CN107263511A - A kind of omnidirectional's airfield runway detection robot system and its control method - Google Patents
A kind of omnidirectional's airfield runway detection robot system and its control method Download PDFInfo
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- CN107263511A CN107263511A CN201710425602.5A CN201710425602A CN107263511A CN 107263511 A CN107263511 A CN 107263511A CN 201710425602 A CN201710425602 A CN 201710425602A CN 107263511 A CN107263511 A CN 107263511A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
The invention discloses a kind of omnidirectional's airfield runway detection robot system and its control method, including：Acquisition module, remote intelligent terminal is sent to for obtaining bulk state and airfield runway video, and by acquired bulk state；After control module, the airfield runway inspection route for receiving remote intelligent terminal transmission, moved according to inspection route perform track and video acquisition is carried out to airfield runway, and airfield runway crackle or foreign matter judgement are carried out according to the video gathered：If there is crackle, the position of cracks is sent back into remote monitoring end；If there is foreign matter, control process module is cleared up foreign matter；If flawless and foreign matter, continue executing with track following and video acquisition；Processing module, is cleared up foreign matter for control machinery hand or dust catcher.By setting multiple modules, the control of multimode is realized to robot, each major part of robot realizes modularized design, and function is realized flexibly, is conveniently replaceable, upgrades and is safeguarded.
Description
Technical field
The present invention relates to Test and control field, more particularly to a kind of omnidirectional's airfield runway detection robot system and
Its control method.
Background technology
With the development of aircraft industry, airfield runway is as the Important Platform for taking off landing, and its safety problem is increasingly
It is taken seriously.For airport, whether the serviceability rate and airfield runway on airfield runway road surface have foreign matter to be non-in flight safety
Often important index.Defect and foreign matter on airfield runway carry out very big threat to the safety belt of takeoff and landing process.Therefore, machine
The design studies of field runway safety detecting system, with critically important realistic meaning.
For airfield runway detecting system, foreign study starts relatively early, to have researched and developed associated assay devices, and have related production
Product exploitation is completed, the Tarsier systems of such as Britain, the FODDetect systems of Israel, and the FODFinder systems in the U.S. are new to add
The iFerrer systems on slope.Although these equipment are installed and used on airport, but still have its defect.Wherein, Tarsier,
FODDetect and iFerrer systems are all mounted in fixed position such as pylon or runway side etc., and mobility is poor, influence inspection
Survey and accuracy of identification.Although FODFinder systems are arranged on motor vehicle, special driver is needed, equipment operating cost is high, consumption
When effort.And apparatus above is without executing agencies such as manipulators, even if finding that runway foreign matter can not be removed in time.Currently,
Domestic foreign body detection system for airfield runway, also in theoretical research and continuously attempts to the stage mostly, can not yet reach in the world
General examination criteria.To sum up, the system that more application is obtained both at home and abroad is higher on design cost and maintenance cost, flexibility
It is relatively low, and need to manually remove foreign matter.
The content of the invention
In view of the above-mentioned problems, it is an object of the invention to provide a kind of omnidirectional's airfield runway detection robot system and its control
Method processed.
The problem of in order to solve in the presence of background technology, the technical scheme is that：
A kind of omnidirectional's airfield runway detects robot system, including：
Acquisition module, is sent to for obtaining bulk state and airfield runway video, and by acquired bulk state
Remote intelligent terminal, the bulk state includes the position of airfield runway detection robot of omnidirectional, posture；
After control module, the airfield runway inspection route for receiving remote intelligent terminal transmission, held according to inspection route
Moved and airfield runway carried out video acquisition for row track, and according to the video that is gathered carry out airfield runway crackle or
Foreign matter judges：If there is crackle, the position of cracks is sent back into remote monitoring end；If there is foreign matter, control process module pair
Foreign matter is cleared up；If flawless and foreign matter, continue executing with track following and video acquisition；
Processing module, is cleared up foreign matter for control machinery hand or dust catcher.
The control module includes being connected with drive control module, the driving control on main control module, the main control module
Omnidirectional moving module is connected with molding block.
The main control module is ARM11 main control modules, and the ARM11 main control modules include built-in Linux
System.
The drive control module is DSP drive control modules, and the DSP drive control modules are by two pieces of DSP Processors
Extension is formed by connecting, and rotary speed data transmitting-receiving is carried out by UART modes and ARM11.
The omnidirectional moving module is that Mecanum takes turns omnibearing moving platform, and the Mecanum takes turns omnibearing moving platform by 4
Individual Mecanum wheels, 4 DC servo motors and power driving circuit are constituted.
The acquisition module includes the video acquisition module and attitude detection module being connected with control module；The video
Acquisition module is CMOS camera；The attitude detection module is STM32 position and attitude detection modules, STM32 positions appearance
State detection module is communicated by STM32 processors by IIC modes with MPU9250, complete attitude detection, by UART modes with
UM220-III communicates, and completes the position detection of cracks.
The STM32 position and attitudes detection module passes through GPS/ dipper systems, gyroscope, accelerometer and magnetometer pair
Robot carries out position, the detection of posture and information fusion, and described information fusion uses the data fusion of Kalman filtering, by top
Spiral shell instrument, accelerometer and magnetometer data filtering, fusion, calculating obtain high-precision attitude angle.
The processing module is Arduino manipulators and dust catcher control module, and the use Arduino processors are completed
The control of 6DOF manipulator and dust catcher.
A kind of omnidirectional's airfield runway detects robot control method, including：
S1, bulk state is sent to remote intelligent terminal, the bulk state includes omnidirectional's airfield runway detection machine
The position of people, posture；
S2, receive the airfield runway inspection route that remote intelligent terminal is sent according to bulk state；
S3, moved according to inspection route perform track and video acquisition is carried out to airfield runway, and according to being adopted
The video of collection carries out airfield runway crackle or foreign matter judges：If there is crackle, the position of cracks is sent back into remote monitoring end；
If there is foreign matter, foreign matter is cleared up；If flawless and foreign matter, continue executing with track following and video acquisition.
It is described to be specifically included according to the progress motion of inspection route perform track：Omnidirectional's airfield runway detects robot to direct current
Servomotor carries out motion control by speed and the double-closed-loop control device of position and attitude, completes the rail for setting inspection route
Mark is tracked.
Compared with prior art, beneficial effects of the present invention are：
The invention provides a kind of omnidirectional's airfield runway detection robot system and its control method, by setting multiple moulds
Block, the control of multimode is realized to robot, and each major part of robot realizes modularized design, and function is realized flexibly, is easy to
Change, upgrade and safeguard.Further, since setting Video processing, enabling quick to carry out airfield runway crackle or foreign matter judgement,
Pinpoint the problems, and handled in time by mechanical arm or dust catcher, eliminate danger hidden danger in time, has ensured airport security.
Further, airfield runway detection robot of the present invention is according to internal double-closed-loop control algorithm, with independence,
Frequently manual operation control can be broken away from, and Omni-mobile platform motion control body is carried out using ARM11+ two CSTRs framework
System, fully excavates ARM11 and DSP respective function, and ARM11 control-orientations run embedded Linux system, realize machine
People's multi-process management and task scheduling function, and DSP advantages are that High-Accuracy PWM is exported, and realize accurate inner loop velocity control.
ARM11+STM32 frameworks are used in addition, and Kalman filtering and data message fusion are carried out in STM32, each functional module is realized
Decoupling, be conducive to feature release update iteration, reduce ARM11 main control units burden, improve robot control operation effect
Rate.
Further, robot omnibearing moving platform realizes plane three freely using 4 rationally distributed Mecanum wheels
Spend flexible omnibearing movable control.For this multivariable of airfield runway detection robot, non-linear, close coupling, disturb not
It is determined that and the inaccurate complication system of model parameter, using Sliding Mode Controller carry out outer shroud position and posture control
System.
Brief description of the drawings
Fig. 1 is modular construction schematic diagram of the present invention；
Fig. 2 takes turns omnibearing moving platform connection figure for the ARM11 and DSP and Mecanum of the present invention；
Fig. 3 is ARM11 of the invention and STM32 and position and attitude sensor connection figure；
The ARM11 of Fig. 4 present invention and Arduino and 6DOF manipulator and dust catcher connection figure；
Fig. 5 is Mecanum wheel mechanical structure charts of the invention；
Fig. 6 is control technology process step figure of the invention；
Fig. 7 is double-closed-loop control structure chart of the invention.
Embodiment
The present invention is described in detail below in conjunction with the accompanying drawings.
Robot system is detected the invention provides a kind of omnidirectional's airfield runway, including：
Acquisition module, is sent to for obtaining bulk state and airfield runway video, and by acquired bulk state
Remote intelligent terminal, the bulk state includes the position of airfield runway detection robot of omnidirectional, posture；
After control module, the airfield runway inspection route for receiving remote intelligent terminal transmission, held according to inspection route
Moved and airfield runway carried out video acquisition for row track, and according to the video that is gathered carry out airfield runway crackle or
Foreign matter judges：If there is crackle, the position of cracks is sent back into remote monitoring end；If there is foreign matter, control process module pair
Foreign matter is cleared up；If flawless and foreign matter, continue executing with track following and video acquisition；
Processing module, is cleared up foreign matter for control machinery hand or dust catcher.
As shown in figure 1, control module includes being connected with drive control module 2, institute on main control module 1, the main control module 1
State and omnidirectional moving module 3 is connected with drive control module 2.The main control module 1 is ARM11 main control modules, and described
ARM11 main control modules include embedded Linux system；The drive control module 2 is DSP drive control modules, the DSP
Drive control module is formed by connecting by two pieces of DSP Processor extensions, and rotary speed data transmitting-receiving is carried out by UART modes and ARM11.
It is preferred that, the WiFi module 6 for data transfer is connected with the present invention on main control module 1.
It is preferred that, the omnidirectional moving module 3 is that Mecanum takes turns omnibearing moving platform, and the Mecanum takes turns omnidirectional moving
Platform is taken turns by 4 Mecanum, 4 DC servo motors and power driving circuit are constituted.
The acquisition module includes the video acquisition module 4 and attitude detection module 5 being connected with control module；It is described to regard
Frequency acquisition module 4 is CMOS camera；The attitude detection module 5 is STM32 position and attitude detection modules, described STM32
Put attitude detection module to be communicated with MPU9250 by IIC modes by STM32 processors, complete attitude detection, pass through UART modes
Communicated with UM220-III, complete the position detection of cracks.
The STM32 position and attitudes detection module passes through GPS/ dipper systems, gyroscope, accelerometer and magnetometer pair
Robot carries out position, the detection of posture and information fusion, and described information fusion uses the data fusion of Kalman filtering, by top
Spiral shell instrument, accelerometer and magnetometer data filtering, fusion, calculating obtain high-precision attitude angle.
The processing module is Arduino manipulators and dust catcher control module 7, and the use Arduino processors are complete
Into the control of 6DOF manipulator and dust catcher.
The airfield runway detection robot control system of the present invention includes ARM11 main control modules, DSP drive control moulds
Block, Mecanum wheels omnibearing moving platform, STM32 position and attitudes detection module, video acquisition module, Arduino manipulators and suction
Dirt device control module and WiFi communication module.Connected between each module by way of shown in Fig. 1.Wherein, ARM11 main controls
In module, except complete Trajectory Tracking Control in addition to, also to realize host computer instruction parsing and with other coprocessors
Data interaction function etc..
DSP drive control modules and Mecanum take turns omnibearing moving platform as shown in Fig. 2 being adopted between ARM11 and DSP28335
Connected with UART communication mode, UART connections are also used between two panels DSP, complete the transmission of Mecanum wheel speed data.
Controls of the DSP to Mecanum wheel speeds needs High-Accuracy PWM to be realized by power drive L298n, and the rotating speed of Mecanum wheels
Feedback needs the EQEP measurements by DSP.By the rational deployment of 4 Mecanum wheels, robot can planar realize three
Arbitrary omnidirectional moving in the free degree.
STM32 position and attitudes detection module as shown in Figure 3, is connected between ARM11 and STM32 using UART communication mode
Connect, STM32 is connected with attitude transducer MPU9250 using I2C communication modes, complete gyroscope, accelerometer, magnetometer data
Collection.And STM32 is connected with the Big Dipper/GPS dual-mode positioning UM220-III using UART, adopting for longitude and latitude positional information is completed
Collection.
Arduino manipulators and dust catcher control module as shown in Figure 4, the communication that ARM11 and Arduino pass through UART
Mode is connected, 6 joint steering wheels of Arduino PWM output control manipulators, completes the crawl control of 6DOF manipulator.
Arduino I/O interface controls the opening and closing of dust catcher by analog line driver, completes dust catcher to airfield runway lightweight foreign matter
Remove.
The mechanical structure of Mecanum wheels is as shown in figure 5, by 1 center hub and be fixed on 12 of its periphery wheel roller groups
Into, wherein, wheel hub is distributed with wheel roller in 45 degree of angles.
At the same time, the present invention and there is provided a kind of omnidirectional's airfield runway detect robot control method, as shown in Figure 6：
S1, airfield runway detection robot are started power up and initialized, and bulk state are sent into remote intelligent terminal, institute
State position of the bulk state including airfield runway detection robot of omnidirectional, posture；
S2, receive the airfield runway inspection route that remote intelligent terminal is sent according to bulk state by WiFi；It is described remote
The airfield runway polling path of journey intelligent terminal setting or track, and will be instructed by WiFi communication module with Transmission Control Protocol
Mode sends to airfield runway and detects robot.
S3, moved according to inspection route perform track and video acquisition is carried out to airfield runway, and according to being adopted
The video of collection carries out airfield runway crackle or foreign matter judges：If there is crackle, the position of cracks is sent back into remote monitoring end；
If there is foreign matter, foreign matter is cleared up；If flawless and foreign matter, continue executing with track following and video acquisition.
Specifically, airfield runway detects that robot is tracked to the inspection route perform track received, completion during this
The pose closed loop control of robot.Specifically, setting track and attained pose are exactly made into difference and carries out sliding formwork control, will produced
Raw robot control output quantity acts on direct current generator by DSP, and driving mobile platform completes orbit tracking movement control；Machine
Field runway detection robot is while track following, and it is enough organic field runways to perform airfield runway video acquisition and analyze judgement
Crackle, if so, position (i.e. longitude and latitude) information that crackle is occurred sends back remote intelligent terminal by WiFi, if without splitting
Line, continues executing with track following and video acquisition；Airfield runway detects that robot while track following, performs airfield runway
Video acquisition and to analyze judgement be enough organic field runway foreign matters, if nothing, continues executing with track following and video acquisition, if so, machine
Device people is stopped, if when foreign matter is the big density such as metal, stone, control machinery hand crawl, if the scraps of paper, leaf etc. are small close
When spending foreign matter, control dust catcher is drawn.
It is described to be specifically included according to the progress motion of inspection route perform track：Omnidirectional's airfield runway detects robot to direct current
Servomotor carries out motion control by speed and the double-closed-loop control device of position and attitude, completes the rail for setting inspection route
Mark is tracked.Position and attitude control that is of the invention and providing uses the control mode of two close cycles, as shown in Figure 7.Inner ring exists
The rotating speed PID control of Mecanum wheels is realized in DSP28335；Outer shroud realizes position, the sliding moding structure control of posture in ARM11
System, the output of outer shroud as inner ring input.
It is obvious to a person skilled in the art that will appreciate that above-mentioned specific embodiment is the preferred side of the present invention
Case, therefore improvement, the variation that those skilled in the art may make to some of present invention part, embodiment is still this
The principle of invention, realization is still the purpose of the present invention, belongs to the scope that the present invention is protected.
Claims (10)
1. a kind of omnidirectional's airfield runway detects robot system, it is characterised in that including：
Acquisition module, is sent to remotely for obtaining bulk state and airfield runway video, and by acquired bulk state
Intelligent terminal, the bulk state includes the position of airfield runway detection robot of omnidirectional, posture；
After control module, the airfield runway inspection route for receiving remote intelligent terminal transmission, rail is performed according to inspection route
Mark is moved and video acquisition is carried out to airfield runway, and carries out airfield runway crackle or foreign matter according to the video gathered
Judge：If there is crackle, the position of cracks is sent back into remote monitoring end；If there is foreign matter, control process module is to foreign matter
Cleared up；If flawless and foreign matter, continue executing with track following and video acquisition；
Processing module, is cleared up foreign matter for control machinery hand or dust catcher.
2. omnidirectional's airfield runway according to claim 1 detects robot system, it is characterised in that the control module bag
Include to be connected with main control module (1), the main control module (1) on drive control module (2), the drive control module (2) and connect
It is connected to omnidirectional moving module (3).
3. omnidirectional's airfield runway according to claim 2 detects robot system, it is characterised in that the main control module
(1) it is ARM11 main control modules, and the ARM11 main control modules include embedded Linux system.
4. omnidirectional's airfield runway according to claim 3 detects robot system, it is characterised in that the drive control mould
Block (2) is DSP drive control modules, and the DSP drive control modules are formed by connecting by two pieces of DSP Processor extensions, passed through
UART modes carry out rotary speed data transmitting-receiving with ARM11.
5. omnidirectional's airfield runway according to claim 2 detects robot system, it is characterised in that the omnidirectional moving mould
Block (3) is that Mecanum takes turns omnibearing moving platform, and the Mecanum wheels omnibearing moving platform is taken turns by 4 Mecanum, 4 direct currents
Servomotor and power driving circuit are constituted.
6. omnidirectional's airfield runway according to claim 1 detects robot system, it is characterised in that the acquisition module bag
Include the video acquisition module (4) and attitude detection module (5) being connected with control module；The video acquisition module (4) is
CMOS camera；The attitude detection module (5) is STM32 position and attitude detection modules, and the STM32 position and attitudes detect mould
Block is communicated by STM32 processors by IIC modes with MPU9250, is completed attitude detection, is passed through UART modes and UM220-III
Communication, completes the position detection of cracks.
7. omnidirectional's airfield runway according to claim 6 detects robot system, it is characterised in that the STM32 positions
Attitude detection module carries out position, posture by GPS/ dipper systems, gyroscope, accelerometer and magnetometer to robot
Detection and information fusion, described information fusion use the data fusion of Kalman filtering, by gyroscope, accelerometer and magnetometer
Data filtering, fusion, calculating obtain high-precision attitude angle.
8. omnidirectional's airfield runway according to claim 1 detects robot system, it is characterised in that the processing module is
Arduino manipulators and dust catcher control module, the use Arduino processors complete 6DOF manipulator and dust catcher
Control.
9. a kind of omnidirectional's airfield runway detects robot control method, it is characterised in that including：
S1, bulk state is sent to remote intelligent terminal, the bulk state includes airfield runway detection robot of omnidirectional
Position, posture；
S2, receive the airfield runway inspection route that remote intelligent terminal is sent according to bulk state；
S3, moved according to inspection route perform track and video acquisition is carried out to airfield runway, and according to being gathered
Video carries out airfield runway crackle or foreign matter judges：If there is crackle, the position of cracks is sent back into remote monitoring end；If having
Foreign matter, then clear up foreign matter；If flawless and foreign matter, continue executing with track following and video acquisition.
10. omnidirectional's airfield runway according to claim 1 detects robot control method, it is characterised in that the basis
Inspection route perform track carries out motion and specifically included：Airfield runway detection robot of omnidirectional is moved to DC servo motor
Control completes the track following for setting inspection route by speed and the double-closed-loop control device of position and attitude.
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Cited By (8)
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| CN109960145A (en) * | 2017-12-22 | 2019-07-02 | 天津工业大学 | Mobile robot mixes vision track following strategy |
| CN110361388A (en) * | 2019-06-05 | 2019-10-22 | 南京理工大学 | A kind of airport cruising inspection system |
| CN110440799A (en) * | 2019-09-19 | 2019-11-12 | 哈尔滨工程大学 | A kind of attitude angle measurement emerging system and method based on gyroscope and accelerometer |
| CN110673141A (en) * | 2019-10-31 | 2020-01-10 | 四川九洲空管科技有限责任公司 | Mobile airport pavement foreign matter detection method and system |
| CN111862012A (en) * | 2020-07-02 | 2020-10-30 | 西南科技大学 | Airport taxiway defect detection method based on deep convolutional neural network |
| CN112766121A (en) * | 2021-01-11 | 2021-05-07 | 牧原食品股份有限公司 | A robot and system of patrolling and examining of plant for plant patrols and examines |
| CN112882475A (en) * | 2021-01-26 | 2021-06-01 | 大连华冶联自动化有限公司 | Motion control method and device of Mecanum wheel type omnibearing mobile robot |
| EP4299834A3 (en) * | 2018-11-29 | 2024-03-06 | Roboxi AS | Runway maintenance apparatus |
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