CN111252270A - Air floatation robot position and attitude control device and method - Google Patents
Air floatation robot position and attitude control device and method Download PDFInfo
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- CN111252270A CN111252270A CN202010105162.7A CN202010105162A CN111252270A CN 111252270 A CN111252270 A CN 111252270A CN 202010105162 A CN202010105162 A CN 202010105162A CN 111252270 A CN111252270 A CN 111252270A
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Abstract
The invention provides a position and attitude control device and method for an air floatation robot, and belongs to the technical field of position and attitude control devices and methods for air floatation robots. The air floatation robot is arranged on a supporting and protecting system, an intelligent recognition system recognizes attitude data of the air floatation robot, the intelligent recognition system transmits information to the air floatation robot through a wireless transmission system, an under-platform data acquisition and processing system processes the data of the intelligent recognition system, displays attitude information and control signals of the air floatation robot, sends instructions to the air floatation robot and modifies control parameters to form closed-loop control. The invention can simulate the on-orbit work of a satellite platform, provides a simulated space mechanics environment, can output pose data in real time, has a more mature application foundation and a good actual use effect, has great progress compared with the prior art, and can be controlled based on a spray pipe and a fan.
Description
Technical Field
The invention relates to an air floatation robot position and attitude control device and method, and belongs to the technical field of air floatation robot position and attitude control devices and methods.
Background
With the development of the aerospace level in China, the structure of the spacecraft is increasingly complex, and the launching cost is increasingly increased. To ensure a seamless space mission, a large number of rigorous simulations and tests must be performed on the ground prior to launching the spacecraft. It is desirable to simulate a frictionless environment in space on the ground for verification of the control algorithm. The air floatation robot position and posture control device introduced by the invention is an advanced micro-friction simulation device; the invention discloses an air floatation robot pose control method which is an advanced control method aiming at a micro-friction low-damping condition.
In the thesis "design and implementation of satellite attitude control and full physical simulation system", a three-axis air bearing table is taken as a core, the design and implementation of a satellite attitude control ground full physical simulation system are researched, and the work of software and hardware platform construction, attitude control law design and the like of an attitude control simulation loop is mainly completed. On the basis, simulation tests such as large-angle maneuvering and stable pointing of the instrument platform are designed and completed, and the performance of the designed ground simulation system software and hardware platform and the effectiveness of the attitude control law are verified. However, the three-axis air bearing table can only simulate the movement of three rotational degrees of freedom, can not simulate the movement of translational degrees of freedom, and can not comprehensively simulate the movement of a spacecraft in space.
The scheme design of the attack and defense fight ground physical simulation system is completed in a thesis of attack and defense fight physical simulation system scheme design and analysis based on a platform, and the test planning which can be realized by the scheme is given. Completing modeling and control strategy design of the motion simulator; and (3) deriving a thrust algorithm of the motion simulator under a platform coordinate system, designing an execution mechanism distribution strategy by adopting a PID controller and a constraint equation for preventing thrust saturation, and finally proving the effectiveness of the method through a simulation result. The scheme design of the attack and defense confrontation ground physical simulation system provides a test plan which can be realized by the scheme, but the design of a gas path is not carried out, and the feasibility of the scheme is verified only by simulation and is unreliable.
Air flotation platform: discloses a low-friction air floating platform capable of simulating the weightless environment motion state of a large-mass object. This air supporting platform includes air supporting slide, air supporting basic platform and fine setting jack, and the air supporting slide is placed on air supporting basic platform, and fine setting jack supports air supporting basic platform, and the load is installed at air supporting slide upper surface, and air inlet unit installs in the air supporting slide side, inputs clean compressed air through air inlet unit. Compressed air with the pressure of more than 0.2MPa is input into the air floating platform, so that 0-15000 Kg of load can be supported, and three-dimensional plane motion can be carried out under the action of 2N initial force. The invention is suitable for the precise driving of the large-mass object, is suitable for simulating the three-dimensional plane motion of the large-mass object in the weightless state, and is particularly suitable for the test of simulating the motion state of the spacecraft on the ground after being subjected to external force. When the air floating platform works, an air inlet device (external air source) is needed to supply air, so that the simulation of the spacecraft is greatly influenced, an executing mechanism and a protection device are not needed, and the scientific experiment and the space environment simulation which can be carried out are limited.
An air-float platform: specifically disclosed is an air floating platform, which comprises a plurality of air floating modules, wherein each air floating module comprises: the inner part of the air floatation device is provided with a hollow cavity, the upper part of the cavity is provided with an air floatation flat plate, and an air floatation block is arranged on the air floatation flat plate. The key point of the invention is that the air floating platform is formed by adopting the modularized design of porous materials, and modules with different precision grades or air floating blocks made of different materials are designed according to different purposes and are used for providing stable air, reducing the consumption of the air and inhibiting floating air. The air floating platform is simple to process and assemble, low in manufacturing cost and simple and convenient to operate, non-contact transmission is achieved, deformation and stress of a large-size glass substrate are reduced, and production efficiency is improved. However, the air floating platform is not provided with an actuating mechanism, the motion range of the bearing difference is small, the precision cannot be guaranteed, and scientific experiments cannot be carried out.
Compared with the detection method, the three-degree-of-freedom air-floating robot pose control device and method can simulate the in-orbit work of a satellite platform, provide a simulated space mechanics environment and output pose data in real time. Meanwhile, compared with the device mentioned in the foregoing, the device of the application is more perfect in theory and more convenient in practical application.
Disclosure of Invention
The invention aims to solve the problems in the prior art and further provides a device and a method for controlling the position and the attitude of an air floatation robot.
The purpose of the invention is realized by the following technical scheme:
air supporting robot position appearance controlling means includes: the system comprises a supporting and protecting system, an intelligent identification system, an air floatation robot, an under-platform data acquisition and processing system and a wireless transmission system;
the intelligent recognition system is used for recognizing attitude data of the air floatation robot, the under-platform data acquisition and processing system is used for processing the attitude data of the intelligent recognition system and displaying attitude information of the air floatation robot, and the intelligent recognition system transmits the information to the air floatation robot through the wireless transmission system;
the air floatation robot consists of an air floatation robot pose control system, a power supply system, an air supply system and an air floatation table body; the air supply system is connected with the air floatation robot pose control system to supply air to the air floatation robot pose control system, the power supply system is connected with the air floatation robot pose control system to supply power to the air floatation robot pose control system, and the air floatation table body is arranged at the bottom of the air floatation robot;
the air floatation robot pose control system consists of an industrial control computer, a drive plate and an execution mechanism, wherein the industrial control computer generates a control instruction, and the control instruction is sent to the execution mechanism through the drive plate;
the supporting and protecting system consists of a high-precision marble platform and an edge protecting adhesive tape, the high-precision marble platform is used for supporting the movement of the air floatation robot, and the edge protecting adhesive tape is arranged at the edge of the high-precision marble platform;
the under-platform data acquisition and processing system processes the data of the intelligent recognition system, displays the attitude information and the control signal of the air floatation robot, and sends an instruction and modifies the control parameters to the air floatation robot;
the wireless transmission system consists of a main router and an auxiliary router, wherein the main router is positioned under the table of the high-precision marble table, the auxiliary router is positioned on the air floatation robot, and the main router and the auxiliary router can carry out wireless communication;
the gas supply system consists of a high-pressure gas cylinder, a high-pressure gas circuit, a low-pressure gas circuit, a first pressure reducing valve, a gas foot and an inflation switch; an inflation switch is arranged on the high-pressure gas cylinder, the high-pressure gas cylinder is connected with a first pressure reducing valve through a high-pressure gas circuit, the first pressure reducing valve is connected with a gas foot through a low-pressure gas circuit, the gas foot is connected with an air floating platform body at the bottom of the air floating robot through a self-adaptive horizontal holding device, and a layer of gas film is arranged between the gas foot and the surface of the high-precision marble platform;
the power supply system consists of a high-capacity rechargeable lithium battery and a voltage stabilizing and transforming module; the voltage stabilizing and transforming module is connected with the high-capacity rechargeable lithium battery to convert the voltage of the high-capacity rechargeable lithium battery into stable voltage.
The intelligent recognition system is composed of a support frame, a wide-angle camera and a recognition mark, the support frame is used for installing the wide-angle camera at the top of the air floatation robot position and posture control device, and the wide-angle camera intelligently recognizes the posture of the air floatation robot through the recognition mark at the top of the air floatation robot.
The intelligent recognition system comprises support frame, wide angle camera and identification mark, and installation identification mark on the support frame, wide angle camera install at the air supporting robot top, and wide angle camera passes through wireless transmission system and gives the air supporting robot with gesture data transmission.
The actuating mechanism is a servo fan set and a flywheel based on an orthogonal symmetrical installation mode.
The actuating mechanism is a cold air propulsion group and a flywheel based on an orthogonal symmetrical installation mode.
The gas supply system also comprises a second pressure reducing valve and a spray pipe, and the spray pipe is connected with the high-pressure gas circuit through the second pressure reducing valve.
The air floatation robot pose control method comprises the following steps:
filling a high-pressure gas cylinder in a gas supply system to supply gas for the device, and filling a high-capacity rechargeable lithium battery of a power supply system to supply power for the device;
step two: starting the device to enable the air floatation robot to float, and turning on all power supplies; carrying out system initialization, algorithm compiling and downloading in an under-platform data acquisition and processing system;
step three: the air floatation robot is arranged on the supporting and protecting system, a wide-angle camera of the intelligent identification system intelligently identifies the posture of the air floatation robot through an identification mark, the under-platform data acquisition and processing system processes the posture data of the wide-angle camera and displays the posture information of the air floatation robot, and meanwhile, the under-platform data acquisition and processing system sends the posture information of the air floatation robot to the air floatation robot through the wireless transmission system;
step four: the under-table data acquisition and processing system sends instructions to the air floatation robot in real time to modify control parameters, so as to realize closed-loop control of the system.
The invention has the beneficial effects that:
the three-degree-of-freedom air-floating robot pose control device and method provided by the invention can simulate the in-orbit work of a satellite platform, provide a simulated space mechanics environment and output pose data in real time. Meanwhile, compared with the device mentioned in the foregoing, the device of the application is more perfect in theory and more convenient in practical application.
The air floatation robot position and posture control device and method provided by the invention have a more mature application foundation, have a good actual use effect, are greatly improved compared with the prior art, and can be controlled based on the spray pipe and the fan.
Compared with the air-floating robot in the prior art, the air-floating robot is more advanced, more reliable and realized, can simulate the movement of the translation freedom degree, comprehensively simulate the movement of a spacecraft in the space, and design the air path, and is realized and reliable.
The spacecraft simulation system does not need an air inlet device (an external air source) for supplying air, does not influence the simulation of the spacecraft, is provided with an actuating mechanism and a protection device, can perform scientific experiments and space environment simulation, has a large bearing difference motion range, can ensure the precision of the spacecraft simulation system, and is convenient for performing scientific experiments.
Drawings
Fig. 1 is a schematic diagram of a position and attitude control device system of an air floatation robot.
FIG. 2 is a schematic diagram of the system components of the attitude control device of the air-floating robot.
Fig. 3 is a schematic diagram of the closed loop control of the system.
FIG. 4 is a flow chart of a control algorithm.
Fig. 5 is a schematic view of a fan installation position.
FIG. 6 is a schematic view of the nozzle installation position.
Fig. 7 is a schematic diagram of a high-precision marble platform and a protective adhesive tape.
FIG. 8 is an under-table data acquisition and processing system interface.
Fig. 9 is a schematic view of an air supply system.
Fig. 10 is a schematic diagram of an air supply system.
FIG. 11 is a schematic diagram of the position of the gas foot and a diagram of the substance of the gas foot.
Fig. 12 is a schematic view of the air foot installation.
Fig. 13 is a schematic diagram of a power supply system.
In the figure, reference numerals, 1 denotes a support and protection system, 2 denotes an intelligent recognition system, 3 denotes an air floating robot, 4 denotes an under-table data acquisition and processing system, 5 denotes a wireless transmission system, 6 denotes an air floating robot pose control system, 7 denotes a power supply system, 8 denotes an air supply system, 9 denotes an industrial control computer, 10 denotes a drive board, 11 denotes an actuator, 12 denotes a high-precision marble table, 13 denotes an edge protection rubber strip, 14 denotes a support frame, 15 denotes a wide-angle camera, 16 denotes an identification mark, 17 denotes a flywheel, 18 denotes a fan motor solenoid valve, 19 denotes a high-pressure gas cylinder, 20 denotes a high-pressure gas circuit, 21 denotes a low-pressure gas circuit, 22 denotes a first pressure reducing valve, 23 denotes an air foot, 24 denotes an inflation switch, 25 denotes a second pressure reducing valve, 26 denotes a spray pipe, 27 denotes an adaptive horizontal holding device, 28 denotes a high-capacity rechargeable lithium battery, 29 denotes a pressure stabilizing and varying module, and 30 denotes an air.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation is given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1 to 13, the attitude control device for an air-floating robot according to the present embodiment includes: the system comprises a supporting and protecting system 1, an intelligent identification system 2, an air floatation robot 3, an under-platform data acquisition and processing system 4 and a wireless transmission system 5;
the air floatation robot 3 is arranged on the supporting and protecting system 1, the intelligent recognition system 2 recognizes attitude data of the air floatation robot 3, the under-platform data acquisition and processing system 4 processes the attitude data of the intelligent recognition system 2 and displays attitude information of the air floatation robot 3, and the intelligent recognition system 2 transmits the information to the air floatation robot 3 through the wireless transmission system 5;
the air floatation robot 3 consists of an air floatation robot position and attitude control system 6, a power supply system 7, an air supply system 8 and an air floatation table body 30; the air supply system 8 is connected with the air floatation robot position and posture control system 6 and supplies air to the air floatation robot position and posture control system 6, the power supply system 7 is connected with the air floatation robot position and posture control system 6 and supplies power to the air floatation robot position and posture control system 6, and the air floatation table body 30 is arranged at the bottom of the air floatation robot 3;
the air floatation robot pose control system 6 is composed of an industrial control computer 9, a drive plate 10 and an execution mechanism 11, wherein the industrial control computer 9 generates a control instruction, and the control instruction is sent to the execution mechanism 11 through the drive plate 10;
the supporting and protecting system 1 consists of a high-precision marble table 12 and an edge protecting adhesive tape 13, wherein the high-precision marble table 12 is used for supporting the air floatation robot 3 to move, and the edge protecting adhesive tape 13 is arranged at the edge of the high-precision marble table 12;
the under-platform data acquisition and processing system 4 processes the data of the intelligent recognition system 2, displays attitude information and control signals of the air-floating robot 3, and sends instructions and modifies control parameters to the air-floating robot 3;
the wireless transmission system 5 consists of a main router and an auxiliary router, the main router is positioned under the high-precision marble table 12, the auxiliary router is positioned on the air floatation robot 3, and the main router and the auxiliary router can carry out wireless communication;
the gas supply system 8 consists of a high-pressure gas cylinder 19, a high-pressure gas circuit 20, a low-pressure gas circuit 21, a first pressure reducing valve 22, a gas foot 23 and an inflation switch 24; an inflation switch 24 is arranged on the high-pressure gas bottle 19, the high-pressure gas bottle 19 is connected with a first pressure reducing valve 22 through a high-pressure gas path 20, the first pressure reducing valve 22 is connected with a gas foot 23 through a low-pressure gas path 21, the gas foot 23 is connected with a gas floating platform body 30 at the bottom of the gas floating robot 3 through a self-adaptive horizontal holding device 27, and a layer of gas film is arranged between the gas foot 23 and the surface of the high-precision marble platform 12;
the power supply system 7 consists of a high-capacity rechargeable lithium battery 28 and a voltage stabilizing and transforming module 29; the voltage stabilizing and transforming module 29 is connected to the large capacity rechargeable lithium battery 28 to convert the voltage of the large capacity rechargeable lithium battery 28 into a stable voltage.
The intelligent recognition system 2 is composed of a support frame 14, a wide-angle camera 15 and a recognition mark 16, the support frame 14 is used for installing the wide-angle camera 15 at the top of the air floatation robot position and posture control device, and the wide-angle camera 15 intelligently recognizes the posture of the air floatation robot 3 through the recognition mark 16 at the top of the air floatation robot 3.
The intelligent recognition system 2 comprises a support frame 14, a wide-angle camera 15 and a recognition mark 16, the recognition mark 16 is installed on the support frame 14, the wide-angle camera 15 is installed at the top of the air floatation robot 3, and the wide-angle camera 15 transmits attitude data to the air floatation robot 3 through a wireless transmission system 5.
The actuator 11 is a servo fan set and a flywheel 17 based on an orthogonal symmetrical mounting mode.
The actuating mechanism 11 is a cold air propulsion group and a flywheel 17 based on an orthogonal symmetrical installation mode.
The gas supply system 8 further comprises a second pressure reducing valve 25 and a spray pipe 26, and the spray pipe 26 is connected with the high-pressure gas circuit 20 through the second pressure reducing valve 25.
The air floatation robot pose control method comprises the following steps:
filling a high-pressure gas cylinder 19 in a gas supply system 8 to supply gas for the device, and filling a high-capacity rechargeable lithium battery 28 of a power supply system 7 to supply power for the device;
step two: starting the device to enable the air floatation robot 3 to float, and turning on all power supplies; carrying out system initialization, algorithm compiling and downloading in the data acquisition and processing system 4 under the platform;
step three: the air-floating robot 3 is arranged on the supporting and protecting system 1, the wide-angle camera 15 of the intelligent recognition system 2 intelligently recognizes the posture of the air-floating robot 3 through a recognition mark 16, the under-table data acquisition and processing system 4 processes the posture data of the wide-angle camera 15 and displays the posture information of the air-floating robot 3, and meanwhile, the under-table data acquisition and processing system 4 provides the posture information of the air-floating robot 3 to the air-floating robot 3 through the wireless transmission system 5;
step four: the under-platform data acquisition and processing system 4 sends instructions to the air floatation robot 3 in real time to modify control parameters, so as to realize closed-loop control of the system.
Example 1
The air-floating robot position and posture control device mainly comprises a supporting and protecting system 1, an intelligent recognition system 2, an under-platform data acquisition and processing system 4, a wireless transmission system 5, an air-floating robot position and posture control system 6, a power supply system 7 and an air supply system 8, as shown in fig. 1 and 2. In fig. 2, 1 is a supporting and protecting system, 2 is an intelligent recognition system, 3 is an air-floating robot, the air-floating robot comprises an air-floating robot control system, an air supply system and a power supply system, 4 is an under-platform data acquisition and processing system, and a closed-loop control schematic diagram of the system is shown in fig. 3.
The air floatation robot pose control system 6 is composed of an industrial control computer 9, a drive plate 10 and an actuating mechanism 11. The actuator 11 may select the servo fan set and the flywheel 17 based on the orthogonal symmetrical installation manner, or select the cold air propulsion set and the flywheel 17 based on the orthogonal symmetrical installation manner, according to the specific requirements, and the control algorithm flowchart is shown in fig. 4.
When an expectation is input, the system makes a path plan by combining the current pose information of the air floatation robot, then the double-loop PID control law is applied to solve the control quantity, then the moment distribution algorithm is applied to distribute the control quantity to each fan of the servo fan set (or the electromagnetic valve corresponding to each spray pipe of the cold air propulsion set), and finally the control quantity of each fan is output to the drive plate 10 through the RS232 serial port. The driving board 10 converts a control signal of the industrial control computer 9 into a PWM signal through an RS232 interface to drive the actuator 11.
The servo fan set based on the orthogonal symmetrical installation mode and the cold air propulsion set based on the orthogonal symmetrical installation mode are used for controlling the pose of the air floatation robot, the positions of four fans are shown in figure 5, and the positions of eight spray pipes are shown in figure 6; the flywheel 17 is used for controlling the attitude of the air floatation robot.
S and T are table body coordinate systems, F1-F4 are the directions of thrust of the fans, and 1-8 are the directions of thrust of the fans. The torque distribution method for angular deviations only (clockwise positive) is shown in table 1.
TABLE 1 Torque distribution method
| Number of working fans | Servo fan set | Cold air propelling group |
| The angular deviation is positive | 2，4 | 2，4，6，8 |
| The angular deviation being negative | 1，3 | 1，3，5，7 |
The support and protection system 1 consists of a high-precision marble table 12 and an edge protection strip 13, as shown in fig. 7. The surface of the high-precision marble table 12 is smooth and horizontal and is used for supporting the movement of the air floatation robot, and the edge protection rubber strip 13 is positioned at the edge of the high-precision marble table 12 and prevents the air floatation robot 3 from falling.
The intelligent recognition system 2 is composed of a support frame 14, a wide-angle camera 15 and a recognition mark 16. The wide-angle camera 15 is mounted on the top of the whole device through the support frame 14, and the wide-angle camera 15 intelligently recognizes the posture of the air floatation robot 3 through a recognition mark 16 on the top of the air floatation robot 3; alternatively, the identification mark 16 is mounted on the support frame 14, the wide-angle camera 15 is placed on the top of the air-floating robot 3 (as a star sensor), and the attitude data is transmitted to the air-floating robot 3 through the wireless transmission system 5.
The intelligent recognition system 2 can also be provided with other sensing devices such as a gyroscope, a star sensor and the like according to requirements to perform a multi-sensor data fusion experiment.
The under-table data acquisition and processing system 4 is used for processing data of the wide-angle camera 15, sending an instruction in real time, displaying attitude information and a control signal of the air-floating robot 3 in real time, and modifying a control parameter in real time, and a control interface is shown in fig. 8.
The wireless transmission system 5 is composed of a main router and an auxiliary router. The main router is located under the platform, the auxiliary router is located on the air floatation robot, and the main router and the auxiliary router can be in wireless communication. The system can ensure simultaneous communication of a plurality of air-floating robots 3.
The gas supply system 8 consists of a high-pressure gas cylinder 19, a high-pressure gas circuit 20, a low-pressure gas circuit 21, a first pressure reducing valve 22, a gas foot 23 and an inflation switch 24, and can maintain the work task for more than two hours as shown in fig. 9. The portion in the dotted line in fig. 9 is an air passage added when the actuators are the cold air propulsion unit and the flywheel 17 mounted in an orthogonal symmetrical manner. As shown in fig. 10, there are a high pressure gas cylinder 19 (upper left), a high pressure gas passage 20 (upper right), a first pressure reducing valve 22 (lower left), and a low pressure gas passage 21 (lower right).
When the inflation switch 24 is turned on, the outside inflates the high-pressure gas bottle 19; when the inflation switch 24 is turned off, the high-pressure gas bottle 19 supplies gas to the three gas feet 23 through the high-pressure gas path 20, the first pressure reducing valve 22 and the low-pressure gas path 21, the installation schematic diagram and the actual drawing of the gas feet 23 are shown in fig. 11, the left drawing is the installation schematic diagram of the gas feet 23, and the right drawing is the actual drawing of the gas feet 23. Three air feet 23 are connected with the bottom of the air floatation robot 3 through an adaptive horizontal holding device 27, and an air film is arranged between the air feet 23 and the surface of the high-precision marble table 12 as shown in figure 12, so that a micro-friction environment is simulated.
Wherein, the part between the air foot 23 and the surface of the high-precision marble platform 12 is an air film, and the self-adaptive horizontal holding device 27 can keep the lower surface of the air foot 23 parallel to the upper surface of the high-precision marble platform 12 all the time, and simultaneously ensure the stability of the air-floating platform body 30.
The power supply system 7 is composed of a large-capacity rechargeable lithium battery 28 (capable of maintaining more than two hours of work tasks), and a voltage stabilizing and transforming module 29. As shown in fig. 13, the voltage stabilizing and transforming module 29 converts the voltage of the large capacity rechargeable lithium battery 28 into a stable voltage required by other devices to supply power to the industrial control computer 9, the driving board 10, the flywheel 17 and the fan motor solenoid valve 18.
The above description is only a preferred embodiment of the present invention, and these embodiments are based on different implementations of the present invention, and the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. The air floatation robot position and posture control device is characterized by comprising; the system comprises a support and protection system (1), an intelligent identification system (2), an air floatation robot (3), an under-platform data acquisition and processing system (4) and a wireless transmission system (5);
the air floatation robot (3) is arranged on the supporting and protecting system (1), the intelligent recognition system (2) recognizes attitude data of the air floatation robot (3), the under-platform data acquisition and processing system (4) processes the attitude data of the intelligent recognition system (2) and displays attitude information of the air floatation robot (3), and the intelligent recognition system (2) transmits the information to the air floatation robot (3) through the wireless transmission system (5);
the air floatation robot (3) consists of an air floatation robot pose control system (6), a power supply system (7), an air supply system (8) and an air floatation table body (30); the air supply system (8) is connected with the air floatation robot pose control system (6) to supply air to the air floatation robot pose control system (6), the power supply system (7) is connected with the air floatation robot pose control system (6) to supply power to the air floatation robot pose control system (6), and the air floatation table body (30) is arranged at the bottom of the air floatation robot (3);
the air floatation robot pose control system (6) is composed of an industrial control computer (9), a drive plate (10) and an execution mechanism (11), wherein the industrial control computer (9) generates a control instruction, and the control instruction is sent to the execution mechanism (11) through the drive plate (10);
the supporting and protecting system (1) is composed of a high-precision marble table (12) and an edge protecting adhesive tape (13), the high-precision marble table (12) is used for supporting the air floatation robot (3) to move, and the edge protecting adhesive tape (13) is arranged at the edge of the high-precision marble table (12);
the under-platform data acquisition and processing system (4) processes the data of the intelligent recognition system (2), displays the attitude information and control signals of the air floatation robot (3), and sends instructions and modifies control parameters to the air floatation robot (3);
the wireless transmission system (5) consists of a main router and an auxiliary router, the main router is positioned under the high-precision marble table (12), the auxiliary router is positioned on the air floatation robot (3), and the main router and the auxiliary router can carry out wireless communication;
the gas supply system (8) consists of a high-pressure gas cylinder (19), a high-pressure gas circuit (20), a low-pressure gas circuit (21), a first reducing valve (22), a gas foot (23) and an inflation switch (24); an inflation switch (24) is arranged on the high-pressure gas bottle (19), the high-pressure gas bottle (19) is connected with a first pressure reducing valve (22) through a high-pressure gas circuit (20), the first pressure reducing valve (22) is connected with an air foot (23) through a low-pressure gas circuit (21), the air foot (23) is connected with an air floating platform body (30) at the bottom of the air floating robot (3) through a self-adaptive horizontal holding device (27), and a layer of air film is arranged between the air foot (23) and the surface of the high-precision marble platform (12);
the power supply system (7) consists of a high-capacity rechargeable lithium battery (28) and a voltage stabilizing and transforming module (29); the voltage stabilizing and transforming module (29) is connected with the large-capacity rechargeable lithium battery (28) to transform the voltage of the large-capacity rechargeable lithium battery (28) into a stable voltage.
2. The air-floating robot pose control device according to claim 1, wherein the intelligent recognition system (2) is composed of a support frame (14), a wide-angle camera (15) and a recognition mark (16), the wide-angle camera (15) is installed on the top of the air-floating robot pose control device by the support frame (14), and the wide-angle camera (15) intelligently recognizes the pose of the air-floating robot (3) through the recognition mark (16) on the top of the air-floating robot (3).
3. The position and orientation control device of the air-floating robot as claimed in claim 1, wherein the intelligent recognition system (2) is composed of a support frame (14), a wide-angle camera (15) and a recognition mark (16), the recognition mark (16) is installed on the support frame (14), the wide-angle camera (15) is installed at the top of the air-floating robot (3), and the wide-angle camera (15) transmits the orientation data to the air-floating robot (3) through a wireless transmission system (5).
4. The attitude control device of the air-floating robot according to claim 1, wherein the actuator (11) is a flywheel (17) and a servo fan set based on an orthogonal symmetrical installation method.
5. The attitude control device according to claim 1, characterized in that the actuator (11) is a cold air propulsion group and a flywheel (17) based on an orthogonal symmetrical installation.
6. The attitude control device of the air-floating robot as claimed in claim 1, wherein the air supply system (8) further comprises a second pressure reducing valve (25) and a nozzle (26), and the nozzle (26) is connected with the high-pressure air passage (20) through the second pressure reducing valve (25).
7. The method for controlling the attitude control device of the air-floating robot according to any one of claims 1 to 6, comprising the steps of
Filling a high-pressure gas cylinder (19) in a gas supply system (8) to supply gas for the device, and filling a high-capacity rechargeable lithium battery (28) of a power supply system (7) to supply power for the device;
step two: starting the device to enable the air floatation robot (3) to float and turn on all power supplies; carrying out system initialization, algorithm compiling and downloading in the data acquisition and processing system (4) under the platform;
step three: the air floatation robot (3) is arranged on the supporting and protecting system (1), the wide-angle camera (15) of the intelligent recognition system (2) intelligently recognizes the posture of the air floatation robot (3) through a recognition mark (16), the under-platform data acquisition and processing system (4) processes the posture data of the wide-angle camera (15) and displays the posture information of the air floatation robot (3), and meanwhile, the under-platform data acquisition and processing system (4) transmits the posture information of the air floatation robot (3) to the air floatation robot (3) through the wireless transmission system (5);
step four: the under-platform data acquisition and processing system (4) sends instructions to the air floatation robot (3) in real time to modify control parameters, so as to realize closed-loop control of the system.
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