

    External disturbance classification method and system for unmanned aerial vehicle


    Additional title:

    无人机的外部扰动分类方法及系统


    Contributors:
    JING ZHONGLIANG (author) / SUN YINSHUAI (author) / DONG PENG (author)

    Publication date :

    2021-09-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06K Erkennen von Daten , RECOGNITION OF DATA / B64C AEROPLANES , Flugzeuge / G01L Messen von Kraft, mechanischer Spannung, Drehmoment, Arbeit, mechanischer Leistung, mechanischem Wirkungsgrad oder des Drucks von Fluiden , MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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