CN102729240B - Plane fuel tank inspecting robot based on connector structure and control method thereof - Google Patents

Plane fuel tank inspecting robot based on connector structure and control method thereof Download PDF

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Publication number
CN102729240B
CN102729240B CN201210218967.8A CN201210218967A CN102729240B CN 102729240 B CN102729240 B CN 102729240B CN 201210218967 A CN201210218967 A CN 201210218967A CN 102729240 B CN102729240 B CN 102729240B
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stage
snake arm
robot
main control
module
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CN102729240A (en
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牛国臣
高庆吉
王续乔
王磊
王维娟
王力
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Civil Aviation University of China
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Civil Aviation University of China
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Abstract

The invention discloses a plane fuel tank inspecting robot based on a connector structure and a control method thereof. The robot comprises a moving platform, a lifting movement unit, a snake-arm movement unit, a system control unit and a power module. The robot is a bionic robot, can enter a plane fuel tank under the monitoring of working staffs to carry out internal-leaking-point determination and corrosion inspection, has excellent bending performance which does not exist in the traditional discrete type robot, can change the self shape flexibly according to the condition of environmental obstacles, and has unique adaptability to the environment with narrow working space and the non-structured environment. The robot can replace a person for operation in the fuel tank, the working intensity of air crew is reduced, the personal safety is ensured, the maintenance efficiency is increased, and the potential safety hazard of the fuel tank is reduced, therefore, the robot has the important significance in shortening the field stopping time of the plane and reducing economic loss. In addition, almost no electric equipment is arranged on the parts of the robot, extending into the plane fuel tank, so that the anti-explosion precondition is good.

Description

A kind of fuel tanker inspection machine people and control method thereof based on Continuum Structure
Technical field
The invention belongs to civil aviation technical field, particularly relate to a kind of fuel tanker inspection machine people and control method thereof based on Continuum Structure.
Background technology
In civil aviation locomotive maintenance, fuel tanker seepage and corrosion are suitable stubborn problems always.Due to work under bad environment, operating space is little, fuel tank internal complex structure, and different type of machines Oiltank structure is not quite similar, in centre tank and wing tank, all have stringer structure, so fuel blow path is difficult to analyze, interior leak source and corrosion position are difficult to determine, so maintenance fuel tank often needs the field time that stops of growing very much, even repeatedly just can complete several times.For completing as soon as possible repairing task, the position that finds quickly and accurately leak source and the corrosion particular importance that just seems.At present, mainly by artificial mode, realize determining of leak source and corrosion position, in this case, staff often will enter fuel tanker inspection.In aircraft fuel tank operation exist inflammable, explosive, personnel are poisoning and the danger of aircraft/device damage, therefore need badly a kind ofly can replace people to enter the device that fuel tank checks.
Summary of the invention
In order to address the above problem, the object of the present invention is to provide a kind of fuel tanker inspection machine people and control method thereof based on Continuum Structure that can alleviate flight crew's working strength, ensure its personal safety,
In order to achieve the above object, the fuel tanker inspection machine people based on Continuum Structure provided by the invention comprises mobile platform, elevating movement unit, snake arm moving cell, system control unit and power module;
Described mobile platform comprises base plate, two universal wheels and two fast pulleys, wherein floor level setting, and two universal wheels and two fast pulleys are separately positioned on the both sides, front and back end, bottom surface of base plate;
Described elevating movement unit comprises base, straight line module, slide block, servomotor and shaft coupling, and wherein base is fixed on straight line module at the middle part, surface of base plate; Slide block is arranged on straight line module in the mode that can slide up and down, and is connected with snake arm moving cell lower end simultaneously; Servomotor is connected with the leading screw upper end on straight line module by shaft coupling;
Described snake arm moving cell comprises snake arm body, snake arm driving mechanism and image perception module; Wherein snake arm driving mechanism is arranged on slide block, mainly comprises a plurality of electric baseboards, many snake arm drive motors, a plurality of band base bearing, a plurality of spool and snake arm supports; Wherein a plurality of electric baseboards minute multilayer along the vertical direction standoff distance be horizontally disposed with; The surperficial both sides of each electric baseboard are separately installed with a snake arm drive motors side by side, and the other end is corresponding is provided with two band base bearings; The output shaft of every snake arm drive motors is connected with one end of a spool by a shaft coupling, and the other end of spool is connected on a band base bearing; Snake arm support is arranged on the position between two spools on the electric baseboard surface of the superiors, is separately installed with a plurality of reverse wheels on its two sides, and surface is formed with a plurality of for running through the perforate that drives rope on snake arm body; The lower end of snake arm body is fixed on snake arm support, and it consists of at least five joints, and each joint comprises head end disk, end disc portion, a plurality of support disk, flexible support bar and four driving ropes; Wherein the middle part of head end disk, a plurality of support disk and end disc portion from bottom to up standoff distance be sleeved on flexible support bar, on the circumference of each head end disk, support disk and end disc portion, be formed with a plurality of via holes, the head end disk in a upper joint and the end disc portion in next joint interconnect by joint connector; Four driving ropes run through to be respectively arranged on head end disk, support disk and end disc portion spends in a via hole in orientation at a distance of 90, the perforate of lower end from snake arm support passed and is wound on a corresponding spool in the staggered mode of line that just winds the line and rewind by a reverse wheel, and upper end is fixed on the end disc portion in this joint; Image perception module comprises video camera and illuminating lamp, and both are fixed on the upper end of snake arm body;
Described system control unit is arranged on the surface of base plate, comprises main control computer, Electric Machine Control plate, data transmission module and lighting control module; Wherein main control computer is connected with Electric Machine Control plate, data transmission module, lighting control module and monitoring station computer simultaneously, for the motion control instruction that the monitoring station operating personnel that receive are assigned on monitoring station computer, be decomposed into the controlled quentity controlled variable in each joint, again to Electric Machine Control plate sending controling instruction, thereby make each joint can rotoflector or make straight line module carry out rectilinear motion; Main control computer is also responsible for calculating robot's spatial attitude, and feeds back to monitoring station computer together with other system state, so that staff is follow-up, controls; Electric Machine Control plate is connected with servomotor and snake arm drive motors with main control computer, for receiving the movement instruction of main control computer, then to servomotor and snake arm drive motors, sends driving signal, to control these motors, according to designated parameter, moves; Data transmission module is connected with main control computer by RS232, join with video camera simultaneously, for order and state are transmitted between robot and monitoring station computer, simultaneously by the fuel tank image transfer of camera acquisition to monitoring station computer; Lighting control module is connected with main control computer by digital data acquisition card, join with illuminating lamp, for controlling the switch of illuminating lamp, and coordinate video camera that the illumination light of different brightness is provided simultaneously, to adapt to different light condition, thereby reach good IMAQ effect;
Described power module is arranged on the surface of base plate, is used to whole robot that working power is provided.
Described main control computer adopts built-in industrial control machine.
The outside of described snake arm body is provided with snake arm shell, and snake arm shell adopts the bellows with flexible and crooking ability to make.
On described servomotor and snake arm drive motors, photoelectric encoder is installed.
Described flexible support bar adopts carbon fiber bar.
The surperficial rear end of described base plate is also provided with handrail.
Fuel tanker inspection machine people's based on Continuum Structure provided by the invention control method comprises the following step carrying out in order:
1) System self-test and initialized S1 stage; In this stage, in main control computer Jiang Duiben robot, the working condition of each relevant device detects, and the state variable of video camera and each joint variable data and run duration is initialized;
2) the S2 stage whether self-detection result normally being judged; If judgment result is that "Yes", enter the S3 stage; Otherwise enter the S9 stage of abnormality processing, then finish operation;
3) read the S3 stage that monitoring station computer is assigned instruction; In this stage, main control computer, by the instruction of reading ground monitoring station computer sending in official hour, then enters the S4 stage;
4) whether robot is read to the S4 stage that new instruction judges; If judgment result is that "Yes", enter the S5 stage; Otherwise enter the S7 stage;
5) the S5 stage of instruction being resolved; The control instruction that the ground monitoring station computer that S3 was received in the stage sends is resolved, and to obtain concrete control command parameter, and the control instruction of servomotor and snake arm drive motors is upgraded, and then enters the S6 stage;
6) the S6 stage of joint action; In this stage, main control computer is sent to each driving mechanism by the control instruction of generation, to carry out corresponding action, then enters the S7 stage;
7) carry out the S7 stage of state renewal; To in this stage, main control computer upgrades robot pose, intermediate object program and circumstance state information, and sends to data transmission module, then enters the S8 stage;
8) to whether exiting the S8 stage judging; If judgment result is that "Yes", termination routine operation; Otherwise turn back to the porch in S3 stage to continue circulation.
Fuel tanker inspection machine people based on Continuum Structure provided by the invention is a kind of bio-robot, it can enter fuel tanker inside and carry out determining and etching detection of interior leak source under staff's monitoring, there is the good bending property that conventional discrete humanoid robot does not have, and can change flexibly self shape according to the situation of Environment Obstacles thing, and the narrow and small environment of working space and destructuring environment are had to unique adaptive capacity.This robot can substitute people's operation in fuel tank, can reduce undoubtedly flight crew's working strength, support personnel safety, improves maintenance efficiency and reduce fuel tank potential safety hazard, thereby to shortening aircraft, stop field time, to reduce economic loss significant.In addition, in this robot, extend into position in fuel tanker almost without consumer, therefore there is good explosion-proof prerequisite.In addition, this machine human body is long-pending little, lightweight, by mobile platform, can conveniently realize movement, is convenient to realize the maintenance of a plurality of positions.
Accompanying drawing explanation
Fig. 1 is the fuel tanker inspection machine people overall structure schematic diagram based on Continuum Structure provided by the invention;
Fig. 2 is snake arm body structure schematic diagram in the fuel tanker inspection machine people based on Continuum Structure provided by the invention;
Fig. 3 is snake arm driving mechanism structure schematic diagram in the fuel tanker inspection machine people based on Continuum Structure provided by the invention;
Fig. 4 is that in the fuel tanker inspection machine people based on Continuum Structure provided by the invention, system control unit forms block diagram;
Fig. 5 fuel tanker inspection machine people control method flow chart based on Continuum Structure provided by the invention.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, fuel tanker inspection machine people and the control method thereof based on Continuum Structure provided by the invention is elaborated.
As Figure 1-Figure 4, the fuel tanker inspection machine people based on Continuum Structure provided by the invention comprises mobile platform, elevating movement unit, snake arm moving cell, system control unit 13 and power module 14;
Described mobile platform comprises base plate 17, two universal wheels 15 and two fast pulleys 16, and wherein base plate 17 is horizontally disposed with, and two universal wheels 15 and two fast pulleys 16 are separately positioned on the both sides, front and back end, bottom surface of base plate 17;
Described elevating movement unit comprises base 12, straight line module 11, slide block 9, servomotor 6 and shaft coupling 7, be used to snake arm moving cell that elevating function is provided, make snake arm moving cell can stretch into fuel tanker inside and check, wherein base 12 is fixed on straight line module 11 at the middle part, surface of base plate 17; Slide block 9 is arranged on straight line module 11 in the mode that can slide up and down, and is connected with snake arm moving cell lower end simultaneously; Servomotor 6 is connected with the leading screw upper end on straight line module 11 by shaft coupling 7, and under the drive of servomotor 6, slide block 9 will carry out elevating movement, thereby drive whole snake arm moving cell to move up and down, for robot provides a lifting free degree;
Described snake arm moving cell comprises snake arm body 4, snake arm driving mechanism 10 and image perception module; Wherein snake arm driving mechanism 10 is arranged on slide block 9, it is the core that can drive snake arm body 4 and image perception module to enter fuel tanker, mainly comprises a plurality of electric baseboards 36, many snake arm drive motors 34, a plurality of band base bearing 28, a plurality of spool 31 and snake arm supports 29; Wherein 36 minutes multilayers of a plurality of electric baseboards along the vertical direction standoff distance be horizontally disposed with; The surperficial both sides of each electric baseboard 36 are separately installed with a snake arm drive motors 34 side by side, and the other end is corresponding is provided with two band base bearings 28; The output shaft of every snake arm drive motors 34 is connected with one end of a spool 31 by a shaft coupling 32, and the other end of spool 31 is connected on a band base bearing 28; Snake arm support 29 is arranged on the position between two spools 31 on electric baseboard 36 surfaces of the superiors, is separately installed with a plurality of reverse wheels 30 on its two sides, and surface is formed with a plurality of for running through the perforate that drives rope 25 on snake arm body 4; The lower end of snake arm body 4 is fixed on snake arm support 29, it consists of at least five joints 20, each joint 20 has two frees degree, can be crooked to all directions, therefore snake arm body 4 at least has ten frees degree, and each joint 20 comprises head end disk 21, end disc portion 19, a plurality of support disk 24, flexible support bar 26 and four driving ropes 25; Wherein the middle part of head end disk 21, a plurality of support disk 24 and end disc portion 19 from bottom to up standoff distance be sleeved on flexible support bar 26, on the circumference of each head end disk 21, support disk 24 and end disc portion 19, be formed with a plurality of via holes, the head end disk 21 in a upper joint 20 interconnects by joint connector 22 with the end disc portion 19 in next joint 20; Four driving ropes 25 run through to be respectively arranged on head end disk 21, support disk 24 and end disc portion 19 spends in a via hole in orientation at a distance of 90, the perforate of lower end from snake arm support 29 passed and is wound on a corresponding spool 31 in the staggered mode of line that just winds the line and rewind by a reverse wheel 30, and upper end is fixed on the end disc portion 19 in this joint 20; Image perception module comprises video camera 1 and illuminating lamp 2, both are fixed on the upper end of snake arm body 4, wherein video camera 1 can be delivered to the situation of fuel tanker inside in external monitoring system, so that staff judges fuel tank internal situation, illuminating lamp 2 is for video camera 1 provides illumination light;
Described system control unit 13 is arranged on the surface of base plate 17, comprises main control computer 40, Electric Machine Control plate 41, data transmission module 42 and lighting control module 43; Wherein main control computer 40 is connected with Electric Machine Control plate 41, data transmission module 42, lighting control module 43 and monitoring station computer simultaneously, for the motion control instruction that the monitoring station operating personnel that receive are assigned on monitoring station computer, be decomposed into the controlled quentity controlled variable in each joint 20, again to Electric Machine Control plate 41 sending controling instructions, thereby make each joint 20 can rotoflector or make straight line module 11 carry out rectilinear motion; Main control computer 40 is also responsible for calculating robot's spatial attitude, and feeds back to monitoring station computer together with other system state, so that staff is follow-up, controls; Electric Machine Control plate 41 is connected with servomotor 6 and snake arm drive motors 34 with main control computer 40, for receiving the movement instruction of main control computer 40, then to servomotor 6 and snake arm drive motors 34, send driving signal, to control these motors, according to designated parameter, move; Data transmission module 42 is connected with main control computer 40 by RS232, joins with video camera 1 simultaneously, and for order and state are transmitted between robot and monitoring station computer, the fuel tank image transfer simultaneously video camera 1 being gathered is to monitoring station computer; Lighting control module 43 is connected with main control computer 40 by digital data acquisition card, join with illuminating lamp 2, for controlling the switch of illuminating lamp 2, and coordinate video camera 1 that the illumination light of different brightness is provided simultaneously, to adapt to different light condition, thereby reach good IMAQ effect;
Described power module 14 is arranged on the surface of base plate 17, is used to whole robot that working power is provided.
Described main control computer 40 adopts built-in industrial control machine.
The outside of described snake arm body 4 is provided with snake arm shell 5, and snake arm shell 5 adopts the bellows with flexible and crooking ability to make, and it can protect the environment of snake arm body 4 and fuel tanker inside not to be damaged effectively.
On described servomotor 6 and snake arm drive motors 34, photoelectric encoder is installed, Electric Machine Control plate 41 can utilize photoelectric encoder position signalling to form position and speed closed loop and accurately control, and fed back to main control computer 40, be used for extrapolating the spatial attitude of robot.
Described flexible support bar 26 adopts carbon fiber bar, to guarantee that each joint 20 has uniform curvature.
The surperficial rear end of described base plate 17 is also provided with handrail 8.
Now the fuel tanker inspection machine people course of work provided by the invention is described below:
First by staff, utilize handrail 8 the fuel tanker inspection machine people based on Continuum Structure provided by the invention to be pushed into the fuel tanker below that is positioned at aircraft wing and fuselage bottom, then gone up snake arm moving cell upper ends to fuel tanker porch, at this moment robot will be in command reception ready state; The fuel tank target location that staff can need be arrived by monitoring station computer settings, Bing Xiang robot sending controling instruction; The motion control snake arm end that robot passes through corresponding joint according to staff's instruction arrives desired location, and in real time image transmitting is arrived to monitoring station, for checking analysis.
As shown in Figure 5, fuel tanker inspection machine people control procedure provided by the invention comprises the following step carrying out in order:
1) System self-test and initialized S1 stage; In this stage, in main control computer 40Jiang Duiben robot, the working condition of each relevant device detects, and the state variable of video camera 1 and each joint 20 variable data and run duration is initialized;
2) the S2 stage whether self-detection result normally being judged; If judgment result is that "Yes", enter the S3 stage; Otherwise enter the S9 stage of abnormality processing, then finish operation;
3) read the S3 stage that monitoring station computer is assigned instruction; In this stage, main control computer 40, by the instruction of reading ground monitoring station computer sending in official hour, then enters the S4 stage;
4) whether robot is read to the S4 stage that new instruction judges; If judgment result is that "Yes", enter the S5 stage; Otherwise enter the S7 stage;
5) the S5 stage of instruction being resolved; The control instruction that the ground monitoring station computer that S3 was received in the stage sends is resolved, and to obtain concrete control command parameter, and the control instruction of servomotor 6 and snake arm drive motors 3 is upgraded, and then enters the S6 stage;
6) the S6 stage of joint action; In this stage, main control computer 40 is sent to each driving mechanism by the control instruction of generation, to carry out corresponding action, then enters the S7 stage;
7) carry out the S7 stage of state renewal; To in this stage, main control computer 40Jiang robot pose, intermediate object program and circumstance state information upgrade, and send to data transmission module 42, then enter the S8 stage;
8) to whether exiting the S8 stage judging; If judgment result is that "Yes", termination routine operation; Otherwise turn back to the porch in S3 stage to continue circulation.

Claims (7)

1. the fuel tanker inspection machine people based on Continuum Structure, described fuel tanker inspection machine people comprises mobile platform, elevating movement unit, snake arm moving cell, system control unit (13) and power module (14);
Described mobile platform comprises base plate (17), two universal wheels (15) and two fast pulleys (16), wherein base plate (17) is horizontally disposed with, and two universal wheels (15) and two fast pulleys (16) are separately positioned on the both sides, front and back end, bottom surface of base plate (17);
Described elevating movement unit comprises base (12), straight line module (11), slide block (9), servomotor (6) and shaft coupling (7), and wherein base (12) is fixed on straight line module (11) at the middle part, surface of base plate (17); It is upper that slide block (9) is arranged on straight line module (11) in the mode that can slide up and down, and is connected with snake arm moving cell lower end simultaneously; Servomotor (6) is connected with the leading screw upper end on straight line module (11) by shaft coupling (7);
Described system control unit (13) is arranged on the surface of base plate (17), comprises main control computer (40), Electric Machine Control plate (41), data transmission module (42) and lighting control module (43); Wherein main control computer (40) is connected with Electric Machine Control plate (41), data transmission module (42), lighting control module (43) and monitoring station computer simultaneously, for the motion control instruction that the monitoring station operating personnel that receive are assigned on monitoring station computer, be decomposed into the controlled quentity controlled variable of each joint (20), again to Electric Machine Control plate (41) sending controling instruction, thereby make each joint (20) can rotoflector or make straight line module (11) carry out rectilinear motion; Main control computer (40) is also responsible for calculating robot's spatial attitude, and feeds back to monitoring station computer together with other system state, so that staff is follow-up, controls; Electric Machine Control plate (41) is connected with servomotor (6) and snake arm drive motors (34) with main control computer (40), be used for receiving the movement instruction of main control computer (40), then to servomotor (6) and snake arm drive motors (34), send driving signal, to control these motors, according to designated parameter, move; Data transmission module (42) is connected with main control computer (40) by RS232, join with video camera (1) simultaneously, for order and state are transmitted between robot and monitoring station computer, the fuel tank image transfer simultaneously video camera (1) being gathered is to monitoring station computer; Lighting control module (43) is connected with main control computer (40) by digital data acquisition card, join with illuminating lamp (2) simultaneously, be used for controlling the switch of illuminating lamp (2), and coordinate video camera (1) that the illumination light of different brightness is provided, to adapt to different light condition, thereby reach good IMAQ effect;
Described power module (14) is arranged on the surface of base plate (17), is used to whole robot that working power is provided;
It is characterized in that: described snake arm moving cell comprises snake arm body (4), snake arm driving mechanism (10) and image perception module; Wherein snake arm driving mechanism (10) is arranged on slide block (9) above, mainly comprises a plurality of electric baseboards (36), many snake arm drive motors (34), a plurality of band base bearing (28), a plurality of spool (31) and snake arm support (29); Wherein a plurality of electric baseboards (36) minute multilayer along the vertical direction standoff distance be horizontally disposed with; The both sides, surperficial one end of each electric baseboard (36) are separately installed with a snake arm drive motors (34) side by side, and the other end is corresponding is provided with two band base bearings (28); The output shaft of every snake arm drive motors (34) is connected with one end of a spool (31) by a shaft coupling (32), and the other end of spool (31) is connected on a band base bearing (28); Snake arm support (29) is arranged on the position between electric baseboard (36) upper two spools in surface (31) that are positioned at the superiors, on its two sides, be separately installed with a plurality of reverse wheels (30), surface is formed with a plurality of for running through the upper perforate that drives rope (25) of snake arm body (4); The lower end of snake arm body (4) is fixed on snake arm support (29), it consists of at least five joints (20), and each joint (20) comprise head end disk (21), end disc portion (19), a plurality of support disk (24), flexible support bar (26) and four driving ropes (25); Wherein the middle part of head end disk (21), a plurality of support disk (24) and end disc portion (19) from bottom to up standoff distance be sleeved on flexible support bar (26), on the circumference of each head end disk (21), support disk (24) and end disc portion (19), be formed with a plurality of via holes, the head end disk (21) in a upper joint (20) interconnects by joint connector (22) with the end disc portion (19) in next joint (20); Four driving ropes (25) run through respectively in a via hole that is arranged on the upper 90 degree orientation apart of head end disk (21), support disk (24) and end disc portion (19), the perforate of lower end from snake arm support (29) passed and passed through a reverse wheel (30) and be wound on a corresponding spool (31) above in the staggered mode of line that just winds the line and rewind, and upper end is fixed on the end disc portion (19) of this joint (20); Image perception module comprises video camera (1) and illuminating lamp (2), and both are fixed on the upper end of snake arm body (4).
2. the fuel tanker inspection machine people based on Continuum Structure according to claim 1, is characterized in that: described main control computer (40) adopts built-in industrial control machine.
3. the fuel tanker inspection machine people based on Continuum Structure according to claim 1, is characterized in that: the outside of described snake arm body (4) is provided with snake arm shell (5), and snake arm shell (5) adopts the bellows with flexible and crooking ability to make.
4. the fuel tanker inspection machine people based on Continuum Structure according to claim 1, is characterized in that: on described servomotor (6) and snake arm drive motors (34), photoelectric encoder is installed.
5. the fuel tanker inspection machine people based on Continuum Structure according to claim 1, is characterized in that: described flexible support bar (26) adopts carbon fiber bar.
6. the fuel tanker inspection machine people based on Continuum Structure according to claim 1, is characterized in that: the surperficial rear end of described base plate (17) is also provided with handrail (8).
7. the fuel tanker inspection machine people's based on a Continuum Structure as claimed in claim 1 control method, is characterized in that: described control method comprises the following step carrying out in order:
1) System self-test and initialized S1 stage; In this stage, in main control computer (40) Jiang Duiben robot, the working condition of each relevant device detects, and the state variable of video camera (1) and each joint (20) variable data and run duration is initialized;
2) the S2 stage whether self-detection result normally being judged; If judgment result is that "Yes", enter the S3 stage; Otherwise enter the S9 stage of abnormality processing, then finish operation;
3) read the S3 stage that monitoring station computer is assigned instruction; In this stage, main control computer (40), by the instruction of reading ground monitoring station computer sending in official hour, then enters the S4 stage;
4) whether robot is read to the S4 stage that new instruction judges; If judgment result is that "Yes", enter the S5 stage; Otherwise enter the S7 stage;
5) the S5 stage of instruction being resolved; The control instruction that the ground monitoring station computer that S3 was received in the stage sends is resolved, and to obtain concrete control command parameter, and the control instruction of servomotor (6) and snake arm drive motors (3) is upgraded, and then enters the S6 stage;
6) the S6 stage of joint action; In this stage, main control computer (40) is sent to each driving mechanism by the control instruction of generation, to carry out corresponding action, then enters the S7 stage;
7) carry out the S7 stage of state renewal; To in this stage, main control computer (40) upgrades robot pose, intermediate object program and circumstance state information, and sends to data transmission module (42), then enters the S8 stage;
8) to whether exiting the S8 stage judging; If judgment result is that "Yes", termination routine operation; Otherwise turn back to the porch in S3 stage to continue circulation.
CN201210218967.8A 2012-06-28 2012-06-28 Plane fuel tank inspecting robot based on connector structure and control method thereof Active CN102729240B (en)

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