CN112009714B - Automatic sensing system and method for omni-directional mobile rodless traction type mobile robot - Google Patents
Automatic sensing system and method for omni-directional mobile rodless traction type mobile robot Download PDFInfo
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- CN112009714B CN112009714B CN202010803583.7A CN202010803583A CN112009714B CN 112009714 B CN112009714 B CN 112009714B CN 202010803583 A CN202010803583 A CN 202010803583A CN 112009714 B CN112009714 B CN 112009714B
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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
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations installed for handling aircraft
- B64F1/225—Towing trucks
- B64F1/227—Towing trucks adapted for directly connecting to aircraft, e.g. trucks without tow-bars
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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
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations installed for handling aircraft
- B64F1/225—Towing trucks
- B64F1/228—Towing trucks remotely controlled, or autonomously operated
Abstract
The invention relates to an automatic sensing system and a method for an omnidirectional mobile rodless traction type movable robot, wherein the automatic sensing system is applied to an omnidirectional mobile rodless tractor, the system allows the omnidirectional mobile rodless tractor to provide a three-dimensional space coordinate and a deflection angle position relationship between the omnidirectional mobile rodless tractor and an airplane landing gear wheel set in the process of manually remotely controlling or automatically clamping an airplane, and the automatic sensing system comprises the following steps: the system comprises a pose resolving module based on visual measurement, an environment detecting module based on laser scanning, an embedded upper controller, an embedded driving controller, a wheel clasping system, a Mecanum wheel driven by a plurality of servo motor systems, a wireless module and a remote controller.
Description
Technical Field
The invention relates to the field of mechanical engineering and electronic engineering, in particular to an automatic sensing system and method for an omnidirectional mobile rodless traction type mobile robot.
Background
The aircraft is making in production, maintenance and aircraft when the out-of-work closes the sender, and the removal of aircraft all needs the transfer of the different positions of aircraft to be accomplished to dedicated pulling equipment, along with the development of traction technique, has formed there being pole tractor and no pole tractor two kinds, and no pole tractor has certain advantage in work efficiency, flexibility, reliability for having the pole tractor, gradually becomes future development direction, but traditional no pole tractor has following problem:
1. the existing traditional tractor mainly adopts a manual driving mode, when the rodless tractor is in butt joint with the airplane wheel set, the operator cannot visually feel the relative position relation between the tractor and the airplane undercarriage wheel set, the butt joint and clamping operation difficulty is high, and the consumed time is high.
2. The intelligent informatization degree is low, the traditional tractor can realize the functions of traction, clamping, release and the like under the manual operation, and an autonomous decision mechanism and a matched measuring and sensing means are lacked.
Disclosure of Invention
The technical problem solved by the invention is as follows: overcomes the defects of the prior art, provides an automatic sensing system and a method which are applicable to an omnidirectional mobile rodless tractor, the system can lead the electric omnidirectional mobile rodless tractor with omnidirectional movement capability to automatically sense the surrounding environment information, automatically acquire the pose relation between the omnidirectional mobile rodless tractor and the wheel set of the landing gear of the airplane, feed back and compensate the running path of the omnidirectional mobile rodless tractor, lead the omnidirectional mobile rodless tractor to automatically run to the position aligned with the wheel set of the landing gear of the airplane, and automatically avoid obstacles on the path in the running process, meanwhile, the system has the functions of auxiliary early warning and prompting aiming at the common rodless omnidirectional mobile rodless tractor, the system can assist to prompt an operator to drive the common omnidirectional mobile rodless tractor to deviate from the pose and the surrounding environment information in the aligning process of the aircraft undercarriage, and the system can greatly improve the efficiency and the safety of the whole aligning process.
The technical scheme of the invention is as follows: an automatic sensing system of an omnidirectional mobile rodless traction type mobile robot, which is applied to an omnidirectional mobile rodless tractor and allows the omnidirectional mobile rodless tractor to provide three-dimensional space coordinates and deflection angle pose relations between the omnidirectional mobile rodless tractor and an airplane landing gear wheel set in a manual remote control or automatic airplane clamping process, and comprises: the system comprises a pose resolving module based on visual measurement, an environment detecting module based on laser scanning, an embedded upper controller, an embedded driving controller, a wheel clasping system, a Mecanum wheel driven by a plurality of servo motor systems, a wireless module and a remote controller;
when the manual operation remote controller sends walking or automatic clamping instruction information, the embedded upper controller sends a walking instruction to the embedded driving controller through the serial port RS232 by receiving the instruction information, and sends a clamping instruction to the wheel clamping system through the CAN bus; the embedded driving controller analyzes the rotating speed and the direction of each Mecanum wheel driving servo motor of the omnidirectional mobile rodless tractor according to the walking instruction, and sends the rotating speed and the direction to each servo motor system in a bus mode to realize the walking control of the omnidirectional mobile rodless tractor by the remote controller; when the omnidirectional mobile rodless tractor moves towards the wheel set of the landing gear, a pose calculation module based on visual measurement acquires a photo of the wheel set of the landing gear in real time and analyzes space coordinates and deflection angle pose information, the information is sent to an embedded upper controller through a CAN bus, when the embedded upper controller judges that a set pose relation is met according to the pose information, the aligned state of the omnidirectional mobile rodless tractor and the wheel set of the landing gear is fed back to a remote controller through a wireless module, a wheel clamping system controls a wheel clamping mechanism to realize the clamping action of the wheel set of the landing gear after receiving a clamping command, the clamping of the omnidirectional mobile rodless tractor and the wheel set of the landing gear is completed, in the process, an environment detection module based on laser scanning acquires environment information around the omnidirectional mobile rodless tractor in a laser scanning mode, when obstacles around the omnidirectional mobile rodless tractor are detected in the moving process, and sending a deceleration and parking instruction to the embedded upper controller through an IO signal, the embedded upper controller autonomously decides to send a deceleration or stop instruction to the embedded drive controller and the wheel clasping system according to the information, and the embedded drive controller and the wheel clasping system control the corresponding motor or oil cylinder to decelerate or stop according to the instruction.
The omnidirectional mobile rodless tractor is powered by a battery or oil-electricity hybrid, driven by a plurality of Mecanum wheels, and realizes the forward, backward, oblique and zero-radius in-situ rotation of a tractor body through the combined motion of a plurality of Mecanum wheel trains.
Embrace the wheel system as the function component of rodless tractor, by embracing the wheel mechanism, hydraulic system and control system constitute, after omnidirectional movement rodless tractor and aircraft undercarriage wheelset aim at, control system acquires to press from both sides and embraces the instruction after start hydraulic power unit, through the flexible of each pneumatic cylinder of control hydraulic valve group break-make drive armful wheel mechanism, the clamp of accomplishing armful wheel mechanism is embraced and is released the action, embrace the wheel mechanism and press from both sides the armful with aircraft undercarriage wheelset, play to rise the back, make aircraft undercarriage wheelset lift off the ground, omnidirectional movement rodless tractor can pull the aircraft and travel to the assigned place.
The pose resolving module based on vision measurement comprises an image acquisition device, a laser ranging module, an identification and resolving controller and an auxiliary light source;
the image acquisition device is used for acquiring a wheel set photo of the aircraft landing gear and transmitting the image to the identification and calculation controller; the laser ranging module is arranged at the wheel holding mechanism of the omnidirectional mobile rodless tractor, vertically irradiates a hub of an undercarriage wheel set, is used for measuring the distance between the undercarriage wheel set and a camera, provides measured data to the recognition and calculation controller, and is used for correcting image distortion when the wheel set and the camera have deflection angles; the recognition and calculation controller is used as a core processor of a pose calculation module based on vision measurement, receives image information and distance information, compensates, filters and extracts features of the image, fits coordinates of the airplane wheel set according to image feature parameters, calculates pose information between the airplane wheel set and the omnidirectional mobile rodless tractor and sends the pose information to the embedded upper controller; the auxiliary light source is used for irradiating the surface of the airplane wheel set when the surrounding environment is dark, so that the light reflection intensity of the surface of the wheel set is enhanced, and a better image is obtained by the image acquisition device;
the method for extracting the features of the image comprises the following steps: firstly, an ideal background model is established, an interested moving target is effectively extracted from a scene by establishing the background model, and the extraction of the airplane hub in the background is realized by adopting a Gaussian mixture model-based method.
The basic idea of the Gaussian mixture model-based method is that a video sequence is used as the input of an algorithm, a background model is updated in real time according to a video frame, and then all pixel points in the latest frame of image are divided into background points and foreground points through the background model; the change condition of the pixel values of the pixels in a video image is described by K Gaussian distributions, and a new pixel observation value is divided into background points or foreground points and becomes a component of a background model.
The method for extracting the airplane hub in the background by adopting the Gaussian mixture model-based method comprises three parts of parameter initialization, parameter updating, background model generation and foreground detection, and specifically comprises the following steps of: firstly, initializing parameters of a Gaussian mixture model by using a first frame of video image as a sample set, along with the change of video frames, matching and judging each new pixel value with all current Gaussian distributions, and updating the parameters of the Gaussian mixture model according to a matching result; dividing all the Gaussian distributions into a background model and a foreground model through a set threshold, matching through the Gaussian distributions, judging whether the pixel point belongs to a background point or a foreground point, and extracting an airplane hub target; when the complete hub of the airplane enters the visual field, after the complete information of the hub of the undercarriage of the airplane is acquired, when the deflection angle of the hub of the undercarriage of the airplane relative to the tractor is changed, the length of the transverse axis and the length of the longitudinal axis of the hub in the image are changed, the deflection angle of the hub of the undercarriage of the airplane relative to the tractor and the three-dimensional coordinate in the visual field of the camera are calculated according to the change proportion and the distance value of the camera relative to the hub of the undercarriage of the airplane measured by the laser ranging sensor, and the three-dimensional coordinate and the plane included angle of the center point of the hub of the airplane are identified in real time by converting the visual field coordinate into the body coordinate of the tractor, namely the pose information of the hub of the airplane.
The laser scanning environment detection module is used for monitoring obstacles in a range of 360 degrees around the omnidirectional mobile rodless tractor in a laser scanning mode and protecting a wheel holding mechanism mechanical body in the alignment process of the omnidirectional mobile rodless tractor and an aircraft landing gear wheel set, so that collision between the omnidirectional mobile rodless tractor and peripheral equipment and facilities in the movement process or collision between a misaligned front aircraft wheel set and the wheel holding mechanism body of the omnidirectional mobile rodless tractor are prevented; the environment detection module based on laser scanning can acquire the distance and angle information of the rodless tractor with or without obstacles and moving in an omnidirectional manner, and sends the information to the embedded upper controller.
The embedded upper controller adopts ARM as a main control chip, a stable communication mechanism is established through a CAN port and an I/O port and a pose resolving module based on visual measurement, an environment detecting module based on laser scanning and a driving control module, the surrounding environment information of the omnidirectional mobile rodless tractor, the pose information of the omnidirectional mobile rodless tractor and the airplane wheel set are obtained, the running path of the omnidirectional mobile rodless tractor is planned, and the avoidance of the omnidirectional mobile rodless tractor to surrounding obstacles and the quick alignment of the omnidirectional mobile rodless tractor to the airplane wheel set are realized; meanwhile, the embedded upper controller is connected with the wireless module through a serial port, can be in wireless communication with the remote controller, receives a remote control instruction of the remote controller, and sends the state information of the omnidirectional mobile rodless tractor to the remote controller for displaying.
The embedded driving controller calculates the rotating speed and the direction of the servo motor of each wheel train of the omnidirectional mobile rodless tractor according to the path information of the embedded upper controller, realizes the servo control of each wheel train motor, and returns the state information and the alarm information of each motor to the embedded upper controller.
The wireless module is used as a communication terminal of the omnidirectional mobile rodless tractor to establish a wireless communication channel with the handheld device, so that the remote control instruction of the handheld device is sent to the embedded upper controller, and the embedded upper controller transmits information about state information and alarm information of the omnidirectional mobile rodless tractor to an information transmission channel displayed by the remote controller.
The remote controller is used as an operation control terminal of the omnidirectional mobile rodless tractor, two rocking bars and keys are provided, the running speed and direction of the omnidirectional mobile rodless tractor can be manually controlled, the automatic alignment mode of the omnidirectional mobile rodless tractor and an airplane wheel set can be started, and a display screen can be provided on the handheld device and can display the speed, the course angle and the pose information, the fault codes and the surrounding obstacle alarm information of the omnidirectional mobile rodless tractor and the airplane wheel set in the automatic alignment process.
An automatic sensing method for an omnidirectional mobile rodless traction type mobile robot comprises the following steps:
(1) starting up the omnidirectional mobile rodless tractor, starting up the remote controller, switching the working mode of the remote controller to a manual-walking mode, and adjusting the corresponding speed gear;
(2) operating a direction rocker of a remote controller, transmitting a working mode and an operating instruction to an embedded upper controller by the remote controller through a vehicle-mounted wireless module, and transmitting the operating mode and the operating instruction to the embedded upper controller, and then transmitting the embedded upper controller to an embedded driving controller, wherein the embedded driving controller analyzes the rotating speed and the steering direction of each driving wheel set motor of the omnidirectional mobile rodless tractor according to a driving direction and a speed instruction, so that the omnidirectional mobile rodless tractor approaches to an undercarriage wheel set according to a remote control instruction;
(3) an image acquisition device in a pose resolving module based on visual measurement in the moving process of the omnidirectional moving rodless tractor collects a front image in real time, an identification and resolving controller extracts image information characteristics, when the information of the complete hub of an aircraft landing gear is obtained, a signal of obtaining a complete aircraft wheel set is sent to an embedded upper controller, the embedded upper controller feeds back the state information to a remote controller through a wireless module, so that an operator can know the information in time, and meanwhile, the identification and resolving controller extracts the characteristic point and pose information of the image of the aircraft wheel set by referring to distance information of a distance measuring sensor, and sends the pose information of the omnidirectional moving rodless tractor and the aircraft wheel set to the embedded upper controller;
(4) after observing and acquiring the state of a complete airplane wheel set, an operator adjusts the working state of a remote controller to an 'automatic' mode, starts an automatic alignment program, an environment detection module based on laser scanning in the moving process of the omnidirectional mobile rodless tractor acquires surrounding obstacle information in real time, simultaneously carries out collision early warning on the airplane wheel set and the wheel-embracing mechanism of the omnidirectional mobile rodless tractor, and sends the surrounding obstacle information to an embedded upper controller, and the embedded upper controller plans a motion path of the omnidirectional mobile rodless tractor to the airplane wheel set after acquiring pose information and surrounding environment information of the omnidirectional mobile rodless tractor and the airplane wheel set and sends the pose information and the surrounding environment information to an embedded drive controller;
(5) the embedded driving controller calculates the rotating speed and the steering direction of each driving wheel set servo motor of the omnidirectional mobile rodless tractor after acquiring the path information, and controls the omnidirectional mobile rodless tractor to get close to the airplane wheel set while bypassing the barrier;
(6) the method comprises the following steps that in the movement process, pose calculation modules based on visual measurement update pose information of an omnidirectional mobile rodless tractor and an airplane wheel set in real time, an embedded upper controller updates path information according to the latest pose information, an embedded driving controller adjusts the rotating speed and the steering of motors of each driving wheel set of the omnidirectional mobile rodless tractor in real time according to the path information, when the pose calculation modules based on the visual measurement judge that the pose information meets an alignment condition, the embedded upper controller sends state information to the embedded upper controller, the embedded upper controller sends a stop instruction to the embedded driving controller, meanwhile, the alignment state information is sent to a remote controller through a wireless module, the embedded driving controller sends a stop instruction to motors of each driving wheel set of the omnidirectional mobile rodless tractor, and the omnidirectional mobile rodless tractor decelerates and stops according to preset parameters of the motors;
(7) after obtaining the alignment state, an operator adjusts the working mode of the remote controller into a manual-wheel clasping working mode, and controls the wheel clasping mechanism of the omnidirectional mobile rodless tractor to clamp and clasp the airplane wheel set by using the remote controller;
(8) after clamping, the remote controller is adjusted to be in a manual-walking working mode, and the airplane is dragged to an instruction place by operating the direction rocker of the remote controller after the speed gear is adjusted.
The invention has the beneficial effects that:
1. aiming at the current situation that the existing alignment process of the tractor and the wheel set of the landing gear of the airplane lacks measuring means and is implemented only by the experience of operators, an automatic sensing system is designed by adopting a visual measurement technology, the intelligent level is improved, the pose relation between the tractor and the wheel set of the landing gear of the airplane can be measured in the alignment process, and the prompt of the relative pose between the tractor and the wheel set of the landing gear of the airplane can be realized.
2. Aiming at the characteristics of complex control logic and more hardware resources of the tractor, a distributed control system is adopted, an embedded controller is developed, each functional module is provided with a special controller, the controllers with large data interaction amount are communicated by adopting a CAN bus, and the controllers with low communication speed are communicated by adopting RS232, so that open network construction is completed, system expansion is easy, and the reliability and maintainability of the system are improved.
3. The embedded upper controller can automatically modulate the position of the tractor and finish obstacle avoidance according to environment detection information after the sensing system acquires pose information, and the collision is prevented in the automatic alignment process of the tractor.
Drawings
FIG. 1 shows a schematic diagram of an automatic sensing system of an omnidirectional moving rodless and omnidirectional moving rodless tractor according to the present invention;
FIG. 2 is a schematic view of the working panel of the remote control of the omni-directional mobile rodless tractor according to the present invention;
fig. 3 shows the work flow of the automatic sensing system of the omnidirectional moving rodless and omnidirectional moving rodless tractor.
Detailed Description
As shown in fig. 1 and 2, the system for automatically sensing an omnidirectional mobile rodless tractor comprises a pose resolving module based on visual measurement, an environment detecting module based on laser scanning, an embedded upper controller, an embedded driving controller, a wheel clasping system, a plurality of servo motor driven mecanum wheels, a wireless module and a remote controller; the system can realize the automatic alignment of the omnidirectional mobile rodless tractor and the wheel set of the landing gear of the airplane, the environmental perception in the alignment process and the avoidance of obstacles; the system can also provide the position and attitude information between the omnidirectional mobile rodless tractor and the aircraft landing gear wheel set in the aligning process and the surrounding environment information in the driving process for the driver of the ordinary rodless omnidirectional mobile rodless tractor.
The working principle is that after the remote controller is manually operated to send walking or automatic clamping instruction information, the embedded upper controller receives the instruction information through the wireless module and sends a walking instruction to the embedded driving controller through the serial port RS232, and the clamping instruction is sent to the wheel clamping system through the CAN bus. The embedded driving controller analyzes the rotating speed and the direction of each Mecanum wheel driving servo motor of the omnidirectional mobile rodless tractor according to a walking instruction, and sends the rotating speed and the direction to each servo motor system in a bus mode to realize the walking control of the omnidirectional mobile rodless tractor by the remote controller, when the omnidirectional mobile rodless tractor moves to an undercarriage wheel set, a pose resolving module based on visual measurement acquires an undercarriage wheel set photo in real time and analyzes space coordinates and deflection angle and other pose information, and sends the information to the embedded upper controller through a CAN (controller area network) bus, when the embedded upper controller judges that the set pose relation is met according to the pose information, the aligned state of the omnidirectional mobile rodless tractor and the undercarriage wheel set is fed back to the remote controller through a wireless module, and the wheel clasping system controls the wheel clasping mechanism to clamp and clasp the undercarriage wheel set after receiving the clasping instruction, the clamping and the embracing of the omnidirectional mobile rodless tractor and the aircraft landing gear wheel set are completed, in the process, the environment detection module based on laser scanning obtains the environment information around the omnidirectional mobile rodless tractor in a laser scanning mode, when obstacles around are detected in the motion process of the omnidirectional mobile rodless tractor, a deceleration and parking instruction is sent to the embedded upper controller through an IO signal, the embedded upper controller autonomously decides to send a deceleration or stop instruction to the embedded driving controller and the wheel embracing system according to the information, and the embedded driving controller and the wheel embracing system control the corresponding motor or oil cylinder to decelerate or stop according to the instruction.
The technical scheme is as follows:
The omnidirectional mobile rodless tractor is powered by a battery or oil-electricity hybrid, driven by a plurality of Mecanum wheels, and realizes the forward, backward, oblique and zero-radius in-situ rotation of a tractor body through the combined motion of a plurality of Mecanum wheel trains.
The wheel embracing system is used as a functional component of the rodless tractor and comprises a wheel embracing mechanism, a hydraulic system and a control system, when the omnidirectional movement rodless tractor is aligned with the wheel set of the aircraft undercarriage, the control system obtains a clamping and embracing instruction and then starts a hydraulic pump station, the hydraulic pump station is opened and closed by controlling the hydraulic valve set to drive the expansion and contraction of each hydraulic cylinder of the wheel embracing mechanism, the clamping and embracing and releasing actions of the wheel embracing mechanism are completed, the wheel embracing mechanism clamps and embraces and lifts the wheel set of the aircraft undercarriage, the wheel set of the aircraft undercarriage is lifted off the ground, and the omnidirectional movement rodless tractor can pull the aircraft to travel to an appointed place.
The pose resolving module based on vision measurement comprises an image acquisition device, a laser ranging module, an identification and resolving controller and an auxiliary light source;
the image acquisition device is used for acquiring a wheel set photo of the aircraft landing gear and transmitting the image to the identification and calculation controller; the laser ranging module is arranged at the wheel holding mechanism of the omnidirectional mobile rodless tractor, vertically irradiates a hub of an undercarriage wheel set, is used for measuring the distance between the undercarriage wheel set and a camera, provides measured data to the recognition and calculation controller, and is used for correcting image distortion when the wheel set and the camera have deflection angles; the recognition and calculation controller is used as a core processor of a pose calculation module based on vision measurement, receives image information and distance information, compensates, filters and extracts features of the image, fits coordinates of the airplane wheel set according to image feature parameters, calculates pose information between the airplane wheel set and the omnidirectional mobile rodless tractor and sends the pose information to the embedded upper controller; the auxiliary light source is used for irradiating the surface of the airplane wheel set when the surrounding environment is dark, so that the light reflection intensity of the surface of the wheel set is enhanced, and a better image is obtained by the image acquisition device;
the system needs to comprehensively use image acquisition and processing, computer vision, mode recognition, digital signal processing and other related technologies. The image recognition algorithm of the hub of the landing gear of the airplane is a precondition and key for accurate positioning of the hub. The image recognition system mainly comprises feature extraction and classification judgment. Feature extraction is an important link for moving object identification. The feature extraction is to abstract the features which can reflect the essence of things; a classification decision is a process of making a classification conclusion based on the extracted features. The feature extraction, selection and representation are the basis of image classification based on visual contents, the features are the key for determining similarity and recognition effect, and after the recognition purpose is determined, how to find suitable features is the core problem of target recognition. Generally, a target feature with discrimination is selected as a standard for feature extraction, such as an edge, a contour or a color histogram of the target; when the complex target is identified and tracked, the target can be identified by combining various characteristics. In order to realize accurate positioning of a moving target projection, the selection of visual features needs to meet the assumption condition that the moving target can be uniquely expressed, how to accurately identify and extract the moving target from the scene where the moving target is located is critical to selecting the visual features which can make the difference between the target and the background large, and therefore, the reasonable selection of the visual features of the target is the premise of realizing robust tracking of the target. If the selected visual features are strong in distinguishability and good in robustness, the complexity of the algorithm can be reduced, the running time of the system can be reduced, and the real-time performance of the system can be improved in the stage of identifying and tracking the system.
In a tractor vision positioning system, there are difficulties in identifying the hub of the landing gear of an aircraft.
Firstly, the imaging interference factors are many. The tractor works outdoors, in the image acquisition process, the illumination condition, the shadow condition and the shielding condition of the hub of the undercarriage of the airplane are constantly changed, and the acquired image characteristic information is unstable.
Secondly, the tractor is also in the process of moving, the posture of the tractor is continuously changed, and meanwhile, the image can generate certain motion blur.
Thirdly, the background is complex, the hub of the landing gear of the airplane is in the complex background, and related objects in the surrounding environment can generate certain interference information on imaging.
Meanwhile, the requirement on the identification precision of the hub of the aircraft landing gear is high. The misoperation of the clamping system can be directly caused by the error identification, the body structure of the product is damaged, and the ground accident is caused. Therefore, multiple different features need to be comprehensively considered for extracting and fusing the identification of the hub of the aircraft landing gear, so that the error identification caused by a single feature is avoided, and the identification and positioning accuracy is improved.
For the identification of the aircraft landing gear hub, we have the following considerations in feature extraction:
the method for extracting the hub characteristics of the aircraft landing gear comprises the following steps: an ideal background model needs to be established first. An interested moving object can be effectively extracted from a scene by establishing a background model, and the extraction of the airplane hub in the background is realized by adopting a method based on a Gaussian mixture model. The basic idea of the Gaussian mixture model algorithm is to take a video sequence as the input of the algorithm, update a background model in real time according to a video frame, and then divide all pixel points in the latest frame of image into background points and foreground points through the background model. The change condition of the pixel values of the pixels in a video image can be described by K Gaussian distributions, and a new pixel observation value can be divided into background points or foreground points and becomes a component of a background model. The target detection process based on the Gaussian mixture model mainly comprises three parts of parameter initialization, parameter updating, background model generation and foreground detection: firstly, initializing parameters of a Gaussian mixture model by using a first frame video image as a sample set; with the change of the video frame, each new pixel value needs to be matched and judged with all the current Gaussian distributions, and the parameters of the Gaussian mixture model are updated according to the matching result; all the Gaussian distributions are divided into two parts, namely a background model and a foreground model, through the set threshold value, matching is carried out through the Gaussian distributions, the pixel point can be judged to belong to a background point or a foreground point, and the extraction of the airplane hub target is realized. When the complete hub of the airplane enters the visual field, after the complete information of the hub of the undercarriage of the airplane is acquired, when the deflection angle of the hub of the undercarriage of the airplane relative to the tractor changes, the length of the transverse axis and the length of the longitudinal axis of the hub in the image can be changed, according to the change proportion and the distance value of the camera measured by the laser ranging sensor relative to the hub of the undercarriage of the airplane, the deflection angle of the hub of the undercarriage relative to the tractor and the three-dimensional coordinate in the visual field of the camera can be calculated, and the three-dimensional coordinate and the plane included angle of the central point of the hub of the airplane, namely the pose information of the hub of the airplane, can be identified in real time by converting the visual field coordinate into the body coordinate of the tractor.
The environment detection module based on laser scanning is used for monitoring obstacles in a range of 360 degrees around the omnidirectional mobile rodless tractor in a laser scanning mode and protecting a wheel holding mechanism mechanical body in the alignment process of the omnidirectional mobile rodless tractor and an aircraft landing gear wheel set, so that collision between the omnidirectional mobile rodless tractor and peripheral equipment and facilities in the movement process or collision between a misaligned front aircraft wheel set and the wheel holding mechanism body of the omnidirectional mobile rodless tractor are prevented; the environment detection module based on laser scanning can acquire the information of whether an obstacle exists or not and the distance and angle of the rodless tractor can be moved in an omnidirectional manner, and the information is sent to the embedded upper controller;
The embedded upper controller adopts ARM as a main control chip, a stable communication mechanism is established through a CAN port and an I/O port and a pose resolving module based on visual measurement, an environment detecting module based on laser scanning and a driving control module, the surrounding environment information of the omnidirectional mobile rodless tractor, the pose information of the omnidirectional mobile rodless tractor and the wheel set of the airplane are obtained, and a driving path of the omnidirectional mobile rodless tractor is planned, and the path CAN realize the avoidance of the omnidirectional mobile rodless tractor to surrounding obstacles and the quick alignment of the omnidirectional mobile rodless tractor to the wheel set of the airplane; meanwhile, the embedded upper controller is connected with the wireless module through a serial port, can be in wireless communication with the remote controller, receives a remote control instruction of the remote controller, and sends the state information of the omnidirectional mobile rodless tractor to the remote controller for displaying.
The specific implementation method comprises the following steps: the embedded upper controller comprises 1 24V-to-5V power supply module, the power supply module has the functions of voltage stabilization and short circuit protection, 16-path 24V switching value output capacity, 12-path 24V switching value receiving capacity, 5-path RS232 serial port communication capacity, 2-path CAN bus communication capacity, JTAG interfaces, supports ARM program re-writing and online debugging and ISP interfaces, and CAN erase and re-write the ARM chip program through UART 0; the controller adopts ARM as a processor.
The embedded upper controller is communicated with the wheel embracing system and the identification and detection controller through a CAN bus interface; communicating with an environment detection module through an I/O interface; and the embedded drive controller and the wireless module are communicated through an RS232 interface.
After the embedded upper controller is started to operate, a program is initialized to carry out self-checking, an RS232 data block communicated with the wireless module is monitored after the self-checking is passed, when an operator of the omnidirectional mobile rodless tractor sends a walking or wheel-clasping action command through the handheld device, the embedded upper controller receives the information through the wireless module and writes the information into the corresponding data block through the RS232 communication interface, the ARM processor program forwards the walking action command or the wheel-clasping action command to the embedded driving controller or the wheel-clasping system through the CAN bus interface according to the content of the data block, and the corresponding controller controls corresponding equipment to execute corresponding actions according to the content of the command.
When the omnidirectional mobile rodless tractor approaches to the wheel set of the landing gear of the airplane, the image acquisition device in the pose resolving module captures the picture of the hub of the landing gear of the airplane, and the position and attitude relation of the omnidirectional mobile rodless tractor relative to the hub of the landing gear of the airplane is measured and calculated by the identification and calculation controller, when the embedded upper controller obtains the 'automatic' working mode of the remote controller through the wireless module, the RAM processor of the embedded upper controller calculates the advancing direction and the course angle of the omnidirectional mobile rodless tractor according to the position and posture relation, and the information is sent to an embedded driving controller through a CAN bus interface, and the embedded driving controller analyzes the rotating speed and the direction of each Mecanum wheel driving servo motor of the omnidirectional mobile rodless tractor according to the advancing direction and the course angle information, so that the automatic alignment process between the omnidirectional mobile rodless tractor and the hub of the aircraft landing gear is realized. In the automatic alignment process of the omnidirectional mobile rodless tractor, the environment detection module detects surrounding environment obstacle information in real time in a laser scanning mode, when the fact that the distance between the obstacle and the omnidirectional mobile rodless tractor is smaller than a set distance value is detected, the environment detection module sends deceleration and parking early warning information to the embedded upper controller through the I/O interface, the embedded upper controller sends the information to the embedded driving controller through the RS232 interface, deceleration and parking control of the omnidirectional mobile rodless tractor is achieved, and collision is prevented.
The embedded driving controller calculates the rotating speed and the direction of the servo motor of each wheel train of the omnidirectional mobile rodless tractor according to the path information of the embedded upper controller, realizes the servo control of each wheel train motor, and returns the state information and the alarm information of each motor to the embedded upper controller.
The specific implementation method comprises the following steps: the embedded drive controller has 4-path 24V switching value output capacity, 8-path 24V switching value receiving capacity, 2-path RS232 serial port communication capacity, 2-path CAN bus communication capacity and JTAG interface, supports ARM program re-writing and online debugging and ISP interface, and CAN erase and re-write ARM chip program through UART 0; the controller adopts ARM as a processor, designs and develops MECHANOLINK-II bus interface, and has 30-shaft motor control capability. The embedded driving controller CAN establish communication with the embedded upper controller through a CAN bus, receives a walking instruction of the handheld device through the embedded upper controller, analyzes the rotating speed and the direction of each servo motor of the omnidirectional mobile rodless tractor according to the speed and driving angle instruction information, and realizes the omnidirectional mobile control of the omnidirectional mobile rodless tractor.
The embedded drive controller is a drive controller based on a MECHANOLINK-II bus; the device comprises a MECHANTROLINK-II bus chip, an ARM chip, a serial port chip, a crystal oscillator chip, a CAN bus chip and a power supply module;
the ARM chip receives a walking instruction sent by the remote controller and sent by the embedded upper controller through the CAN bus chip;
the ARM chip receives a walking instruction, the rotating speed and the direction of each Mecanum wheel driving servo motor of the omnidirectional mobile rodless tractor are calculated, and rotating speed and direction information are sent to the MECHANTROLINK-II bus chip; the ARM chip receives surrounding environment monitoring information sent by the CAN bus chip, judges whether the omnidirectional mobile rodless tractor is in a set safe distance range or not according to the condition of obstacles in the environment and deceleration and parking instructions, and sends deceleration and parking instructions to the MECHANOLINK-II bus chip if the distance value of the surrounding obstacles is smaller than the set safe distance range;
the MECHANTROLINK-II bus chip sends the information of the rotating speed and the direction to drivers of all driving servo motors of Mecanum wheels of the omnidirectional mobile rodless tractor through a bus interface; the MECHANTROLINK-II bus chip receives a parking instruction sent by the ARM chip, and sends the parking instruction to drivers of all driving servo motors of Mecanum wheels of the omnidirectional mobile rodless tractor, so that the omnidirectional mobile rodless tractor stops moving;
the crystal oscillator chip provides clock information for the ARM chip; the power module supplies power for the MECHANTROLINK-II bus chip, the ARM chip, the serial port chip and the CAN bus chip.
The wireless module is used as a communication terminal of the omnidirectional mobile rodless tractor to establish a wireless communication channel with the handheld device, and wireless communication is carried out by adopting a 433MHz frequency band, so that the transmission of a remote control instruction of the handheld device to the embedded upper controller and an information transmission channel of the embedded upper controller on the state information and the alarm information of the omnidirectional mobile rodless tractor displayed on the remote controller are realized;
as shown in fig. 2, the remote controller is used as an operation control terminal of the omnidirectional mobile rodless tractor, a gear rocker is provided, and the form speed of the omnidirectional mobile rodless tractor can be adjusted; a direction rocker is provided, and the running direction of the omnidirectional mobile rodless tractor can be manually controlled; providing a straight-line locking key, and providing a function of cruising along a straight line when the vehicle runs straight on the field distance; providing a manual mode switch and an automatic mode switch, allowing a manual remote control omnidirectional mobile rodless tractor to run and clamp and release the wheel set of the landing gear in a manual mode, and also adopting a sensing system to finish automatic alignment and clamping of the omnidirectional mobile rodless tractor and the wheel set of the landing gear in an automatic mode; the walking and wheel clasping mode switches are provided, so that the manual operation is allowed to control the vehicle walking and the action of the wheel clasping mechanism respectively and independently, a physical interlocking mechanism is formed, and the phenomenon that the wheel clasping mechanism generates misoperation in the walking process and damages the airplane is prevented; the clamping and releasing actions of the wheel clamping mechanism on the wheel set of the undercarriage of the airplane are manually controlled under the manual wheel clamping and wheel clamping working modes; and providing a display screen which can display the speed and the course angle of the current omnidirectional mobile rodless tractor, the pose information of the omnidirectional mobile rodless tractor and an airplane wheel set in the alignment process, a fault code and peripheral obstacle alarm information.
As shown in fig. 3, a working process of the automatic sensing system of the omnidirectional rodless omnidirectional mobile rodless tractor according to the embodiment of the invention is shown, and the steps are as follows:
(1) starting up the omnidirectional mobile rodless tractor, starting up the remote controller, switching the working mode of the remote controller to a manual-walking mode, and adjusting the corresponding speed gear;
(2) operating a direction rocker of a remote controller, transmitting a working mode and an operating instruction to an embedded upper controller by the remote controller through a vehicle-mounted wireless module, transmitting the embedded upper controller to an embedded driving controller, analyzing the rotating speed and the steering direction of each driving wheel set motor of the omnidirectional mobile rodless tractor by the embedded driving controller according to a running direction and a speed instruction, and realizing that the omnidirectional mobile rodless tractor approaches to an undercarriage wheel set according to a remote control instruction;
(3) an image acquisition device in a pose resolving module based on visual measurement in the moving process of the omnidirectional moving rodless tractor collects a front image in real time, an identification and resolving controller processes image information, judges whether complete airplane wheel set information is obtained or not, sends an obtained complete airplane wheel set signal to an embedded upper controller after obtaining the information, the embedded upper controller feeds back the state information to a remote controller through a wireless module so that an operator can know the information in time, and meanwhile, the identification and resolving controller compensates, filters, extracts characteristic points, fits, resolves coordinates and extracts pose information of the airplane wheel set image by referring to distance information of a ranging sensor, so that the pose information of the omnidirectional moving rodless tractor and the airplane wheel set is obtained and sent to the embedded upper controller;
(4) after observing and acquiring the state of a complete airplane wheel set, an operator adjusts the working state of a remote controller to an 'automatic' mode, starts an automatic alignment program, and an environment detection module based on laser scanning acquires surrounding obstacle information in real time in the moving process of the omnidirectional mobile rodless tractor, and simultaneously carries out collision early warning on the airplane wheel set and the wheel-embracing mechanism of the omnidirectional mobile rodless tractor, and sends the information to an embedded upper controller;
(5) the embedded driving controller calculates the rotating speed and the steering direction of each driving wheel set servo motor of the omnidirectional mobile rodless tractor after acquiring the path information, and controls the omnidirectional mobile rodless tractor to get close to the airplane wheel set while bypassing the barrier;
(6) the method comprises the following steps that in the movement process, pose calculation modules based on visual measurement update pose information of an omnidirectional mobile rodless tractor and an airplane wheel set in real time, an embedded upper controller updates path information according to the latest pose information, an embedded driving controller adjusts the rotating speed and the steering of motors of each driving wheel set of the omnidirectional mobile rodless tractor in real time according to the path information, when the pose calculation modules based on the visual measurement judge that the pose information meets an alignment condition, the embedded upper controller sends state information to the embedded upper controller, the embedded upper controller sends a stop instruction to the embedded driving controller, meanwhile, the alignment state information is sent to a remote controller through a wireless module, the embedded driving controller sends a stop instruction to motors of each driving wheel set of the omnidirectional mobile rodless tractor, and the omnidirectional mobile rodless tractor decelerates and stops according to preset parameters of the motors;
(7) after obtaining the alignment state, an operator adjusts the working mode of the remote controller into a manual-wheel clasping working mode, and controls the wheel clasping mechanism of the omnidirectional mobile rodless tractor to clamp and clasp the airplane wheel set by using the remote controller;
(8) after clamping, the remote controller is adjusted to be in a manual-walking working mode, and the airplane is dragged to an instruction place by operating the direction rocker of the remote controller after the speed gear is adjusted.
Claims (13)
1. An automatic sensing system of an omnidirectional moving rodless traction type movable robot is applied to an omnidirectional moving rodless tractor, the system allows the omnidirectional moving rodless tractor to provide three-dimensional space coordinates and deflection angle position and posture relations between the omnidirectional moving rodless tractor and an airplane landing gear wheel set in a manual remote control or automatic airplane clamping process, and is characterized by comprising: the system comprises a pose resolving module based on visual measurement, an environment detecting module based on laser scanning, an embedded upper controller, an embedded driving controller, a wheel clasping system, a Mecanum wheel driven by a plurality of servo motor systems, a wireless module and a remote controller;
when the manual operation remote controller sends walking or automatic clamping instruction information, the embedded upper controller sends a walking instruction to the embedded driving controller through the serial port RS232 by receiving the instruction information, and sends a clamping instruction to the wheel clamping system through the CAN bus; the embedded driving controller analyzes the rotating speed and the direction of each Mecanum wheel driving servo motor of the omnidirectional mobile rodless tractor according to the walking instruction, and sends the rotating speed and the direction to each servo motor system in a bus mode to realize the walking control of the omnidirectional mobile rodless tractor by the remote controller; when the omnidirectional mobile rodless tractor moves to the wheel set of the landing gear, a pose calculation module based on visual measurement acquires a photo of the wheel set of the landing gear in real time and analyzes space coordinates and deflection angle pose information, the pose information is sent to an embedded upper controller through a CAN bus, when the embedded upper controller judges that a set pose relation is met according to the pose information, the aligned state of the omnidirectional mobile rodless tractor and the wheel set of the landing gear is fed back to a remote controller through a wireless module, a wheel clamping system controls a wheel clamping mechanism to realize the clamping action of the wheel set of the landing gear after receiving a clamping command, the clamping of the omnidirectional mobile rodless tractor and the wheel set of the landing gear is completed, and in the process, an environment detection module based on laser scanning acquires environment information around the omnidirectional mobile rodless tractor in a laser scanning mode, when the omnidirectional mobile rodless tractor detects that obstacles exist around in the motion process, a deceleration and parking instruction is sent to the embedded upper controller through an IO signal, the embedded upper controller autonomously decides to send a deceleration or stop instruction to the embedded drive controller and the wheel clasping system according to the environmental information, and the embedded drive controller and the wheel clasping system control the corresponding motor or oil cylinder to decelerate or stop according to the deceleration or stop instruction.
2. The omni-directional mobile rodless traction-type mobile robot automatic sensing system according to claim 1, characterized in that: the omnidirectional mobile rodless tractor is powered by a battery or oil-electricity hybrid, driven by a plurality of Mecanum wheels, and realizes the forward, backward, oblique and zero-radius in-situ rotation of a tractor body through the combined motion of a plurality of Mecanum wheel trains.
3. The omni-directional mobile rodless traction-type mobile robot automatic sensing system according to claim 1, characterized in that: embrace the wheel system as the function component of rodless tractor, by embracing the wheel mechanism, hydraulic system and control system constitute, after omnidirectional movement rodless tractor and aircraft undercarriage wheelset aim at, control system acquires to press from both sides and embraces the instruction after start hydraulic power unit, through the flexible of each pneumatic cylinder of control hydraulic valve group break-make drive armful wheel mechanism, the clamp of accomplishing armful wheel mechanism is embraced and is released the action, embrace the wheel mechanism and press from both sides the armful with aircraft undercarriage wheelset, play to rise the back, make aircraft undercarriage wheelset lift off the ground, omnidirectional movement rodless tractor can pull the aircraft and travel to the assigned place.
4. The omni-directional mobile rodless traction-type mobile robot automatic sensing system according to claim 1, characterized in that: the pose resolving module based on vision measurement comprises an image acquisition device, a laser ranging module, an identification and resolving controller and an auxiliary light source;
the image acquisition device is used for acquiring a wheel set photo of the aircraft landing gear and transmitting the image to the identification and calculation controller; the laser ranging module is arranged at the wheel holding mechanism of the omnidirectional mobile rodless tractor, vertically irradiates a hub of an undercarriage wheel set, is used for measuring the distance between the undercarriage wheel set and a camera, provides measured data to the recognition and calculation controller, and is used for correcting image distortion when the wheel set and the camera have deflection angles; the recognition and calculation controller is used as a core processor of a pose calculation module based on vision measurement, receives image information and distance information, compensates, filters and extracts features of the image, fits coordinates of the airplane wheel set according to image feature parameters, calculates pose information between the airplane wheel set and the omnidirectional mobile rodless tractor and sends the pose information to the embedded upper controller; the auxiliary light source is used for irradiating the surface of the airplane wheel set when the surrounding environment is dark, so that the light reflection intensity of the surface of the wheel set is enhanced, and a better image is obtained by the image acquisition device.
5. The system of claim 4, wherein the system comprises: the method for extracting the features of the image comprises the following steps: firstly, an ideal background model is established, an interested moving target is effectively extracted from a scene by establishing the background model, and the extraction of the airplane hub in the background is realized by adopting a Gaussian mixture model-based method.
6. The system of claim 5, wherein the system comprises: the basic idea of the Gaussian mixture model-based method is that a video sequence is used as the input of an algorithm, a background model is updated in real time according to a video frame, and then all pixel points in the latest frame of image are divided into background points and foreground points through the background model; the change condition of the pixel values of the pixels in a video image is described by K Gaussian distributions, and a new pixel observation value is divided into background points or foreground points and becomes a component of a background model.
7. The system of claim 6, wherein the system comprises: the method for extracting the airplane hub in the background by adopting the Gaussian mixture model-based method comprises three parts of parameter initialization, parameter updating, background model generation and foreground detection, and specifically comprises the following steps of: firstly, initializing parameters of a Gaussian mixture model by using a first frame of video image as a sample set, along with the change of video frames, matching and judging each new pixel value with all current Gaussian distributions, and updating the parameters of the Gaussian mixture model according to a matching result; dividing all the Gaussian distributions into a background model and a foreground model through a set threshold, matching through the Gaussian distributions, judging whether the pixel point belongs to a background point or a foreground point, and extracting an airplane hub target; when the complete hub of the airplane enters the visual field, after the complete information of the hub of the undercarriage of the airplane is acquired, when the deflection angle of the hub of the undercarriage of the airplane relative to the tractor is changed, the length of the transverse axis and the length of the longitudinal axis of the hub in the image are changed, the deflection angle of the hub of the undercarriage of the airplane relative to the tractor and the three-dimensional coordinate in the visual field of the camera are calculated according to the change proportion and the distance value of the camera relative to the hub of the undercarriage of the airplane measured by the laser ranging sensor, and the three-dimensional coordinate and the plane included angle of the center point of the hub of the airplane are identified in real time by converting the visual field coordinate into the body coordinate of the tractor, namely the pose information of the hub of the airplane.
8. The omni-directional mobile rodless traction-type mobile robot automatic sensing system according to claim 1, characterized in that: the laser scanning environment detection module is used for monitoring obstacles in a range of 360 degrees around the omnidirectional mobile rodless tractor in a laser scanning mode and protecting a wheel holding mechanism mechanical body in the alignment process of the omnidirectional mobile rodless tractor and an aircraft landing gear wheel set, so that collision between the omnidirectional mobile rodless tractor and peripheral equipment and facilities in the movement process or collision between a misaligned front aircraft wheel set and the wheel holding mechanism body of the omnidirectional mobile rodless tractor are prevented; the environment detection module based on laser scanning can acquire the distance and angle information of the rodless tractor with or without obstacles and moving in an omnidirectional manner, and sends the distance and angle information to the embedded upper controller.
9. The omni-directional mobile rodless traction-type mobile robot automatic sensing system according to claim 1, characterized in that: the embedded upper controller adopts ARM as a main control chip, a stable communication mechanism is established through a CAN port and an I/O port and a pose resolving module based on visual measurement, an environment detecting module based on laser scanning and a driving control module, the surrounding environment information of the omnidirectional mobile rodless tractor, the pose information of the omnidirectional mobile rodless tractor and the airplane wheel set are obtained, the running path of the omnidirectional mobile rodless tractor is planned, and the avoidance of the omnidirectional mobile rodless tractor to surrounding obstacles and the quick alignment of the omnidirectional mobile rodless tractor to the airplane wheel set are realized; meanwhile, the embedded upper controller is connected with the wireless module through a serial port, can be in wireless communication with the remote controller, receives a remote control instruction of the remote controller, and sends the state information of the omnidirectional mobile rodless tractor to the remote controller for displaying.
10. The omni-directional mobile rodless traction-type mobile robot automatic sensing system according to claim 1, characterized in that: the embedded driving controller calculates the rotating speed and the direction of the servo motor of each wheel train of the omnidirectional mobile rodless tractor according to the path information of the embedded upper controller, realizes the servo control of each wheel train motor, and returns the state information and the alarm information of each motor to the embedded upper controller.
11. The omni-directional mobile rodless traction-type mobile robot automatic sensing system according to claim 1, characterized in that: the wireless module is used as a communication terminal of the omnidirectional mobile rodless tractor to establish a wireless communication channel with the handheld device, so that the remote control instruction of the handheld device is sent to the embedded upper controller, and the embedded upper controller transmits information about state information and alarm information of the omnidirectional mobile rodless tractor to an information transmission channel displayed by the remote controller.
12. The omni-directional mobile rodless traction-type mobile robot automatic sensing system according to claim 1, characterized in that: the remote controller is used as an operation control terminal of the omnidirectional mobile rodless tractor, two rocking bars and keys are provided, the running speed and direction of the omnidirectional mobile rodless tractor can be manually controlled, the automatic alignment mode of the omnidirectional mobile rodless tractor and an airplane wheel set can be started, and a display screen can be provided on the handheld device and can display the speed, the course angle and the pose information, the fault codes and the surrounding obstacle alarm information of the omnidirectional mobile rodless tractor and the airplane wheel set in the automatic alignment process.
13. An automatic sensing method for an omnidirectional mobile rodless traction type mobile robot is characterized by comprising the following steps:
(1) starting up the omnidirectional mobile rodless tractor, starting up the remote controller, switching the working mode of the remote controller to a manual-walking mode, and adjusting the corresponding speed gear;
(2) operating a direction rocker of a remote controller, transmitting a working mode and an operating instruction to an embedded upper controller by the remote controller through a vehicle-mounted wireless module, and transmitting the operating mode and the operating instruction to the embedded upper controller, and then transmitting the embedded upper controller to an embedded driving controller, wherein the embedded driving controller analyzes the rotating speed and the steering direction of each driving wheel set motor of the omnidirectional mobile rodless tractor according to a driving direction and a speed instruction, so that the omnidirectional mobile rodless tractor approaches to an undercarriage wheel set according to a remote control instruction;
(3) an image acquisition device in a pose resolving module based on visual measurement in the moving process of the omnidirectional moving rodless tractor collects a front image in real time, an identification and resolving controller extracts image information characteristics, when the information of the complete hub of an aircraft landing gear is obtained, a signal of obtaining a complete aircraft wheel set is sent to an embedded upper controller, the embedded upper controller feeds back the state information to a remote controller through a wireless module, so that an operator can know the information in time, and meanwhile, the identification and resolving controller extracts the characteristic point and pose information of the image of the aircraft wheel set by referring to distance information of a distance measuring sensor, and sends the pose information of the omnidirectional moving rodless tractor and the aircraft wheel set to the embedded upper controller;
(4) after observing and acquiring the state of a complete airplane wheel set, an operator adjusts the working state of a remote controller to an 'automatic' mode, starts an automatic alignment program, an environment detection module based on laser scanning in the moving process of the omnidirectional mobile rodless tractor acquires surrounding obstacle information in real time, simultaneously carries out collision early warning on the airplane wheel set and the wheel-embracing mechanism of the omnidirectional mobile rodless tractor, and sends the surrounding obstacle information to an embedded upper controller, and the embedded upper controller plans a motion path of the omnidirectional mobile rodless tractor to the airplane wheel set after acquiring pose information and surrounding environment information of the omnidirectional mobile rodless tractor and the airplane wheel set and sends the pose information and the surrounding environment information to an embedded drive controller;
(5) the embedded driving controller calculates the rotating speed and the steering direction of each driving wheel set servo motor of the omnidirectional mobile rodless tractor after acquiring the path information, and controls the omnidirectional mobile rodless tractor to get close to the airplane wheel set while bypassing the barrier;
(6) the method comprises the following steps that in the movement process, pose calculation modules based on visual measurement update pose information of an omnidirectional mobile rodless tractor and an airplane wheel set in real time, an embedded upper controller updates path information according to the latest pose information, an embedded driving controller adjusts the rotating speed and the steering of motors of each driving wheel set of the omnidirectional mobile rodless tractor in real time according to the path information, when the pose calculation modules based on the visual measurement judge that the pose information meets an alignment condition, the embedded upper controller sends state information to the embedded upper controller, the embedded upper controller sends a stop instruction to the embedded driving controller, meanwhile, the alignment state information is sent to a remote controller through a wireless module, the embedded driving controller sends a stop instruction to motors of each driving wheel set of the omnidirectional mobile rodless tractor, and the omnidirectional mobile rodless tractor decelerates and stops according to preset parameters of the motors;
(7) after obtaining the alignment state, an operator adjusts the working mode of the remote controller into a manual-wheel clasping working mode, and controls the wheel clasping mechanism of the omnidirectional mobile rodless tractor to clamp and clasp the airplane wheel set by using the remote controller;
(8) after clamping, the remote controller is adjusted to be in a manual-walking working mode, and the airplane is dragged to an instruction place by operating the direction rocker of the remote controller after the speed gear is adjusted.
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| CN202010803583.7A CN112009714B (en) | 2020-08-11 | 2020-08-11 | Automatic sensing system and method for omni-directional mobile rodless traction type mobile robot |
| PCT/CN2021/110581 WO2022033372A1 (en) | 2020-08-11 | 2021-08-04 | Automatic sensing system and method for omnidirectional moving rodless traction-type mobile robot |
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| CN112009714B (en) * | 2020-08-11 | 2021-12-07 | 北京卫星制造厂有限公司 | Automatic sensing system and method for omni-directional mobile rodless traction type mobile robot |
| CN112793802A (en) * | 2021-01-28 | 2021-05-14 | 武汉工程大学 | Aircraft traction robot and working method thereof |
| CN113353279A (en) * | 2021-06-24 | 2021-09-07 | 中国舰船研究设计中心 | Multi-body collaborative omnidirectional transfer intelligent robot traction system and method |
| CN113791621B (en) * | 2021-09-15 | 2023-06-02 | 北京航空航天大学 | Automatic steering tractor and airplane docking method and system |
| CN114115236A (en) * | 2021-10-29 | 2022-03-01 | 中国航空工业集团公司洛阳电光设备研究所 | Automatic docking navigation device and method for aircraft tractor based on laser radar |
| CN115556958A (en) * | 2022-12-05 | 2023-01-03 | 江苏天一航空工业股份有限公司 | Automatic wheel system of embracing of butt joint of aircraft rodless tractor |
| CN117068173B (en) * | 2023-10-12 | 2024-01-16 | 潍柴动力股份有限公司 | Control method and device for vehicle gear, electronic equipment and storage medium |
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| 飞机牵引车语音识别的动态时间规整优化算法;解本铭等;《计算机应用》;20180402(第06期);251-256，269 * |
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| WO2022033372A1 (en) | 2022-02-17 |
| CN112009714A (en) | 2020-12-01 |
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