CN110597291A - Detection method, device and system - Google Patents
Detection method, device and system Download PDFInfo
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- CN110597291A CN110597291A CN201910954820.7A CN201910954820A CN110597291A CN 110597291 A CN110597291 A CN 110597291A CN 201910954820 A CN201910954820 A CN 201910954820A CN 110597291 A CN110597291 A CN 110597291A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention provides a detection method, a device and a system, wherein the method comprises the following steps: acquiring a signal sent by a detection robot in a detection operation, and determining a traveling mode according to the signal; wherein the travel modes include a flight mode and a land travel mode; the flight mode is that the unmanned aerial vehicle carries the detection robot to fly, and the land mode is that the detection robot carries the unmanned aerial vehicle to run on the ground or the detection robot runs on the ground; and respectively sending instructions to the detection robot and the unmanned aerial vehicle according to the traveling mode, and triggering the detection robot and the unmanned aerial vehicle to execute corresponding actions of the traveling mode.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a detection method, a detection device and a detection system.
Background
With the progress and popularization of the robot technology, a plurality of detection operations are participated by the robot. The detection robot has the advantages of small volume, light weight and convenient carrying of personnel, is usually used for danger emergencies such as anti-terrorism detection, danger detection, post-disaster search and rescue, accident disaster and the like, and can replace personnel to enter the site to execute information detection tasks at the first time. Moreover, the detection robot can go deep into a complex, dangerous and uncertain accident disaster site through remote control operation or an autonomous mode, detect information in an unknown environment, and provide sufficient, detailed and accurate information support for personnel to enter the site to carry out operation.
The most typical detection robot in the traditional detection robots is a throwable robot which enters a complex, narrow and dangerous area through manual throwing, ejecting and the like to realize rapid deployment and operation. However, the jettisonable robot is often limited to the environment, especially in urban environment, high-rise buildings and numerous steps are difficult obstacles to surmount; the ground running speed of the throwing robot is low, the throwing arrangement in a wide area is difficult, and the throwing robot is not suitable for a long-distance operation environment, so that the applicability is low. Furthermore, when the user performs a throwing operation or a machine ejection operation, the body of the throwing robot may be damaged by the large-scale movement, and the safety is low.
Disclosure of Invention
In view of this, the present invention provides a detection method, a detection device and a detection system thereof, so as to solve the problem that the conventional throwable robot has low applicability and safety in a complex working environment.
In order to achieve the purpose, the invention provides the following technical scheme:
the first aspect of the embodiments of the present invention discloses a detection method, which is applied to a detection device, and the detection method includes:
acquiring a signal sent by a detection robot in a detection operation;
determining a travel pattern from the signal; wherein the travel modes include a flight mode and a land travel mode; the flight mode is as follows: unmanned aerial vehicle carries the detection robot flies, the land traffic mode is: the detection robot carries the unmanned aerial vehicle to run on the ground or the detection robot runs on the ground;
and respectively sending instructions to the detection robot and the unmanned aerial vehicle according to the traveling mode, and triggering the detection robot and the unmanned aerial vehicle to execute corresponding actions of the traveling mode.
Optionally, the acquiring a signal sent by the detection robot in the detection operation includes:
acquiring a stop signal sent by the detection robot when encountering an obstacle in the detection operation;
or acquiring a running signal sent out when the detection robot is carried by the unmanned aerial vehicle in air flight and no obstacle is monitored below the detection robot.
Optionally, the determining a travel mode according to the signal includes:
determining that the traveling mode is a flight mode if the signal is judged to be the stop signal;
and if the signal is judged to be the driving signal, determining that the traveling mode is a land traveling mode.
Optionally, the sending instructions to the detection robot and the unmanned aerial vehicle respectively according to the traveling mode to trigger the detection robot and the unmanned aerial vehicle to execute corresponding actions of the traveling mode includes:
if the traveling mode is determined to be the flight mode, stopping the detection robot, and controlling the unmanned aerial vehicle to fly with the detection robot;
if the travel mode is determined to be the land travel mode, stopping the unmanned aerial vehicle after the unmanned aerial vehicle carrying the detection robot lands, and starting the detection robot carrying the unmanned aerial vehicle to travel on the land.
Optionally, if it is determined that the traveling mode is the flight mode, stopping the detection robot, and controlling the unmanned aerial vehicle to carry the detection robot to fly further includes:
if the horizontal distance between the detection robot and the target detection object is within the preset range, the detection robot is controlled to be separated from the unmanned aerial vehicle in the air, and after the detection robot lands through wheels, the detection robot is started to be close to the target detection object for detection operation.
Optionally, if it is determined that the travel mode is the land mode, after the unmanned aerial vehicle carrying the probe robot lands, stopping the unmanned aerial vehicle, and starting the probe robot carrying the unmanned aerial vehicle to travel on the land, the method further includes:
if the horizontal distance between the detection robot and the target detection object is within a preset range, the detection robot is controlled to be separated from the unmanned aerial vehicle, the aircraft is started to maintain a hovering or low-speed flying state, and the detection robot is started to be close to the target detection object for detection operation.
Optionally, the method further includes:
if the detection robot finishes the detection of the target detection object, the detection operation of the detection robot is stopped, and the unmanned aerial vehicle is controlled to carry the detection robot to be far away from the target detection object.
Optionally, before controlling the unmanned aerial vehicle to carry the detection robot away from the target detection object, the method further includes:
and controlling the detection robot to be far away from the target detection object, and determining a preset distance between the detection robot and the target detection object.
A second aspect of an embodiment of the present invention provides a detection apparatus, including:
the acquisition unit is used for acquiring a signal sent by the detection robot in the detection operation;
a determination unit for determining a travel mode from the signal; wherein the travel modes include a flight mode and a land travel mode; the flight mode is as follows: the unmanned aerial vehicle carries the detection robot to fly, and the land-based mode is as follows: the detection robot carries the unmanned aerial vehicle to run on the ground or the detection robot runs on the ground;
and the triggering unit is used for respectively sending instructions to the detection robot and the unmanned aerial vehicle according to the traveling mode and triggering the detection robot and the unmanned aerial vehicle to execute corresponding actions of the traveling mode.
Optionally, the obtaining unit includes:
the first acquisition unit is used for acquiring a stop signal sent by the detection robot when encountering an obstacle in the detection operation;
and the second acquisition unit is used for acquiring a running signal sent out when the detection robot is carried by the unmanned aerial vehicle in air flight and no obstacle is monitored below the detection robot.
Optionally, the determining unit includes:
the determining subunit is configured to determine that the traveling mode is a flight mode if the signal is the stop signal; and determining that the traveling mode is a land traveling mode if the signal is determined to be the traveling signal.
Optionally, the triggering unit includes:
the triggering subunit is configured to stop the detection robot and control the unmanned aerial vehicle to fly with the detection robot if the traveling mode is determined to be the flight mode; and if the traveling mode is determined to be the land traveling mode, stopping the unmanned aerial vehicle after the unmanned aerial vehicle carrying the detection robot lands, and starting the detection robot carrying the unmanned aerial vehicle to travel on the land.
Optionally, the method further includes:
the first control unit is used for determining that the advancing mode is the flight mode, stopping the detection robot and controlling the unmanned aerial vehicle to carry the detection robot to fly, if the horizontal distance between the detection robot and a target detection object is within a preset range, controlling the detection robot and the unmanned aerial vehicle to separate in the air, and after the detection robot lands through wheels, starting the detection robot to be close to the target detection object to perform detection operation.
Optionally, the method further includes:
and the second control unit is used for stopping the unmanned aerial vehicle and starting the detection robot to carry the unmanned aerial vehicle to travel on the land after determining that the travelling mode is the land travelling mode and the unmanned aerial vehicle carries the detection robot to land, and controlling the detection robot to be separated from the unmanned aerial vehicle, starting the unmanned aerial vehicle to maintain a hovering or low-speed flying state and starting the detection robot to approach the target detection object to perform detection operation if the horizontal distance between the detection robot and the target detection object is within a preset range.
Optionally, the method further includes:
and the third control unit is used for stopping the detection operation of the detection robot if the detection robot finishes the detection of the target detection object, and controlling the unmanned aerial vehicle to carry the detection robot to be far away from the target detection object.
Optionally, the method further includes:
and the fourth control unit is used for controlling the unmanned aerial vehicle to carry the detection robot to be far away from the target detection object, controlling the detection robot to be far away from the target detection object, and determining the preset distance between the detection robot and the target detection object.
A third aspect of the present invention discloses a detection system, comprising: a detection robot, a drone and a ground detection station for carrying out the detection method of any one of the aspects provided by the first aspect of the invention.
Optionally, the whole vehicle control system of the ground detection station adopts a composite adaptive control structure to control the operation of the detection robot and the unmanned aerial vehicle; the composite adaptive control architecture comprises: a nominal control loop, an adaptive control loop, and a path tracking loop, wherein,
the nominal control ring comprises a feedforward regulator and a decoupling controller and is used for realizing decoupling between an input signal and an output signal of the whole vehicle control system; wherein the output signal is used for inputting the detection robot and the unmanned aerial vehicle, and the input signal is a feedback signal of the detection robot and the unmanned aerial vehicle;
the self-adaptive control loop comprises a self-adaptive stability augmentation controller, and the self-adaptive stability augmentation controller is used for estimating the matching of the command of the whole vehicle control system and the operation condition of the unmanned aerial vehicle on line and updating the control parameters of the whole vehicle control system in real time according to the matching of the command of the whole vehicle control system and the operation condition of the unmanned aerial vehicle; the whole vehicle control system generates an instruction according to the control parameters, and the instruction is used for controlling the unmanned aerial vehicle to operate;
the path tracking loop comprises a path tracker, and the path tracker is used for converting an input instruction of a user to obtain the output signal.
According to the detection method, the detection device and the detection system, the advancing mode can be determined according to the signal sent by the detection robot in the detection operation, corresponding instructions are sent to the detection robot and the unmanned aerial vehicle through the determined advancing mode, and the detection robot and the unmanned aerial vehicle are triggered to make corresponding actions, so that the problem that the detection robot is low in applicability and safety in the autonomous detection operation is solved, and the short board exposed by the detection robot in the current detection operation is optimized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic flow chart of a detection method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a detection method according to another embodiment of the present invention;
fig. 3 is a schematic flow chart of a detection method according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a detection apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a detection system according to an embodiment of the present invention;
fig. 6 is a diagram illustrating an operation process of a detection system according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a composite adaptive control structure according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
An embodiment of the present invention provides a detection method, please refer to fig. 1, which includes the following steps:
s101, acquiring a signal sent by the detection robot in the detection operation.
The signal sent by the detection robot can be various signals. In normal detection operation, the signals sent by the detection robot are different due to different operation environments. For example, when an obstacle is met, the detection robot sends a stop signal; or the detection robot sends out a driving signal when being carried by the unmanned aerial vehicle to fly in the air and no barrier is detected below the detection robot. The ground detection station can make corresponding feedback according to different acquired signals.
It should be further noted that, at the same time, the ground detection station can only acquire a certain signal emitted by the detection robot in a certain operation environment, but cannot acquire two different signals at the same time.
S102, determining a traveling mode according to the signal; wherein the travel modes include a flight mode and a land travel mode; the flight mode is as follows: unmanned aerial vehicle carries survey robot flies, and the land traffic mode is: the detection robot carries the unmanned aerial vehicle to travel on the ground or the detection robot travels on the ground.
In step S101, the detection robot sends different signals in different working environments, so that the working environment where the current detection robot is located can be determined according to the obtained different signals, and a suitable traveling mode is determined according to the current working environment; the traveling mode comprises a flight mode and a land traveling mode, and the detection work of the detection robot in a complex environment is completed by flexibly switching the traveling mode.
The travel mode determined based on the acquired signal is not the travel mode in which the probe robot currently continues but the travel mode that needs to be switched in the current working environment. For example, when a stop signal sent when the detection robot meets a step which cannot be crossed is acquired, the traveling mode is determined to be the flight mode according to the acquired stop signal, so that the detection robot is helped to cross the step by switching to the flight mode, and the detection operation cannot be forced to stop due to the fact that the detection robot cannot advance.
S103, respectively sending instructions to the detection robot and the unmanned aerial vehicle according to the traveling mode, and triggering the detection robot and the unmanned aerial vehicle to execute the indication action in the instructions.
In step S102, the traveling mode is determined, and according to a preset rule, different traveling modes correspond to different instructions, and then the corresponding instructions are sent to the detection robot and the unmanned aerial vehicle, so as to trigger the detection robot and the unmanned aerial vehicle to execute actions in the instructions. The action in the command can be to stop the detection robot and start the unmanned aerial vehicle, or to start the detection robot and stop the unmanned aerial vehicle; however, regardless of the action triggered, the action is based on an instruction composed of a correct set of actions to be performed in terms of the task environment problem to be solved.
It should be further noted that, the ground detection station sends instructions to the detection robot and the unmanned aerial vehicle respectively according to the traveling mode, and the instructions may be composed of two different instructions, that is, instructions sent to the detection robot independently and instructions sent to the unmanned aerial vehicle independently. Different instructions respectively require the detection robot and the unmanned aerial vehicle to make different actions so as to complete reconfigurable air-ground cooperative operation modes such as release, separation and recovery between the detection robot and the unmanned aerial vehicle.
In summary, in the detection method provided in the above embodiments, a signal is sent by the detection robot, the ground detection station determines a traveling mode based on the obtained signal, and sends a corresponding command to the detection robot and the unmanned aerial vehicle according to the determined traveling mode, and triggers the detection robot and the unmanned aerial vehicle to perform a corresponding action, so as to complete reconfigurable land-air cooperative operation modes such as release, separation, recovery, and the like between the detection robot and the unmanned aerial vehicle, thereby solving the problems encountered by the detection robot in autonomous detection operation, and optimizing the short board exposed by the detection robot in current detection operation.
To better explain the process of the detection method related to the above embodiment of the present invention, another embodiment of the present invention provides another detection method, which is illustrated by an extended overview on the content of fig. 2 in conjunction with the content of fig. 1.
S201, a stop signal sent by the detection robot when the detection robot meets an obstacle in detection operation is obtained.
In the initial stage, the detection robot carries the unmanned aerial vehicle to carry out detection operation in a land walking mode, and in the process of gradually approaching a target detection object, the detection robot possibly meets an obstacle; obstacles such as steps, pools, animal populations, etc. that are difficult to cross; the self sensing device senses the existence of the obstacle, triggers the detection robot to send out a stop signal, and stops the current running state.
It should be noted that, in the initial stage, the detection robot may carry the unmanned aerial vehicle to autonomously advance to the target detection object, or the unmanned aerial vehicle may carry the detection robot to approach the target detection object in a flying manner, and specifically, the advance manner in the initial stage is determined according to the current operating environment.
And S202, determining the traveling mode to be the flight mode according to the stop signal.
The ground detection station acquires a stop signal sent by the detection robot, judges that the detection robot encounters an obstacle which cannot be overcome in the detection operation at the first time, and further determines and switches the traveling mode into the flight mode. In the preset trigger rule, the detection robot sends a stop signal only when meeting an obstacle, so that the current working environment can be obviously deduced reversely.
S203, judging whether the horizontal distance between the detection robot and the target detection object is within a preset range.
If not, step S204 is executed, and if the range is within the preset range, step S205 is executed.
It should be further noted that the determination step S203 is added to better improve the concealment and safety of the detection robot. Because unmanned aerial vehicle's appearance and noise are all bigger, find easily in using, and in some special detection work, need the concealed completion detection work of detection robot, consequently can preset with the scope radius of target detection thing, through judging whether be in should predetermineeing within the scope, carry out corresponding instruction, reduce the factor that exposes.
And S204, stopping the detection robot, and controlling the unmanned aerial vehicle to fly with the detection robot.
Based on the steps S201 to S203, if it is determined that the detection robot is not within the preset range, the detection robot is stopped, and the unmanned aerial vehicle is controlled to carry the detection robot to fly. The ground detection station instructs the detection robot and the unmanned aerial vehicle to complete a series of actions by sending instructions.
S205, stopping the detection robot and starting the unmanned aerial vehicle, after the unmanned aerial vehicle carries the detection robot to cross the obstacle, controlling the detection robot to be separated from the unmanned aerial vehicle, starting the unmanned aerial vehicle to maintain a hovering or low-speed flight state, and starting the detection robot to be close to the target detection object for detection operation.
If the detecting robot is determined to be within the predetermined range, step S205 is executed. The difference between step S205 and step S204 is only that the action information included in the command is different, and the above-mentioned matters are not repeated here.
Optionally, the unmanned aerial vehicle maintains a hovering state or a low-speed flying state, and may be located between the ground detection station and the detection robot in the horizontal direction, or may be located at a higher position in the height direction, so as to function as a communication relay station between the ground station and the detection robot. Particularly under the condition that the horizontal distance between the detection robot and the ground detection station is relatively long, the communication relay station can obviously enhance the strength of the communication signal, and the detection robot cannot quickly and smoothly receive the control instruction of the ground station due to the shielding of the communication signal in outdoor jungles or mountains or the influence of severe weather.
To better explain the process of the detection method related to the above embodiment of the present invention, another embodiment of the present invention further provides another detection method, which is illustrated by an extended overview on the content of fig. 3 in conjunction with the content of fig. 1.
S301, when the detection robot is carried by the unmanned aerial vehicle to fly in the air, a driving signal sent out when no obstacle exists below the detection robot is monitored.
It should be further noted that the flow of fig. 3 is based on the flight mode, that is, when the detection robot is carried by the drone to fly in the air. On this basis, the exploring robot judges whether an obstacle is crossed by checking the environment below. And sending a driving signal when no obstacle is detected below the vehicle.
And S302, determining the traveling mode to be the land traveling mode according to the form signal.
The ground detection station acquires a driving signal sent by the detection robot, judges that the ground operation environments can move at the same time at the first time, and further determines to switch the moving mode into a land moving mode.
And S303, judging whether the horizontal distance between the detection robot and the target detection object is within a preset range.
The step S203 has already described the judgment link in detail, and is not described herein again.
S304, after the unmanned aerial vehicle carrying the detection robot lands, stopping the unmanned aerial vehicle, and starting the detection robot carrying the unmanned aerial vehicle to run on the land.
Based on the steps S301 to S303, if the detection robot is judged not to be in the preset range, the unmanned aerial vehicle is stopped, and the detection robot is started to carry the unmanned aerial vehicle to run on the land.
S305, controlling the detection robot and the unmanned aerial vehicle to be separated in the air, and starting the detection robot to be close to the target detection object for detection operation after the detection robot lands through wheels.
And if the detection robot is judged to be within the preset range, controlling the detection robot and the unmanned aerial vehicle to be separated in the air, and starting the detection robot to be close to the target detection object for detection operation after the detection robot lands through wheels. The detection robot and the unmanned aerial vehicle are controlled to be separated in the air, and the detection robot is started to be close to a target object to carry out detection operation, and the safety and concealment are also considered.
In summary, in the detection method provided in the above embodiments, a travel signal is explicitly defined, the ground detection station determines a travel mode land-based mode based on the acquired travel signal, and sends corresponding commands to the detection robot and the unmanned aerial vehicle, and triggers the detection robot and the unmanned aerial vehicle to perform corresponding actions, so as to complete reconfigurable land-air cooperative operation modes such as release, separation, recovery, and the like between the detection robot and the unmanned aerial vehicle, thereby solving the problems encountered by the detection robot in autonomous detection operation, and optimizing the short board exposed by the detection robot in current detection operation.
Based on a detection method provided by the present invention, an embodiment of the present invention further provides a detection apparatus, please refer to fig. 4, where the apparatus includes the following structure:
an acquiring unit 401, configured to acquire a signal sent by the probe robot during the probe operation.
Optionally, in another embodiment of the present invention, for two different acquisition cases, the acquisition unit 401 may include:
the first acquisition unit is used for acquiring a stop signal sent by the detection robot when encountering an obstacle in the detection operation;
and the second acquisition unit is used for acquiring a running signal sent out when the detection robot is carried by the unmanned aerial vehicle in air flight and no obstacle is monitored below the detection robot.
A determining unit 402 for determining a travel pattern from the signal; wherein the travel modes include a flight mode and a land travel mode; the flight mode is as follows: the unmanned aerial vehicle carries the detection robot to fly, and the land-based mode is as follows: the detection robot carries the unmanned aerial vehicle to travel on the ground or the detection robot travels on the ground.
Optionally, in another embodiment of the present invention, the determining unit 402 includes:
the determining subunit is configured to determine that the traveling mode is a flight mode if the signal is the stop signal; and determining that the traveling mode is a land traveling mode if the signal is determined to be the traveling signal.
A triggering unit 403, configured to respectively send instructions to the probing robot and the unmanned aerial vehicle according to the traveling mode, and trigger the probing robot and the unmanned aerial vehicle to execute corresponding actions of the traveling mode.
Optionally, in another embodiment of the present invention, the triggering unit 403 includes:
the triggering subunit is configured to stop the detection robot and control the unmanned aerial vehicle to fly with the detection robot if the traveling mode is determined to be the flight mode; and if the traveling mode is determined to be the land traveling mode, stopping the unmanned aerial vehicle after the unmanned aerial vehicle carrying the detection robot lands, and starting the detection robot carrying the unmanned aerial vehicle to travel on the land.
Optionally, in another embodiment of the present invention, the detecting device further includes:
the first control unit is used for determining that the advancing mode is the flight mode, stopping the detection robot and controlling the unmanned aerial vehicle to carry the detection robot to fly, if the horizontal distance between the detection robot and a target detection object is within a preset range, controlling the detection robot and the unmanned aerial vehicle to separate in the air, and after the detection robot lands through wheels, starting the detection robot to be close to the target detection object to perform detection operation.
Optionally, in another embodiment of the present invention, the detecting device further includes:
and the second control unit is used for stopping the unmanned aerial vehicle and starting the detection robot to carry the unmanned aerial vehicle to travel on the land after determining that the travelling mode is the land travelling mode and the unmanned aerial vehicle carries the detection robot to land, and controlling the detection robot to be separated from the unmanned aerial vehicle, starting the unmanned aerial vehicle to maintain a hovering or low-speed flying state and starting the detection robot to approach the target detection object to perform detection operation if the horizontal distance between the detection robot and the target detection object is within a preset range.
Optionally, in another embodiment of the present invention, the detecting device further includes:
and the third control unit is used for stopping the detection operation of the detection robot if the detection robot finishes the detection of the target detection object, and controlling the unmanned aerial vehicle to carry the detection robot to be far away from the target detection object.
Optionally, in another embodiment of the present invention, the detecting device further includes:
and the fourth control unit is used for controlling the unmanned aerial vehicle to carry the detection robot to be far away from the target detection object, controlling the detection robot to be far away from the target detection object, and determining the preset distance between the detection robot and the target detection object.
In the above embodiments of the present invention, for the specific implementation process of the unit in the detection apparatus, reference may be made to the content of the corresponding method embodiment, which is not described herein again.
Based on a detection method provided by the present invention, an embodiment of the present invention further provides a detection system, please refer to fig. 5, where the system includes the following structures:
the detection robot 501 comprises a body and a traveling mechanism, wherein the body is provided with a side wall, a top cover arranged at the top of the side wall and a base arranged at the bottom of the side wall; the side wall, the top cover and the base are enclosed to form a cavity for placing the energy module and the control module. The outlines of the travelling mechanisms are all higher than the body and are used for protecting the body from collision; the running mechanism can be in a wheel type or a crawler type.
Optionally, the body of the detection robot may further be provided with a turnover swing arm, one end of the turnover swing arm is fixedly connected to the detection robot, and the other end of the turnover swing arm is rotatably telescopic and rotatable and is used for adjusting the posture of the detection robot; when the detection robot falls from a high place or wrests, the detection robot can play a role in self rescue, wrestling return and the like.
And the ground detection station 502 is used for controlling the detection robot and the unmanned aerial vehicle and carrying out general scheduling work on detection operation. The ground detection station acquires information sent by the detection robot, determines the working environment of the current detection robot according to the acquired different signals, and further determines a proper traveling mode according to the current working environment; and sending instructions to instruct the detection robot and the unmanned aerial vehicle to switch the traveling mode. The specific implementation process of the ground detection station 502 may refer to the content of the detection method disclosed in any of the above embodiments, and is not described herein again.
And the unmanned aerial vehicle 503 is used for carrying the detection robot to cross the obstacle through flight when the detection robot encounters the obstacle in the detection operation. The unmanned aerial vehicle can be a ducted aircraft, and is provided with six ducts, so that sufficient lift force is provided, and a certain damage fault tolerance rate is achieved.
In an actual application process of the scene, referring to fig. 6, in the detection system, the detection robot and the unmanned aerial vehicle may be in a connected state first, and may run on a flat ground in a silent manner, and after encountering an obstacle such as an enclosure, a water area, etc., the unmanned aerial vehicle may fly away from the obstacle with the detection robot under the action of a control command output by the ground detection station. After determining successful departure from the obstacle, the drone and the detection robot are separated, also under the action of the ground detection station. When being close to the target object, the unmanned aerial vehicle can fly back, and the detection robot is close to the target object alone to carry out ground short-range detection. After the detection work of the detection robot is finished, the detection robot can be communicated with the unmanned aerial vehicle through a detection ground station or independently, the unmanned aerial vehicle is driven to be close to the detection robot, the unmanned aerial vehicle is connected with the detection robot, and the detection robot is carried by the unmanned aerial vehicle to realize rapid evacuation.
It should be further noted that, when the detection system is in a load transportation condition, the operating environment changes to cause a large state change, the uncertainty of the system often has a time-varying characteristic and cannot be directly measured, and when the variation range of the uncertainty exceeds the robustness margin of the closed-loop system, the performance of the detection system is very likely to be reduced and even unstable. Therefore, the accurate real-time dynamic response characteristic of the detection system needs to be obtained, and based on the characteristics, an uncertain compensation control structure is designed to ensure stable operation.
At present, the classical robust control theory can process the control problem of a similar uncertain system, can compensate external disturbance of a general level, and ensures the nominal performance of the system to a certain degree. However, the ducted aircraft such as the unmanned aerial vehicle involves switching during reconstruction, and changes of system state parameters can be brought. In addition, as the unmanned aerial vehicle usually works in a complex environment, the change of the characteristics of the pneumatic components caused by the change of the environment can bring about larger errors of the system state parameters. Therefore, it is difficult to obtain a desired control effect by a robust controller that relies only on fixed parameters.
In order to improve the adaptability of the control system structure, aiming at the condition that a controlled object has a large state parameter error, the application provides a composite adaptive control structure based on a robust control theory and an adaptive control theory, and the composite adaptive control structure is applied to a finished automobile control system of a ground detection station in a detection system.
The control logic of the composite adaptive control structure arranged in the vehicle control system of the ground detection station is shown in fig. 7 and comprises a nominal control loop, an adaptive control loop and a path tracking loop; wherein the content of the first and second substances,
the nominal control loop includes a feedforward regulator and a robust decoupling controller, both of which may be understood to together comprise the nominal controller. The nominal controller is mainly used for decoupling input and output of the whole vehicle control system, namely decoupling input signals and output signals of the whole vehicle control system, the input signals of the whole vehicle control system can be understood as each instruction input to the detection robot and the unmanned aerial vehicle by the ground detection station, and the output signals of the whole vehicle control system can be understood as feedback signals sent to the ground detection station by the detection robot and the unmanned aerial vehicle. Meanwhile, the nominal controller can also ensure the basic control performance of the whole vehicle control system.
The self-adaptive control loop comprises a self-adaptive stability augmentation controller, the self-adaptive stability augmentation controller is mainly used for estimating the matching of the command of the whole vehicle control system and the operation condition of the unmanned aerial vehicle on line, and updating the control parameters of the whole vehicle control system in real time according to the matching of the command of the whole vehicle control system and the operation condition of the unmanned aerial vehicle, so that the command generated by the whole vehicle control system by using the control parameters can be adaptive to the operation condition of the unmanned aerial vehicle.
The path tracking loop comprises a path tracker which is mainly used for tracking the reference input by the outer loop parameter of the whole vehicle control system and resolving the inner loop input according to the reference of the outer loop parameter. The outer ring parameter is an instruction input into the whole vehicle control system by a user, the inner ring input is an output signal obtained by converting the instruction input by the user by the whole vehicle control system, and the output signal is used for being input into the detection robot and the unmanned aerial vehicle. Therefore, the tracking of the outer ring parameters of the whole vehicle control system on the reference input is realized, the inner ring input is calculated according to the outer ring parameters, and the path tracker can generate the instruction capable of controlling the detection robot and the unmanned aerial vehicle according to the instruction input by the user.
And a nominal control loop and an adaptive control loop in the composite adaptive control structure jointly form the robust-L1 composite adaptive structure, wherein a robust decoupling controller in the nominal control loop is designed based on a classical robust control theory, and an adaptive stability augmentation controller of the adaptive control loop is designed based on an L1 adaptive theory. Through the organic combination of the two, compared with a classic robust controller, the composite self-adaptive control structure can realize the online estimation and real-time compensation of the system uncertainty; compared with the L1 output feedback adaptive controller, the composite adaptive control structure solves the defect that the composite adaptive control structure cannot be directly applied to the MIMO system, and improves the compensation capability of the control system to the non-matching uncertainty.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (16)
1. A detection method is applied to a detection device, and comprises the following steps:
acquiring a signal sent by a detection robot in a detection operation;
determining a travel pattern from the signal; wherein the travel modes include a flight mode and a land travel mode; the flight mode is as follows: unmanned aerial vehicle carries the detection robot flies, the land traffic mode is: the detection robot carries the unmanned aerial vehicle to run on the ground or the detection robot runs on the ground;
and respectively sending instructions to the detection robot and the unmanned aerial vehicle according to the traveling mode, and triggering the detection robot and the unmanned aerial vehicle to execute corresponding actions of the traveling mode.
2. The method of claim 1, wherein the acquiring the signal from the probing robot during the probing operation comprises:
acquiring a stop signal sent by the detection robot when encountering an obstacle in the detection operation;
or acquiring a running signal sent out when the detection robot is carried by the unmanned aerial vehicle in air flight and no obstacle is monitored below the detection robot.
3. The detection method of claim 2, wherein said determining a travel pattern from said signal comprises:
determining that the traveling mode is a flight mode if the signal is judged to be the stop signal;
and if the signal is judged to be the driving signal, determining that the traveling mode is a land traveling mode.
4. The detection method according to any one of claims 1 to 3, wherein the sending of the instruction to the detection robot and the drone, respectively, according to the travel mode, triggers the detection robot and the drone to perform respective actions of the travel mode, including:
if the traveling mode is determined to be the flight mode, stopping the detection robot, and controlling the unmanned aerial vehicle to fly with the detection robot;
if the travel mode is determined to be the land travel mode, stopping the unmanned aerial vehicle after the unmanned aerial vehicle carrying the detection robot lands, and starting the detection robot carrying the unmanned aerial vehicle to travel on the land.
5. The method according to claim 4, wherein after determining that the travel mode is the flight mode, stopping the detection robot and controlling the unmanned aerial vehicle to fly with the detection robot, the method further comprises:
if the horizontal distance between the detection robot and the target detection object is within the preset range, the detection robot is controlled to be separated from the unmanned aerial vehicle in the air, and after the detection robot lands through wheels, the detection robot is started to be close to the target detection object for detection operation.
6. The method according to claim 4, wherein if it is determined that the travel mode is the land mode, stopping the drone after the drone with the probe robot lands, and starting the probe robot to travel on land with the drone, further comprising:
if the horizontal distance between the detection robot and the target detection object is within a preset range, the detection robot is controlled to be separated from the unmanned aerial vehicle, the aircraft is started to maintain a hovering or low-speed flying state, and the detection robot is started to be close to the target detection object for detection operation.
7. The detection method according to claim 1, further comprising:
if the detection robot finishes the detection of the target detection object, the detection operation of the detection robot is stopped, and the unmanned aerial vehicle is controlled to carry the detection robot to be far away from the target detection object.
8. The detection method of claim 7, wherein before controlling the drone to carry the detection robot away from the target detection object, further comprising:
and controlling the detection robot to be far away from the target detection object, and determining a preset distance between the detection robot and the target detection object.
9. A probe apparatus, comprising:
the acquisition unit is used for acquiring a signal sent by the detection robot in the detection operation;
a determination unit for determining a travel mode from the signal; wherein the travel modes include a flight mode and a land travel mode; the flight mode is as follows: the unmanned aerial vehicle carries the detection robot to fly, and the land-based mode is as follows: the detection robot carries the unmanned aerial vehicle to run on the ground or the detection robot runs on the ground;
and the triggering unit is used for respectively sending instructions to the detection robot and the unmanned aerial vehicle according to the traveling mode and triggering the detection robot and the unmanned aerial vehicle to execute corresponding actions of the traveling mode.
10. The detection apparatus according to claim 9, wherein the acquisition unit includes:
the first acquisition unit is used for acquiring a stop signal sent by the detection robot when encountering an obstacle in the detection operation;
and the second acquisition unit is used for acquiring a running signal sent out when the detection robot is carried by the unmanned aerial vehicle in air flight and no obstacle is monitored below the detection robot.
11. The probe apparatus of claim 9, further comprising:
the first control unit is used for determining that the advancing mode is the flight mode, stopping the detection robot and controlling the unmanned aerial vehicle to carry the detection robot to fly, if the horizontal distance between the detection robot and a target detection object is within a preset range, controlling the detection robot and the unmanned aerial vehicle to separate in the air, and after the detection robot lands through wheels, starting the detection robot to be close to the target detection object to perform detection operation.
12. The probe apparatus of claim 9, further comprising:
and the second control unit is used for stopping the unmanned aerial vehicle and starting the detection robot to carry the unmanned aerial vehicle to travel on the land after determining that the travelling mode is the land travelling mode and the unmanned aerial vehicle carries the detection robot to land, and controlling the detection robot to be separated from the unmanned aerial vehicle, starting the unmanned aerial vehicle to maintain a hovering or low-speed flying state and starting the detection robot to approach the target detection object to perform detection operation if the horizontal distance between the detection robot and the target detection object is within a preset range.
13. The probe apparatus of claim 9, further comprising:
and the third control unit is used for stopping the detection operation of the detection robot if the detection robot finishes the detection of the target detection object, and controlling the unmanned aerial vehicle to carry the detection robot to be far away from the target detection object.
14. The probe apparatus of claim 9, further comprising:
and the fourth control unit is used for controlling the unmanned aerial vehicle to carry the detection robot to be far away from the target detection object, controlling the detection robot to be far away from the target detection object, and determining the preset distance between the detection robot and the target detection object.
15. A detection system, comprising: a detection robot, a drone and a ground detection station performing the detection method according to any one of claims 1 to 8.
16. The detection system according to claim 15, wherein the vehicle control system of the ground detection station employs a composite adaptive control structure to control the operation of the detection robot and the drone; the composite adaptive control architecture comprises: a nominal control loop, an adaptive control loop, and a path tracking loop, wherein,
the nominal control ring comprises a feedforward regulator and a decoupling controller and is used for realizing decoupling between an input signal and an output signal of the whole vehicle control system; wherein the output signal is used for inputting the detection robot and the unmanned aerial vehicle, and the input signal is a feedback signal of the detection robot and the unmanned aerial vehicle;
the self-adaptive control loop comprises a self-adaptive stability augmentation controller, and the self-adaptive stability augmentation controller is used for estimating the matching of the command of the whole vehicle control system and the operation condition of the unmanned aerial vehicle on line and updating the control parameters of the whole vehicle control system in real time according to the matching of the command of the whole vehicle control system and the operation condition of the unmanned aerial vehicle; the whole vehicle control system generates an instruction according to the control parameters, and the instruction is used for controlling the unmanned aerial vehicle to operate;
the path tracking loop comprises a path tracker, and the path tracker is used for converting an input instruction of a user to obtain the output signal.
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