CN111086002A - Airplane cleaning robot and control method thereof - Google Patents
Airplane cleaning robot and control method thereof Download PDFInfo
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- CN111086002A CN111086002A CN201911394229.7A CN201911394229A CN111086002A CN 111086002 A CN111086002 A CN 111086002A CN 201911394229 A CN201911394229 A CN 201911394229A CN 111086002 A CN111086002 A CN 111086002A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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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
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/30—Cleaning aircraft
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an aircraft cleaning robot which is provided with a vision module, a model processing module, a path planning module, a track planning module and a motion control module. The invention also discloses a control method of the aircraft cleaning robot. By adopting the technical scheme, aiming at the sizes and different shapes of airplanes with different specifications, the complex surface of the outside of the airplane in the direction is cleaned by the robot; the degree of automation is high, and the airplane cleaning effect and the working efficiency are improved; avoid manual operation, improved the security of cleaning work.
Description
Technical Field
The invention belongs to the technical field of robot application. More particularly, the present invention relates to an aircraft washing robot. The invention also relates to a control method of the aircraft cleaning robot.
Background
Introduction of related technical development background:
as the aviation industry has developed, aircraft have become an increasingly used tool. The airplane can encounter acidic substances on the sea surface and other harmful substances in the air in the flying process, which not only can affect the appearance of the airplane, but also can have a larger effect on the flying safety performance of the airplane.
Currently, the cleaning of the airplane is mainly completed by manual operation. On the one hand, the requirement on the experience of workers is high due to manual operation, and the difficulty in cleaning is high because the surface of the airplane is not a regular plane but a curved surface with a lot of curves; on the other hand, potential safety hazards also exist for the safety of workers, because the size of the airplane is large, high-altitude operation is very dangerous, meanwhile, the surface of the airplane is smooth, and the airplane has a plurality of dead angle positions and is difficult to clean remotely.
Second, search results of prior art publications:
chinese patent documents: aircraft belt cleaning device (application number 201811112651.4), it discloses an aircraft belt cleaning device, includes injection mechanism, water supply system, heating system, control system, proportioning system.
Thirdly, the technical problems existing in the closest prior art are as follows:
most of the prior art is cleaned manually, and manual cleaning cannot contact the surface of an airplane in a short distance, so that some dead corners and key parts cannot be cleaned.
The technical scheme of the patent literature disclosed above can only clean the bottom of the airplane, and is difficult to clean the top surface of the airplane with a large height.
Disclosure of Invention
The invention provides an airplane cleaning robot, and aims to solve the problem that different parts of an airplane are difficult to clean and realize automatic cleaning.
In order to achieve the purpose, the invention adopts the technical scheme that:
the aircraft cleaning robot is provided with a vision module, a model processing module, a path planning module, a track planning module and a motion control module.
The aircraft cleaning robot is carried by a robot carrying automobile.
The vision module is used for installing the radar vision sensor at the tail end of the robot, then the robot drives the radar vision sensor at the tail end to scan a machine body to obtain point cloud data, and finally a robot three-dimensional model is constructed through a mathematical algorithm to generate an STL file format.
The aircraft cleaning robot is provided with a communication module. And the communication module transmits the data of the radar vision sensor to the industrial personal computer, and then the industrial personal computer constructs a three-dimensional model of the obtained point cloud data and derives the STL format.
The aircraft cleaning robot is provided with an interface interaction module. The interface interaction module inserts all functions into an rviz plug-in unit in ros in a class mode, and then interface design is carried out in rviz.
The interface of the interface interaction module mainly comprises:
a communication module: the manual controller (PLC) is in communication connection with the industrial personal computer;
a path planning module: manually selecting a model file of a corresponding part of the airplane, then performing path planning processing, and automatically storing a data result;
a trajectory planning module: and manually selecting a path planning result of a corresponding part, carrying out trajectory planning by using the data, automatically storing the data, and sending the trajectory planning result to a controller (PLC) by using a control button.
The aircraft cleaning robot is provided with a visualization module. The visualization module performs: displaying a robot kinematic chain; displaying the starting and target states of the robot; displaying an airplane scene; dynamic display of the trajectory planning and real-time simulation of the trajectory of the robot on the plane of the aircraft.
The aircraft cleaning robot is provided with a robot configuration module. The robot configuration module mainly comprises a URDF and a moveit.
The robot configuration module is mainly used for constructing the relation among the coordinate axes of all joints of the robot; the location of the tip may be modified by the URDF; if the tip device is intended to be located further from the aircraft surface, the location of the tip effector joint in the URDF may be modified;
if the tail end of the mechanical arm is inclined to the surface of the airplane by a certain angle, the posture of a target point in a path planning program can be modified;
if the line spacing is required to be adjusted when the airplane body is cleaned, the spacing of tangent planes in a slicing algorithm in path planning can be adjusted.
The robot configuration module can select a track planning algorithm; setting the number of sampling points in the obstacle avoidance planning, and setting a motion planning group; and setting the state position of the robot.
In order to achieve the same purpose as the technical scheme, the invention also provides a control method of the aircraft cleaning robot, which comprises the following steps:
1) and starting;
2) constructing an airplane model by the vision module;
3) acquiring a cleaning target point of the surface of the airplane by a path planning module and planning a cleaning path;
4) the track planning module guides a storage file of a target operation point on the surface of the airplane model into the track planning model, and then carries out Cartesian space planning on a target point;
5) the motion control module controls the speed value of each joint of the robot, then drives each joint to move through the driver, further controls the speed and acceleration information of the tail end, and drives the tail end rolling brush to clean the airplane;
6) and ending.
In the step 2), the model processing module firstly cuts and divides the airplane model guided into the STL format, and then extracts and stores the relevant data of all triangles of each STL file through a topology model construction algorithm.
In the step 3), the path planning module firstly guides the coordinate data of the triangle vertex in the STL file obtained by the model processing module into the path planning module;
then obtaining a bounding box of the model by adopting a bounding box processing algorithm;
and then, performing section processing to obtain regular target operation points on the surface of the airplane model, and storing data in a csv file format.
The path planning module can modify the cleaning direction of the surface of the airplane, the OBB bounding box algorithm can calculate the cuboid bounding box information of the airplane surface model, and then different path information can be obtained as long as the vertex and the direction of the bounding box in the slicing processing algorithm are modified.
In the step 4), the trajectory planning module firstly guides a storage file of a target operation point on the surface of the airplane model into the trajectory planning model, and then carries out Cartesian space planning on a target point;
if the unreachable points are met, obstacle avoidance planning is carried out, the unreachable points are bypassed, and meanwhile, values with large data difference and large joint jitter of the front and the back data of each joint are eliminated;
and finally, storing the result of the trajectory planning by a file, and transmitting the result to a controller (PLC) through a TCP (transmission control protocol).
In the step 5), the motion control module controls the speed value of each joint of the robot by performing interpolation fitting on the track planning result, and then drives each joint to move through the driver, so as to control the speed and acceleration information of the tail end and drive the tail end rolling brush to achieve the purpose of airplane cleaning.
By adopting the technical scheme, aiming at the sizes and different shapes of airplanes with different specifications, the complex surface of the outside of the airplane in the direction is cleaned by the robot; the degree of automation is high, and the airplane cleaning effect and the working efficiency are improved; avoid manual operation, improved the security of cleaning work.
Drawings
The contents of the drawings are briefly described as follows:
FIG. 1 is a schematic block diagram of a system of the present invention;
FIG. 2 is a flow chart of the operation of the present invention;
FIG. 3 is a diagram illustrating the transmission relationship of control signals according to the present invention;
FIG. 4 is a schematic view of the cleaning direction of the present invention;
fig. 5 is a layout diagram of a cleaning station of the aircraft cleaning robot of the invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
First, the main module of the invention:
the structure of the invention shown in fig. 1 is an airplane cleaning robot. The invention relates to an off-line control technology thereof, and can be expanded to the field of automatic cleaning of other complex workpieces.
In order to solve the problems and the defects of the prior art, solve the problem that different parts of an airplane are difficult to clean and realize the aim of automatic cleaning, the invention adopts the technical scheme that:
as shown in fig. 1, the aircraft cleaning robot of the present invention is provided with a vision module, a model processing module, a path planning module, a trajectory planning module, and a motion control module.
The invention provides a robot system for automatically cleaning airplanes, aiming at airplanes with different specifications and sizes.
As shown in fig. 5: the aircraft cleaning robot is carried by a robot carrying automobile. The automobile is mainly used as a bearing platform of the robot, and the position of the robot relative to the airplane can be adjusted at any time, so that the aim of full-coverage cleaning of the airplane is fulfilled.
In fig. 5, the aircraft cleaning robot is arranged according to four stations, and the requirement of cleaning all parts of the aircraft is basically met.
Secondly, the functions of each module are as follows:
1. a vision module:
the vision module is used for installing the radar vision sensor at the tail end of the robot, then the robot drives the radar vision sensor at the tail end to scan a machine body to obtain point cloud data, and finally a robot three-dimensional model is constructed through a mathematical algorithm to generate an STL file format.
The method comprises the following steps that the airplane is fully scanned through a radar vision sensor, a traditional airplane model is a three-dimensional model during design, and the actually manufactured airplane model has errors with the design model, so that the planning of a cleaning target point on the surface of the airplane is inaccurate; and the three-dimensional model of the airplane can be obtained in real time by adopting full scanning of the radar body.
2. A communication module:
and the communication module transmits the data of the radar vision sensor to the industrial personal computer, and then the industrial personal computer constructs a three-dimensional model of the obtained point cloud data and derives the STL format.
As shown in fig. 3, the industrial personal computer constructs an aircraft model through a point cloud algorithm, then performs path planning and motion planning, and transmits the result to a controller (PLC).
3. An interface interaction module:
the interface interaction module inserts all functions into an rviz plug-in unit in ros in a class mode, and then interface design is carried out in rviz.
The interface of the interface interaction module mainly comprises:
a communication module: the manual controller (PLC) is in communication connection with the industrial personal computer;
a path planning module: manually selecting a model file of a corresponding part of the airplane, then performing path planning processing, and automatically storing a data result;
a trajectory planning module: and manually selecting a path planning result of a corresponding part, carrying out trajectory planning by using the data, automatically storing the data, and sending the trajectory planning result to a controller (PLC) by using a control button.
4. A visualization module:
the visualization module performs: displaying a robot kinematic chain; displaying the starting and target states of the robot; displaying an airplane scene; dynamic display of the trajectory planning and real-time simulation of the trajectory of the robot on the plane of the aircraft.
5. A robot configuration module:
the robot configuration module mainly comprises a URDF and a moveit.
The robot configuration module is mainly used for constructing the relation among the coordinate axes of all joints of the robot; the location of the tip may be modified by the URDF; if the tip device is intended to be located further from the aircraft surface, the location of the tip effector joint in the URDF may be modified;
if the tail end of the mechanical arm is inclined to the surface of the airplane by a certain angle, the posture of a target point in a path planning program can be modified;
if the line spacing is required to be adjusted when the airplane body is cleaned, the spacing of tangent planes in a slicing algorithm in path planning can be adjusted.
The robot configuration module can select a track planning algorithm; setting the number of sampling points in the obstacle avoidance planning, and setting a motion planning group; and setting the state position of the robot.
The functions of the model processing module, the path planning module, the trajectory planning module and the motion control module in the invention are specifically analyzed in combination with the analysis of the control method.
Thirdly, the control method of the invention:
1. as shown in fig. 2:
in order to achieve the same purpose as the technical scheme, the invention also provides a control method of the aircraft cleaning robot, which comprises the following steps:
1) and starting;
2) constructing an airplane model by the vision module;
3) acquiring a cleaning target point of the surface of the airplane by a path planning module and planning a cleaning path;
4) the track planning module guides a storage file of a target operation point on the surface of the airplane model into the track planning model, and then carries out Cartesian space planning on a target point;
5) the motion control module controls the speed value of each joint of the robot, then drives each joint to move through the driver, further controls the speed and acceleration information of the tail end, and drives the tail end rolling brush to clean the airplane;
6) and ending.
2. In the step 2), the model processing module firstly cuts and divides the airplane model guided into the STL format, and then extracts and stores the relevant data of all triangles of each STL file through a topology model construction algorithm.
And cutting the airplane model, performing operation in parts, guiding the divided model into a program, and performing mathematical processing to obtain a cleaning target point of the surface of the airplane.
3. In the step 3), the path planning module firstly guides the coordinate data of the triangle vertex in the STL file obtained by the model processing module into the path planning module;
then obtaining a bounding box of the model by adopting a bounding box processing algorithm;
and then, performing section processing to obtain regular target operation points on the surface of the airplane model, and storing data in a csv file format.
The path planning module can modify the cleaning direction of the surface of the airplane, the OBB bounding box algorithm can calculate the cuboid bounding box information of the airplane surface model, and then different path information can be obtained as long as the vertex and the direction of the bounding box in the slicing processing algorithm are modified.
The purpose of the path planning module is to obtain the cleaning target points of the aircraft surface.
As shown in fig. 4: assuming that the starting point selects vertex 2 and the axis vectors select 1 to 2, and the cleaning direction thereof is set to be horizontal, the starting point selects vertex 2 and the axis vectors select 2 to 3, and the cleaning direction thereof is vertical.
The path planning result can obtain a series of coordinates and attitudes (euler angles) of the target point, and if the tail end of the mechanical arm is inclined to the surface of the airplane by a certain angle, the attitude (euler angle) of the target point of the path planning can be modified, namely, the attitude problem of the target point can be changed by left-multiplying the rotation matrix on the basis of the original attitude, for example, the tail end and the surface of the airplane are operated by a certain inclination angle.
4. In the step 4), the trajectory planning module firstly guides a storage file of a target operation point on the surface of the airplane model into the trajectory planning model, and then carries out Cartesian space planning on a target point;
if the unreachable points are met, obstacle avoidance planning is carried out, the unreachable points are bypassed, and meanwhile, values with large data difference and large joint jitter of the front and the back data of each joint are eliminated;
and finally, storing the result of the trajectory planning by a file, and transmitting the result to a controller (PLC) through a TCP (transmission control protocol).
And guiding the target cleaning points into a track planning program, and planning the motion track to obtain the joint parameters of the robot of each target path point.
5. In the step 5), the motion control module controls the speed value of each joint of the robot by performing interpolation fitting on the track planning result, and then drives each joint to move through the driver, so as to control the speed and acceleration information of the tail end and drive the tail end rolling brush to achieve the purpose of airplane cleaning.
The track planning result is transmitted to a controller (PLC) through a communication module, and then the control module drives each joint of the robot to move so as to drive the tail end to carry out the purpose of airplane surface cleaning.
Fourthly, the invention and innovation points of the invention are summarized as follows:
1. visual construction of the airplane model: the method comprises the following steps that the airplane is fully scanned through a radar vision sensor, a traditional airplane model is a three-dimensional model during design, errors exist between the actually manufactured airplane model and the designed model, and therefore planning of a cleaning target point on the surface of the airplane is not accurate; the invention adopts full scanning of the radar body, and can obtain a three-dimensional model of the airplane in real time. Aiming at airplanes of different models, quickly establishing airplane models of different models;
2. a robot configuration module: the technological parameters of airplane cleaning, such as the contact distance between the tail end and the airplane body, the inclination angle between the tail end and the plane of the airplane body during cleaning, the line spacing (namely the density during cleaning) of the airplane surface cleaning operation, the sequence of cleaning the airplane surface and the like are solved;
3. a motion control module: the module controls the speed value of each joint of the robot by carrying out interpolation fitting on a track planning result, then drives each joint to move through a driver, further controls the speed and acceleration information of the tail end, and drives the tail end rolling brush to achieve the aim of cleaning the airplane;
4. a visualization module: the robot can move, and the path moving process can be visually displayed.
The invention achieves the purpose of automatically cleaning the airplane through the robot, and the technical scheme can also be applied to the surface cleaning of other workpieces, such as automobiles and the like.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (10)
1. An aircraft cleaning robot, characterized by: the aircraft cleaning robot is provided with a vision module, a model processing module, a path planning module, a track planning module and a motion control module.
2. An aircraft washing robot according to claim 1 wherein: the aircraft cleaning robot is carried by a robot carrying automobile.
3. An aircraft washing robot according to claim 1 wherein: the vision module is used for installing the radar vision sensor at the tail end of the robot, then the robot drives the radar vision sensor at the tail end to scan a machine body to obtain point cloud data, and finally a robot three-dimensional model is constructed through a mathematical algorithm to generate an STL file format.
4. An aircraft washing robot according to claim 1 wherein: the aircraft cleaning robot is provided with a communication module.
5. An aircraft washing robot according to claim 4 wherein: and the communication module transmits the data of the radar vision sensor to the industrial personal computer, and then the industrial personal computer constructs a three-dimensional model of the obtained point cloud data and derives the STL format.
6. An aircraft washing robot according to claim 1 wherein: the aircraft cleaning robot is provided with an interface interaction module.
7. An aircraft washing robot according to claim 6 wherein: the interface interaction module inserts all functions into an rviz plug-in unit in ros in a class mode, and then interface design is carried out in rviz.
8. An aircraft washing robot according to claim 7 wherein: the interface of the interface interaction module mainly comprises:
a communication module: the controller is in communication connection with the industrial personal computer manually;
a path planning module: manually selecting a model file of a corresponding part of the airplane, then performing path planning processing, and automatically storing a data result;
a trajectory planning module: and manually selecting a path planning result of a corresponding part, planning a track by using the data, automatically storing the data, and sending the track planning result to the controller by using a control button.
9. An aircraft washing robot according to claim 1 wherein: the aircraft cleaning robot is provided with a visualization module.
10. A control method of an aircraft washing robot according to any one of claims 1 to 9, characterized in that: the control method comprises the following processes:
1) and starting;
2) constructing an airplane model by the vision module;
3) acquiring a cleaning target point of the surface of the airplane by a path planning module and planning a cleaning path;
4) the track planning module guides a storage file of a target operation point on the surface of the airplane model into the track planning model, and then carries out Cartesian space planning on a target point;
5) the motion control module controls the speed value of each joint of the robot, then drives each joint to move through the driver, further controls the speed and acceleration information of the tail end, and drives the tail end rolling brush to clean the airplane;
6) and ending.
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| CN113022880B (en) * | 2021-03-02 | 2021-11-30 | 上海航翼高新技术发展研究院有限公司 | Portable aircraft intelligence cleaning system |
| CN113044235A (en) * | 2021-04-14 | 2021-06-29 | 中国航空规划设计研究总院有限公司 | Automatic surface treatment system for airplane and use method thereof |
| CN113044235B (en) * | 2021-04-14 | 2022-06-24 | 中国航空规划设计研究总院有限公司 | Automatic surface treatment system for airplane and using method thereof |
| CN116176855A (en) * | 2023-02-27 | 2023-05-30 | 威海广泰空港设备股份有限公司 | Intelligent control system and control method for aircraft deicing vehicle |
| CN116627057A (en) * | 2023-05-30 | 2023-08-22 | 驭慕科技(上海)有限公司 | Control method of cleaning system, storage medium and program |
| CN116627057B (en) * | 2023-05-30 | 2024-05-28 | 驭慕科技(上海)有限公司 | Control method of cleaning system, storage medium and program |
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