机器人技术应用-空中机器人
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Aerial Robotics
18722261
TangLei 1
Aerial Robotics
One Two Three Four
Background ，History and Applications
Background ，History and Applications
Current Challenges
combines lightweight electric engines with wing-mounted solar panels
With aninert,low-density at mosphereon Mars,such a vehicle relies on a rocket engine for propulsion
From the mid 1980s on, the development of aerial robots has followed an exponential pace
The number of machines currently under development or in operation,which exceeds 200 vehicle types
➢Civilian and Private Applications
Small-scale
Long-term scientific applications
film making Environmental surveys
atmospheric sampling experiment
With the progressive introduction of aerial robots in the regulatory framework of many countries, we believe that intermittent applications of aerial robotics in populated areas will eventually become commonplace
15
Flight Vehicle Types and Flight Regimes
Hover
Stalled and High-Angleof-Attack Flight
Cruising Flight
·TEXT add here ·TEXT add here ·TEXT add here
16
The Entry Level for Aerial Robotics: Inner-Loop Control
11
Current Challenges
Regulations and Certification
Multivehicle
Coordination
7
Aerial Robot Landing and Interaction with Other Vehicles
Human–Machine Interfaces
Reduce the Speed Reduce the Angle of Attack
14
Propulsion Systems
·jet
·rocket · electric
·internal combustion
Electric propulsion systems, once unthinkable, have become a reality for several small-sized aerial robots,thanks to the development of affordable brushless electric engines and lightweight batteries
Inertial measurement systems consist of a combination of usually three orthogonally
mounted accelerometers and three orthogonally mounted gyroscopes
1.straight up, is hovering 2. upSide down
their size the characteristics of their lifting mechanisms
13
Basic Aerial Robot Flight Concepts
Aerial Robot Flight and the Importance of Scales
Several solutions Shrink the Wing
altimeters
es
distance measuring
1
1 radar and1passive vision1 sensors 1
1
17
The Entry Level for Aerial Robotics: Inner-Loop Control
Inertial Navigation Systems
military applications form the bulk of unmanned aerial robotics for the purpose of payload delivery, beginning in its crudest form with missiles,and evolving to wards cruise missiles,able to navigate for thousands of miles and reach their targets with highprecision
Thus not much distinguishes current aerial robots from traditional manned aircraft, except that the pilot sits on the ground rather than in the air As such, most of today’s operational aerial robots may be justifiably called remotely piloted vehicles
Navigation
Agile Flight and Fault Tolerance
Obstacle Avoidance
12
Basic Aerial Robot Flight Concepts
Aerial Robot Flight and the Importance of Scales
the performance of aerial robots depends
aerospace
3
History of Aerial Robotics
The history of aerial robotics is very closely tied to the history of flight itself.
the rate of fatali-ties associated with early manned flight tests Need to operateflying machines without the presence of humans on board encyclopedias dating the concept back to Leonardo da Vinci Newcome devising a robotic vehicle remotely controlled by electromagnetic waves logic to recognize and execute remotely transmitted orders
man-portable machines
mid-sized
Pointer Raven
Aerosonde Seascan Shadow unmanned vehicles
larger-sized
Predator Global Hawk
8
Current Applications
Aerial Observations
Image acquisition
Remote sensing
Search and rescue
Transportation
Communications
Payload delivery
7
Current Applications
Aerial Observations
➢Military Operations.
the vast majority of current,operational aerial robots are fixed-wing aircraft
6
Possible Applications of Aerial Robots
Surveillance
Disaster response
Remote sensing
4
History of Aerial Robotics
TEXT
Hewitt– Sperry au-
tomatic airplane
1
TEXT German V-1
2
TEXT
Gyrodyne QH-50 DASH
3
TEXT Yamaha R-
50 and R-Max
4
5
History of Aerial Robotics
10
Current Applications
General Characteristics of Current Applications: Level of Autonomy
higher levels of autonomy, such as path planning, object detection, and recognition and mission management involve human operators
9
Current Applications
Payload Delivery
delivering solid, liquid or gaseous products in areas that are hard to reach for humans
the most successful civilian application has been chemical crop spraying using small unmanned helicopters
·beginning of the 20th century
meanings
➢roboticflying machines ➢Robotics that use flying machines ➢Both two
TEXT
➢unmanned aerial vehicles (UAVs) ➢unmanned aerials systems (UASs)
Current Challenges
Basic Concepts anቤተ መጻሕፍቲ ባይዱ control
Basic Concepts and control
Active Research Areas
Active Research Areas
2
Background
The term aerial robotics is often attributed to Robert Michelson--- highly intelligent, small flying machines
Sensing and Estimation
inertial navigati
on systems
global navigati
on satellite systems
terrestrial radio
navigatio n systems
air data
probes magnetic
and
compass
18
The Entry Level for Aerial Robotics: Inner-Loop Control
Global Navigation Satellite Systems
The Global Positioning System ( GPS) and its Russian equivalent GLONASS and future European Galileo space-based systems offer real-time absolute position information, using a constellation of satellites circum-
18722261
TangLei 1
Aerial Robotics
One Two Three Four
Background ，History and Applications
Background ，History and Applications
Current Challenges
combines lightweight electric engines with wing-mounted solar panels
With aninert,low-density at mosphereon Mars,such a vehicle relies on a rocket engine for propulsion
From the mid 1980s on, the development of aerial robots has followed an exponential pace
The number of machines currently under development or in operation,which exceeds 200 vehicle types
➢Civilian and Private Applications
Small-scale
Long-term scientific applications
film making Environmental surveys
atmospheric sampling experiment
With the progressive introduction of aerial robots in the regulatory framework of many countries, we believe that intermittent applications of aerial robotics in populated areas will eventually become commonplace
15
Flight Vehicle Types and Flight Regimes
Hover
Stalled and High-Angleof-Attack Flight
Cruising Flight
·TEXT add here ·TEXT add here ·TEXT add here
16
The Entry Level for Aerial Robotics: Inner-Loop Control
11
Current Challenges
Regulations and Certification
Multivehicle
Coordination
7
Aerial Robot Landing and Interaction with Other Vehicles
Human–Machine Interfaces
Reduce the Speed Reduce the Angle of Attack
14
Propulsion Systems
·jet
·rocket · electric
·internal combustion
Electric propulsion systems, once unthinkable, have become a reality for several small-sized aerial robots,thanks to the development of affordable brushless electric engines and lightweight batteries
Inertial measurement systems consist of a combination of usually three orthogonally
mounted accelerometers and three orthogonally mounted gyroscopes
1.straight up, is hovering 2. upSide down
their size the characteristics of their lifting mechanisms
13
Basic Aerial Robot Flight Concepts
Aerial Robot Flight and the Importance of Scales
Several solutions Shrink the Wing
altimeters
es
distance measuring
1
1 radar and1passive vision1 sensors 1
1
17
The Entry Level for Aerial Robotics: Inner-Loop Control
Inertial Navigation Systems
military applications form the bulk of unmanned aerial robotics for the purpose of payload delivery, beginning in its crudest form with missiles,and evolving to wards cruise missiles,able to navigate for thousands of miles and reach their targets with highprecision
Thus not much distinguishes current aerial robots from traditional manned aircraft, except that the pilot sits on the ground rather than in the air As such, most of today’s operational aerial robots may be justifiably called remotely piloted vehicles
Navigation
Agile Flight and Fault Tolerance
Obstacle Avoidance
12
Basic Aerial Robot Flight Concepts
Aerial Robot Flight and the Importance of Scales
the performance of aerial robots depends
aerospace
3
History of Aerial Robotics
The history of aerial robotics is very closely tied to the history of flight itself.
the rate of fatali-ties associated with early manned flight tests Need to operateflying machines without the presence of humans on board encyclopedias dating the concept back to Leonardo da Vinci Newcome devising a robotic vehicle remotely controlled by electromagnetic waves logic to recognize and execute remotely transmitted orders
man-portable machines
mid-sized
Pointer Raven
Aerosonde Seascan Shadow unmanned vehicles
larger-sized
Predator Global Hawk
8
Current Applications
Aerial Observations
Image acquisition
Remote sensing
Search and rescue
Transportation
Communications
Payload delivery
7
Current Applications
Aerial Observations
➢Military Operations.
the vast majority of current,operational aerial robots are fixed-wing aircraft
6
Possible Applications of Aerial Robots
Surveillance
Disaster response
Remote sensing
4
History of Aerial Robotics
TEXT
Hewitt– Sperry au-
tomatic airplane
1
TEXT German V-1
2
TEXT
Gyrodyne QH-50 DASH
3
TEXT Yamaha R-
50 and R-Max
4
5
History of Aerial Robotics
10
Current Applications
General Characteristics of Current Applications: Level of Autonomy
higher levels of autonomy, such as path planning, object detection, and recognition and mission management involve human operators
9
Current Applications
Payload Delivery
delivering solid, liquid or gaseous products in areas that are hard to reach for humans
the most successful civilian application has been chemical crop spraying using small unmanned helicopters
·beginning of the 20th century
meanings
➢roboticflying machines ➢Robotics that use flying machines ➢Both two
TEXT
➢unmanned aerial vehicles (UAVs) ➢unmanned aerials systems (UASs)
Current Challenges
Basic Concepts anቤተ መጻሕፍቲ ባይዱ control
Basic Concepts and control
Active Research Areas
Active Research Areas
2
Background
The term aerial robotics is often attributed to Robert Michelson--- highly intelligent, small flying machines
Sensing and Estimation
inertial navigati
on systems
global navigati
on satellite systems
terrestrial radio
navigatio n systems
air data
probes magnetic
and
compass
18
The Entry Level for Aerial Robotics: Inner-Loop Control
Global Navigation Satellite Systems
The Global Positioning System ( GPS) and its Russian equivalent GLONASS and future European Galileo space-based systems offer real-time absolute position information, using a constellation of satellites circum-