CN113998100B - Robot for aerial contact type nondestructive testing operation and control method - Google Patents

Robot for aerial contact type nondestructive testing operation and control method Download PDF

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CN113998100B
CN113998100B CN202111594747.0A CN202111594747A CN113998100B CN 113998100 B CN113998100 B CN 113998100B CN 202111594747 A CN202111594747 A CN 202111594747A CN 113998100 B CN113998100 B CN 113998100B
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carbon tube
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CN113998100A (en
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钟杭
曾俊豪
王耀南
张辉
毛建旭
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Hunan University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications

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  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The invention discloses a robot for aerial contact type nondestructive testing operation and a control method, wherein the aerial contact type nondestructive testing operation robot comprises a multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle is provided with an airborne computer, a measuring mechanism and a driving mechanism, the measuring mechanism comprises a measuring host, a depth camera, a first carbon tube, a second carbon tube and an ultrasonic measuring probe, and the driving mechanism comprises a first driving motor, a second driving motor and a third driving motor; the invention can improve the working efficiency, liberate the manpower and provide better precision stability.

Description

Robot for aerial contact type nondestructive testing operation and control method
Technical Field
The invention relates to the technical field of aerial nondestructive testing, in particular to a robot for aerial contact type nondestructive testing operation and a control method.
Background
The large-scale oil and gas pipelines, the large-scale wind driven generators, the fire/nuclear power stations, the large-scale bridges and other heavy infrastructures are the common material foundation for production, operation and life of all enterprises, units and residents, are the guarantee of normal operation of main urban facilities, and are the important conditions of material production and labor reproduction. However, in the case of large oil and gas pipelines, crude oil and other raw materials are circulated in storage tanks and pipelines at high speed throughout the year, and since the raw materials contain a large amount of ions such as chlorine, sulfur and ammonium which have strong corrosiveness on various metal materials, casualties and production line paralysis are caused once equipment leakage occurs in the process of conveying and reprocessing the raw materials, and national economy is seriously affected. The state regulates that these major infrastructures need to be tested at different periods each year according to their respective testing requirements.
Since the damage detection damages the subject, nondestructive thickness measurement is generally used. The metal nondestructive thickness measuring equipment on the market only has a handheld type and a crawling type. Due to the limitation of equipment, the detection of large-scale infrastructure can only depend on manual scaffold erection, climbing and hanging. In order to ensure the safety of detection, extra materials are spent for protection, so that the cost is increased; meanwhile, during detection, personnel with certain construction experience and skill are required to monitor on the ground, so that the manpower is wasted; in the detection process, not only the constructors face the falling danger, but also the objects falling from high altitude threaten the life safety of the guardians below; because manual work wastes time and energy when climbing to the high altitude, mobility is also very poor, simultaneously because of there is a series of problems that air gap etc. leads to the inaccurate testing result in the manual detection to have when contacting for detection efficiency is low, the rate of accuracy is low. Therefore, industrial metal nondestructive testing equipment in China needs to be upgraded urgently to completely replace manpower.
In combination with the background, in order to make up for the vacancy of large-scale infrastructure detection equipment, the invention designs a flexible autonomous operation aerial robot system with accurate positioning and strong anti-interference capability aiming at metal nondestructive detection, and aims to solve the defects of the existing scheme.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a robot and a method for aerial contact type nondestructive testing operation.
The technical scheme provided by the invention is as follows: the utility model provides a robot for aerial contact nondestructive test operation, includes many rotor unmanned aerial vehicle, many rotor unmanned aerial vehicle is provided with the machine and carries the computer, still includes:
the measuring mechanism comprises a measuring host, a depth camera, a first carbon tube, a second carbon tube and an ultrasonic measuring probe, wherein the measuring host is fixedly arranged on the multi-rotor unmanned aerial vehicle, the depth camera is fixedly arranged on the first carbon tube, the first carbon tube is provided with a chute, an elastic part is fixedly arranged in the chute, the second carbon tube is movably sleeved with the first carbon tube, the second carbon tube is elastically connected with the first carbon tube through the elastic part, and the ultrasonic measuring probe is arranged at one end part of the second carbon tube, which is far away from the first carbon tube;
actuating mechanism, including first driving motor, second driving motor and third driving motor, first driving motor is fixed to be set up on many rotor unmanned aerial vehicle, second driving motor passes through the connecting piece and rotates with first driving motor to be connected, first carbon pipe passes through the connecting piece and rotates to be located on the second driving motor, third driving motor is fixed to be located on the first carbon pipe and is connected with the transmission of second carbon pipe.
Furthermore, the measuring mechanism further comprises a third carbon tube, the third carbon tube is fixedly sleeved on the second carbon tube, an annular stabilizer and a spring are sleeved at one end part of the third carbon tube, which is far away from the second carbon tube, the ultrasonic measuring probe is positioned in the middle of the annular stabilizer base, and the annular stabilizer is elastically connected with the third carbon tube through the spring.
Further, many rotor unmanned aerial vehicle still is provided with the gel distributor, the gel distributor is connected to the probe surface through the conveying pipeline.
Furthermore, a steering wheel is fixedly arranged on the third driving motor, a steel wire is arranged on the steering wheel, and the third driving motor is in transmission connection with the second carbon tube through the steel wire.
Furthermore, both ends of the elastic component are provided with pin shafts, and the elastic component is fixedly connected with the first carbon tube and the second carbon tube through the pin shafts respectively.
A method of controlling a robot for aerial contact non-destructive inspection operations, the method comprising the steps of:
s1: establishing an unmanned aerial vehicle dynamic model, a perspective camera model and a mass-spring-damper model;
s2: designing a task function according to the image characteristics and the expected image characteristics, wherein the task function is expressed as:
Figure 400915DEST_PATH_IMAGE001
Figure 762888DEST_PATH_IMAGE002
in order to be a feature of the image,
Figure 430630DEST_PATH_IMAGE003
in order to be able to characterize the image as desired,
Figure 692984DEST_PATH_IMAGE004
is an interaction matrix, which relates the change of image features in the camera to the camera speed,
Figure 155190DEST_PATH_IMAGE005
as an interaction matrix
Figure 237415DEST_PATH_IMAGE004
The generalized inverse matrix of (2);
s3: designing a visual control law of the unmanned aerial vehicle by combining a task function with the change track of the image characteristics and the movement speed of the camera;
s4: converting the speed generated by the contact force applied to the manipulator into the speed in the image space;
s5: the velocity of the robot end mechanism in the camera coordinate system required to ensure constant control of the contact force is calculated.
Further, the step 1 comprises the following steps:
s11: establishing an unmanned aerial vehicle dynamic model, wherein the model description is as follows:
Figure 443269DEST_PATH_IMAGE006
wherein the content of the first and second substances,
Figure 232233DEST_PATH_IMAGE007
representing the corresponding position and attitude information of the drone,
Figure 255553DEST_PATH_IMAGE008
is composed of
Figure 966020DEST_PATH_IMAGE009
The first order differential of the first order of the,
Figure 353662DEST_PATH_IMAGE010
is composed of
Figure 465974DEST_PATH_IMAGE009
The second order differential of (a) is,
Figure 129037DEST_PATH_IMAGE011
for symmetrically positively determining an inertia matrix, matrix
Figure 326800DEST_PATH_IMAGE012
Representing the centrifugal force and the effect of the coriolis force,
Figure 671193DEST_PATH_IMAGE013
is a vector related to the gravity force,
Figure 762646DEST_PATH_IMAGE014
is prepared from (a)
Figure 3135DEST_PATH_IMAGE015
) Order vector, representing a generalized coordinate variable to the system
Figure 547248DEST_PATH_IMAGE009
Is the force/moment of the generalized force/moment,
Figure 898595DEST_PATH_IMAGE016
representing the force/moment that the system is reacting to the environment;
s12: establishing a perspective camera model, wherein the model is described as follows:
Figure 80440DEST_PATH_IMAGE017
Figure 491830DEST_PATH_IMAGE018
Figure 195344DEST_PATH_IMAGE017
as a camera coordinate system
Figure 943857DEST_PATH_IMAGE019
One of the image coordinate points in (1),
Figure 885268DEST_PATH_IMAGE020
is the abscissa of the coordinate point of the image,
Figure 264297DEST_PATH_IMAGE021
is the ordinate of the image coordinate point,
Figure 783003DEST_PATH_IMAGE022
is the height of the image coordinate point,
Figure 476152DEST_PATH_IMAGE023
is the focal length of the camera and
Figure 865545DEST_PATH_IMAGE024
，
Figure 618738DEST_PATH_IMAGE025
as image coordinate points
Figure 126205DEST_PATH_IMAGE026
Mapping to an image coordinate system;
s13, establishing a mass-spring-damper model, wherein the model is described as follows:
Figure 623045DEST_PATH_IMAGE027
Figure 398103DEST_PATH_IMAGE028
in order for the inertia to be as desired,
Figure 56618DEST_PATH_IMAGE029
in order to achieve the desired damping,
Figure 222020DEST_PATH_IMAGE030
in order to be the desired stiffness matrix,
Figure 381606DEST_PATH_IMAGE031
is prepared from (a)
Figure 152116DEST_PATH_IMAGE032
) The order vector represents the pose of the flexible manipulator;
Figure 840586DEST_PATH_IMAGE033
is composed of
Figure 696546DEST_PATH_IMAGE031
The first order differential, representing the corresponding velocity,
Figure 161288DEST_PATH_IMAGE034
is composed of
Figure 317463DEST_PATH_IMAGE031
The second order differential of (a), representing the corresponding acceleration,
Figure 583359DEST_PATH_IMAGE035
is the contact force of the robot.
Further, the step S3 includes the following steps:
s31: expressing the differential relationship of the change of the image feature to the motion speed of the camera:
Figure 785670DEST_PATH_IMAGE036
（1）
Figure 428004DEST_PATH_IMAGE037
is a 6-dimensional vector representing the speed of the camera; involving instantaneous angular velocity
Figure 32161DEST_PATH_IMAGE038
And instantaneous linear velocity in the camera coordinate system with respect to a given desired point
Figure 203379DEST_PATH_IMAGE039
，
Figure 892987DEST_PATH_IMAGE004
For the interaction matrix, the change in image characteristics in the camera is linked to the camera speed,
Figure 73432DEST_PATH_IMAGE040
representing the motion trail of the image feature S in the camera image;
s32: to task function
Figure 27701DEST_PATH_IMAGE041
Taking the time derivative to obtain:
Figure 635400DEST_PATH_IMAGE042
（2）
s, 33: combining formulas (1) and (2) to obtain:
Figure 484407DEST_PATH_IMAGE043
（3）
Figure 327598DEST_PATH_IMAGE044
is a 6-dimensional square matrix;
s34: designing a vision control law according to the following equations (1) and (3):
Figure 516134DEST_PATH_IMAGE045
（4）
Figure 419368DEST_PATH_IMAGE037
is an output obtained according to the visual control law of equation (4),
Figure 958934DEST_PATH_IMAGE046
is a constant.
Further, the step S4 includes the following steps:
s41: to pairThe mass-spring-damper model is simplified, only considering the damping matrix
Figure 605816DEST_PATH_IMAGE029
And then:
Figure 711175DEST_PATH_IMAGE047
Figure 660676DEST_PATH_IMAGE048
Figure 782478DEST_PATH_IMAGE049
is composed of
Figure 905155DEST_PATH_IMAGE031
Corresponding to a correlation interaction matrix in the definition of the 3-dimensional pose of the image;
s42: the manipulator is contacted with the contact force
Figure 68283DEST_PATH_IMAGE035
Velocity of generation
Figure 47741DEST_PATH_IMAGE033
Conversion to velocity in image space
Figure 561899DEST_PATH_IMAGE050
The calculation formula is as follows:
Figure 550583DEST_PATH_IMAGE051
Figure 568218DEST_PATH_IMAGE052
indicating that the manipulator is subjected to contact force
Figure 921839DEST_PATH_IMAGE035
Velocity of generation
Figure 782347DEST_PATH_IMAGE033
Conversion to a velocity in the image space is made,
Figure 450089DEST_PATH_IMAGE053
as an interaction matrix
Figure 948329DEST_PATH_IMAGE054
The inverse of the matrix of (a) is,
Figure 410534DEST_PATH_IMAGE055
is a damping matrix
Figure 758339DEST_PATH_IMAGE029
The inverse of the matrix of (a) is,
Figure 964192DEST_PATH_IMAGE056
a desired constant contact force.
Further, the step S5 includes the following steps:
s51: expressing the speed of the robot end mechanism in the camera coordinate system:
Figure 753157DEST_PATH_IMAGE057
（5）
Figure 776476DEST_PATH_IMAGE058
the speed of the robot end mechanism in a camera coordinate system;
s52: introducing diagonal selection matrix
Figure 955785DEST_PATH_IMAGE059
And corresponding complementary matrix
Figure 89963DEST_PATH_IMAGE060
To ensure orthogonality:
Figure 202275DEST_PATH_IMAGE061
（6）
s53: an expression for hybrid vision/force control is obtained from equations (5) and (6):
Figure 632382DEST_PATH_IMAGE062
when in use
Figure 830145DEST_PATH_IMAGE063
Or
Figure 174539DEST_PATH_IMAGE064
Time, output
Figure 265992DEST_PATH_IMAGE065
Thereby controlling the robot and the manipulator to move and ensuring the constant control of the contact force.
Compared with the prior art, the robot for aerial contact type nondestructive testing operation and the control method have the following advantages that:
the flexible manipulator with the nondestructive testing function is combined with the unmanned aerial vehicle, and the defects of high overhead nondestructive testing cost and long time consumption are overcome by utilizing the characteristics of hovering and high maneuverability of the unmanned aerial vehicle. The designed control algorithm realizes the combination of visual servo control and force control, namely the air robot realizes front and back movement while maintaining constant force contact in nondestructive testing, can effectively buffer external interference, and solves the problem that the robot is greatly interfered by external environment in the contact testing process; because the surfaces of the bridge pier, the oil tank and the wind driven generator are mostly very smooth, the designed annular stabilizer can add extra stress points for the robot and a measured object, and the horizontal sliding caused by the single-point plane contact of the probe in the contact process is prevented, so that the annular stabilizer is also suitable for the arc-shaped curved surface, and the application scene of the robot is enlarged.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a block diagram of a robot for aerial contact non-destructive inspection operations;
FIG. 2 is a top view of a robot for aerial contact non-destructive inspection operations;
FIG. 3 is a rear view of a robot for aerial contact non-destructive inspection operations;
FIG. 4 is a flowchart of a method of controlling a robot for aerial contact non-destructive inspection operations;
fig. 5 is a system framework diagram of a control method of a robot for aerial contact type nondestructive testing operation.
1. A multi-rotor unmanned aerial vehicle; 3. a third drive motor; 4. a first drive motor; 5. a second drive motor; 6, a measuring host; 7. an ultrasonic measurement probe; 8. an annular stabilizer; 9. an elastic mechanism; 10. a depth camera; 11. an onboard computer; 12. a power source; 13. a rudder wheel; 14. a first pin shaft; 15. a first carbon tube; 16. a second carbon tube; 17. a third carbon tube; 18. a second pin shaft; 19. a gel dispenser; 20. a spring.
Detailed Description
The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.
An embodiment one, a robot for aerial contact nondestructive test operation, including many rotor unmanned aerial vehicle 1, many rotor unmanned aerial vehicle 1 is provided with airborne computer 11, airborne computer 11 is fixed to be located 1 bottoms of many rotor unmanned aerial vehicle, still includes: the measuring mechanism comprises a measuring host 6, a depth camera 10, a first carbon tube 15, a second carbon tube 16 and an ultrasonic measuring probe 7, the measurement host 6 is fixedly arranged at the top of the multi-rotor unmanned aerial vehicle 1, the depth camera 10 is fixedly arranged at the middle position of the first carbon tube 15, the second carbon tube 16 is movably sleeved with the first carbon tube 15, and the first carbon tube 15 is provided with a chute, an elastic component such as a spring and the like which has the functions of elastic transmission of power or movement and damping is fixedly arranged in the chute, the two ends of the elastic component are respectively provided with a pin shaft, the elastic component is respectively fixedly connected with a first carbon tube 15 and a second carbon tube 16 through the pin shafts, the pin shaft at the front end is a first pin shaft 14, the pin shaft at the rear end is a second pin shaft 18, the ultrasonic measurement probe 7 is arranged at one end part of the second carbon tube 16 far away from the first carbon tube 15;
the driving mechanism comprises a first driving motor 4, a second driving motor 5 and a third driving motor 3, wherein the first driving motor 4 is fixedly arranged at the top of the multi-rotor unmanned aerial vehicle 1, the first driving motor 4 and the measuring host 6 are arranged in parallel in the embodiment, in other embodiments, the position of the measuring host 6 is set to be the position which does not affect the work of the first driving motor 4, the second driving motor 5 is fixedly arranged on the first driving motor 4, the second driving motor 5 is fixedly connected with the output end of the first driving motor 4 through a connecting piece, namely, the rotation of the output end of the first driving motor 4 can drive the second driving motor 5 to rotate left and right, the first carbon tube 15 is rotatably arranged on the second driving motor 5 through the connecting piece, namely, the first carbon tube 15 is fixedly connected with the connecting piece, the connecting piece is fixedly arranged at the output end of the second driving motor 5, the rotation of the output end of the second driving motor 5 can drive the first carbon tube 15 to move up and down, the third driving motor 3 is fixedly arranged at the tail end of the first carbon tube 15, namely, one end far away from the ultrasonic measuring probe 7, a steering wheel 13 is fixedly arranged on the third driving motor 3, a steel wire is arranged on the steering wheel 13, the output end of the third driving motor 3 is fixedly connected with the first pin shaft 14 through the steel wire, and the elasticity of the elastic component and the rotation of the output end of the third driving motor 3 are utilized to enable the second carbon tube 16 to be retracted backwards or extended forwards according to the operation of the third driving motor 3.
When the multi-rotor unmanned aerial vehicle 1 flies to the position near the surface of an object to be detected, the multi-rotor unmanned aerial vehicle 1 acquires image characteristics to the airborne computer 11 through the depth camera 10, and the airborne computer 11 performs algorithm processing to control the multi-rotor unmanned aerial vehicle 1 to move towards the surface of the object to be detected, so that the ultrasonic measuring probe 7 is in contact with the object, and the airborne computer 11 controls the contact force to be constant through the algorithm, thereby keeping dynamic stability; in the contact process, the ultrasonic measurement probe 7 sends ultrasonic waves constantly to detect, detection data are returned to the measurement host 6, the measurement host 6 carries out data processing to obtain monitoring data which can be checked by an operator, and the monitoring data are transmitted to a ground computer software interface in real time to be displayed by using a built-in radio frequency module. The ultrasonic measuring probe 7 detects data such as thickness of metal, thickness of certain metal such as wind turbine blade, and the like.
The measuring mechanism further includes a third carbon tube 17, the third carbon tube 17 is fixedly sleeved on the second carbon tube 16, in this embodiment, the third carbon tube 17 is in interference fit with the second carbon tube 16, an end portion of the third carbon tube 17, which is far away from the second carbon tube 16, is sleeved with an annular stabilizer 8 and a spring 20, the ultrasonic measuring probe 7 is located at a middle position of a base of the annular stabilizer 8, the annular stabilizer 8 is elastically connected with the third carbon tube 17 through the spring 20, that is, the annular stabilizer 8 is movably sleeved on the third carbon tube 17, one end of the spring 20 is fixedly connected with the third carbon tube 17, and the other end of the spring 20 is fixedly connected with the annular stabilizer 8, so that when the annular stabilizer 8 is subjected to pressure and moves towards the direction of the second carbon tube 16, the spring 20 can be compressed, and thus the ultrasonic measuring probe 7, the annular stabilizer 8, the counter-acting force of the spring 20, and the ultrasonic measuring probe 7, the annular stabilizer 8, The first carbon tube 15, the second carbon tube 16, and the third carbon tube 17 constitute a robot.
When the multi-rotor unmanned aerial vehicle 1 flies to the position near the surface of an object to be detected, the multi-rotor unmanned aerial vehicle 1 acquires image characteristics to the airborne computer 11 through the depth camera 10, and the airborne computer 11 performs algorithm processing to control the multi-rotor unmanned aerial vehicle 1 to move towards the surface of the object to be detected, so that the ultrasonic measuring probe 7 is in contact with the object, and the airborne computer 11 controls the contact force to be constant through the algorithm, thereby keeping dynamic stability; in-process of contact, annular stabilizer 8 is earlier than ultrasonic measurement probe 7 contact object surface, many rotor unmanned aerial vehicle 1 continues to move to the object surface, the spring 20 of compression annular stabilizer 8 rear, can assist ultrasonic measurement probe 7 to carry out nondestructive test, improve the stability of contact detection, prevent that many rotor unmanned aerial vehicle 1 from rocking the removal that leads to ultrasonic measurement probe 7 because of self, ultrasonic measurement probe 7 sends the ultrasonic wave constantly and surveys, and return measured data to measuring host 6, measuring host 6 carries out data processing, obtain the monitoring data that can supply the operating personnel to look over, and utilize built-in wireless radio frequency module to convey monitoring data to ground computer software interface in real time and show.
Still be provided with the gel distributor on many rotor unmanned aerial vehicle 1, the gel distributor sets up on measuring the host computer to be connected to probe 7 surfaces through the conveying pipeline.
When many rotor unmanned aerial vehicle 1 flies near waiting to detect the object surface, acquire image characteristic to machine-carried computer 11 through depth camera 10, carry out algorithm by machine-carried computer 11 and handle to control many rotor unmanned aerial vehicle 1 and remove to detecting the object surface, make ultrasonic measurement probe 7 contact the object after, ground operating personnel sends the instruction to gel distributor 19 in the software on the ground computer, gel distributor 19 sprays the gel to the probe surface through the conveying pipeline, forms vacuum environment with the object contact.
In a second embodiment, a method for controlling a robot for aerial contact type nondestructive testing work includes the steps of:
s1: establishing an unmanned aerial vehicle dynamic model, a perspective camera model and a mass-spring-damper model;
s2: designing a task function according to the image characteristics and the expected image characteristics, wherein the task function is expressed as:
Figure 240901DEST_PATH_IMAGE001
Figure 785015DEST_PATH_IMAGE002
in order to be a feature of the image,
Figure 136362DEST_PATH_IMAGE003
in order to be able to characterize the image as desired,
Figure 82321DEST_PATH_IMAGE004
is an interaction matrix, which relates the change of image features in the camera to the camera speed,
Figure 290448DEST_PATH_IMAGE005
the generalized inverse matrix is an interaction matrix;
s3: designing a visual control law of the unmanned aerial vehicle by combining a task function with the change track of the image characteristics and the movement speed of the camera;
s4: converting the speed generated by the contact force applied to the manipulator into the speed in the image space;
s5: the speed of the robot end mechanism (i.e. the ultrasonic measuring probe 7 and the ring stabilizer 8 described above) in the camera coordinate system required to ensure constant control of the contact force is calculated.
By adopting the mixed vision/force control, the contact force between the ultrasonic measuring probe and the detected object is constant in the contact process of the manipulator and the detected metal object, and the interference resistance, the measuring accuracy and the measuring efficiency in the nondestructive testing process are effectively improved by combining with the vision servo control, so that the robot can carry out nondestructive testing on non-smooth curved surfaces such as planes and curved surfaces, and the diversification of the scene application of the aerial nondestructive testing is realized.
Further, the step 1 comprises the following steps:
s11: establishing an unmanned aerial vehicle dynamic model, wherein the model description is as follows:
Figure 197224DEST_PATH_IMAGE066
wherein the content of the first and second substances,
Figure 706922DEST_PATH_IMAGE007
representing the corresponding position and attitude information of the drone,
Figure 648333DEST_PATH_IMAGE008
is composed of
Figure 824100DEST_PATH_IMAGE009
The first order differential of the first order of the,
Figure 218172DEST_PATH_IMAGE010
is composed of
Figure 35955DEST_PATH_IMAGE009
The second order differential of (a) is,
Figure 628611DEST_PATH_IMAGE011
for symmetrically positively determining an inertia matrix, matrix
Figure 381803DEST_PATH_IMAGE012
Representing the centrifugal force and the effect of the coriolis force,
Figure 387805DEST_PATH_IMAGE013
is a vector related to the gravity force,
Figure 353487DEST_PATH_IMAGE014
is prepared from (a)
Figure 630010DEST_PATH_IMAGE015
) Order vector, representing a generalized coordinate variable to the system
Figure 350841DEST_PATH_IMAGE009
Is the force/moment of the generalized force/moment,
Figure 719506DEST_PATH_IMAGE016
representing the force/moment that the system is reacting to the environment;
s12: establishing a perspective camera model, wherein the model is described as follows:
Figure 879092DEST_PATH_IMAGE017
Figure 384022DEST_PATH_IMAGE018
Figure 338072DEST_PATH_IMAGE017
for an image in the camera coordinate systemThe number of the punctuation marks is marked,
Figure 194032DEST_PATH_IMAGE020
is the abscissa of the coordinate point of the image,
Figure 891730DEST_PATH_IMAGE021
is the ordinate of the image coordinate point,
Figure 313484DEST_PATH_IMAGE022
is the height of the image coordinate point,
Figure 579380DEST_PATH_IMAGE023
is the focal length of the camera and
Figure 283156DEST_PATH_IMAGE024
，
Figure 659911DEST_PATH_IMAGE025
as image coordinate points
Figure 936172DEST_PATH_IMAGE017
Mapping to an image coordinate system;
s13, establishing a mass-spring-damper model, wherein the model is described as follows:
Figure 232024DEST_PATH_IMAGE027
Figure 796997DEST_PATH_IMAGE028
in order for the inertia to be as desired,
Figure 508601DEST_PATH_IMAGE029
in order to achieve the desired damping,
Figure 232844DEST_PATH_IMAGE030
in order to be the desired stiffness matrix,
Figure 574963DEST_PATH_IMAGE031
is prepared from (a)
Figure 423971DEST_PATH_IMAGE032
) An order vector representing the pose of the flexible manipulator 2;
Figure 267162DEST_PATH_IMAGE033
is composed of
Figure 455698DEST_PATH_IMAGE031
The first order differential, representing the corresponding velocity,
Figure 31036DEST_PATH_IMAGE034
is composed of
Figure 931121DEST_PATH_IMAGE031
The second order differential of (a), representing the corresponding acceleration,
Figure 250107DEST_PATH_IMAGE035
is the contact force of the robot.
Further, the step S3 includes the following steps:
s31: expressing the differential relationship of the change of the image feature to the motion speed of the camera:
Figure 558728DEST_PATH_IMAGE036
（1）
Figure 367284DEST_PATH_IMAGE037
is a 6-dimensional vector representing the speed of the camera; involving instantaneous angular velocity
Figure 925304DEST_PATH_IMAGE038
And instantaneous linear velocity in the camera coordinate system with respect to a given desired point
Figure 985664DEST_PATH_IMAGE039
，
Figure 273426DEST_PATH_IMAGE004
For the interaction matrix, the change in image characteristics in the camera is linked to the camera speed,
Figure 190567DEST_PATH_IMAGE040
representing the motion trail of the image feature S in the camera image;
s32: to task function
Figure 439145DEST_PATH_IMAGE041
Taking the time derivative to obtain:
Figure 99934DEST_PATH_IMAGE042
（2）
s, 33: combining formulas (1) and (2) to obtain:
Figure 976623DEST_PATH_IMAGE043
（3）
Figure 533506DEST_PATH_IMAGE044
is a 6-dimensional square matrix, and when the aerial robot reaches a specified position, the expected image characteristics
Figure 66119DEST_PATH_IMAGE067
The method comprises the following steps:
Figure 822941DEST_PATH_IMAGE068
s34: the vision control law is therefore designed according to equations (1) and (3):
Figure 960662DEST_PATH_IMAGE045
（4）
Figure 485184DEST_PATH_IMAGE037
is an output obtained according to the visual control law of equation (4),
Figure 301830DEST_PATH_IMAGE046
is a constant.
Further, the step S4 includes the following steps:
s41: simplifying the mass-spring-damper model by only considering the damping matrix
Figure 570000DEST_PATH_IMAGE029
And then:
Figure 296648DEST_PATH_IMAGE047
Figure 726492DEST_PATH_IMAGE048
Figure 561593DEST_PATH_IMAGE049
is composed of
Figure 305558DEST_PATH_IMAGE031
Corresponding to a correlation interaction matrix in the definition of the 3-dimensional pose of the image;
s42: the manipulator is contacted with the contact force
Figure 949029DEST_PATH_IMAGE035
Velocity of generation
Figure 877671DEST_PATH_IMAGE033
Conversion to velocity in image space
Figure 809855DEST_PATH_IMAGE050
The calculation formula is as follows:
Figure 419828DEST_PATH_IMAGE051
Figure 747166DEST_PATH_IMAGE052
indicating that the manipulator is subjected to contact force
Figure 518813DEST_PATH_IMAGE035
Velocity of generation
Figure 938293DEST_PATH_IMAGE033
Conversion to a velocity in the image space is made,
Figure 86378DEST_PATH_IMAGE053
as an interaction matrix
Figure 32337DEST_PATH_IMAGE054
The inverse of the matrix of (a) is,
Figure 912568DEST_PATH_IMAGE055
is a damping matrix
Figure 943978DEST_PATH_IMAGE029
The inverse of the matrix of (a) is,
Figure 895754DEST_PATH_IMAGE056
a desired constant contact force.
Further, the step S5 includes the following steps:
s51: expressing the speed of the robot end mechanism in the camera coordinate system:
Figure 306006DEST_PATH_IMAGE057
（5）
Figure 685035DEST_PATH_IMAGE058
the speed of the robot end mechanism in a camera coordinate system;
s52: because the invention adopts mixed vision/force control, the speed of the final aerial manipulator end mechanism in a camera coordinate system
Figure 938162DEST_PATH_IMAGE069
Ensuring vision and force controller output
Figure 631311DEST_PATH_IMAGE070
And
Figure 223967DEST_PATH_IMAGE071
the invention divides visual control and force control into two independent control loops which run in orthogonal directions, introduces a diagonal selection matrix
Figure 337679DEST_PATH_IMAGE072
And corresponding complementary matrix
Figure 750205DEST_PATH_IMAGE073
To ensure orthogonality, then:
Figure 247046DEST_PATH_IMAGE061
（6）
s53: an expression for hybrid vision/force control is obtained from equations (5) and (6):
Figure 756525DEST_PATH_IMAGE062
when in use
Figure 680618DEST_PATH_IMAGE063
Or
Figure 846020DEST_PATH_IMAGE064
Time, output
Figure 740027DEST_PATH_IMAGE065
Finally through
Figure 244958DEST_PATH_IMAGE074
Image Jacobian inverse matrix, velocity of end mechanism of manipulator in camera coordinate system
Figure 136690DEST_PATH_IMAGE075
Conversion to corresponding velocity vectors in joint coordinate system
Figure 586126DEST_PATH_IMAGE076
Thereby controlling the robot and the manipulator to move and ensuring the constant control of the contact force. The joint coordinate system (joint coordinate system) is an automated scientific term published in 1990.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. The utility model provides a robot for aerial contact nondestructive test operation, includes many rotor unmanned aerial vehicle (1), many rotor unmanned aerial vehicle (1) are provided with airborne computer (11), its characterized in that still includes:
the measuring mechanism comprises a measuring host (6), a depth camera (10), a first carbon tube (15), a second carbon tube (16) and an ultrasonic measuring probe (7), wherein the measuring host (6) is fixedly arranged on the multi-rotor unmanned aerial vehicle (1), the depth camera (10) is fixedly arranged on the first carbon tube (15), a sliding groove is formed in the first carbon tube (15), an elastic component (9) is fixedly arranged in the sliding groove, the second carbon tube (16) is movably sleeved with the first carbon tube (15), the second carbon tube (16) is elastically connected with the first carbon tube (15) through the elastic component (9), and the ultrasonic measuring probe (7) is arranged at one end part, far away from the first carbon tube (15), of the second carbon tube (16);
the driving mechanism comprises a first driving motor (4), a second driving motor (5) and a third driving motor (3), wherein the first driving motor (4) is fixedly arranged on the multi-rotor unmanned aerial vehicle (1), the second driving motor (5) is rotatably connected with the first driving motor (4) through a connecting piece, the first carbon tube (15) is rotatably arranged on the second driving motor (5) through the connecting piece, and the third driving motor (3) is fixedly arranged on the first carbon tube (15) and is in transmission connection with the second carbon tube (16);
when the multi-rotor unmanned aerial vehicle (1) flies to the position near the surface of an object to be detected, image characteristics are acquired to the airborne computer (11) through the depth camera (10) and processed by the airborne computer (11) to control the multi-rotor unmanned aerial vehicle (1) to move towards the surface of the object to be detected, so that the ultrasonic measuring probe (7) is in contact with the object, and the airborne computer (11) controls the contact force to be constant, so that the ultrasonic measuring probe (7) is kept to be dynamically stable; in the contact process, the ultrasonic measuring probe (7) sends ultrasonic waves at any time for detection, detection data are returned to the measuring host (6), and the measuring host (6) performs data processing.
2. The robot for aerial contact type nondestructive testing operation according to claim 1, wherein the measuring mechanism further comprises a third carbon tube (17), the third carbon tube (17) is fixedly sleeved on the second carbon tube (16), an annular stabilizer (8) and a spring (20) are sleeved on an end portion of the third carbon tube (17) far away from the second carbon tube (16), the ultrasonic measuring probe (7) is located at a middle position of a base of the annular stabilizer (8), and the annular stabilizer (8) is elastically connected with the third carbon tube (17) through the spring (20).
3. Robot for aerial contact non-destructive inspection operations according to claim 2, characterized in that said multi-rotor drone (1) is further provided with a gel distributor (19), said gel distributor (19) being connected to the probe (7) surface by a feed conveyor.
4. The robot for aerial contact type nondestructive testing operation according to claim 3, wherein a rudder plate (13) is fixedly arranged on the third driving motor (3), a steel wire is arranged on the rudder plate (13), and the third driving motor (3) is in transmission connection with the second carbon tube (16) through the steel wire.
5. The robot for aerial contact type nondestructive testing operation according to claim 4, wherein the elastic member (9) has pins at both ends, and the elastic member (9) is fixedly connected to the first carbon tube (15) and the second carbon tube (16) by the pins.
6. A method of controlling a robot for aerial contact non-destructive inspection operations, the method comprising the steps of:
s1: establishing an unmanned aerial vehicle dynamic model, a perspective camera model and a mass-spring-damper model;
the step S1 includes the steps of:
s11: establishing an unmanned aerial vehicle dynamic model, wherein the model description is as follows:
Figure 574658DEST_PATH_IMAGE002
wherein the content of the first and second substances,
Figure 429481DEST_PATH_IMAGE004
representing the corresponding position and attitude information of the drone,
Figure 209218DEST_PATH_IMAGE006
is composed of
Figure 791378DEST_PATH_IMAGE008
The first order differential of the first order of the,
Figure 605751DEST_PATH_IMAGE010
is composed of
Figure 428213DEST_PATH_IMAGE008
The second order differential of (a) is,
Figure 632929DEST_PATH_IMAGE012
for symmetrically positively determining an inertia matrix, matrix
Figure 831830DEST_PATH_IMAGE014
Representing the centrifugal force and the effect of the coriolis force,
Figure 500708DEST_PATH_IMAGE016
is a vector related to the gravity force,
Figure 182488DEST_PATH_IMAGE018
is prepared from (a)
Figure 936817DEST_PATH_IMAGE020
) Order vector, representing a generalized coordinate variable to the system
Figure 673829DEST_PATH_IMAGE008
Is the force/moment of the generalized force/moment,
Figure 134897DEST_PATH_IMAGE022
representing the force/moment that the system is reacting to the environment;
s12: establishing a perspective camera model, wherein the model is described as follows:
Figure 564741DEST_PATH_IMAGE024
Figure 993318DEST_PATH_IMAGE026
Figure 268441DEST_PATH_IMAGE024
for one image coordinate point in the camera coordinate system,
Figure 911912DEST_PATH_IMAGE028
is the abscissa of the coordinate point of the image,
Figure 184762DEST_PATH_IMAGE030
is the ordinate of the image coordinate point,
Figure 913683DEST_PATH_IMAGE032
is the height of the image coordinate point,
Figure 992498DEST_PATH_IMAGE034
is the focal length of the camera and
Figure 175961DEST_PATH_IMAGE036
，
Figure 947608DEST_PATH_IMAGE038
as image coordinate points
Figure 898246DEST_PATH_IMAGE024
Mapping to an image coordinate system;
s13, establishing a mass-spring-damper model, wherein the model is described as follows:
Figure 718435DEST_PATH_IMAGE040
Figure 70919DEST_PATH_IMAGE042
in order for the inertia to be as desired,
Figure 13467DEST_PATH_IMAGE044
in order to achieve the desired damping,
Figure 638352DEST_PATH_IMAGE046
in order to be the desired stiffness matrix,
Figure 58969DEST_PATH_IMAGE048
is prepared from (a)
Figure 531539DEST_PATH_IMAGE050
) The order vector represents the pose of the flexible manipulator;
Figure 582672DEST_PATH_IMAGE052
is composed of
Figure 507902DEST_PATH_IMAGE048
The first order differential, representing the corresponding velocity,
Figure 732210DEST_PATH_IMAGE054
is composed of
Figure 482123DEST_PATH_IMAGE048
The second order differential of (a), representing the corresponding acceleration,
Figure 766473DEST_PATH_IMAGE056
the external force is the contact force applied to the robot;
s2: designing a task function according to the image characteristics and the expected image characteristics, wherein the task function is expressed as:
Figure DEST_PATH_IMAGE057
s is a feature of the image,
Figure DEST_PATH_IMAGE059
in order to be able to characterize the image as desired,
Figure DEST_PATH_IMAGE061
is an interaction matrix, which relates the change of image features in the camera to the camera speed,
Figure DEST_PATH_IMAGE063
as an interaction matrix
Figure DEST_PATH_IMAGE065
The generalized inverse matrix of (2);
s3: designing a visual control law of the unmanned aerial vehicle by combining a task function with the change track of the image characteristics and the movement speed of the camera;
the step S3 includes the steps of:
s31: expressing the differential relationship of the change of the image feature to the motion speed of the camera:
Figure 303634DEST_PATH_IMAGE066
（1）
Figure 331633DEST_PATH_IMAGE068
is a 6-dimensional vector representing the speed of the camera; involving instantaneous angular velocity
Figure 450899DEST_PATH_IMAGE070
And instantaneous linear velocity in the camera coordinate system with respect to a given desired point
Figure 640571DEST_PATH_IMAGE072
，
Figure 540394DEST_PATH_IMAGE061
For the interaction matrix, the change in image characteristics in the camera is linked to the camera speed,
Figure 797850DEST_PATH_IMAGE074
representing the motion track of the image feature s in the camera image;
s32: to task function
Figure 99518DEST_PATH_IMAGE076
Calculating timeDerivative, yielding:
Figure DEST_PATH_IMAGE077
（2）
s33: combining formulas (1) and (2) to obtain:
Figure 397776DEST_PATH_IMAGE078
（3）
Figure 784895DEST_PATH_IMAGE080
is a 6-dimensional square matrix;
s34: designing a vision control law according to the following equations (1) and (3):
Figure DEST_PATH_IMAGE081
（4）
Figure 341647DEST_PATH_IMAGE068
is an output obtained according to the visual control law of equation (4),
Figure DEST_PATH_IMAGE083
is a constant;
s4: converting the speed generated by the contact force applied to the manipulator into the speed in the image space;
the step S4 includes the steps of:
s41: simplifying the mass-spring-damper model by only considering the damping matrix
Figure 232243DEST_PATH_IMAGE044
And then:
Figure DEST_PATH_IMAGE085
Figure DEST_PATH_IMAGE087
Figure DEST_PATH_IMAGE089
is composed of
Figure 655396DEST_PATH_IMAGE048
Corresponding to a correlation interaction matrix in the definition of the 3-dimensional pose of the image;
s42: the manipulator is contacted with the contact force
Figure 264232DEST_PATH_IMAGE056
Velocity of generation
Figure 437724DEST_PATH_IMAGE052
Conversion to velocity in image space
Figure DEST_PATH_IMAGE091
The calculation formula is as follows:
Figure DEST_PATH_IMAGE093
Figure 386089DEST_PATH_IMAGE094
indicating that the manipulator is subjected to contact force
Figure 540995DEST_PATH_IMAGE056
Velocity of generation
Figure 637127DEST_PATH_IMAGE052
Conversion to a velocity in the image space is made,
Figure 286414DEST_PATH_IMAGE096
as an interaction matrix
Figure DEST_PATH_IMAGE097
The inverse of the matrix of (a) is,
Figure DEST_PATH_IMAGE099
is a damping matrix
Figure 837088DEST_PATH_IMAGE044
The inverse of the matrix of (a) is,
Figure DEST_PATH_IMAGE101
a desired constant contact force;
s5: calculating the speed of the mechanical arm tail end mechanism in a camera coordinate system, which is required for ensuring constant control of the contact force;
the step S5 includes the steps of:
s51: expressing the speed of the robot end mechanism in the camera coordinate system:
Figure DEST_PATH_IMAGE103
（5）
Figure DEST_PATH_IMAGE105
the speed of the robot end mechanism in a camera coordinate system;
s52: introducing diagonal selection matrix
Figure DEST_PATH_IMAGE107
And corresponding complementary matrix
Figure DEST_PATH_IMAGE109
To ensure orthogonality:
Figure DEST_PATH_IMAGE111
（6）
s53: an expression for hybrid vision/force control is obtained from equations (5) and (6):
Figure 100579DEST_PATH_IMAGE112
when in use
Figure 684007DEST_PATH_IMAGE114
Or
Figure 871406DEST_PATH_IMAGE116
Time, output
Figure 856680DEST_PATH_IMAGE118
Thereby controlling the robot and the manipulator to move and ensuring the constant control of the contact force.
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