CN115958996A - Aircraft operation and protection system consisting of remote driving, energy supply and ground aircraft carrier - Google Patents
Aircraft operation and protection system consisting of remote driving, energy supply and ground aircraft carrier Download PDFInfo
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- CN115958996A CN115958996A CN202110402296.XA CN202110402296A CN115958996A CN 115958996 A CN115958996 A CN 115958996A CN 202110402296 A CN202110402296 A CN 202110402296A CN 115958996 A CN115958996 A CN 115958996A
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Abstract
The invention provides an aircraft operation security system consisting of remote driving, energy supply and a ground aircraft carrier, and aims to overcome the defects that the existing electric rotor aircraft cannot automatically replace batteries and cannot remotely drive.
Description
Technical Field
The invention relates to an electric rotor craft operation guarantee system which is used for providing endurance guarantee and providing boarding and alighting services by a remote pilot for remote driving and a power change system provided by a ground aircraft carrier of an aircraft, and belongs to the technical field of Internet of things.
Background
The biggest technical challenges faced by the development of various electric aircrafts are that the key performance indexes of the electric propulsion system are low, the technology is immature, the weight is overlarge, and the minimum use requirements of the electric aircrafts can only be met. The utility, safety and reliability of electric propulsion systems are also awaiting improvement. The excessive weight of an electric propulsion system is the biggest challenge in electric aircraft design. For the hydrogen fuel cell electric aircraft, the problems of hydrogen fuel storage and supply are not easy to solve, and although some technical testing machines are successful at present, people still need to develop and perfect the hydrogen fuel cell electric aircraft to be driven, and a certain distance is left from practical use. The key parts of the electric power propulsion system such as the lithium battery and the solar battery are high in cost, and the development of the electric airplane is restricted by the endurance problem of the battery.
Disclosure of Invention
The invention provides an electric rotor craft operation guarantee system which is composed of an aircraft remote driving command control link, an aircraft remote driving data communication link, a passenger service data communication link, a standby aircraft remote driving command control link, an electricity changing remote control link, an electricity changing field control link and an electricity changing remote data communication link system.
The invention has the beneficial effects that: the novel electric rotary wing aircraft does not occupy urban roads and only occupies urban space, and the remote driving and automatic driving are adopted, so that the shared electric rotary wing aircraft is provided for people who cannot drive the electric aircraft.
Drawings
FIG. 1 is an aircraft operation and protection architecture diagram of the present invention comprising a remote pilot, energy supply, and ground carrier;
fig. 2 is a circuit diagram of a CAN bus module of the multi-protocol communication network access system of the present invention;
fig. 3 is a third portion of a circuit diagram of a processor of the multi-protocol communication network access system of the present invention;
Fig. 4 is a circuit diagram of a communication interface of the multi-protocol communication network access system of the present invention;
fig. 5 is a control schematic diagram of the multi-protocol communication network access system of the present invention;
fig. 6 is a first portion of a circuit diagram of a processor of the multi-protocol communication network access system of the present invention;
fig. 7 is a second portion of a circuit diagram of a processor of the multi-protocol communication network access system of the present invention;
fig. 8 is a circuit diagram of an RS232 signal communication chip of the multi-protocol communication network access system of the present invention;
fig. 9 is a first portion of an RS485 signal communication circuit diagram of the multi-protocol communication network access system of the present invention;
fig. 10 is a second portion of an RS485 signal communication circuit diagram of the multi-protocol communication network access system of the present invention;
fig. 11 is a third part of the RS485 signal communication circuit diagram of the multi-protocol communication network access system according to the present invention;
fig. 12 is a circuit diagram of an ethernet module of the multi-protocol communication network access system of the present invention;
FIG. 13 is a block diagram of a radar video composite data detection and processing system in accordance with the present invention;
FIG. 14 is a block diagram of the data compression system of the present invention;
FIG. 15 is a block diagram of the data decompression system of the present invention;
FIG. 16 is a coordinate relationship diagram of an environment coordinate system and a pixel coordinate system;
FIG. 17 is a block diagram of the data compression and decompression interface information structure of the present invention;
FIG. 18 is a diagram of a wireless communication network transmission data compression scenario in accordance with the present invention;
FIG. 19 is a flow chart of a method of data compression of the present invention;
FIG. 20 is a flow chart of a data compression and storage method of the present invention;
FIG. 21 is a flow chart of a data compression method with interface information added in accordance with the present invention;
FIG. 22 is a flow chart of a method of data decompression of the present invention;
FIG. 23 is a flow chart of a method of data decompression and reading of the present invention;
FIG. 24 is a simplified block diagram of the fully constrained inverse Jacobian master/slave speed controller of the present invention;
FIG. 25 is a refinement of the simplified master/slave control of the present invention;
FIG. 26 is a simplified diagram of a modified master/slave controller of the present invention;
FIG. 27 is a schematic view of a modified portion of the controller of the present invention;
FIG. 28 is an exemplary inverse Jacobian controller for the fully constrained master/slave robotic control system of the present invention;
FIGS. 29-31 are schematic block diagrams of a reference frame for motion control of the present invention;
FIGS. 32 and 33 are block diagrams of two systems of the end effector frame of reference and the remote center frame of reference of the present invention;
FIG. 34 is a block diagram of fault reaction, fault isolation and fault mitigation in the first and second robotic systems of the present invention;
Fig. 35-39 are flow charts of the present invention in providing fault reaction, fault isolation and fault mitigation methods.
FIG. 40 is a schematic view of a remote driving system and a robot control system of the present invention;
FIG. 41 is a perspective view of the robotic manipulator arm switch of the present invention;
FIG. 42 is a perspective view of the robotic manipulator arm of the present invention;
FIG. 43 is a perspective view of a first and second robotic system of the present invention;
FIG. 44 is a perspective view of the remote control station and operator of the present invention;
FIG. 45 is a perspective view of a first and second robotic system manipulator arm control cyclic distance bar of the present invention;
FIG. 46 is a perspective view of a first and second robotic system manipulator arm control collective of the present invention;
figure 47 is a perspective view of a rotary wing aircraft of the present invention;
figure 48 is a state diagram of a rotorcraft aircraft ground carrier in use according to the present invention;
FIG. 49 is a longitudinal view of the electric aircraft fuselage of the present invention;
FIG. 50 is a diagram of a first and second robot control arrangement of the present invention in a rotary wing aircraft cockpit;
FIG. 51 is a fly-by-wire flight control system of a rotary-wing aircraft of the present invention;
FIG. 52 is a block diagram of a data and voice terminal of the remote control system of the present invention;
FIG. 53 is a schematic view of a power swapping system within a rotorcraft ground carrier of the present invention;
FIG. 56 is a middle sectional view of the fuselage of the powered aircraft of the present invention;
fig. 54 to 59 are a system configuration diagram and an accessory sectional view of the onboard battery replacement system according to the present invention.
Detailed Description
In fig. 1 to 39, aircraft remote pilot command control link 526 includes: the left hand-held input device 177, the right hand-held input device 178, the first foot pedal 214 and the second foot board 233 of the remote driver 91 are connected to the second processor 215 and the second processor 215, the second processor 215 is connected to the remote console 169, the remote console 169 is connected to the remote control system 298, the remote control system 298 is connected to the first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected to the first switch 291, the first switch 291 is connected to the first land network 264, the first land network 264 is connected to the first wireless carrier system 262, the first wireless carrier system 262 is connected to the second wireless carrier system 400, the second wireless carrier system 400 is connected to the multi-protocol communication network access system 460, the multi-protocol communication network access system 460 is connected to the flight control computer 687, the flight control computer 687 is connected to the first robot 89, the first robot 89 is connected to the first robot 182, the second robot 183, the third robot 184 and the fourth robot 185, the first robot 182 and the second robot 183 can control the cyclic pitch bar 677 individually or together, the first robot 182 and the second robot 183 can control the total pitch bar 683 individually or together, the third robot 184 can control the right pedal 602 in the pedal 690, and the fourth robot 185 can control the left pedal 601 in the pedal 690.
In the following aspects, the remote operator 91 remotely controls the first, second, third, and fourth manipulators 182, 183, 184, and 185 of the second robot 90 in the same manner as the remote operator 91 remotely controls the first, second, third, and fourth manipulators 182, 183, 184, and 185 of the first robot 89.
Aircraft remote pilot data communication link 527: the aircraft vision system 400 is composed of a video capture device 120 and a radar 110, the radar 110 and the video capture device 120 of the aircraft vision system 400 are fused by a radar video information fusion system 130, the aircraft vision system 400 is connected with a flight control computer 687, the flight control computer 687 is connected with a multi-protocol communication network access system 460, the multi-protocol communication network access system 460 is connected with a second wireless carrier system 461, the second wireless carrier system 461 is connected with a first wireless carrier system 262, the first wireless carrier system 262 is connected with a first ground network 264, the first ground network 264 is connected with a first switch 291, the first switch 291 is connected with a first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected with a remote control system 298, the remote control system 298 is connected with a remote control console 169, the remote control console 169 is connected with a second processor 215, the second processor 215 is connected with a visual display 255, and the visual display 255 is composed of a first display screen 174, a second display screen 175, a third display screen 176 and a fourth display screen 179.
Passenger service data communication link 528: the passenger 473 uses the smart handheld terminal 472 to connect to the second wireless carrier system 461, the second wireless carrier system 461 connects to the first wireless carrier system 262, the first wireless carrier system 262 connects to the first land network 264, the first land network 264 connects to the first switch 291, the first switch 291 connects to the first wired and wireless lan 295, the first wired and wireless lan 295 connects to the remote control system 298, the remote control system 298 connects to the remote console 169, the remote console 169 connects to the second processor 215, and the second processor 215 connects to the remote customer service representative 92. Passenger 473 establishes a wireless communication link with remote attendant 92 using smart handheld terminal 472, and passenger 473 notifies remote attendant 92 of the schedule for taking rotorcraft 88, and passenger 473 arrives at the aircraft carrier from the passenger elevator to the floor where rotorcraft 88 is located, and arrives at seat 563 of rotorcraft 88 that remote attendant 92 has scheduled passenger 473.
Backup aircraft remote pilot control link 529 includes: the left hand held input device 177, the right hand held input device 178, the first foot pedal 214 and the second foot pedal 233 of the remote pilot 91 are connected to the second processor 215, the second processor 215 is connected to the remote control station 169, the remote control station 169 is connected to the remote control system 298, the remote control system 298 is connected to the first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected to the first switch 291, the first switch 291 is connected to the first ground network 264, the first ground network 264 is connected to the uplink transmitting station 290, the uplink transmitting station 290 is connected to the communications satellite 289, the communications satellite 289 is connected to the multi-protocol communications network access system 460, the multi-protocol communications network access system 460 is connected to the flight control computer 687, the flight control computer 687 is connected to the first robot 89, the first robot 89 is connected to the first robot 183, the second robot 183, the third robot 184 and the fourth robot 185, the first robot 182, the second robot 183, the first robot 183, the second robot 183, the third robot 184 and the fourth robot 183 are connected to the remote pilot control system 183, the remote pilot controls the remote pilot pedal 182, the remote pilot pedal 178, the remote pilot control system 183, the remote pilot controls the remote pilot control system 601, the remote pilot controls the remote pilot pedal 82, the remote pilot control system 683, the remote pilot controls the remote pilot control system and the remote pilot control robot 183.
Backup aircraft remote driving data communication link 530: the aircraft vision system 400 is composed of a video capture device 120 and a radar 110, the radar 110 and the video capture device 120 of the aircraft vision system 400 are fused by a radar video information fusion system 130, the aircraft vision system 400 is connected with a flight control computer 687, the flight control computer 687 is connected with a multi-protocol communication network access system 460, the multi-protocol communication network access system 460 is connected with a communication satellite 289, the communication satellite 289 is connected with an uplink transmitting station 290, the uplink transmitting station 290 is connected with a first ground network 264, the first ground network 264 is connected with a first switch 291, the first switch 291 is connected with a remote control system 298, the remote control system 298 is connected with a second processor 215, the second processor 215 is connected with a visual display 255, and the visual display 255 is composed of a first display 174, a second display 175, a third display 176 and a fourth display 179. A signal interruption occurs on aircraft remote pilot data communication link 527, which completes the remote pilot data communication link between remote control system 298 and rotary wing aircraft 88 via backup aircraft remote pilot data communication link 530.
In fig. 1 to 61, the battery swapping system remote control link 531 includes: the remote driver 91 is connected with the second processor 215, the second processor 215 is connected with the remote control station 169, the remote control station 169 is connected with the remote control system 298, the remote control system 298 is connected with the first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected with the first switch 291, the first switch 291 is connected with the first ground network 264, the first ground network 264 is connected with the first wireless carrier system 262, the first wireless carrier system 262 is connected with the second wireless carrier system 461, the second wireless carrier system 461 is connected with the second ground network 480, the second ground network 480 is connected with the second switch 474, the second switch 474 is connected with the second wired and wireless local area network 481, the second wired and wireless local area network 481 is connected with the second communication gateway 494 through a remote communication line 479, the second communication gateway 497 is connected with the second network switch 497, the third network switch 505 is connected with the third network switch 506, the intelligent communication terminal 506 is connected with the first, the second communication gateway 494, the second communication gateway 497 is connected with the second communication gateway 497, the second communication gateway 512 is connected with the second robot palletizer robot conveyor line 512, the first robot palletizer 512, the elevator robot transporter 510 and the fourth robot palletizer 512.
The field control link 532 of the battery swapping system comprises: the first monitoring workstation 492 and the second monitoring workstation 493 are connected with the second network switch 497 and the third network switch 505, the third network switch 505 is connected with the intelligent communication terminal 506, and the intelligent communication terminal 506 is connected with the first palletizing robot 507, the second palletizing robot 508, the third palletizing robot 509, the fourth palletizing robot 510, the first handling robot 511, the second handling robot 512, the freight elevator 513, the passenger elevator 514, the first conveying line 520 and the second conveying line 516.
The charging system remote data communication link 533 includes: the surveillance vision system 654 is composed of the video capture device 120 and the radar 110, the radar 110 and the video capture device 504 of the surveillance vision system 654 are fused by the radar video information fusion system 130, the surveillance vision system 654 is connected to the video server 503, the video server 503 is connected to the second communication gateway 494, the second communication gateway 494 is connected to the second wired and wireless local area network 481 via the telecommunication line 479, the second wired and wireless local area network 481 is connected to the second switch 474, the second switch 474 is connected to the second ground network 480, the second ground network 480 is connected to the second wireless carrier system 461, the second wireless carrier system 461 is connected to the first wireless carrier system 262, the first wireless carrier system 262 is connected to the first ground network 264, the first ground network 264 is connected to the first switch 291, the first switch 291 is connected to the first wired and wireless local area network 295, the first wired and wireless local area network 298 is connected to the remote control system 298, the remote control system 169 is connected to the remote control station 169, the remote control station is connected to the second processor 215, the second processor 215 is connected to the visual display 255, the second display screen 179, the display screen 176 is composed of the second display screen 175 and the fourth display screen 176.
In fig. 1, the first land network 264 comprises a public switched telephone network for providing hard-wired telephone, packet-switched data communications, and internet infrastructure. One or more segments of the first land network 264 can be implemented using standard wired networks, fiber optic and other optical networks, cable networks, power lines, other wireless networks of wireless local area networks, or networks providing broadband wireless access, or any combination thereof. The first land network 264 directly connects the first call center 265 with the first wireless carrier system 262. Computer 266 uploads diagnostic information from rotorcraft 88 via multi-protocol communication network access system 460 in connection with flight control computer 687; computer 266 provides an internet connection, provides DNS services and acts as a network address server that assigns IP addresses to rotorcraft 88 using DHCP or other appropriate protocol. First call center 265 provides system back-end functionality to rotorcraft 88 flight control computer 687 including first switch 291, first server 283, first database 292, remote control center 298, and automated voice response system 294 connected together by first wired and wireless local area network 295. The first switch 291 is a private switch that routes incoming signals so that voice transmissions are sent, typically through a conventional telephone, to the remote control system 298 and to the first automated voice response system 294 using VoIP. The telephone of the remote control system 298 can also use VoIP, with VoIP and other data communications through the first switch 291 being carried out through a modem connected between the first switch 291 and the first wired and wireless local area networks 295. The data transmission is passed via the modem to the second server 283 and the first database 292. First database 292 can store account information, user authentication information, aircraft identification. Data transmission can also be performed via wireless system 422.11x, GPRS. It is used by connecting a manual first call center 265 through a remote control system 298, the first call center 265 using a first automated voice response system 294 as an automated instructor, and the first call center 265 connecting with the remote control system 298 using the first automated voice response system 294.
The second land network 480 comprises a public switched telephone network for providing hard-wired telephone, packet-switched data communications, and internet infrastructure. One or more segments of the second ground network 480 can be implemented using standard wired networks, fiber optic and other optical networks, cable networks, power lines, other wireless networks such as wireless local area networks, or networks providing broadband wireless access, or any combination thereof. Second ground network 480 connects second call center 502 with second wireless carrier system 461, these functions including switch second switch 474, second server 475 and second database 476, and remote control center 298 and second automated voice response system 477 are connected together through second wired and wireless local area network 481. The second switch 474, which is a private switch, routes incoming signals so that voice transmissions are sent, typically by conventional telephone, to the remote control system 298 and to the second automated voice response system 477 using VoIP. The telephone of remote control system 298 can also use VoIP, with VoIP and other data communications through second switch 474 being carried out through a modem connected between second switch 474 and second wired and wireless local area network 481. The data transmission is passed via the modem to a second server 475 and a second database 476, the second database 476 capable of storing account information, user authentication information, aircraft identification. Data transmission can also be performed via wireless system 422.11x, GPRS.
In fig. 5, a multi-protocol communication network access system 460 includes: a processor 487, a microwave communication unit 489, a satellite communication unit 490, a mobile communication unit 491, and a wired communication unit 488; wherein the processor 487 is adapted to receive data information from the microwave communication unit 489, the satellite communication unit 490, the mobile communication unit 491 and the wireline communication unit 488. The microwave communication unit 489 includes: a directional antenna, a radio frequency unit 663; the directional antenna is suitable for sending the received radio frequency signal to the radio frequency unit 663, and the radio frequency unit 663 is suitable for sending the modulated radio frequency signal to the processor 487 for demodulation into data information; or modulate the data information with processor 487 and transmit the modulated data information through the directional antenna of the rf unit 663. The satellite communication unit 490 includes: a transceiver 661 and a Ka band modem 662; the transceiver 661 and an ultrahigh frequency UHF antenna are connected to a UHF band signal, the processor 487 is configured to convert the received UHF band signal into a Ka band signal, and the Ka antenna connected to the Ka band modem 662 is configured to transmit the converted Ka band signal to a satellite; or the Ka-band modem 662 receives the Ka-band signal transmitted by the satellite through the connected Ka antenna, the processor is configured to convert the received Ka-band signal into a UHF-band signal, and the transceiver 661 is configured to transmit the converted UHF-band signal through the UHF antenna. The mobile communication unit 491 is a 4G communication module 662, a 5G communication module 663 and a 6G communication module 659; processor 487 is adapted to receive or transmit 4G, 5G, and 6G signals. The wired communication unit 488 includes: a serial communication circuit 666, a CAN bus module 656 and an Ethernet module 660; the processor is suitable for receiving data information sent by the serial port communication circuit and/or the CAN bus module 656 and/or the Ethernet module 660 and converting the data information into Ka frequency band signals and/or UHF frequency band signals; or data information is extracted from the Ka frequency band signal and/or the UHF frequency band signal and is sent out through the serial port communication circuit 666 and/or the CAN bus module 656 and/or the ethernet module 660. The serial communication circuit 666 includes: the communication interface, the RS485 signal communication circuit 657 and the RS232 signal communication chip 658 which are electrically connected with the processor.
In fig. 40, the distal end of the first link 139 is connected to the proximal end of the second link 137 at a joint providing a horizontal pivot axis 138. The proximal end of the third link 124 is connected to the distal end of the second link 137 at a roll joint, such that the third link rotates or rolls at joint 123 generally about an axis extending along the axis of both the second and third links, distally after the pivot joint 125, the distal end of the fourth link 136 is connected to the instrument holder 136 by a pair of pivot joints 135, 134, the pivot joints 135, 134 together defining the instrument holder 121, the translational or prismatic joint 132 of the first robotic 89 manipulator arm assembly 133 facilitating axial movement of the instrument 126, the instrument holder 131 being attachable to a cannula through which the instrument holder 131 is slidably inserted, distal to the instrument holder 131, the second instrument 126 including an additional degree of freedom, actuation of the degree of freedom of the second instrument 126 being driven by the motor of the robotic manipulator arm assembly 133, the interface between the second instrument 126 and the robotic manipulator arm assembly 133 being positionable further proximally or distally along the motion chain of the manipulator arm assembly 133, the second instrument 126 including a rotational joint 130 proximal to a pivot point PP positioned at a desired location, allowing the distal end effector 126 to pivot about the end effector 128 a, the end effector 128 orientation to be controlled independently of the end effector 128 a, the end effector 128.
In fig. 40 and 1, the remote pilot 91 sends a signal via the second processor 215, the tri-state switch 202 receives an activation signal, the remote pilot 91 uses the second processor 215 and the remote piloting architecture 258 to couple the first robot 89 to maneuver the arm end 197 of the first robot 182 to grip and move away from the cyclic stick 677, and the remote pilot 91 uses the second processor 215 and the remote piloting architecture 258 to couple the first robot 89 to maneuver the arm end 197 of the second robot 183 to grip and move away from the collective stick 683. The first contact terminal 194 and the second contact terminal 196 of the end effector 193 of the first robot 182 apply a force to the cyclic rod 677 causing the cyclic rod 677 to rotate, the first contact terminal 194 and the second contact terminal 196 of the end effector 193 of the second robot 183 apply a force to the collective rod 683 causing the collective rod 683 to rotate, the release three-state switch 202 stops the arm end 197 from moving, the remote operator 91 sends an activation second direction signal when the arm end 197 is required to connect to the cyclic rod 677, the first direction is opposite the second direction, the three-state switch 202 receives the activation second direction signal and the arm end 197 moves toward the cyclic rod 677. Releasing the three-state switch 202 stops movement of the arm end 197 and requires that the arm end 197 be connected to the collective lever 683, the remote pilot 91 sends an activate second direction signal, the first direction being opposite the second direction, and upon receipt of the activate second direction signal by the three-state switch 202, the arm end 197 moves toward the collective lever 683.
In fig. 42 and 50, the first and second contact ends 194 and 196 in the end effector 193, which pivot relative to each other to define a pair of end effector jaws 231, for instruments having end effector jaws 231, actuating the jaws 231 by squeezing the gripper members of the left and right hand held input devices 177 and 178, the first robot 89 manipulating the third and fourth robot arms 184 and 185 will extend and retract the shaft 187 to provide the desired movement of the end effector 193, the first robot 89 manipulating the third robot arm 184 to be able to contact and control the right pedal 602 of the pedal 690 during telesteering. The first robot 89 manipulates the fourth manipulator 185 to be able to contact the left pedal 601 among the pedals 690 and control the left pedal 601 during the remote driving.
In fig. 42, the first robot 182 and the second robot 183 can cause movement of the cyclic rod 677, and the first robot 182 and the second robot 183 can cause movement of the collective rod 683. An instrument holder 180 is attached to first manipulator 182, instrument holder 180 is attached to instrument 186 and arm end 197, instrument holder 180 is attached to first manipulator 182 by a motorized articulation, and instrument holder 180 includes an instrument holder frame 188, a clamp 189, and an instrument holder bracket 190. A clamp 189 is secured to the distal end of instrument holder frame 188, clamp 189 is attachable to and detachable from an arm end 197, an instrument holder bracket 190 is attached to instrument holder frame 188, and linear translation of instrument holder bracket 190 along instrument holder frame 188 is motorized translational movement controlled by second processor 215. The instrument 186 includes a drive assembly 195, an elongate shaft 187, and an end effector 193, with the drive assembly 195 being coupled to an instrument holder bracket 190. Shaft 187 extends distally from drive assembly 195. An end effector 193 is disposed at the distal end of the shaft 187. The shaft 187 defines a longitudinal axis 192, the longitudinal axis 192 coinciding with a longitudinal axis of the arm end 197 and with a longitudinal axis defined by the arm end 197. As instrument holder carriage 190 translates along instrument holder frame 188, elongate shaft 187 of instrument 186 moves along longitudinal axis 192. End effector 193 can be extended and retracted from the workspace.
In fig. 43 and 50, the first robot 89 is mounted on a seat at a primary driver position 274 and the second robot 90 is mounted on a seat at a secondary driver position 275 in the cockpit 456. The driver seat 173 includes a seat back 216, an anti-dive beam 217, an anti-dive link mechanism 219, a fifth link 218, a sixth link 230, a seventh link 231, and a pillar 256, and the first robot 89 and the second robot 90 are fixed to the driver seat 173. The first robot 182, the second robot 183, the third robot 184, and the fourth robot 185 mounted on the column 256 of the first robot 89 and the second robot 90 are capable of moving up, down, left, right, and front and rear. The remote driver 91 grips the left hand-held input device 177 with the left hand, the left hand-held input device 177 can cause movement of the first manipulator 182 of the first robot 89, the remote driver 91 grips the right hand-held input device 178 with the right hand, the right hand-held input device 178 can cause movement of the second manipulator 183 of the first robot 89, the remote driver 91 connects the first foot pedal 214 with the right foot, the first foot pedal 214 can cause movement of the third manipulator 184 of the first robot 89, the remote driver 91 connects the second foot pedal 233 with the left foot, and the second foot pedal 233 can cause movement of the fourth manipulator 185 of the first robot 89. The first robot 182 and the second robot 183 can cause movement of the cyclic rod 677, and the first robot 182 and the second robot 183 can cause movement of the collective rod 683. The third manipulator 184 is capable of causing movement of the right pedal 602 in the pedal 690; the fourth manipulator 185 can cause movement of the left pedal 601 in the pedals 690.
In fig. 44, the second processor 215 of the remote console 169 is comprised of hardware, software and firmware, executed by one unit or distributed to several sub-units, each of which can in turn be implemented by any combination of hardware, software and firmware, the second processor 215 can cross-connect control logic and controllers, the second processor 215 can also be distributed as sub-units throughout the teledriving architecture 258, the second processor 215 can execute machine-readable instructions from a non-transitory machine-readable medium that activate the second processor 215 to perform actions corresponding to the instructions, the second processor 215 executes various instructions input by the teledriver 91, the second processor 215 executes instructions input by the teledriver 91 using the left hand-held input device 177 and the right hand-held input device 178 to actuate respective joints of the first manipulator 182 and the second manipulator 183. The second processor 215 of the remote control console 169 is coupled to the visual display 255, the left hand-held input device 177, the right hand-held input device 178, the first foot pedal 214, and the second foot board 233. The visual display 255 is comprised of a first display screen 174, a second display screen 175, a third display screen 176, and a fourth display screen 179. The entire image of rotorcraft 88 captured by aircraft vision system 400 is transmitted by compression to remote control station 169 for decompression and display on the display screen of visual display 255. The remote driver 91 views the image on the visual display 255 with both eyes. The entire image captured by the monitor vision system 654 is transmitted by compression to the remote control station 169 for decompression and display on the display screen of the visual display 255. The remote driver 91 views the image on the visual display 255 with both eyes. All images acquired by the sixth imaging device 406, the seventh imaging device 407, the eighth imaging device 408, the ninth imaging device 409 and the tenth imaging device 410 are transmitted to the remote console 169 by compression, decompressed and displayed on the display screen of the visual display 255. The remote driver 91 views the image on the visual display 255 with both eyes.
In fig. 45, the left hand-held input device 177 and the right master input device 178 are connected and disconnected to the console 169 by wireless communication, the left hand-held input device 177 is connected to the second processor 215, the right hand-held input device 178 is connected to the second processor 215, the remote driver 91 starts to perform a remote driving work after the remote console 169 activates the second processor 215, the left hand of the remote driver 91 controls the left hand-held input device 177, the left hand-held input device 177 controls the movement of the arm end 197 of the first manipulator 182 by the second processor 215, the right hand of the remote driver 91 controls the right hand-held input device 178, the right hand-held input device 178 controls the movement of the arm end 197 of the second manipulator 183 by the second processor 215, the arm end 197 of the first manipulator 182 contacts and grips the cyclic stick 677 using the first contact terminal 194 and the second contact terminal 196 in the end effector 193, the second manipulator 183 contacts and grips the cyclic stick 677 using the first contact terminal 194 and the second contact terminal 196 in the end effector 193 and the cyclic stick 183, the second manipulator end 197 and the cyclic control input device 183 provide a feedback to the remote driver software for measuring the cyclic movement of the remote driver 89, the remote driver can measure the cyclic movement of the remote driver 89, the first manipulator 89, the remote driver and the remote driver can measure the cyclic control of the cyclic control robot hand-driven manipulator 89 by the first manipulator 183 using the first and the first manipulator 183, the reaction forces experienced by the first robot 89, the first manipulator 182 and the second manipulator 183, which correspond to the cyclic rod 677, can be simulated for the remote driver 91.
In fig. 46, the left hand-held input device 177 and the right master input device 178 are connected and disconnected to the console 169 by wireless communication, the left hand-held input device 177 is connected to the second processor 215, the right hand-held input device 178 is connected to the second processor 215, the remote pilot 91 starts telepilot work after the second processor 215 is activated by the remote console 169, the left hand of the remote pilot 91 controls the left hand-held input device 177, the left hand-held input device 177 controls the movement of the arm end 197 of the first manipulator 182 by the second processor 215, the right hand of the remote pilot 91 controls the right hand-held input device 178, the right hand-held input device 178 controls the movement of the arm end 197 of the second manipulator 183 by the second processor 215, the arm end 197 of the first manipulator 182 contacts and grips the master stick 683 using the first contact terminal 194 and the second contact terminal 196 in the end effector 193, the second manipulator 183 contacts and grips the master stick 683 tightly using the first contact terminal 194 and the second contact terminal 196 in the end effector 193, the second manipulator 183 contacts and grips the master stick 683 and the master stick 183 and the second manipulator handle end 183 and the remote pilot work feedback software provides feedback to the remote pilot work model of the remote pilot work after the remote pilot work has been performed by the first and the remote pilot work, the reaction forces experienced by the first manipulator 182 and the second manipulator 183 of the first robot 89 corresponding to the collective pitch post 683 can be simulated for the remote driver 91.
In fig. 46, the collective control assembly 681 and range of motion, the collective lever 696 is mounted on the collective lever support 700 and moves in an arc to indicate the collective position. In fly-by-wire flight control system 405, collective pitch rods 696 are decoupled from 524 and 530 such that the range of motion of collective pitch 696 is not limited by 524 and 530. The collective trim component 681 may monitor and determine the location of the collective pitch 696, and the FCC may determine the collective pitch setting based on the location of the collective pitch rod. To maintain the main rotor speed at a substantially constant RPM, a collective pitch setting may be associated with the first and second motor settings such that the first and second motors provide sufficient power to maintain the rotor speed. Collective lever 696 may have a low position 699 and a high position 697 associated with the lowest and maximum normal collective settings 522 and 528, respectively. The low position 699 and the high position 697 may define or bound a normal operating range 698. The normal operating range 698 includes collective pitch settings corresponding to power settings below the MCP. Collective lever 696 may also have a maximum position 693 associated with a collective setting corresponding to the maximum settable power. The overdrive range 694 may be defined or bounded by a maximum position 693 and a high position 697, and the overdrive range 694 may include a collective setting corresponding to a power setting higher than the normal operating range. The overdrive range 694 includes a MTOP power setting, a 30SMP power setting, and a 2MMP power setting. Low position 699, high position 445, and maximum position 693 may be stops or positions implemented or created by the collective trim assembly.
In fig. 51 and 47, fly-by-wire flight control system 405 of rotorcraft 88 includes cyclic rod 677 in cyclic control assembly 675, collective rod 683 in collective control assembly 681, pedal 690 in pedal control assembly 689, aircraft sensors 691, first motor control computer 458, second motor control computer 459, first robot 89, second robot 90, aircraft vision system 400, and multi-protocol communication network access system 460 all connected to flight control computer 687. Flight control computer 687 is capable of analyzing the inputs of remote pilot 91 and sending corresponding commands to first motor control computer 458, second motor control computer 459, and aft 526 vertical stabilizer. Flight control computer 687 receives input commands from remote pilot 91 controls through sensors associated with remote pilot 91 flight controls. The flight control computer 687 also controls haptic commands from the remote pilot 91 controls to display information in instruments on the instrument panel 454. First motor control computer 458 controls first gearbox 523, which can vary the output power of first rotor system 521 to control the rotational speed of first rotor blade 522. In helicopter mode, first motor control computer 458 controls first nacelle 524 to be approximately vertical. In airplane mode, first motor control computer 458 controls first nacelle 524 to be approximately level. Second motor control computer 459 controls second gearbox 529 enabling the output power of second rotor system 527 to be varied to control the rotational speed of second rotor blade 528. In the helicopter mode, the second motor control computer 459 controls the second nacelle 530 to be approximately vertical in the airplane mode, and the second motor control computer 459 controls the second nacelle 530 to be approximately horizontal. Flight control computer 691 is used to measure rotorcraft 88 systems, sensors for flight parameters.
The cyclic control assembly 675 is connected to a cyclic trim assembly 674, the cyclic trim assembly 674 having a cyclic position sensor 678, a cyclic stop sensor 676, and a cyclic actuator or cyclic trim motor 673. A cyclic position sensor 678 measures the position of the cyclic rod 677. Cyclic rod 677 is a single control rod that moves in two axes and allows remote pilot 91 to control pitch, which is the vertical angle of the nose of rotorcraft 88, and roll, which is the roll angle of rotorcraft 88. The cyclic control assembly 675 has a separate cyclic position sensor 678 that measures roll and pitch separately. Cyclic position sensors 678 for detecting roll and pitch generate roll and pitch signals, respectively, that are sent to a flight control computer 687, and the flight control computer 687 controls the first, second, and tail 526 vertical stabilizers and associated flight control devices of the first, second, and tail 524, 530, 526 to control the horizontal motion of the rotorcraft 88. Collective control assembly 681 is connected to collective trim assembly 680, and collective trim assembly 680 has collective position sensor 684, collective stop sensor 682, collective stop, and collective trim motor 679. Collective position sensor 684 measures the position of collective post 683 in collective control assembly 681. Collective lever 683 is a single lever that moves along a single axis or has a lever-type action. Collective position sensor 684 detects the position of collective lever 683 and sends a collective position signal to flight control computer 687, which flight control computer 687 controls first nacelle 524, second nacelle 530, and tail 526 vertical stabilizers and associated flight control devices based on the collective position signal to control vertical movement of rotorcraft 88. The pedal control assembly 689 has a pedal sensor 688 that measures a position of a pedal or other input element in the pedal control assembly 689. Pedal sensor 688 detects the position of pedal 690 and sends a pedal position signal to flight control computer 687, and flight control computer 687 controls tail 526 vertical stabilizer to yaw or rotate rotorcraft 88 about a vertical axis.
The remote control system 298 terminal group comprises a large-screen liquid crystal display 702, a large-screen display control host 708, a network switch 704, a graphic splicing controller 703, a graphic workstation 701, a graphic workstation group control host 710, a main server 705, a secondary server 706, and a data and voice terminal 707, wherein the network switch 704 is in one-to-one corresponding electrical communication connection with the graphic workstation 701, the graphic splicing controller 703, the graphic workstation group control host 710, the main server 705, the secondary server 706 and the data and voice terminal 707 respectively; the large-screen liquid crystal display 702 is used for displaying the graphics, video and audio data spliced by the graphics splicing controller 703, the graphics splicing controller 703 is used for calling the graphics, video and audio from the graphics workstation 701 and completing the combination and splicing work, and the graphics workstation group control host 710 is used for controlling the storage, movement, display and deletion operations of the graphics, video and audio in the graphics workstation 701; the network switch 704 is in corresponding data communication with the graphic workstation 701, the graphic splicing controller 703, the graphic workstation group control host 710, the main server 705, the secondary server 706 and the data and voice terminal 707; the server is composed of a main server 705 and a secondary server 706, the terminal is composed of a data terminal 707 and a voice terminal 707, the main server 705 is used for receiving and controlling data information of the data terminal, and the secondary server 706 is used for receiving and controlling voice information of the voice terminal; the large screen display control host 708 is electrically connected with a wireless receiver 711, the wireless receiver 711 is connected with the PDA controller 709 through wireless communication, data instruction information sent by a data terminal is transmitted to the main server 705 through the network switch 704, logical operation processing is carried out through the main server 705, the data information and processing results are displayed through the large screen liquid crystal display 702 and the liquid crystal display of the data terminal, voice instruction information sent by a voice terminal is transmitted to the secondary server 706 through the network switch 704, logical operation processing is carried out through the secondary server 706, the voice information and processing results are displayed through the large screen liquid crystal display 702 and the liquid crystal display of the voice terminal, data and voice instruction information sent by the PDA controller 709 are transmitted to the wireless receiver 711 through wireless communication, the wireless receiver 711 transmits the data and voice information to the splicing graphic controller 703 through the large screen display control host 708, the data, voice information and processing results are displayed through the logical operation processing of the main server 705 and the secondary server 706, the data, voice information and processing results are displayed through the large screen liquid crystal display 702 and the PDA controller 709, the graphic workstation group control host 710 transmits the data information to the main switch 704, the main server 705 and the logic processing results are displayed through the liquid crystal display 702, and the logic processing results are displayed through the liquid crystal display 702. The operator obtains the information data of the rotorcraft 88 and then performs the operation.
In fig. 47 and 1, an aircraft vision system 400 of rotorcraft 88 is configured to capture images within a 360 ° area around rotorcraft 88. A first imaging device 467 of the aircraft vision system 400 is mounted at a location behind the front windshield, a forward looking camera for capturing images of the forward field of view (FOV) 462 of the rotorcraft 88, a second imaging device 466 of the aircraft vision system 400 is mounted aft of the rotorcraft 88 for capturing an aft looking camera of the aft field of view (FOV) 465 of the rotorcraft 88, a third imaging device 464 of the aircraft vision system 400 is mounted to the left side of the rotorcraft 88 for capturing side looking image cameras of the side field of view (FOV) 463, and a fourth imaging device 469 of the aircraft vision system 400 is mounted to the right side of the rotorcraft 88 for capturing side looking cameras of the side field of view (FOV) 468. A fifth imaging device 401 of aircraft vision system 400 is mounted to a lower portion of fuselage 455 of rotorcraft 88 for capturing a lower fuselage field of view (FOV) 402; a sixth imaging device 406 is mounted on the first manipulator 182, a seventh imaging device 407 is mounted on the second manipulator 183, an eighth imaging device 408 is mounted on the third manipulator 184, a ninth imaging device 409 is mounted on the fourth manipulator 185, and a tenth imaging device 410 is mounted on the column 256, the imaging systems of the first imaging device to the tenth imaging device are all composed of the video acquisition apparatus 120 and the radar 110, and the radar 110 is composed of a laser radar or a millimeter wave radar.
The radar 110 is used for detecting a target and acquiring target data and an environment coordinate of the target, the radar 110 adopts a one-shot double-shot FMCW system and a 2D-FFT data processing technology, and the detected target data comprises radial distance, radial speed and angle information of the target. And converting the radial distance and angle information into transverse distance and longitudinal distance information of the target according to the geometric relationship through data characteristic transformation, wherein the transverse distance and longitudinal distance information form the environment coordinate of the target relative to the video acquisition equipment. For the detection of moving targets, target data detected by a radar every time are different, and in order to obtain more accurate target information and eliminate false targets as much as possible, data association and target tracking technologies need to be adopted to perform data association on the target information detected by the radar for many times and perform adaptive filtering prediction. When the radar obtains accurate target information, a video trigger signal is output when stable tracking is established on the detected target, a video camera is triggered to acquire images and extract the target, and the target detected by the radar is converted into environmental coordinate data relative to the camera and transmitted to the radar video information fusion system 130 for information fusion.
The video capture device 120 is configured to capture image information and pixel coordinates of the target after the radar tracks the target. The video capture device 120 is composed of a camera, acquires image information, processes the image to obtain target feature data, and transmits pixel coordinate data of the target and the like to the radar video information fusion system 130. The radar and video acquisition device, which is connected to the input end of the radar video information fusion system 130 in a communication manner, is used for performing information fusion on target data and image information of a target, and specifically includes performing coordinate conversion on the obtained target data acquired by the radar 110, converting an environmental coordinate into a pixel coordinate corresponding to an image, performing time registration, first data association and decision-making on the target position detected by the radar 110 and the image information or video data acquired by the video acquisition device 120, and displaying a target fusion result on a display screen.
In fig. 13 and 16, the detection and processing method of the radar video composite data detection and processing system includes the following steps:
s1, a radar detection target acquires target data and an environment coordinate of the target.
S1.1, detecting a target by a radar, and processing echo data to obtain target data, wherein the target data comprises the radial distance, the radial speed and the angle information of the target.
S1.2, converting the radial distance and the angle information into the transverse distance and the longitudinal distance of the target by the radar through data characteristic transformation according to the geometric relation, wherein the transverse distance and the longitudinal distance of the target form the environment coordinate of the target relative to the video acquisition equipment.
S1.3, after the radar acquires target data of a target, performing second data association on the radar information, wherein the method for performing the second data association on the target data acquired at the current moment by the radar comprises the following steps: a track bifurcation method, a nearest neighbor method and a joint probability data association algorithm. And the radar judges the number of targets detected by the radar, and if the number of targets detected by the radar is smaller than a preset number threshold value and the number of targets is few or sparse, a track bifurcation method or nearest neighbor method is adopted for data association, so that the calculation is simple and the real-time performance is good. If the number of the targets detected by the radar is larger than a preset number threshold value, and the number of the targets is large and dense, a joint probability data association algorithm is adopted for data association, and the algorithm has good tracking performance in a clutter environment. Assuming that a plurality of targets exist in a clutter environment and a track has been formed for each target, if there are a plurality of echoes, it is assumed that all the echoes at the tracking gate are likely to originate from the target, except that the probability that each echo originates from the target is different.
S1.4, the radar carries out adaptive filtering prediction on target data acquired at the current moment, and the adaptive filtering prediction can adopt Kalman filtering tracking to carry out target tracking prediction to obtain a target.
And S2, after the radar tracks the target, the video acquisition equipment acquires image information and pixel coordinates of the target.
S2.1, the video acquisition equipment acquires image information of the target.
And S2.2, the video acquisition equipment performs image processing on the image information to obtain target characteristic data, and transmits the target characteristic data, pixel coordinate data and the like to the radar video information fusion system.
S3, the radar video information fusion system performs information fusion on target data and image information of the target; the information fusion comprises the following steps: coordinate transformation, time registration, data decision and first data association.
S3.1, the radar video information fusion system performs coordinate conversion on target data acquired by a radar from an environment coordinate to a pixel coordinate corresponding to video information, and the method specifically comprises the following steps; an origin of the environment coordinate system Ow-XwYwZw takes an intersection point of the video acquisition device perpendicular to the ground as the origin Ow (which can also be set at any position and is generally set according to actual conditions), an axis Yw points to the right front of the video acquisition device for acquiring the video, an axis Zw points to the vertical plane and the upward direction, and an axis Xw is located on the horizontal plane and perpendicular to the axis Yw. The pixel coordinate system Oo-UV, the U axis and the Y axis form an imaging plane, the imaging plane is perpendicular to the environmental coordinate system Yw axis, the upper left corner of the imaging plane is taken as a coordinate origin Oo, and the unit of the pixel coordinate system is a pixel. When the height of the video acquisition equipment from the ground is H meters, the relation between the environment coordinate and the pixel coordinate is as shown in the formula (1): 
In the formula (1), U is a U-axis coordinate of the target in a pixel coordinate system, V is a V-axis coordinate of the target in the pixel coordinate system, ax and az are equivalent focal lengths of the video capture device in Xw axis and Zw axis directions, U0 and V0 are coordinates of a pixel center of image information, and Xw, yw and Zw are environment coordinate values of points in a camera irradiation physical range respectively.
And S3.2, the radar video information fusion system carries out time registration on the target data of the radar and the image information of the video acquisition equipment. The data refreshing frequency of the radar and the video camera is different, the radar detection target information and the video target extraction information need to be fused in time, the synchronism of paired data is ensured, and the complementary effect of the advantages of the radar and the video is achieved. The data refresh frequency of general radar is faster than that of a camera, and a time registration algorithm based on a least square criterion can be adopted, and the method specifically comprises the following steps: the sampling period of the sensor C is tau, the sampling period of the sensor R is T, and the proportionality coefficient of the sampling period is an integer n. If the last target state estimation time from the sensor C is recorded as (k-1) τ, the current time is denoted as k τ = [ (k-1) τ + nT ], which means that the number of times the sensor R estimates the target state is n within one cycle of the sensor C. The idea of least square method time registration is to fuse n measurement values acquired by the sensor R into a virtual measurement value and use the virtual measurement value as the measurement value of the sensor R at the current moment. The measured value is fused with the measured value of the sensor C, the purpose of target state measured value asynchronization caused by time deviation is eliminated, and the influence of time mismatching on the multi-sensor information fusion accuracy is eliminated. Setting the acquisition period of video acquisition equipment as tau, the acquisition period of a radar as T, and the proportionality coefficient of the acquisition period as an integer n; if the last target state estimation time of the video acquisition equipment is marked as (k-1) tau, the current time is represented as k tau = [ (k-1) tau + nT ], and n is the target detection times of a radar in one period of the video acquisition equipment;
And the n-time measurement values acquired by the radar are fused into a virtual measurement value and used as the measurement value of the radar at the current moment. Suppose S n ＝[S1,S2,...,Sn] T For a set of (k-1) tau to k tau time radar detection target position data, sn corresponds to k tau time video acquisition data, and if a column vector is formed by merging measurement values and derivatives thereof after S1, S2.
Where vi represents the measurement noise, the above equation is rewritten into a vector form: s n ＝W n U+V n
Wherein, V n ＝[v1,v2,...,vn] T The mean is zero, and the covariance matrix is:
and then
In order to fuse the noise variance of the previous position measurement,
there is an objective function according to the least squares criterion:
/>
so that J is the smallest, J is paired on two sides
Taking the derivative and making it equal to zero: />
Thus, there are:
the corresponding error covariance matrix is:
will S n Expression of (1) and formula W n Substituting the two equations to obtain the measurement value and the measurement noise variance after fusion as follows:
wherein c1= -2/n, c2=6/[ n (n + 1) ]
And fusing the measured value of the radar at the current moment and the measured value of the video acquisition equipment by adopting a nearest neighbor data association method.
S3.3, the radar video information fusion system carries out data decision on target data of the radar and image information of the video acquisition equipment, and the method specifically comprises the following steps: the radar video information fusion system judges whether the image quality of the image information acquired by the video acquisition equipment at the current moment is greater than a preset threshold value, if so, the target number information extracted by the image information is adopted, and if not, the target number information extracted by the target data acquired by the radar is adopted.
S3.4, the radar video information fusion system carries out first data association on target data of the radar and image information of the video acquisition equipment, wherein the first data association adopts a nearest neighbor data association method, and the method specifically comprises the following steps: first, a tracking gate is set to limit the number of potential decisions, which is a subspace in the tracking space, and is set centered around the video processing or radar detection target location, and is sized to ensure a certain probability of a correct match. Therefore, the larger residual will be culled first. If the number of the radar detection targets in the tracking door is larger than 1, the minimum residual error is regarded as the target.
S3.5, displaying target fusion result information through a display screen by the radar video information fusion system; flight control computer 687 is coupled to multi-protocol communication network access system 460,
in fig. 3, 6, 7, 11 and 12, the processor is an STM32 series single chip microcomputer, and pins 21, 22, 25, 26, 27 and 28 of an STM32F10XC type processor are respectively connected with pins 36, 37, 32, 33, 34 and 35 of an ethernet module to perform communication. Any pin can be selected from pins 18, 19, 20, 39, 40, 41, 42, 43, 45, 46 of the STM32F10XC type processor for connecting a radio frequency unit, a transceiver and a Ka band modem as well as 4G, 5G and 6G communication modules.
In fig. 2, the CAN bus module adopts an SN65HVD230 type chip, pins 1 and 4 of the CAN bus module are electrically connected with pins 46 and 45 of the processor, and the plurality of processors are cascaded through the CAN bus module, so that the processor is expanded to meet the requirement of controlling communication among the plurality of processors.
In fig. 4, 8, 9, 10, and 12, the serial communication circuit includes: the communication interface, the RS485 signal communication circuit and the RS232 signal communication chip are electrically connected with the processor; the communication interface is provided with an input end of an RS485 signal communication circuit and an input end of an RS232 signal communication chip, and the input end of the RS485 signal communication circuit and the input end of the RS232 signal communication chip send data information to the processor; the processor is adapted to convert the RS232 signal to an RS485 signal. Pins 9 and 10 of the communication interface are electrically connected with pins 30 and 31 of the processor. Pins 3 and 4 of the communication interface are connected with pins 6 and 7 of the RS485 signal communication circuit, and pins 5 and 6 of the communication interface are connected with pins 7 and 8 of the RS232 signal communication chip. Pins 1, 2 and 4 of the RS485 signal communication circuit are respectively connected with pins 14, 15 and 16 of the processor, and pins 10 and 9 of the RS232 signal communication chip are respectively connected with pins 12 and 13 of the processor. An information classification database is arranged in the processor module; the processor module is suitable for extracting key contents in the data information, comparing the key contents in the information classification database, classifying the key contents according to a comparison result, transmitting the key contents according to transmission modes corresponding to the classification, and loading the corresponding communication protocol to be transmitted in the data information during classification transmission so as to meet corresponding communication requirements and further realize automatic configuration among multiple protocols. The serial port communication circuit further comprises: the communication indicating circuit is electrically connected with the communication interface; the communication indicating circuit is provided with a first indicating lamp and a second indicating lamp, when the RS485 signal communication circuit connected with the communication interface works normally, the first indicating lamp indicates that the green lamp is on, and when the RS232 signal communication chip connected with the communication interface works normally, the second indicating lamp indicates that the green lamp is on. The multi-protocol communication network access system 460 further comprises: a DC-DC voltage reduction circuit; the DC-DC voltage reduction circuit is suitable for supplying power and stabilizing voltage to equipment.
Fig. 14 is a system 442 for data compression comprising: radar 110, video acquisition device 120, radar video information fusion system 130, radar 110 consisting of a laser radar and a millimeter wave radar, raw byte data scanning unit 443, a compressed storage unit 444, a first judgment unit 445, a compressed data generation unit 446, a sending module 447 original byte data scanning unit 443, configured to scan original byte data; a compressed storage unit 444 for compressing and storing the original byte data; a first determining unit 445, configured to determine whether scanning of the original byte data is completed; the compressed data generating unit 446 is configured to generate compressed data according to the stored byte data, and transmit the compressed data to the sending module 447.
Fig. 15 is a system 448 for data decompression including a receiving module 263, a compressed data scanning unit 449, a compression logic determination value and compression logic obtaining unit 450, a decompression reading unit 451, a second determination unit 452, and an original byte data restoring unit 453. The compressed data scanning unit 449 is configured to scan the compressed data; a compression logic judgment value and compression logic obtaining unit 450, configured to perform compression logic judgment operation on nth byte data of compressed data to obtain a compression logic judgment value and a compression logic, where n is a natural number greater than or equal to 1; a decompression reading unit 451 for decompressing and reading the compressed data according to the compression logic determination value and the compression logic; a second determining unit 452 configured to determine whether the compressed data is completely scanned; an original byte data restoring unit 453 for restoring original byte data based on the read byte data, and a display 255 displays the original byte data restored by the original byte data restoring unit 453.
In fig. 14 and 15, the radar 110 and the video capture device 120 of the aircraft vision system 400 are fused by the radar video information fusion system 130, the original byte data scanning unit 443 scans images of the radar video information fusion system 130 and transmits the images to the compression storage unit 444, the compression storage unit 444 transmits the images to the first judgment unit 445, the first judgment unit 445 transmits the images to the compressed data generation unit 446, the compressed data generation unit 446 transmits the compressed images to the transmission module 447 and transmits the compressed images to the multi-protocol communication network access system 460 by the transmission module 447, the multi-protocol communication network access system 460 transmits the compressed images to the first switch 291 through the second wireless carrier system 461, the first switch 291 transmits the compressed images to the remote control system 298, the remote control system 298 transmits the compressed images to the second processor 215, the second processor 215 transmits the received images to the receiving module 263, the receiving module 263 transmits the received images to the compressed data scanning unit 449, the compressed data scanning unit 449 transmits the compressed data to the compression logic acquisition unit 450, the compression logic acquisition unit 450 transmits the decompressed data to the reading unit 255 and transmits the decompressed data to the second judgment unit 451, and the original byte data recovery display unit 452 restores the original bytes.
FIG. 17 is a block diagram of interface information for data compression and decompression, where the interface information may include a compression type and a size of original byte data, and the definition of the compression type may use 0 to indicate no compression, and 1 to indicate compression, and further perform data compression on byte data in which consecutive increments exist in the original byte data, and byte data in which discontinuous identical and discontinuous increments exist in the original byte data, so as to further reduce redundancy of data and improve data transmission efficiency; by adding interface information to the compressed data, it can be ensured that the receiving module completes the decompression processing procedure correctly.
In fig. 18 and fig. 19, transmission data is transmitted between a wireless node 411 and a wireless node 414 through a wireless channel after being subjected to data compression, wherein the wireless node 411 includes a transmitting module 412; wireless node 414 includes a receiving module 413; the data compression function is deployed on the sending module 413, the data decompression function is deployed on the receiving module 413, and the data compression method comprises the following steps: the original byte data 415 is scanned. Scanning starts from the first byte of original byte data, scanning is carried out in sequence, the redundant components of the original byte data are determined according to the scanning result, next compression processing steps are carried out according to the characteristics of redundant data, the original byte data are compressed and stored 416, if continuous same byte data exist in the original byte data, first logic operation is carried out on the continuous same byte data to obtain a first logic operation value, and the first logic operation value is stored as one byte data and any one of the continuous same byte data is stored as another byte data. For example, when there are 3 consecutive identical byte data in the original byte data, and they are respectively 0 × 05, then the first logical operation is to perform a logical or operation using 0x80 and the number 0x03 of consecutive identical byte data to obtain a first logical operation value 0x83, and then the obtained first logical operation value 0x83 is stored as one byte data, and consecutive identical byte data 0x05 is stored as another byte data. A determination 417 is made as to whether the original byte data has been scanned completely. If the scanning is finished, turning to the step of generating compressed data according to the stored byte data 418; if not, return to step to scan the original byte data 415 to continue scanning. And generating compressed data 418 according to the stored byte data, compressing the original byte data and performing a compression processing step on the continuous same byte data in the original byte data in the storage 416. After the original byte data occupying 3 bytes of data is subjected to data compression processing, only 2 bytes of data are occupied, and the compressed data is represented by 0x83 and 0x05. According to the technical scheme, the method comprises the following steps: scanning original byte data b: if the original byte data contains continuous same byte data, performing a first logical operation with the number of the continuous same byte data to obtain a first logical operation value, and storing the first logical operation value as one byte data and any one byte data of the continuous same byte data as another byte data c: d, judging whether the original byte data is completely scanned, if so, turning to the step d, and if not, returning to the step a; d: generating compressed data based on the stored byte data,
In FIG. 20, the data characteristics in the raw byte data are first determined according to step determine raw byte data 419; if the determination 420 determines that there is consecutive logical byte data, i.e., when the determination is made that there is consecutive incremental byte data in the original byte data; performing a second logical operation to obtain a second logical operation value 421, that is, performing a second logical operation with the number of the continuously increasing byte data to obtain a second logical operation value; next, a step 422 of compressing and storing the second logical operation value and the original byte data is performed, that is, the second logical operation value is stored as one byte data, and the first byte data of the successively incremented byte data is stored as another byte data. The second logical operation is an or operation using 0xC0 and the number of successively increasing byte data. If the discontinuous same and discontinuous incremental byte data 423 is determined, namely, the discontinuous same and discontinuous incremental byte data is determined to exist in the original byte data; a step 424 of performing a third logical operation to obtain a third logical operation value, that is, performing the third logical operation with the number of the discontinuous same and discontinuous incremental byte data to obtain the third logical operation value; then, a step 425 of compressing and storing the third logical operation value and the original byte data is performed, that is, the third logical operation value is stored as one byte data, and each byte data of the byte data which are not continuous and same and are not continuously increased is stored as another byte data in sequence. The third logical operation is an or operation using 0x00 and the number of bytes of data that are not consecutive and are not consecutive increments. And finally, obtaining the stored byte data according to the step 426 of obtaining the stored byte data, and generating compressed data according to the stored byte data.
In fig. 20, after the step of generating the compressed data 418 according to the stored byte data, the following step may be added, and the compressed data packet 419 is generated according to the data adding interface information.
Fig. 22 shows a data decompression method, where after the receiving module 413 of the wireless node 414 receives the compressed data sent by the other wireless node, the data decompression method may be used to perform decompression processing, and then the decompressed data is delivered to the wireless node for subsequent processing, where the data decompression method may include the following steps: and scanning the compressed data 427, wherein the compressed data is obtained by compressing the original byte data by the data compression method in the first embodiment. And performing compression logic judgment operation on nth byte data of the compressed data to obtain a compression logic judgment value and compression logic, wherein n is a natural number 428 which is greater than or equal to 1. The compressed data is decompressed and read 429 based on the compression logic decision value and the compression logic. If the compression logic judgment value is equal to the first preset value, judging that continuous same byte data exist in the original byte data corresponding to the compression logic; and performing first logic number operation on the nth byte data to obtain a data number i, wherein i is a natural number which is more than or equal to 2, and repeatedly reading the (n + 1) th byte data of the i pieces of compressed data. And judging whether the compressed data is scanned completely 430, if so, turning to the step of generating compressed data 431 according to the stored byte data, and if not, returning to the step of scanning the compressed data 427 to continue scanning. Generating compressed data 431 according to the stored byte data, recovering original byte data according to the read byte data, and decompressing and reading 429 the compressed data according to the compression logic judgment value and the compression logic, wherein the original byte data is the read byte data of 0x05,0x05 and 0x05.
In fig. 22, on the basis of scanning the compressed data 427, that is, on the basis of decompressing and reading the compressed data according to the compression logic judgment value and the compression logic, there is further provided that the compression logic judgment value is equal to the second preset value, that is, the compression logic corresponds to the presence of successively increasing byte data in the original byte data; and decompressing and reading the compressed data under the condition that the compression logic judgment value is not equal to the first preset value and not equal to the second preset value, namely the compression logic corresponds to the original byte data with discontinuous same byte data and discontinuous incremental byte data.
In fig. 23, first, according to the step of determining the compression logic judgment value 432, if the step of determining the compression logic judgment value is equal to the second preset value 433, the step of determining that the compression logic corresponds to the original byte data and continuously increasing byte data 434 exists, and further performing a second logic number operation on nth byte data of the compressed data to obtain a data number j435, where j is a natural number greater than or equal to 2; finally, starting from the (n + 1) th byte data of the compressed data, sequentially reading the j byte data 436, wherein the second preset value is 0xC0; a second logical number operation, which is an or operation performed by using 0x38 and nth byte data, if the compression logic determination value is determined to be not equal to the first preset value and not equal to the second preset value 437, the step of determining that discontinuous identical and discontinuous incremental byte data exists in the original byte data corresponding to the compression logic 438 is performed, and a third logical number operation is further performed on the nth byte data of the compressed data to obtain a data number k439, wherein k is a natural number greater than or equal to 2; finally, k bytes of data are read sequentially starting with the (n + 1) th byte of data 440 of the compressed data. The third logical number operation is an or operation using 0x00 and the nth byte data, and finally, the original byte data is recovered according to the step of obtaining the read byte data 441.
In fig. 24, the simplified controller schematic 151 connecting the master input device 152 to the master/slave controller 153 of the slave manipulator 154 describes the controller inputs, outputs and calculations using vector mathematical notation, where vector X will reference the orientation vector in cartesian coordinates, and where vector q will reference the joint articulation configuration vector of the associated linkage, sometimes referred to as the linkage orientation in joint space. When ambiguities exist, subscripts can be appended to these vectors to identify specific structures, such that
Is the orientation of the primary input device in the associated primary workspace or coordinate system, and x s Indicating the orientation of the follower in the workspace. The velocity vector associated with the orientation vector is represented by a point above the vector or by the word "dot" between the vector and the subscript, e.g. xdot of the principal velocity vector m Wherein the velocity vector is mathematically defined as the change in the orientation vector over time, and the controller 153 comprises an inverse Jacobian velocity controller, in ^ er>
Being the orientation of the master input device and being the speed of the master input device, the controller 153 calculates power commands for transmission to the slave manipulator 154 to achieve a slave end effector motion corresponding to the input device from the master speed. The controller 153 can calculate the slave orientation x s And a force reflection signal from the speed applied to the main input device and from there to the hand of the remote driver 91.
In fig. 25, the first controller module 159 can contain some form of jacobian controller with a jacobian correlation matrix, and in the port gripping mode, the second controller module 160 can receive signals from the slave manipulator 158 indicative of the position or velocity of the follower resulting at least in part from manual articulation of the slave manipulator linkage. In response to the input, the second module 160 can generate the adaptationPower commands to drive the joints of the follower to allow manual articulation from the linkage while deploying the follower in a desired joint configuration. During master-slave end effector manipulation, the controller can use the second module 160 to help base on the different signals bqdot o Deriving power commands, such alternative input signals to the second controller module 160 of the controller 157 may be used to drive manipulator linkages to maintain or move minimally invasive aperture pivot positions along the manipulator structure to avoid collisions between multiple manipulators, to increase the range of motion of the manipulator structure and to avoid singularities, to produce desired poses of the manipulators, and so on.
In fig. 26, the processor 157 includes a first controller module 159 and a second controller module 160, the first controller module 159 being capable of containing a primary joint controller, an inverse jacobian master-slave controller. The primary joint controller of the first controller module 159 can be configured to generate a desired manipulator assembly movement in response to input from the primary input device 156. The manipulator linkage has a range of alternative configurations for a given end effector position in space. Commands for causing the end effector to assume a given orientation can cause a variety of different articulation motions and configurations, the second controller module 160 can be configured to assist in driving the manipulator assembly to a desired configuration, driving the manipulator toward a preferred configuration during master-slave motion, the second controller module 160 will contain configuration-dependent filters. Both the primary joint controller of the first controller module 159 and the configuration-dependent filter of the second controller module 160 can contain filters used by the processor 157 to communicate the control authority of the linear combination of joints to the implementation of one or more goals or tasks. Assuming that X is the space for articulation, F (X) can be a filter that controls the articulation to i) provide the desired end effector motion, and ii) provide the pivoting motion of the instrument shaft at the bore site, the primary articulation control of the first controller module 159 may contain the filter F (X). Conceptually, (1-F-1F) (X) can describe a configuration dependent subspace filter that imparts a linear combination of joint velocities orthogonal to the target to achieve the primary joint controller Controls the activation authority, such configuration dependent filters can be used by the second controller module 160 of the controller 157 to achieve the second goal. The two filters can be further subdivided into more filters corresponding to the implementation of more specific tasks. The filter F (X) can be divided into F1 (X) and F2 (X) for controlling the end effector and controlling the pivot axis motion, respectively, either of which can be selected as the highest priority task of the processor. Robotic processors and control techniques will often utilize a primary joint controller configured for a first controller task, and a configuration dependent filter that utilizes an under-constrained solution generated by the primary joint controller for a second task. The primary joint controller will be described with reference to a first module, while the configuration-related filters will be described with reference to a second module, which can also include additional functionality and additional modules of various priorities, the hardware and programming code of the first and second module functionality being fully integrated, partially integrated, and fully separable, the controller 157 being able to use the functionality of both modules simultaneously, being able to have a number of different modes, with one or both modules being used separately or in different ways. During master-slave maneuvers, the first controller module 159 can be used with little or no influence from the second controller module 160, and when the end effector is not being driven by the robot, the second controller module 160 has a greater role during system set-up, both modules can be active most or all of the time that robot motion is enabled, by setting the gain of the first module to zero, by setting x to zero s Is set as x s,actual And by reducing the matrix rank in the inverse jacobian controller so that it cannot control too much and the configuration dependent filter has more control authority, the effect of the first module on the state of the manipulator assembly can be reduced or eliminated, thereby changing the mode of the processor 157 to the grip mode.
In fig. 27, a first module 159 includes an inverse jacobian velocity controller having an output from a calculation performed using an inverse jacobian matrix modified according to a virtual slave path 163. Describing the virtual slave path first, the vectors associated with the virtual followers are generally denoted by the v subscripts,so that the joint space qdot v Is integrated to provide q v Processing q using inverse motion module 162 v To generate a virtual slave joint orientation signal x v . Virtual slave orientation and master input command x m Are combined and processed using forward motion 161. The use of virtual followers facilitates smooth control and force reflection when approaching hard limits of the system, when exceeding soft limits of the system, etc., the structure, indicated by the first control module 159 and the second control module 160 and controlling other components of the schematic 165 and other controllers, containing data processing hardware, software and firmware, such structure including reprogrammable software and data embodied in machine readable code and stored in tangible media for storage by the second processor 215 of the remote console 169 using machine readable code in a variety of different configurations, including random access memory, non-volatile memory, write-once memory, magnetic recording media and optical recording media. Signals embodying the code and data associated therewith are transmitted over various communication links including the internet, intranets, ethernet, wireless communication networks and links, electrical signals and conductors, and optical fibers and networks. The second processor 215 comprises one or more data processors of the remote console 169, local data processing circuitry including one or more of manipulators, instruments, individual and remote processing structures and locations, modules comprising a single common processor board, a plurality of individual boards, one or more of the modules dispersed across the plurality of boards, wherein some of the boards also run some or all of the calculations of another module. The software code of the modules is written as a single integrated software code, each module being divided into separate subroutines, or a partial code of one module being combined with some or all code of another module. The data and processing structures include any of a variety of centralized or distributed data processing and programming architectures.
In fig. 27, the output of the controller, which will often attempt to solve for a particular manipulator joint configuration vector q, is used to generate commands for these highly configurable slave manipulator mechanisms. Manipulator linkage deviceThere are sufficient degrees of freedom to occupy a range of joint states for a given end effector state. The structure in which the actuation of one joint is directly replaced by a similar actuation of a different joint along the kinematic chain. These structures are sometimes referred to as having redundant, extra, or redundant degrees of freedom, while these terms generally encompass kinematic chains in which the intermediate links are capable of movement without changing the orientation of the end effector. Using the velocity controller of FIG. 27 to direct the movement of the highly configurable manipulator, the primary joint controller of the first module often attempts to determine or solve for the virtual joint velocity vector qdot v Which can be used so that the end effector will accurately follow the master command x m The joints of the slave manipulator 164 are driven. For slave mechanisms with redundant degrees of freedom, the inverse jacobian matrix typically does not completely define the joint vector solution. In a system capable of occupying a range of joint states for a given end effector state, the mapping from cartesian commands xdot to joint motions qdot is a one-to-many mapping, since the mechanism is redundant, there are mathematically infinite solutions, represented by the inverse living subspace. The controller embodies this relationship using a jacobian matrix with more columns than rows, mapping multiple joint velocities to relatively fewer cartesian velocities. The concept of a remote center of motion 298 constrained by software is determined. By having the ability to calculate software pivot points, different modes characterized by the compliance or stiffness of the system can be selectively achieved. After calculating the estimated pivot point, different system modes over a range of pivot points/centers are implemented. In a fixed pivot embodiment, the estimated pivot point can be compared to a desired pivot point to generate an error output that can be used to drive the pivot of the instrument to a desired position. Conversely, in a passive pivot embodiment, while the desired pivot position may not be the most important objective, the estimated pivot point can be used for error detection and therefore for safety, as a change in the estimated pivot point position indicates separation from the steering wheel or a sensor failure, giving the system an opportunity to take corrective action.
In fig. 29, a block diagram 231 of the remote center of motion (RC), arm end 197 (C), and instrument end effector (E) frame of reference is actively controlled using input from the MTM controller.
In fig. 30, a block diagram 232 of the instrument end effector (E) train is actively controlled using inputs from the master manipulator controller, while the Remote Center (RC) and arm end 197 (C) trains are controlled using secondary input devices. The secondary input device uses an arbitrary reference, not necessarily a destination system (EYE system). The reference frame transformation EYETREF can be measured directly or calculated from indirect measurements. The signal conditioning unit combines these inputs in a suitable common train for use by the slave manipulator controller.
In fig. 29, 30 and 31, there are three frames of reference to be controlled by the controller of the system, one of which (C) is the frame of reference for the arm end 197, assuming eye is commanded by the Master Tool Manipulator (MTM) controller. The pose specification for the remote center frame of reference and the arm end 197 frame of reference are from one or a combination of the following sources: (i) The MTM controller assigns these systems/reference systems in the EYE system, i.e. EYE T RC And EYE T C (ii) the secondary device commands these frame poses in a convenient frame of reference, i.e. REF T RC And REF T C (wherein it is possible to determine EYE T REF ) And (iii) the slave controller specifies these poses in the base frame of the slave arm, i.e. W T RC And W T C 。
fig. 32 and 33 are schematic block diagrams of systems 212 and 213, systems 212 and 213 for controlling the relationship between the instrument end effector 193 reference frame and the remote control system 298 reference frame using the second processor 215 of the computer-assisted aircraft motion preserving system 258. It is assumed that the arm end 197 frame of reference and the remote control system 298 frame of reference coincide. The arm end 197 frame of reference and the remote control system 298 are physically constrained to move relative to the instrument end effector 193 only along the longitudinal axis of the arm end 197 and instrument. Two different strategies are employed to control the relationship between the frame of reference (E-frame) of the instrument end effector 193 and the frame of reference (RC-frame) of the remote control system 298. One strategy for actively controlling the relative distance (d) between two frames of reference, whether the E-frame is fixed or moving, uses inputs from force/torque sensors or three-state switches. The control subsystem for this mode, which can be described as a 'relative gesture controller', is implemented using a block diagram.
In fig. 33, a general block diagram of the relative control of distance from the tip using a three-state switch. The incremental cartesian command "slv _ cart _ delta" for the slave manipulator is represented as follows: slv _ cart _ delta = S _ slv _ cart _ vel _ Ts (where Ts is the sampling time of the controller). S takes on the value 1, -1,0 depending on its commanded movement of cyclic rod 677, collective rod 683, right pedal 602, and left pedal 601.
Fig. 33 is a general block diagram of the distance of the force/torque or pressure sensors from the tip relative to the control arm end 197, which can be expressed as follows for the incremental cartesian command "slv _ cart _ delta" from the manipulator: slv _ cart _ delta = F (F, p) "F" is a programmable function using as inputs the sensed force or pressure F and some user-defined parameter p. This is an admittance controller. This can be achieved by estimating the cartesian forces along the axis of the arm end 197 by means of joint torque sensors and arm kinematics knowledge. After such estimation, the calculated estimated value can be used as input F to command incremental movements, and the signal F can be any other measured or calculated amount of force based on the user's interaction with the manipulator. The ability to independently control the trajectories of the RC and E trains, where the control inputs governing these trajectories may all come from the master manipulator, this additional strategy control subsystem block diagram can be referred to as an 'independent gestured controller', which can summarize the insertion (I/O) motions to allow lateral motion of the remote control system 298 or arm end 197 relative to the instrument tip E. The remote control system 298 or the arm end 197 will need to pivot about the tip while driving the instrument to compensate for the motion of E. This will allow movement of the RC and arm end 197 within the cockpit 456.
Fig. 34-39 are methods of providing fault reaction, fault isolation and fault mitigation for a remote system, the components of the first robot 89 and the second robot 90 cooperatively interacting to perform various aspects of fault reaction, fault isolation and fault mitigation in the first robot 89 and the second robot 90, the first robot 182, the second robot 183, the third robot 184 and the fourth robot 185 each comprising a plurality of nodes. Each node controls a plurality of motors that drive joints and linkages in the robot arm to affect the freedom of movement of the robot arm, and each node also controls a plurality of brakes for stopping the rotation of the motors. The first robot 182 has motors 307, 309, 311, and 313; a plurality of brakes 308, 310, 312, and 314 and a plurality of nodes 315, 316, and 317, each node 315, 316 controlling a single motor/brake pair; the node 317 controls the two motor/brake pairs, a sensor processing unit 318 is included to provide motor displacement sensor information to the node 317 for control purposes, and the second 183, third 184, fourth 185 manipulators are configured similar to the first manipulator 182 with motors, brakes, and nodes. Each robot arm is operatively coupled to an arm processor, arm processor 328 is operatively coupled to a node of first robot arm 182, arm processor 325 is operatively coupled to a node of second robot arm 183, arm processor 323 is operatively coupled to a node of third robot arm 184, and arm processor 321 is operatively coupled to a node of fourth robot arm 185, each arm processor further including a joint position controller for translating the desired joint position of the robot arm to which it is operatively coupled into a current command for driving the motor in the robot arm to which it is operatively coupled to drive its respective joint to the desired joint position. System management processor 320 is operatively coupled to arm processors 328, 325, 323, 321; the system management processor 320 also translates the user-manipulated input device associated with the robotic arm to the desired joint position, although shown as a separate unit, the arm processors 328, 325, 323, 321 are also implemented by program code as part of the system management processor 320. Arm management processor 319 is operatively coupled to system management processor 320 and arm processors 328, 325, 323, 321, arm management processor 319 initiating, controlling, and monitoring certain coordinated activities of the arms in order to relieve system management processor 320 from having to do so, arm manager 319 is also implemented by program code as part of system management processor 320, each of the processors and nodes is configured to perform the various tasks herein by any combination of hardware, firmware, and software programming, their functions being performed by one unit or distributed among a number of subunits, each of which is in turn implemented by any combination of hardware, firmware, and software programming. The system management processor 320 is distributed throughout subunits of the first robot 89 and the second robot 90, such as the remote console 169, and the base 173 of the first robot 89 and the second robot 90. System management processor 320, arm management processor 319, and each arm processor 328, 325, 323, 321 comprise multiple processors to perform various processor and controller tasks and functions. Each node and sensor processing unit includes a transmitter/receiver (TX/RX) pair to facilitate communication with other nodes of its robotic arm and an arm processor operatively coupled to its robotic arm, the TX/RX pairs being daisy-chained into the network. In this daisy-chain arrangement, when RX of each node receives a packet of information from TX of a neighboring node, it verifies the destination field in the packet to determine if the packet is for its node, which is for its node, then the node processes the packet, which is for another node, then TX of the node passes the received packet to RX of the neighboring node in the opposite direction as it did, information is passed over the daisy-chain network in packets using a packet switching protocol, a Fault Reaction Logic (FRL) line is provided in each robot arm, the fault notification is passed fast by hand, the first robot arm 182 includes an FRL line coupled to each of the nodes 315, 316, and 317 of arm processor 328 and robot arm 315, and when one of the arm processor 328 and nodes 315, 316, and 317 detects a fault affecting it, the arm processor or node raises the FRL line to quickly pass the fault notification to the other components coupled to the line 329. Conversely, when the arm processor 328 is about to transmit a recovery notification to the node of the first manipulator 182, which pulls down the FRL line 329 to quickly transmit the recovery notification to the other components coupled to the line 329, the virtual FRL line 329 is used instead by specifying one or more fields in the packet to include such a failure notification and recovery notification.
In fig. 35, a fault 387 in a failed arm of the plurality of robotic arms is detected using the method, wherein the robotic arm becomes the "failed arm" due to the detected fault. In the arm processor 328, the method then places the failed arm into a safe state, where "safe state" refers to a state of the failed arm that isolates the detected fault by preventing further movement of the arm. In the FRL line 329, the method determines whether the fault should be treated as a system fault or a local fault, where a "system fault" refers to a fault affecting the performance of at least one other robot arm of the plurality of robot arms, and a "local fault" refers to a fault affecting the performance of only the failed arm. Because the partial fault results in only the failed arm being maintained in a safe state until the fault is cleared, it is not the type of fault that results in unsafe operation of the non-failed robotic arms, the fault is the type of unsafe operation that results in non-failed arms, then the method should yield a determination that the detected fault is a system fault, where all robotic arms in the system will be placed into a safe state, in which the non-failed arm is placed into a safe state 330, the method places the non-failed arm of the plurality of arms into a safe state only when the fault will be treated as a system fault, where "non-failed arm" refers to a robotic arm of the plurality of robotic arms in which no fault has been detected. In recoverable or non-recoverable? 331, the method determines whether the detected fault is classified as a recoverable system fault or a non-recoverable system fault, providing a recovery option 332, the fault is classified as a recoverable system fault, then the method provides a system user with a recovery option, waiting for a system shutdown 333, the fault is classified as a non-recoverable system fault, then the method waits for a system shutdown, determining in a system or local fault 329 that the fault will be considered a local fault, then in recoverable or non-recoverable? At 334, the method determines whether the fault is classified as a recoverable local fault or an unrecoverable local fault. In providing the recovery option and the degraded operation option 335, the fault is classified as a recoverable local fault, and the method provides the system user with the recovery option and the degraded operation option. In providing the weakened operation option 336, the fault is classified as an unrecoverable partial fault and the method provides only the weakened operation option.
In fig. 34 and 36, fig. 36 is a flow diagram of an aspect of a method of performing fault reaction, fault isolation and fault weakening performed by each of the nodes 315, 316 and 317 of the plurality of robotic arms of the first and second robots 89 and 90. Is a fault detected? 337, each node continuously monitors signals and information in that node to detect faults affecting the node using conventional fault detection methods, this type of detected fault being referred to herein as a "local fault" because it is localized to the node. The node also monitors the FRL line for a fault notification issued by its arm processor or another node within its robot arm. This type of detected failure is referred to herein as a "remote failure" because it is not limited to the node. The detected fault is hardware, firmware, software, environment, or related communications, where the node where the fault has been detected is referred to herein as a "failed node" and its robotic arm is referred to herein as a "failed arm". Nodes in which no fault has been detected are referred to herein as "non-failed nodes," and robotic arms in which no fault has been detected are referred to herein as "non-failed arms. In placing the node in the safe state 338, is a fault detected? 337, the node places itself in a safe state. This is accomplished by deactivating one or more controlled motors of the node, which is accomplished by engaging one or more controlled actuators of the node, which in a local or remote fault 339 determines whether the detected fault is a local fault or a remote fault. As previously detected with reference to fault? 337, the origin of the fault determines whether it will be treated as a local or remote fault, the fault is determined to be a local fault, then the node is a failed node, which in the first case remains in a safe state by transmitting a fault notification 343 in both directions, as follows: disregard recovery notification 346 and recovery notification? 341 returns the node to normal state 342 and continues. If the failure is determined to be a remote failure, then the node is a non-failed node. In the second case, the non-failed node persists by transmitting the fault notification 340 in the opposite direction back to the normal state 342, in transmitting the fault notification 343 in both directions, the failed node transmits the fault notification in the failed robot arm in the upstream and downstream directions to the neighboring node. The "downstream" direction refers to the direction of packet travel away from the node's arm processor and the "upstream" direction refers to the direction of packet travel toward the node's arm processor, one way for the node to complete the process is by pulling the FRL line to a high state. In diagnosing the fault and sending an error message to manager 344, the failed node then diagnoses the fault and sends an error message to system management processor 320. The error message preferably includes fault information, its error code, error class and origin (origin). Each type of error that may occur that affects a node is assigned an error code that is classified as an error class. There are at least four error classes: recoverable arm failures, non-recoverable arm failures, recoverable system failures, and non-recoverable system failures. Using "recoverable" means that the user is provided with the option of attempting to recover from the failure. By "unrecoverable" is meant that the user is not provided with the option of attempting to recover from the failure, the origin of which includes information of the identity of the node and optionally additional information of the origin of the failure within the node. In a recoverable local fault 345, the failed node determines whether the detected fault is a recoverable local fault, and if not, remains in a safe state; disregarding recovery notifications 346, the failed node remains in its safe state and disregards any recovery notifications it may subsequently receive on the FRL line. The determination in recoverable local fault 345 is yes then the failed node proceeds to recovery notification 341. In a local or remote failure? 339 is that the detected fault is to be treated as a remote fault, then in transmitting the fault notification 340 in the opposite direction, the virtual FRL line is used, then the non-failed node transmits the received fault notification in the opposite direction from where the fault notification came, in the case of a real FRL line, the non-failed node does not need to take any action on this transmission of the fault notification. Is there a recovery notification? 341. Both the failed node and the non-failed node wait for a recovery notification to be received. In the return node to normal state 342, once the recovery notification is received, the node returns itself from the secure state to its normal operating state. This is done by reversing the actions taken in placing the node into the secure state 338 while avoiding abrupt changes. Is the node returned to perform reference fault detection? 337.
Fig. 34-39 are flow diagrams of aspects of a method of performing fault reactions, fault isolation and fault weakening performed by each arm processor 321, 323, 325 and 28 operatively coupled to a robotic arm of a first robot 89 and a second robot 90, where a fault is detected? 347, each arm processor, while performing its normal operational tasks, also continuously monitors its own operation and notes fault notifications transmitted at the failed node in its operatively coupled robotic arm. A fault is detected while monitoring its own operation, and the fault is referred to herein as a "local fault". A fault is detected by receiving a fault notification from a failed node in the robotic arm to which it is operatively coupled, and the fault is referred to as a "remote fault. A remote fault is a fault notification transmitted along the FRL line through a failed node in the robotic arm to which the arm processor is operatively coupled, where the fault is detected? 347 has been detected, and in the aircraft vision system 400 the arm processor places its joint position controller into a safe state by locking its output motor current command to zero. This is used to enforce the security status of their respective nodes, in local or remote failures? 349, the arm processor determines whether the detected fault is a local fault or a remote fault. Is a fault detected? 347, the source of the fault determines whether the fault is to be treated as a local fault or a remote fault. If the fault is determined to be a partial fault, the arm processor is treated as a failed node. The arm processor maintains the safe state by transmitting fault notifications downstream to arm node 353 as follows: ignoring the recovery notification 356 and transmitting the recovery notification to all nodes 351 in the arm returns the joint controller to the normal state 352 for persistence. Is the failure determined to be a remote failure, then the arm processor is considered a non-failed node, is the arm processor notified by performing a recovery? 350 returns the joint controller to the normal state 352 for a duration. In delivering the fault notification downstream to arm node 353, the arm processor delivers the fault notification downstream to all nodes of its operatively connected robotic arm, one way the arm processor accomplishes this is by pulling the FRL line to a high state. In diagnosing the fault and sending an error message to the system manager 354, the arm processor diagnoses the fault and sends an error message to the system management processor 320. The error message includes fault information, error codes, error classes, and origins, and each type of error that occurs that affects the arm processor is assigned an error code that is classified into an error class having at least four error classes: recoverable processor failures, unrecoverable processor failures, recoverable system failures, and unrecoverable system failures, the origin of the failure including information of the identity of the arm processor and optionally additional information of the origin of the failure in the arm processor. Is there a recoverable local fault? 355, the arm processor determines if the detected fault is a recoverable local fault, which is done by the fault class of the fault? 355 is no, then remains in a secure state; disregarding recovery notice 356, is the joint position controller of the failed arm processor remain in its safe state and is the arm processor disregarding any recovery notice it may subsequently receive on the FRL line, in recoverable local failure? 355, then does the arm processor proceed to a recovery notification? 350. In a local or remote failure? 349 is the determination that the detected failure is to be treated as a remote failure, then is there a recovery notification? At 350, the arm processor waits for a recovery notification to be received from the system management processor 320. In transmitting the recovery notification to all nodes 351 in the arm, once the recovery notification is received, the arm processor transmits the recovery notification to all nodes in the robotic arm to which it is operatively coupled by, for example, pulling its FRL line low. In returning the joint controller to the normal state 352, the arm processor then returns its joint position controller from the safe state to its normal operating state. This process is accomplished by releasing the output motor current command of the joint position controller so that they can once again reflect the desired joint position of the robotic arm to which they are operatively coupled while avoiding sudden changes, the arm processor then returning to perform the reference fault detection? 347, its fault detection task.
Fig. 35 and 39 are flow diagrams of aspects of a method of performing fault reaction, fault isolation and fault weakening that are performed by the system management processor 320 of the first robot 89 and the second robot 90. In an error message? 357, the system management processor also waits to receive an error message transmitted from another component of the first robot 89 and the second robot 90 while performing its normal operational tasks, the error message being in error message? 357 is received, then in the soft-lock all-arm joint controller 358, the system management processor stops the system for safety purposes by, for example, commanding the joint position controllers of all arm processors 328, 325, 323, and 321 in the robotic system to lock their respective outputs at their current values, no new current command input is provided to the robotic arm until the joint position controller's output is unlocked, this locking of the joint position controller's output is referred to herein as a "soft-lock" joint position controller, and the method then proceeds to wait for system shut down 359. In waiting for system shutdown 359, the system management processor determines whether the detected fault should be treated as a system fault or an arm fault. The system management processor accomplishes this by examining the error class information provided in the error message, including all faults classified as either recoverable or unrecoverable system faults, as these faults may apply to more than just the failed robot. Conversely, arm failures include all failures classified as either recoverable or unrecoverable local failures, as these failures are applicable only to the failed robotic arm, and for all failures that will be considered arm failures, a soft lock 366 is implemented that releases the joint controller of all non-failed arms, providing a weakened operation option and an arm recovery option (if classified as recoverable) 360, which, in providing a weakened operation option and an arm recovery option (if classified as recoverable) 360, provides the remote driver 91 of the first and second robots 89, 90 with the option of accepting the weakened operation of the first and second robots 89, 90. The local fault is a recoverable local fault, the system management processor also provides the user with an option to recover from the fault, and in addition to each provided option, information of the detected fault is also provided by the system management processor to assist the remote driver 91 in determining whether to accept the option. The options and fault information are provided on a visual display 255 of the remote console 169.
Is an option selected? 361, the system management processor waits for the remote driver 91 to select the option provided in providing the weakened operation option and the arm recovery option (if classified as recoverable) 360, once the option is selected by the remote driver 91, is there weakened or recovered? At 362, the system management processor determines whether the selected option is a graceful degradation option or a recovery option. If a recovery option is provided and the remote driver 91 selects the recovery option, then in the processor 381 which sends a recovery notification to the failed robotic arm, the system management processor sends a recovery notification to the arm processor of the failed robotic arm which will process the recovery notification, including transmitting the recovery notification to all nodes of the failed arm which then processes the recovery notification. In releasing the soft locks 382 of the joint controllers of all arms, the system management processor then releases the soft locks of the joint controllers by unlocking the outputs of the joint controllers of all arm processors so that the joint controllers again issue motor current commands reflecting the desired joint positions of their operatively coupled robotic arms-then, the system management processor returns to execute a refer error message? 357, respectively, of the sequence of steps.
The remote driver 91 selects the weakened operation option, then in the option to provide recovery from failure 363, the system management processor provides the remote driver 91 with the option to recover from failure, in which case recovery from failure is different from the recovery of the soft locks 382 of the joint controllers of all arms released with reference to the processor 381 sending a recovery notification to the failed robotic arm, since recovery was not attempted to recover the failed arm, and recovery was only applied to recover normal operation of the non-failed arm. Is an option selected? At 364, the system management processor waits for the user to select the option provided in option 363 to provide recovery from the failure. Once the option is selected by the remote driver 91, the system management processor sends a message to the arm processor of the failed arm to reinforce the fault 365, which in this case means that additional steps are taken to shut down the operation of the failed robotic arm completely. One example of such a reinforcement is the operative disconnection of the joint position controller of the arm processor from other components of the master/slave control system that generate the desired joint position of the robotic arm to which it is operatively coupled. In releasing the soft locks 366 of the joint controllers of all non-failed arms, then the system management processor releases the soft locks of the joint controllers by unlocking the outputs of the joint controllers of all non-failed arm processors so that the joint controller again issues a motor current command reflecting the desired joint position of the robotic arm to which it is operatively coupled and then returns to execute a refer error message? 357 is provided.
In asserting the FRL condition to all nodes 367, the system management processor validates the system FRL condition to all nodes in first robot 89 and second robot 90. This is accomplished by causing the FRL lines 329, 327, 384 and 385 to be pulled high so that fault notifications are provided to the arm processors and nodes of the first robot 182, second robot 183, third robot 184 and fourth robot 185 simultaneously. Is there a recoverable fault? 369, the system management processor then determines if the system fault is a recoverable system fault, this step being accomplished by checking the error class in the received error message, at recoverable fault? 369 is false, then in provide failure recovery option 363, the system management processor takes no further action and waits for the system to be shut down. After the addition of: recoverable failure? 369 is determined to be yes, then in providing recover from failure option 370, the system management processor provides the user with the option to recover from failure. Is an option selected? 371, the management processor waits for the remote driver 91 to select a recovery option which is selected in sending a recovery notification to all arm processors 372, the system management processor sends a recovery notification to the arm processors of all the robot arms of the first robot 89 and the second robot 90, releases each soft-lock joint controller to operate in the arm 373 upon a user request, the system management processor releases the soft-lock of each joint controller to operate the arm of the joint controller in its normal operating state upon receiving a request or action from the remote driver 91, so that the released joint controller again issues a motor current reflecting the desired joint position of the robot arm it is operating to, and then returns to perform a reference error message? 357 is provided.
Fig. 35 and 39 are flow diagrams of aspects of a method of performing fault reactions, fault isolation and fault mitigation performed by a system management processor operatively coupled to the first robot 89 and the second robot 90 and arm management processors of the arm processors 328, 325, 323 and 321, the arm management processor 319 initiating, controlling and monitoring certain coordinated activities of the first robot arm 182, the second robot arm 183, the third robot arm 184, the fourth robot arm 185 of the first robot 89 and the second robot 90. The arm manager 319 initiates and monitors the launch brake test wherein the arm manager 319 communicates with each of the arm processors 328, 325, and 323 so that a specific braking sequence with different torque values is applied to the brakes of their respective robotic arms. The coordination of this activity is done in this case through arm manager 319 because the overhead of encoding it to each arm processor is redundant. At the end of each sequence, the maximum torque value calculated by each arm processor is passed back to the arm manager 319, and when an out of range error occurs, the arm manager 319 notifies the failed arm of the pass fault, and the arm manager instructs the arm processor to perform arm activity, monitors the results, and determines whether the activity results indicate an arm failure. After a fault is detected? 374, the arm manager monitors coordinated activity of the robotic arm to detect a fault in one arm based on the reports from the robotic arm's respective arm processor, determines that a fault has occurred when the reported measurement exceeds an expected value by a threshold amount, in which case the detected fault is one of the nodes of the robotic arm or a fault that the arm processor would not normally detect. After the fault has been detected at the fault? 374, and then in a quench to failed arm command 375, the arm manager suppresses any further commands to the failed arm, no further commands will be transmitted from the arm manager to the arm processor of the failed arm until either a recovery notification is received from the system manager or the system is restarted. In transmitting the fault notification to failed arm 376, the arm manager transmits the fault notification to the failed arm by pulling the FRL line of the failed arm to a high state, and in the case of a virtual FRL line, the arm manager transmits the fault notification in the same or a different packet field as the packet field designated for transmitting the fault notification through one of the nodes of the failed arm or the arm processor. In sending an error message to the system manager 377, the arm manager sends an error message to the system manager, the error message having available details of the fault, each fault type detected by the arm manager is assigned an error code, and the error code is classified into an error class, the origin of the fault including identity information of the failed arm and optional additional information of the origin of the fault.
In fig. 38 and 39, in an error message? 357 the system manager then begins processing error messages, in recoverable failures? 378, does the arm manager determine whether the detected fault is a recoverable fault, based on the fault class of the fault, in recoverable fault? 378, then in the processor 381 sending a recovery notification to the failed robotic arm, the arm manager continues to suppress any further commands to the failed arm and ignores any recovery notifications subsequently received from the system manager, in recoverable failures? The determination in 378 is yes, then are there a recovery notification? 379, the arm manager waits for the recovery notification received from the management processor, and in the stop suppress to failed arm command 380, the recovery notification is received, the arm manager stops the suppress to failed arm command and returns to its normal operation mode and execution reference failure is detected? 374.
In FIG. 47, a fuselage 455 is provided with a first nacelle 524, a second nacelle 530, and a tail structure 526. First nacelle 524 includes a first rotor system 521, second nacelle 530 includes a second rotor system 527, first rotor system 521 includes a first rotor blade 522, and second rotor system 527 includes a second rotor blade 528. First nacelle 524 includes a first gearbox 523 for driving first rotor system 521, and second nacelle 530 includes a second gearbox 529 for driving second rotor system 527. The first and second nacelles 524, 530 are convertible between a helicopter mode, in which the first and second nacelles 524, 530 are approximately vertical, and an airplane mode, in which the first and second nacelles 524, 530 are approximately horizontal and the tail 526 functions as a vertical stabilizer.
In fig. 49, 56 and 57, the nose gear 548 and the rear gear 549 mounted at the bottom of the fuselage 455 are able to be extended and retracted, the nose gear 548 being able to be housed in the first compartment 550 and the rear gear 549 being able to be housed in the second compartment 551 when the rotorcraft 88 is in flight. The rotorcraft 88 fuselage includes a forward cockpit 456, a mid-fuselage 457, and a tail portion 526 of the fuselage, the tail portion 526 serving as a vertical stabilizer. The middle portion 457 is separated by an intermediate layer 535, which intermediate layer 535 separates a top compartment 536 forming the cabin space and a bottom compartment 552 forming the equipment space. Extending from the front to the rear of the rotorcraft 88, the means for stiffening the drape 552 include longitudinal stiffeners 538, 539, etc., and transverse first 540, second 541, third 542, fourth 543, fifth 544, and sixth 545 frames. The load-bearing top layer 546 of the fuselage is secured to the two central first and second frames 540, 541 of the middle 457 of the fuselage. The load-bearing middle layer 535 is affixed to the two middle first and second frames 540, 541, the top layer 546 is affixed to the two middle first and second frames 540, 541, and the middle layer 535 is affixed to the lateral first, second, third, fourth, fifth, 544, and sixth frames 540, 541. Intermediate layer 535 extends along the middle 457 of fuselage 455 forward of rotorcraft 88 into cockpit 456 and aft of rotorcraft 88 toward aft portion 526 of the fuselage. The middle layer 535 separates the top compartment 536 and the bottom compartment 552 in the middle 457 of the fuselage. A device layer 547 is installed in the front end of the intermediate layer 535 in the cabin 456. An on-board battery compartment exchange system 568 is suspended below the middle layer 535 of the bottom compartment 552. The bottom compartment 552 is between the middle layer 535 and the side 553 of the fuselage, an open bottom 554 is provided at the bottom of the bottom compartment 552, and the top layer 546 is connected to the airfoil 525.
In fig. 57, a first battery box mounting location 582 is provided at the front of the onboard battery box exchange system 568; a second battery box mounting location 583 is provided aft of the on-board battery box replacement system 568. In use, the first battery pack 588 is mounted in the first battery pack mounting position 582 and the second battery pack 592 is mounted in the second battery pack mounting position 583. A first battery box connector seat 572, a second battery box connector seat 575, a first battery box control system 565, a second battery box control system 571, a first bracket 581, a first bracket bearing platform 573, a second bracket 584, a second bracket bearing platform 577, a battery bracket first bearing platform 574, a battery bracket second bearing platform 576, a first manipulator connecting rod 580, a second manipulator connecting rod 569, a servo motor 586 and a reduction gearbox 585 are arranged on an onboard battery box replacing system 568,
in fig. 57 and fig. 55, in the onboard battery box exchange system 568, the hydraulic controller 600 and the servo motor controller 604 included in the first battery box control system 565 and the second battery box control system 571 are connected to the master controller 599, the hydraulic controller 600 is connected to the multi-path decompression amplifier 601, the multi-path decompression amplifier 601 is connected to the electro-hydraulic proportional valve 602, the electro-hydraulic proportional valve 602 is connected to the oil cylinder 603 that drives the second manipulator link 569 to move up and down, the servo motor controller 604 is connected to the multi-path servo amplifier 605, the multi-path servo amplifier 605 is connected to the servo motor 586 that drives the second manipulator link 569 to rotate, and the servo motor 586 is connected to the second manipulator link 569 through the reducer 607; the hydraulic controller 600 is connected with the displacement sensor 597, and the hydraulic controller 600 is connected with the pressure sensor 598; the displacement sensor 597 is used for detecting the moving distance of the second manipulator connecting rod 569, and the pressure sensor 598 is used for detecting the pressure of hydraulic oil in the oil cylinder 603; the servo motor controller 604 is connected with the photoelectric encoder 608, the photoelectric encoder 608 is used for detecting the rotating speed of a power output shaft of the reduction gearbox 585, the master controller 599 is connected with the display screen 596, the master controller 599 is connected with the camera 595, the master controller 599 is connected with the display screen 596, the camera 595 is used for shooting the moving state of the second manipulator connecting rod 569, the display screen 596 is used for displaying the moving state of the second manipulator connecting rod 569, the hydraulic controller 600 is communicated with the master controller 599 through a CAN bus, the servo motor controller 604 is connected with the master controller 599 through the CAN bus, the master controller 599 receives a remote control end command through an RS232 data line, tasks are distributed to the hydraulic controller 600 and the servo motor controller 604 through the CAN bus to control the actions of executing mechanisms of the second manipulator connecting rod 569, the output end of the hydraulic controller 600 is connected with the multi-way decompression amplifier 601, the oil cylinder 603 is controlled through the electro-hydraulic proportional valve 602, the output end of the servo motor controller 604 is connected with the multi-way servo amplifier 586, the output end of the servo motor 586 is connected with the servo motor through the servo motor which controls the servo amplifier 601, the manipulator connecting rod 585 to collect the environment of the manipulator 585 through the manipulator connecting rod 569, the manipulator collecting environment of the manipulator 585 through the manipulator on the manipulator linkage of the manipulator linkage 586, the manipulator is arranged on the manipulator environment, and the manipulator 597, the manipulator collecting environment is arranged on the manipulator through the manipulator 597, and the manipulator linkage 597, the manipulator linkage 599, and the manipulator linkage environment is arranged through the manipulator 597, the manipulator linkage 599, and the manipulator linkage 597.
In fig. 53 and 54, the first transfer robot 511 and the second transfer robot 512 include degrees of freedom in three directions, i.e., X-axis, Z-axis, and R-axis, and sequentially include a linear traveling mechanism 640, a hydraulic lifting mechanism 639, and an angle deviation correcting mechanism 641, the linear traveling mechanism 640 is located at the bottom of the first transfer robot 511 and the second transfer robot 512 and includes a pulley 632, a belt 629, a first servo motor 631, a first reducer 630, and a base 636, the two pulleys at the front end are connected to a set of universal couplings for a robot power device, the two pulleys at the rear end are driven devices, the first servo motor 631 is connected to a matched first reducer 630 in an expanding manner, the power transmission between the first reducer 630 and the pulley 632 is realized through the belt, the pulley 632 is driven to linearly travel on the first rail 524 and the second rail 655, a photoelectric switch is arranged at the lower end of the linear traveling mechanism 640, the front limit baffle, the original point baffle and the rear limit baffle are sequentially arranged along a laid linear slide rail, the original point baffle is positioned between the front limit baffle and the rear limit baffle, a hydraulic lifting mechanism 639 is positioned at the upper part of a base of the linear walking mechanism 640 and comprises two hydraulic telescopic cylinders, a primary hydraulic cylinder 634 is positioned at the lower part of a secondary hydraulic cylinder 622, after the primary hydraulic cylinder 634 is completely extended, the secondary hydraulic cylinder 622 carries out telescopic motion, one sides of the primary hydraulic cylinder and the secondary hydraulic cylinder are respectively welded with a beam and are provided with an anti-rotation beam, the anti-rotation beam is matched with two anti-rotation holes positioned on a primary hydraulic cylinder welding beam and a base welding beam, and a battery is prevented from rotating along with the hydraulic mechanism 639 in the lifting process, 1. the other side of the secondary hydraulic cylinder is respectively provided with a rack 638, an encoder 637, a baffle and a first proximity switch, the baffle is matched with the proximity switch, the first proximity switch is arranged at the bottom end of a welding beam of the primary hydraulic cylinder, when the primary hydraulic cylinder 634 is fully extended, the baffle triggers a switch signal of the proximity switch, the secondary hydraulic cylinder 622 starts to move in a telescopic way, the rack 638 arranged on the side surface of the secondary hydraulic cylinder 622 is meshed with the encoder 637 through a gear, the rising height of the secondary hydraulic cylinder 622 is obtained by calculating the revolution number of the encoder 637, the encoder 637 is connected with the PLC control system 610, the PLC control system 610 starts to count at a high speed, the angle correcting mechanism 641 arranged at the upper end of the hydraulic lifting mechanism 639 comprises a mounting flange 623, a large pinion 624, a second servo motor 628 and a second speed reducer 627, the large pinion 624 and the second speed reducer 627 are arranged on the secondary hydraulic cylinder 622, the second servo motor 628, the second speed reducer 627 and the large pinion 624 are sequentially arranged on the mounting flange 623, a pinion is arranged at the upper end of a second servo motor 628, a bull gear is arranged on a secondary hydraulic cylinder 622, the bull gear and the pinion are mechanically meshed and rotate in a driving and matching way with the second servo motor 628, a baffle is arranged at the lower end of the bull gear, a second proximity switch is arranged on a mounting flange 623, signals of a left limit and a right limit of rotation and an original electric reset switch are sequentially triggered by the bull gear in the rotating process to ensure that the bull gear rotates in a specified range, a battery box tray 626 is arranged at the upper end of an angle deviation correcting mechanism 641, the center of the rotation circle of the bull gear is concentric with the center of gravity of the battery box tray 626, four limiting blocks 625 are arranged on the battery box tray 626 and are coupled with four protrusions at the bottom of a battery box of a to-be-replaced battery box rotorcraft 88, the position of a battery box can be finely adjusted and reliably fixed, an ultrasonic ranging sensor 507 and a DMP sensor 617 are arranged on the battery box tray 626, the ultrasonic ranging sensor 507 is used for measuring the distance from a battery box tray 626 to a chassis of a to-be-replaced rotary wing aircraft 88, the DMP sensor 617 is matched with a reflector mounted on the chassis of a battery pack box of the to-be-replaced rotary wing aircraft 88 to search and calculate the target position of the reflector, horizontal angle deviation of a first carrying robot 511 and a second carrying robot 512 with the to-be-replaced rotary wing aircraft 88 is obtained, the linear travelling mechanism 640 and the hydraulic lifting mechanism 639 are linked, the angle deviation correcting mechanism 641 starts to act only when the first carrying robot 511 and the second carrying robot 512 linearly advance and vertically lift to reach set positions, the battery box tray 626 on the angle deviation correcting mechanism 641 starts to act again only when the hydraulic lifting mechanism 639 reaches an expected effect, the linear travelling mechanism 640 and the angle deviation correcting mechanism 641 are driven by servo motors, the driving motors are connected with corresponding encoders, each encoder is connected with a corresponding driver, the drivers send position pulse signals to the servo motors, the encoders transmit collected motor rotation information back to the drivers, and position mode full closed-loop control is formed.
In fig. 54, the PLC control system 610 in the block diagram of the control systems of the first transfer robot 511 and the second transfer robot 512 is a core part for controlling the actions of the first transfer robot 511 and the second transfer robot 512, and includes a touch screen 620, a wireless communication module 621, an ohron PLC controller 611, an a/D module 612, and a D/a module 613, the wireless communication module 621 communicates with the touch screen 620 through a second serial port RS130, the ohron PLC controller 611 communicates with the touch screen 620 through a first serial port RS126, the touch screen 620 communicates with a background monitoring system 619 through an industrial ethernet, the ultrasonic ranging sensor 616, the DMP sensor 617, the hydraulic proportional flow valve 618, the encoder 615, the proximity switch 608, and the photoelectric switch 614 communicate with the PLC control system 610 in real-time data transmission, the ultrasonic ranging sensor 616 and the DMP sensor 617 are connected with the a/D module 612 in the PLC control system 610, an analog signal acquired by a sensor is converted into a digital signal and is transmitted to a PLC control system 610, a hydraulic proportional flow valve 618 is connected with a D/A module 613 in the PLC control system 610, the digital control signal of the PLC control system 610 is converted into analog flow control information, the speed control of a hydraulic lifting mechanism 637 is realized, an encoder 615 is connected with an A/D module 612 of the PLC control system 610, the encoder 615 acquires the lifting height of a single-side rack of a secondary hydraulic cylinder 641, the lifting distance of the secondary hydraulic cylinder 641 is acquired through calculation, the data is fed back to the PLC control system 610 to form full closed loop control in the lifting process, a proximity switch 608 and a photoelectric switch 614 are connected with an ohm dragon PLC controller 611, the limit position information of the degree of each of a first carrying robot 511 and a second carrying robot 512 is transmitted in real time, the interrupt mode and the high-speed counting mode of the PLC control system 610 are triggered, accurate and quick operation of the first transfer robot 511 and the second transfer robot 512 within a predetermined range is achieved.
In fig. 48 and 53, aircraft ground carrier 170 is provided with a multi-layer structure from bottom to top, rotorcraft battery replacement master station 235 is provided below first layer 647, 2 nd layer 648 and above is a rotorcraft 88 airport, and top layer 652 is a helipad for rotorcraft 88. On each floor, a landing work area 93 for rotorcraft 88, a passenger up-down work area 94 for passengers 473 of rotorcraft 88, a battery box replacement area 95 for rotorcraft 88, and a takeoff work area 96 for rotorcraft 88 are provided. After the rotorcraft 88 has completed landing on the landing work area 93, the crew drives the aircraft tractor 649 to connect to the nose gear 548 forward of the nose gear 548, and then the aircraft tractor 649 is directed by the air duct system to pull the rotorcraft 88 to the passenger boarding and disembarking work area 94 to complete the passenger boarding and disembarking, and then the aircraft tractor 649 pulls the rotorcraft 88 into the battery box replacement area 95. Aircraft tractor 649 then pulls rotorcraft 88 into takeoff work area 96 in preparation for takeoff.
In fig. 53, the first battery box 588 delivery flow of power shortage: the second transfer robot 512 carries the unloaded first battery box 588 with power loss and walks to the gate of the freight elevator 513 through the second steel rail 655 at the lower part of the rotorcraft 88, the fourth palletizing robot 510 grabs the first battery box 588 at the top of the second transfer robot 512 and puts the first battery box 588 on the goods shelf 646 in the freight elevator 513, the freight elevator 513 is closed after the goods shelf 646 is filled, after the freight elevator 513 reaches the floor where the main power change station is located, the elevator door 645 is opened, the third palletizing robot 509 grabs the top of the first transfer robot 511 placed with the first battery box 588 on the goods shelf 646, the first transfer robot 511 enters the station 644 position through the elevator door 645 along the first steel rail 524 and is accurately positioned, the second palletizing robot 508 takes the first battery box 588 down to the station seven, the first battery box 588 flows to the fifth station 515 along with the first conveying line 520, the first palletizing robot 507 scans the upper surface of the first battery box 588 once by using a three-dimensional scanning recognizer, the scanning speed is higher than 500mm/s, the three-dimensional scanning recognizer is used for fitting a plurality of contour maps into a three-dimensional image by scanning the contour map of a detected object, three-dimensional coordinates of the height and the position of the first battery box 588 and included angles between the three-dimensional coordinates and a coordinate system axis respectively are obtained by a 3D detection mode of the three-dimensional scanning recognizer, the data are sent to the first palletizing robot 507 for positioning, a control device PLC of the first palletizing robot 507 sends a trigger signal to the three-dimensional scanning recognizer, the three-dimensional scanning recognizer starts scanning, and after the scanning is finished, the position coordinates of the first battery box 588 are obtained. According to the position data of the first battery box 588, the first stacking robot 507 moves to the position of the position five 515 to grab the first battery box 588 to stack at the position six 519, and after stacking, the forklift forks the whole stack of the first battery box 588. The second battery pack 592 having a power shortage is transported in the same manner as the first battery pack 588 having a power shortage.
In step 1, the remote pilot 91 remotely starts the procedure of unloading the first battery box 588, the second transfer robot 512 walks along the second rail 655 to the first battery box installation position 582 under the onboard battery box replacement system 568 of the rotorcraft 88, the battery box tray 625 abuts against the first battery box 588, the first battery box control system 565 starts to work, the first bracket 581 mounted at the lower end of the first manipulator link 580 and driven by the power device move together with the first manipulator link 580 to separate from the first battery box 588, the first bearing platform 573 on the first bracket 581 gradually separates from the first battery box first fixed platform 589, the first bracket 581 separates from the first battery box 588, the second transfer robot 512 drives the first battery box 588 to separate from the battery bracket first bearing platform 574, and the first battery box control system 565 stops working. The second transfer robot 512 orbits the first battery pack 588 along the second rails 655 to a battery unloading position of the fourth palletizing robot 510, and the fourth palletizing robot 510 unloads the first battery pack 588.
In step 2, the remote driver 91 starts a program for installing the first battery box 588, and the fourth palletizing robot 510 grabs the fully charged first battery box 588 and puts the fully charged first battery box 588 on the battery box tray 625 on the top of the second transfer robot 512. The second transfer robot 512 orbits under the rotorcraft 88 along the second steel rail 655, after the second transfer robot 512 finishes the positioning in the X/Y direction, the ascending process of the robot utilizes the output of the ultrasonic distance measuring sensor and the output difference value of the hydraulic mechanism encoder to calculate, the second transfer robot 512 performs PID control on an input proportional flow valve serving as a PID controller, when the hydraulic mechanism is lifted to an expected position and stops ascending and positioning accurately, the second transfer robot 512 pushes the first battery box 588 to a first battery box installation position 582 on the onboard battery box replacement system 568, the first battery box 588 is pushed to move so that the first battery box first fixing platform 589 gradually enters the first bracket bearing platform 573, the first battery box control system 565 starts to work, the first battery box 588 is pushed to move towards the first battery box connector 572, the first battery connector plug 590 is tightly connected with the first battery box connector 572, the first battery box 588 is installed, the first battery pack robot system 565 is controlled to stop working, and the second transfer robot leaves the rotorcraft 88 along the second steel rail 655.
In step 3, the remote pilot 91 remotely starts the procedure of unloading the second battery box 592, the second transfer robot 512 orbits along the second rail 655 to the second battery box installation position 583 under the onboard battery box replacement system 568 of the rotorcraft 88, the battery box tray 625 abuts against the second battery box 592, the second battery box control system 571 starts to operate, the second carriage 584 mounted at the lower end of the second manipulator link 569 moves together with the second manipulator link 569 to disengage from the second battery box 592, the second carriage platform 577 on the second carriage 584 gradually disengages from the second battery box first fixed platform 594, the second carriage 584 disengages from the second battery box 592, the second transfer robot 512 drives the second battery box 592 to disengage from the battery support second load bearing platform 576, and the second battery box control system 571 stops operating. The second transfer robot 512 orbits the second battery pack 592 along the second rails 655 to the battery unloading position of the fourth palletizing robot 510, and the fourth palletizing robot 510 unloads the second battery pack 592.
In step 4, the remote driver 91 starts the procedure of installing the second battery box 592, and the fourth palletizing robot 510 grabs the fully charged first battery box 588 and places the fully charged first battery box 588 on the battery box tray 625 on the top of the second transfer robot 512. The second transfer robot 512 walks under the rotorcraft 88 along the second steel rail 655 in a rail mode, after the second transfer robot 512 completes positioning in the X/Y direction, the ascending process of the robot utilizes the output of the ultrasonic distance measuring sensor and the output difference value operation of the hydraulic mechanism encoder, the output of the ultrasonic distance measuring sensor is used as the input of a proportional flow valve of a PID controller to perform PID control, when the hydraulic mechanism is lifted to an expected position and stops ascending, the positioning is accurate, the second transfer robot 512 pushes the second battery pack 592 to a second battery pack mounting position 583 on the onboard battery pack replacement system 568, the second battery pack 592 is pushed to move so that the second battery pack first fixing platform 594 gradually enters the second bracket bearing platform 577, the second battery pack control system 571 starts to work, the second battery pack 592 is pushed to move in the direction of the second battery pack electric connection 575, the second electric connector 591 is tightly connected with the second battery pack electric connector holder 571, the second battery pack 592 is completely installed, the second battery pack robot system stops working, and the second transfer robot 512 leaves the rotorcraft 88 along the second steel rail 655.
Claims (10)
1. An aircraft operation and protection system consisting of remote driving, energy supply and a ground aircraft carrier is characterized in that: aircraft remote pilot command control link 526 includes: the left hand-held input device 177, the right hand-held input device 178, the first foot pedal 214 and the second foot plate 233 of the remote driver 91 are connected with the second processor 215 and connected with the second processor 215, the second processor 215 is connected with the remote console 169, the remote console 169 is connected with the remote control system 298, the remote control system 298 is connected with the first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected with the first switch 291, the first switch 291 is connected with the first ground network 264, the first ground network 264 is connected with the first wireless carrier system 262, the first wireless carrier system 262 is connected with the second wireless carrier system 400, the second wireless carrier system 400 is connected to the multi-protocol communication network access system 460, the multi-protocol communication network access system 460 is connected to the flight control computer 687, the flight control computer 687 is connected to the first robot 89, the first robot 89 is connected to the first robot 182, the second robot 183, the third robot 184 and the fourth robot 185, the first robot 182 and the second robot 183 can control the cyclic pitch bar 677 individually or together, the first robot 182 and the second robot 183 can control the collective pitch bar 683 individually or together, the third robot 184 can control the right pedal 602 in the pedal 690, the fourth robot 185 can control the left pedal 601 in the pedal 690,
In the following aspects, the remote operator 91 remotely controls the first, second, third, and fourth manipulators 182, 183, 184, and 185 of the second robot 90 in the same manner as the remote operator 91 remotely controls the first, second, third, and fourth manipulators 182, 183, 184, and 185 of the first robot 89,
aircraft remote pilot data communication link 527: the aircraft vision system 400 consists of a video capture device 120 and a radar 110, the radar 110 and the video capture device 120 of the aircraft vision system 400 are fused by a radar video information fusion system 130, the aircraft vision system 400 is connected to a flight control computer 687, the flight control computer 687 is connected to a multi-protocol communication network access system 460, the multi-protocol communication network access system 460 is connected to a second wireless carrier system 461, the second wireless carrier system 461 is connected to a first wireless carrier system 262, the first wireless carrier system 262 is connected to a first ground network 264, the first ground network 264 is connected to a first switch 291, the first switch 291 is connected to a first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected to a remote control system 298, the remote control system 298 is connected to a remote control console 169, the remote control console 169 is connected to a second processor 215, the second processor 215 is connected to a visual display 255, the visual display 255 consists of a first display screen 174, a second display screen 175, a third display screen 176 and a fourth display screen 179,
Passenger service data communication link 528: a passenger 473 is connected to a second wireless carrier system 461 using a smart handheld terminal 472, the second wireless carrier system 461 is connected to a first wireless carrier system 262, the first wireless carrier system 262 is connected to a first ground network 264, the first ground network 264 is connected to a first switch 291, the first switch 291 is connected to a first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected to a remote control system 298, the remote control system 298 is connected to a remote console 169, the remote console 169 is connected to a second processor 215, the second processor 215 is connected to a remote customer service server 92, the passenger 473 uses the smart handheld terminal 472 to establish a wireless communication connection with the remote customer service server 92, the passenger 473 informs the remote customer service server 92 of the need to ride on the rotorcraft 88, the passenger arrives at the aircraft carrier by a passenger elevator to the floor where the rotorcraft 88 is located, the remote customer service server 92 arrives at the passenger 88 seat 5632 of the passenger-arranged rotorcraft,
backup aircraft remote pilot control link 529 includes: the left hand held input device 177, the right hand held input device 178, the first foot pedal 214 and the second foot pedal 233 of the remote pilot 91 are connected to the second processor 215, the second processor 215 is connected to the remote control station 169, the remote control station 169 is connected to the remote control system 298, the remote control system 298 is connected to the first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected to the first switch 291, the first switch 291 is connected to the first ground network 264, the first ground network 264 is connected to the uplink transmitting station 290, the uplink transmitting station 290 is connected to the communications satellite 289, the communications satellite 289 is connected to the multi-protocol communications network access system 460, the multi-protocol communications network access system 460 is connected to the flight control computer 687, the flight control computer 687 is connected to the first robot 89, the first robot 89 is connected to the first robot 183, the second robot 183, the third robot 184 and the fourth robot 185, the first robot 182, the second robot 183, the first robot 183, the second robot 183, the third robot 184 and the fourth robot 185 are connected to the remote pilot control system 183, the first robot 182, the second robot 183, the remote pilot control system 183, the remote pilot controls the remote pilot pedal 82, the remote pilot control system 183, the remote pilot control system 683, the remote pilot controls the remote pilot control system, the remote pilot control system 506, the remote pilot control system,
Backup aircraft remote driving data communication link 530: the aircraft vision system 400 consists of a video capture device 120 and a radar 110, the radar 110 and the video capture device 120 of the aircraft vision system 400 are fused by a radar video information fusion system 130, the aircraft vision system 400 is connected to a flight control computer 687, the flight control computer 687 is connected to a multi-protocol communication network access system 460, the multi-protocol communication network access system 460 is connected to a communication satellite 289, the communication satellite 289 is connected to an uplink launch station 290, the uplink launch station 290 is connected to a first ground network 264, the first ground network 264 is connected to a first switch 291, the first switch 291 is connected to a remote control system 298, the remote control system 298 is connected to a second processor 215, the second processor 215 is connected to a visual display 255, the visual display 255 consists of a first display 174, a second display 175, a third display 176 and a fourth display 179, the aircraft remote pilot data communication link 527 is interrupted, the remote control system is connected to the remote pilot data communication link 298 of the rotary wing aircraft 88 by a backup aircraft remote pilot data communication link 530,
The battery swapping system remote control link 531 comprises: the remote driver 91 is connected with the second processor 215, the second processor 215 is connected with the remote control station 169, the remote control station 169 is connected with the remote control system 298, the remote control system 298 is connected with the first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected with the first switch 291, the first switch 291 is connected with the first ground network 264, the first ground network 264 is connected with the first wireless carrier system 262, the first wireless carrier system 262 is connected with the second wireless carrier system 461, the second wireless carrier system 461 is connected with the second ground network 480, the second ground network 480 is connected with the second switch 474, the second switch 474 is connected with the second wired and wireless local area network 481, the second wired and wireless local area network 481 is connected with the second communication gateway 494 through the remote communication line 479, the second communication gateway 497 is connected with the second network switch 497, the third network switch 505 is connected with the third network switch 505, the third network switch 506 is connected with the intelligent communication terminal 506, the intelligent communication terminal 506 is connected with the first, the second communication gateway 509, the second communication gateway 494 is connected with the first robot palletizer robot conveyor line 512, the first robot palletizer 512, the first robot conveyor line 512, the second robot conveyor line 507, the second palletizer robot conveyor line 512,
The field control link 532 of the battery swapping system comprises: the first monitoring workstation 492 and the second monitoring workstation 493 are connected with the second network switch 497 and the third network switch 505, the third network switch 505 is connected with the intelligent communication terminal 506, the intelligent communication terminal 506 is connected with the first palletizing robot 507, the second palletizing robot 508, the third palletizing robot 509, the fourth palletizing robot 510, the first handling robot 511, the second handling robot 512, the freight elevator 513, the passenger elevator 514, the first conveying line 520 and the second conveying line 516,
the battery swapping system remote data communication link 533 includes: the surveillance vision system 654 is composed of the video capture device 120 and the radar 110, the radar 110 and the video capture device 504 of the surveillance vision system 654 are integrated by the radar video information integration system 130, the surveillance vision system 654 is connected to the video server 503, the video server 503 is connected to the second communication gateway 494, the second communication gateway 494 is connected to the second wired and wireless local area network 481 via the telecommunication line 479, the second wired and wireless local area network 481 is connected to the second switch 474, the second switch 474 is connected to the second ground network 480, the second ground network 480 is connected to the second wireless carrier system 461, the second wireless carrier system 461 is connected to the first wireless carrier system 262, the first wireless carrier system 262 is connected to the first ground network 264, the first ground network 264 is connected to the first switch 291, the first switch 291 is connected to the first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected to the remote control system 298, the remote control system 169 is connected to the remote control station 169 is connected to the second processor 215, the second processor 255 is connected to the first visual display screen 179, the fourth display screen 176 and the display screen 176,
The first ground network 264 comprises a public switched telephone network for providing hard-wired telephony, packet-switched data communications, and internet infrastructure, the one or more segments of the first ground network 264 can be implemented using standard wired networks, fiber-optic and other optical networks, cable networks, power lines, other wireless networks of wireless local area networks, or networks providing broadband wireless access, or any combination thereof, the first ground network 264 directly connects the first call center 265 with the first wireless carrier system 262, and the computer 266 uploads diagnostic information from the rotorcraft 88 through the multi-protocol communication network access system 460 in connection with the flight control computer 687; computer 266 provides internet connectivity, provides DNS services and acts as a network address server that assigns an IP address to rotorcraft 88 using DHCP or other appropriate protocol, first call center 265 provides system backend functions to rotorcraft 88 flight control computer 687 including a first switch 291, a first server 283, a first database 292, a remote control center 298 and an automated voice response system 294 connected together by a first wired and wireless local area network 295, first switch 291 is a private exchange switch that routes incoming signals such that voice transmissions are typically sent to remote control system 298 by a conventional telephone, to first automated voice response system 294 using VoIP, the telephone of remote control system 298 also being capable of using VoIP, voIP and other data communications through first switch 291 being implemented by a modem connected between first switch 291 and the first wired and wireless local area networks, data transmissions being passed to first server 283 and first database via modem, first database being capable of storing account information, user account information 292, aircraft identification, and also being capable of conducting data transmissions through wireless switch 291, 422, 295, to first automated voice response system connection 265 using GPRS call center 265 as a manual call center to first automated voice response system connection to first automated voice response system 294,
Second land network 480 comprises a public switched telephone network for providing hard-wired telephone, packet-switched data communications, and internet infrastructure, one or more segments of second land network 480 can be implemented using standard wired networks, fiber and other optical networks, cable networks, power lines, other wireless networks such as wireless local area networks, or networks providing broadband wireless access, or any combination thereof, second land network 480 connects second call center 502 with second wireless carrier system 461, these functions including switch second switch 474, second server 475, and second database 476, remote control center 298 and second automated voice response system 477 are connected together by second wired and wireless local area networks 481, second switch 474 is a private switch, routing incoming signals such that voice transmissions are sent to remote control system 298 typically by conventional telephone, using VoIP to second automated voice response system 477, the telephone of remote control system 298 can also use VoIP, voIP and other data communications through second switch 474 can be implemented through wired modem 476, second wireless local area network 481 connections, second account authentication server 476, GPRS database 475, subscriber identity server 422, and wireless data store information, and subscriber identity information via second wireless data store server 475, and subscriber identity database 422.
2. The aircraft operation and maintenance system of claim 1, wherein said aircraft operation and maintenance system comprises a remote pilot, an energy supply, and a ground carrier, and further comprises: aircraft remote pilot control link 526 includes: the left hand-held input device 177, the right hand-held input device 178, the first foot pedal 214 and the second foot board 233 of the remote driver 91 are connected to the second processor 215 and the second processor 215, the second processor 215 is connected to the remote console 169, the remote console 169 is connected to the remote control system 298, the remote control system 298 is connected to the first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected to the first switch 291, the first switch 291 is connected to the first land network 264, the first land network 264 is connected to the first wireless carrier system 262, the first wireless carrier system 262 is connected to the second wireless carrier system 400, the second wireless carrier system 400 is connected to a multi-protocol communication network access system 460, the multi-protocol communication network access system 460 is connected to a flight control computer 687, the flight control computer 687 is connected to the first robot 89, the first robot 89 is connected to the first robot 182, the second robot 183, the third robot 184 and the fourth robot 185, the first robot 182 and the second robot 183 can control the cyclic pitch bar 677 individually or together, the first robot 182 and the second robot 183 can control the collective pitch bar 683 individually or together, the third robot 184 can control the right pedal 602 of the pedal 690, and the fourth robot 185 can control the left pedal 601 of the pedal 690.
3. The aircraft operation and protection system consisting of remote piloting, energy supply and ground aircraft carrier as claimed in claim 1, wherein: the left hand-held input device 177 and the right main input device 178 are connected and disconnected to and from the console 169 by wireless communication, the left hand-held input device 177 is connected to the second processor 215, the right hand-held input device 178 is connected to the second processor 215, the remote driver 91 starts to perform the teledriving work after the second processor 215 is activated by the remote console 169, the left hand of the remote driver 91 controls the left hand-held input device 177, the left hand-held input device 177 controls the movement of the arm end 197 of the first manipulator 182 through the second processor 215, the right hand of the remote driver 91 controls the right hand-held input device 178, the right hand-held input device 178 controls the movement of the arm end 197 of the second manipulator 183 through the second processor 215, the arm end 197 of the first manipulator 182 is in contact with and grips the cyclic rod 677 using the first contact terminal 194 and the second contact terminal 196 in the end effector 193, the arm end 197 is in contact with and grips the cyclic rod 677 using the first contact terminal 194 and the second contact terminal 196 in the end effector 193, the cyclic rod 677 can be rotated by moving the left hand-held input device 177 and the right hand-held input device 178 in opposite directions, the remote driver 91 uses the software of the second processor 215 of the remote console 169 to control the first manipulator 182 and the second manipulator 183 of the first robot 89, the remote driver 91 determines the forces exerted on the first manipulator 182 and the second manipulator 183 of the first robot 89 and on the cyclic rod 677 by measurement, model estimation, measurement and modeling, the first manipulator 182 and the second manipulator 183 provide the remote driver 91 with tactile feedback through the remote console 169, the tactile feedback can simulate manual manipulation of the arm end 197 by the remote driver 91 to control the cyclic rod 677, and can simulate the corresponding cycles experienced by the first manipulator 182 and the second manipulator 183 of the first robot 89 for the remote driver 91 Reaction force from the rod 677.
4. The aircraft operation and maintenance system of claim 1, wherein said aircraft operation and maintenance system comprises a remote pilot, an energy supply, and a ground carrier, and further comprises: the left hand-held input device 177 and the right main input device 178 are connected and disconnected to the console 169 by wireless communication, the left hand-held input device 177 is connected to the second processor 215, the right hand-held input device 178 is connected to the second processor 215, the remote driver 91 starts to perform the teledriving work after the remote console 169 activates the second processor 215, the left hand of the remote driver 91 controls the left hand-held input device 177, the left hand-held input device 177 controls the movement of the arm end 197 of the first manipulator 182 through the second processor 215, the right hand of the remote driver 91 controls the right hand-held input device 178, the right hand-held input device 178 controls the movement of the arm end 197 of the second manipulator 183 through the second processor 215, the arm end 197 of the first manipulator 182 contacts 194 and 196 in the end effector 193 contact and grip the collective lever 683, the arm end 197 of the second manipulator 183 contacts and grips the collective lever contact end 683 using the first contact 194 and the second contact 196 in the end effector 193, the collective lever 683 can be rotated by moving the left hand-held input device 177 and the right hand-held input device 178 in opposite directions, the remote driver 91 uses the software of the second processor 215 of the remote console 169 to control the first manipulator 182 and the second manipulator 183 of the first robot 89, the remote driver 91 determines the forces exerted on the first manipulator 182 and the second manipulator 183 of the first robot 89 and the second robot 90 on the collective lever 683 by measurement, model estimation, measurement, and modeling, the first manipulator 182 and the second manipulator 183 provide tactile feedback to the remote driver 91 through the remote console 169 that can simulate manual manipulation of the collective lever 683 by the remote driver 91, and can simulate the forces experienced by the first manipulator 182 and the second manipulator 183 of the first robot 89 corresponding to the collective lever 683 for the remote driver 91 The reaction force of collective pitch lever 683,
A collective pitch control assembly 681 and a range of motion, the collective pitch rod 696 being mounted on the collective pitch rod support 700 and moving in an arc to indicate the collective pitch position, in the fly-by-wire flight control system 405, the collective pitch rod 696 being decoupled from 524 and 530 such that the range of motion of the collective pitch 696 is not limited by the positions of 524 and 530, the collective pitch trim assembly 681 can monitor and determine the position of the collective pitch 696, and the FCC can determine the collective pitch setting based on the collective pitch rod position, the collective pitch setting possibly being associated with first and second motor settings to enable the first and second motors to provide sufficient power to maintain the rotor speed in order to maintain the main rotor speed at a substantially constant RPM, the collective pitch rod 696 can have a low position 699 and a high position 697 associated with the lowest collective pitch setting and the maximum normal collective pitch setting of 522 and 528, respectively, the low position 699 and the high position 697 may define or bound a normal operating range 698, the normal operating range 698 including a collective setting corresponding to a power setting below the MCP, the collective lever 696 may also have a maximum position 693 associated with the collective setting corresponding to a maximum settable power, an overdrive range 694 may be defined or bound by the maximum position 693 and the high position 697, and the overdrive range 694 may include a collective setting corresponding to a power setting above the normal operating range, the overdrive range 694 including an MTOP power setting, a 30SMP power setting, and a 2MMP power setting, the low position 699, the high position 445, and the maximum position 693 may be stops or positions implemented or produced by the collective trim assembly.
5. The aircraft operation and maintenance system of claim 1, wherein said aircraft operation and maintenance system comprises a remote pilot, an energy supply, and a ground carrier, and further comprises: an aircraft vision system 400 of rotorcraft 88 is configured to capture images in a 360 ° region around rotorcraft 88, a first imaging device 467 of aircraft vision system 400 is mounted at a location behind a front windshield, a forward-looking camera for capturing images of a forward field of view (FOV) 462 of rotorcraft 88, a second imaging device 466 of aircraft vision system 400 is mounted at a rear of rotorcraft 88 for capturing a rearward field of view (FOV) 465 of rotorcraft 88, a third imaging device 464 of aircraft vision system 400 is mounted at a left side of rotorcraft 88 for capturing a side-looking image camera of side field of view (FOV) 463, a fourth imaging device 469 of aircraft vision system 400 is mounted at a right side of rotorcraft 88 for capturing a side-looking image camera of side field of view (FOV) 468, and a fifth imaging device 401 of aircraft vision system 400 is mounted at a lower portion of a fuselage 455 of rotorcraft 88 for capturing a view (FOV) 402; a sixth imaging device 406 is mounted on the first manipulator 182, a seventh imaging device 407 is mounted on the second manipulator 183, an eighth imaging device 408 is mounted on the third manipulator 184, a ninth imaging device 409 is mounted on the fourth manipulator 185, and a tenth imaging device 410 is mounted on the column 256, the imaging systems of the first imaging device to the tenth imaging device are all composed of the video acquisition apparatus 120 and the radar 110, and the radar 110 is composed of a laser radar or a millimeter wave radar.
6. The aircraft operation and maintenance system of claim 1, wherein said aircraft operation and maintenance system comprises a remote pilot, an energy supply, and a ground carrier, and further comprises: the first robot 89 is mounted on a seat at a primary driver's position 274, the second robot 90 is mounted on a seat at a secondary driver's position 275 in a cockpit 456, the driver's seat 173 includes a seat back 216, an anti-dive beam 217, an anti-dive link mechanism 219, a fifth link 218, a sixth link 230, a seventh link 231, and a column 256, the first robot 89 and the second robot 90 are fixed to the driver's seat 173, the first manipulator 182, the second manipulator 183, the third manipulator 184, and the fourth manipulator 185 mounted on the column 256 of the first robot 89 and the second robot 90 are capable of moving up, down, left, right, and forward and backward, the remote driver 91 grips the left hand-held input device 177 with the left hand, the left hand-held input device 177 is capable of causing movement of the first manipulator 182 of the first robot 89, the remote pilot 91 grasps the right hand input device 178 with the right hand, the right hand input device 178 being capable of causing movement of the second manipulator 183 of the first robot 89, the remote pilot 91 being connected to the first foot pedal 214 with the right foot, the first foot pedal 214 being capable of causing movement of the third manipulator 184 of the first robot 89, the remote pilot 91 being connected to the second foot pedal 233 with the left foot, the second foot pedal 233 being capable of causing movement of the fourth manipulator 185 of the first robot 89, the first manipulator 182 and the second manipulator 183 being capable of causing movement of the cyclic lever 677, the first manipulator 182 and the second manipulator 183 being capable of causing movement of the collective lever 683, the third manipulator 184 being capable of causing movement of the right pedal 602 of the pedal 690; the fourth manipulator 185 can cause movement of the left pedal 601 in the pedals 690.
7. The aircraft operation and maintenance system of claim 1, wherein said aircraft operation and maintenance system comprises a remote pilot, an energy supply, and a ground carrier, and further comprises: nose gear 548 and rear gear 549 mounted at the bottom of fuselage 455 are capable of opening and retracting, nose gear 548 being able to be housed in a first compartment 550 and rear gear 549 being able to be housed in a second compartment 551 when rotorcraft 88 is in flight, the fuselage of rotorcraft 88 comprising a forward cockpit 456, a mid-fuselage 457 and a tail portion 526 of the fuselage, tail portion 526 acting as a vertical stabilizer, mid-fuselage 457 being separated by an intermediate layer 535, this intermediate layer 535 separating a top compartment 536 forming a cabin space and a bottom compartment 552 forming an equipment space, extending from the front to the rear of this rotorcraft 88, the means for reinforcing cladding 552 comprising longitudinal stiffeners such as 538, 539 and transverse first, second, third, fourth, fifth and sixth frames 540, 541, 542, 543, a top layer 544, a fifth and 545, the load-bearing top layer 546 of the fuselage being fixed to the two mid-fuselage first and second frames 540, 541, a load-bearing intermediate layer 535 is secured to the two middle first and second frames 540, 541, a top layer 546 is secured to the two middle first and second frames 540, 541, an intermediate layer 535 is secured to the lateral first, second, third, fourth, fifth, and sixth frames 540, 541, the intermediate layer 535 extends forward of the rotorcraft 88 along the middle 457 of the fuselage 455 into the cockpit 456 and rearward of the rotorcraft 88 toward the tail 526 of the fuselage, the intermediate layer 535 separates the top compartment 536 from the bottom compartment 552 at the middle 457, an equipment layer 535 is mounted in the cockpit 456 at the front end of the intermediate layer 535, an onboard battery box exchange system 568 is suspended below the intermediate layer 535 of the bottom compartment 552, the bottom compartment 552 is between the intermediate layer 535 and the sides of the fuselage 553, an open bottom 554 is provided at the bottom of the bottom compartment 552, the top layer 546 is attached to the airfoil 525,
Providing a first battery box mounting location 582 at the front of the on-board battery box exchange system 568; a second battery box mounting location 583 is provided at the rear of the onboard battery box exchange system 568, in use, the first battery box 588 is mounted at the first battery box mounting location 582, the second battery box 592 is mounted at the second battery box mounting location 583, the onboard battery box exchange system 568 is provided with a first battery box power connector mount 572, a second battery box power connector mount 575, a first battery box control system 565, a second battery box control system 571, a first bracket 581, a first bracket load-bearing platform 573, a second bracket 584, a second bracket load-bearing platform 577, a battery holder first load-bearing platform 574, a battery holder second load-bearing platform 576, a first manipulator link 580, a second manipulator link 569, a servo motor 586, a reduction gearbox 585,
in the onboard battery box replacing system 568, a hydraulic controller 600 and a servo motor controller 604 which are included by a first battery box control system 565 and a second battery box control system 571 are connected with a master controller 599, the hydraulic controller 600 is connected with a multi-path decompression amplifier 601, the multi-path decompression amplifier 601 is connected with an electro-hydraulic proportional valve 602, the electro-hydraulic proportional valve 602 is connected with an oil cylinder 603 which drives a second manipulator connecting rod 569 to move up and down, the servo motor controller 604 is connected with a multi-path servo amplifier 605, the multi-path servo amplifier 605 is connected with a servo motor 586 which drives the second manipulator connecting rod 569 to rotate, and the servo motor 586 is connected with the second manipulator connecting rod 569 through a speed reducer 607; the hydraulic controller 600 is connected with the displacement sensor 597, and the hydraulic controller 600 is connected with the pressure sensor 598; the displacement sensor 597 is used for detecting the moving distance of the second manipulator connecting rod 569, and the pressure sensor 598 is used for detecting the pressure of hydraulic oil in the oil cylinder 603; the servo motor controller 604 is connected with the photoelectric encoder 608, the photoelectric encoder 608 is used for detecting the rotating speed of a power output shaft of the reduction gearbox 585, the master controller 599 is connected with the display screen 596, the master controller 599 is connected with the camera 595, the master controller 599 is connected with the display screen 596, the camera 595 is used for shooting the moving state of the second manipulator connecting rod 569, the display screen 596 is used for displaying the moving state of the second manipulator connecting rod 569, the hydraulic controller 600 is communicated with the master controller 599 through the CAN bus, the servo motor controller 604 is connected with the master controller 599 through the CAN bus, the master controller 599 receives a remote control end instruction through an RS232 data line, the hydraulic controller 600 and the servo motor controller 604 are controlled to control the actions of each executing mechanism of the second manipulator connecting rod 569 through CAN bus allocation tasks, the output end of the hydraulic controller 600 is connected with the multi-path decompression amplifier 601, the oil cylinder 603 is controlled through the electro-hydraulic proportional valve 602, the output end of the servo motor controller 604 is connected with the multi-path servo amplifier 605, the output end of the multi-path servo amplifier 605 is connected with the servo motor 586 and controls the reduction gearbox 585 through the servo motor 586, the environment is collected through the camera 595, the operation process of the second manipulator connecting rod 569 is displayed through the display screen 596, and through arranging the displacement sensor 597 on the second manipulator connecting rod 569 of the robot, the collision between the robot and the external environment is avoided.
8. The aircraft operation and maintenance system of claim 1, wherein said aircraft operation and maintenance system comprises a remote pilot, an energy supply, and a ground carrier, and further comprises: fly-by-wire flight control system 405 of rotorcraft 88 includes cyclic rod 677 in cyclic control assembly 675, collective rod 683 in collective control assembly 681, pedals 690 in pedal control assembly 689, aircraft sensors 691, first motor control computer 458, second motor control computer 459, first robot 89, second robot 90, aircraft vision system 400, multi-protocol communication network access system 460, all connected to flight control computer 687, flight control computer 687 capable of analyzing inputs from remote pilot 91 and sending corresponding commands to first motor control computer 458, second motor control computer 459, and tail 526 vertical stabilizer, flight control computer 687 receiving input commands from remote pilot 91 control through sensors associated with remote pilot 91 flight control, flight control computer 687 also controlling haptic cues from remote pilot 91 control, displaying information in an instrument on dashboard 454, first motor control computer 458 controlling first motor control computer 459, second motor control computer 459 capable of changing the rotational speed of first motor control computer 459 in second motor control nacelle 522, second motor control computer 459 capable of outputting approximate rotational speed control mode in first motor control computer 459, second motor control computer 459, aircraft cabin 530 capable of changing in second electrical mode control computer control mode, aircraft control computer control 530, aircraft cabin 527, aircraft power control gearbox 454 outputting approximate horizontal control mode control computer control mode for first motor control computer 459, flight control computer 691 is used to measure rotorcraft 88 system, flight parameter sensors.
9. The aircraft operation and maintenance system of claim 1, wherein said aircraft operation and maintenance system comprises a remote pilot, an energy supply, and a ground carrier, and further comprises: the aircraft ground carrier 170 is provided with a multi-layer structure from bottom to top, the rotorcraft battery changing station 235 is arranged below the first layer 647, the 2 nd layer 648 and above are stereo airports for the rotorcraft 88, the top layer 652 is a parking apron for the rotorcraft 88, each layer is provided with a landing work area 93 for the rotorcraft 88, a passenger up-and-down work area 94 for a passenger 473 of the rotorcraft 88, a battery box replacement area 95 for the rotorcraft 88, and a takeoff work area 96 for the rotorcraft 88, after landing of the rotorcraft 88 on the landing work area 93 is completed, a worker drives the aircraft tractor 649 to connect with the nose gear 548 in front of the aircraft nose gear 548, then the aircraft tractor 649 pulls the rotorcraft 88 to the passenger up-and-down work area 94 under guidance of an empty pipe system to complete passenger up-and-down, then the aircraft tractor 649 pulls the rotorcraft 88 to enter the battery box replacement area 95, then the aircraft tractor 649 pulls the rotor 88 to enter the takeoff work area 96 to prepare for takeoff,
first battery box 588 delivery procedure for power shortage: the second transfer robot 512 walks to the gate of the freight elevator 513 by a second rail 655 under the rotorcraft 88 with the first battery box 588 in power shortage unloaded, the fourth palletizing robot 510 grabs the first battery box 588 at the top of the second transfer robot 512 and puts the first battery box 588 into a goods shelf 646 in the freight elevator 513, the freight elevator 513 is closed after the goods shelf 646 is full, after the freight elevator 513 reaches the floor where the main power change station is located, an elevator door 645 is opened, the third palletizing robot 509 grabs the top of the first transfer robot 511 placed with the first battery box 588 on the goods shelf 646, the first transfer robot 511 walks to the station one 644 at a position accurately positioned by the elevator door 645 along a first rail 524, the second palletizing robot 508 takes the first battery box 588 down to the station seven 642, and the first battery box 588 flows to the station five 515 along with the first conveying line 520, the first palletizing robot 507 scans the upper surface of the first battery box 588 by a three-dimensional scanning recognizer once with the scanning speed being more than 500mm/s, the three-dimensional scanning recognizer obtains the three-dimensional coordinates of the height and the position of the first battery box 588 and the included angles between the three-dimensional coordinates and coordinate system axes respectively by scanning the contour map of an object to be detected and fitting a plurality of contour maps into a three-dimensional image in a 3D detection mode of the three-dimensional scanning recognizer, then the three-dimensional scanning recognizer sends the data to the first palletizing robot 507 for positioning, a control device PLC of the first palletizing robot 507 sends a trigger signal to the three-dimensional scanning recognizer to enable the three-dimensional scanning recognizer to start scanning, after the scanning is finished, the position coordinates of the first battery box 588 are obtained, the first palletizing robot 507 walks to the position five 515 for the station to grab the first battery box 588 for palletizing at the position six 519 for palletizing according to the position data of the first battery box 588, a forklift forks the whole stack of the first battery box 588 after the palletizing is finished, the second battery pack 592 delivery procedure at power down is the same as the first battery pack 588 delivery procedure at power down,
The first battery box 588 under full charge carries the flow: after the full stack of fully charged first battery boxes 588 is forked into the fourth station 518 by the forklift, the first palletizing robot 507 unlocks the first battery boxes 588 into the third station 517, the first battery boxes 588 flow into the second robot grabbing station 643 along with the second conveyor line 516, the first transfer robot 511 orbits along the first rail 524 into the first station 644, the second palletizing robot 508 grabs the first battery boxes 588 at the second station 643 and places the first battery boxes 588 on the top of the first transfer robot 511 entering the first station 644, the first transfer robot 511 walks along the first rail 524 to the freight elevator 513, the third palletizing robot 509 grabs the first battery boxes 588 on the top of the first transfer robot 511 onto the goods shelf 646 inside the freight elevator 513, after the freight elevator 513 reaches the designated floor, the elevator door 645 is opened, the fourth palletizing robot 510 grabs the first battery boxes 588 on the goods shelf 646 and places the first battery boxes 588 on the top of the second transfer robot 512,
in step 1, the remote pilot 91 remotely initiates the unloading procedure of the first battery box 588, the second transfer robot 512 walks along the second rail 655 to the first battery box installation position 582 under the on-board battery box exchange system 568 of the rotorcraft 88, the battery box tray 625 abuts against the first battery box 588, the first battery box control system 565 starts to operate, the first carriage 581 mounted at the lower end of the first manipulator link 580 is driven by the power unit to move along with the first manipulator link 580 to disengage from the first battery box 588, the first load bearing platform 573 on the first carriage 581 is gradually disengaged from the first battery box first fixed platform 589, the first carriage 581 is disengaged from the first battery box 588, the second transfer robot 512 drives the first battery box 588 to disengage from the first battery support platform 574, the first battery box control system 565 stops operating, the second transfer robot 512 carries the first battery box 588 to the battery unloading position of the fourth transfer robot 510 along the second rail 655 track, the fourth transfer robot 588 unloads the first battery box 510,
Step 2, the remote pilot 91 starts a program for installing a first battery box 588, the fourth palletizing robot 510 grabs the fully charged first battery box 588 and places the fully charged first battery box 588 on a battery box tray 625 at the top of the second transfer robot 512, the second transfer robot 512 orbitally moves to the lower side of the rotor craft 88 along a second steel rail 655, after the second transfer robot 512 completes the positioning in the X/Y direction, the robot ascends by utilizing the output difference value of an ultrasonic distance measuring sensor and the output of a hydraulic mechanism encoder to be used as an input proportional flow valve of a PID controller for carrying out PID control, when the hydraulic mechanism ascends to a desired position and stops ascending and positioning accurately, the second transfer robot 512 pushes the first battery box 588 to a first battery box installation position 582 on an onboard battery box replacing system 568, pushes the first battery box 588 to move so that a first battery box first fixing platform 589 gradually enters a first bracket bearing platform 573, the first battery box control system 565 starts to work, pushes the first battery box 588 to move in the direction of the first battery box in the first battery box installation direction, the first battery box 572 gradually enters the first bracket bearing platform 573, and then controls the first battery box plug connector 572 to close to the first battery box 590, and the first battery box mounting system 590 to control the second transfer robot 512,
Step 3, the remote pilot 91 remotely starts the unloading procedure of the second battery box 592, the second transfer robot 512 orbits along the second rail 655 to a second battery box installation position 583 under the onboard battery box exchange system 568 of the rotorcraft 88, the battery box tray 625 abuts against the second battery box 592, the second battery box control system 571 starts to work, the second carriage 584 mounted at the lower end of the second manipulator link 569 is driven by the power unit to move away from the second battery box 592 along with the second manipulator link 569, the second carriage bearing platform 577 on the second carriage 584 gradually disengages from the second battery box first fixed platform 594, the second carriage 584 disengages from the second battery box 592, the second transfer robot 512 orbits the second battery box 592 away from the battery support second bearing platform 576, the second battery box control system 571 stops working, the second transfer robot 512 carries the second battery box 592 along the second rail 655 to the battery box unloading position of the fourth robot 510, and the second battery box control system 592 unloads the second battery box pallet 510,
step 4, the remote pilot 91 starts a program for installing a second battery box 592, the fourth palletizing robot 510 grabs a fully charged first battery box 588 and places the fully charged first battery box 588 on a battery box tray 625 at the top of the second transfer robot 512, the second transfer robot 512 orbitally moves to the lower side of the rotor craft 88 along a second steel rail 655, after the second transfer robot 512 completes the positioning in the X/Y direction, the robot lifting process utilizes the output of an ultrasonic distance measuring sensor and the output difference value of an encoder of a hydraulic mechanism to perform PID control as an input proportional valve of a PID controller, when the hydraulic mechanism is lifted to a desired position and stops lifting, the positioning is accurate, the second transfer robot 512 pushes the second battery box 592 to a second battery box installation position 583 on an onboard battery box replacing system 568, pushes the second battery box 592 to move so that a first fixing platform 571 of the second battery box gradually enters a bearing platform 577 of a second bracket, the control system of the second battery box begins to work, pushes the second battery box 592 to move towards a second battery box connector 575, the second battery box connector 575 is connected with a second battery box 571, the second battery box heater plug is connected with the second battery box 571, the second battery box heater plug of the second transfer robot 512, the second transfer robot 512 is closed,
Step 5, the remote pilot 91 sends a battery box replacement completion signal, and the rotorcraft battery replacement master station 235 completes origin reset.
10. The aircraft operation and maintenance system of claim 1, wherein said aircraft operation and maintenance system comprises a remote pilot, an energy supply, and a ground carrier, and further comprises: aircraft remote pilot command control link 526 includes: the left hand-held input device 177, the right hand-held input device 178, the first foot pedal 214 and the second foot board 233 of the remote driver 91 are connected to the second processor 215 and the second processor 215, the second processor 215 is connected to the remote console 169, the remote console 169 is connected to the remote control system 298, the remote control system 298 is connected to the first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected to the first switch 291, the first switch 291 is connected to the first land network 264, the first land network 264 is connected to the first wireless carrier system 262, the first wireless carrier system 262 is connected to the second wireless carrier system 400, the second wireless carrier system 400 is connected to the multi-protocol communication network access system 460, the multi-protocol communication network access system 460 is connected to the flight control computer 687, the flight control computer 687 is connected to the first robot 89, the first robot 89 is connected to the first robot 182, the second robot 183, the third robot 184 and the fourth robot 185, the first robot 182 and the second robot 183 can control the cyclic pitch bar 677 individually or together, the first robot 182 and the second robot 183 can control the collective pitch bar 683 individually or together, the third robot 184 can control the right pedal 602 in the pedal 690, the fourth robot 185 can control the left pedal 601 in the pedal 690,
In the following aspects, the remote operator 91 remotely controls the first robot arm 182, the second robot arm 183, the third robot arm 184, and the fourth robot arm 185 of the second robot 90 in the same manner as the remote operator 91 remotely controls the first robot arm 182, the second robot arm 183, the third robot arm 184, and the fourth robot arm 185 of the first robot 89,
aircraft remote pilot data communication link 527: the aircraft vision system 400 consists of a video capture device 120 and a radar 110, the radar 110 and the video capture device 120 of the aircraft vision system 400 are fused by a radar video information fusion system 130, the aircraft vision system 400 is connected to a flight control computer 687, the flight control computer 687 is connected to a multiprotocol communication network access system 460, the multiprotocol communication network access system 460 is connected to a second wireless carrier system 461, the second wireless carrier system 461 is connected to a first wireless carrier system 262, the first wireless carrier system 262 is connected to a first ground network 264, the first ground network 264 is connected to a first switch 291, the first switch 291 is connected to a first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected to a remote control system 298, the remote control system 298 is connected to a remote control station 169, the remote control station 169 is connected to a second processor 215, the second processor 215 is connected to a visual display 255, the visual display 255 consists of a first display screen 174, a second display screen 175, a third display screen 176 and a fourth display screen 179,
Passenger service data communication link 528: passenger 473 uses smart handheld terminal 472 to connect to second wireless carrier system 461, second wireless carrier system 461 connects to first wireless carrier system 262, first wireless carrier system 262 connects to first ground network 264, first ground network 264 connects to first switch 291, first switch 291 connects to first wired and wireless local area network 295, first wired and wireless local area network 295 connects to remote control system 298, remote control system 298 connects to remote control station 169, remote control station 169 connects to second processor 215, second processor 215 connects to remote customer server 92, passenger 473 uses smart handheld terminal 472 to establish a wireless communication connection with remote customer server 92, passenger 473 informs remote customer server 92 of the need to ride rotorcraft 88, passenger arrives at the floor where rotorcraft 88 is located by an elevator, remote customer server 92 arrives at passenger 473's seat 563,
backup aircraft remote pilot control link 529 includes: the left hand-held input device 177, the right hand-held input device 178, the first foot pedal 214 and the second foot-plate 233 of the remote pilot 91 are connected to the second processor 215, the second processor 215 is connected to the remote control station 169, the remote control station 169 is connected to the remote control system 298, the remote control system 298 is connected to the first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected to the first switch 291, the first switch 291 is connected to the first ground network 264, the first ground network 264 is connected to the uplink transmission station 290, the uplink transmission station 290 is connected to the communication satellite 289, the communication satellite is connected to the multiprotocol communication network access system 460, the multiprotocol communication network access system 460 is connected to the flight control computer 687, the flight control computer 687 is connected to the first robot 89, the first robot 89 is connected to the first manipulator 182, the second manipulator 183, the third manipulator 184 and the fourth manipulator 185, the first manipulator 182, the second manipulator 183 can control pedals 183 can be controlled individually or together, the first manipulator 184 can be controlled separately from the foot pedal pedals 182, the second foot-pedal 184 and the fourth manipulator 12 can be controlled together by the remote pilot control system 690, the remote pilot control system 305 and the remote pilot control system 298 can be controlled by the remote pilot control system 305, the remote pilot system 305 and the remote pilot manipulator 200 can be controlled by the remote pilot control link 310, the remote pilot control system 305 and the remote pilot system 305 can be controlled together,
Backup aircraft remote driving data communication link 530: the aircraft vision system 400 consists of a video capture device 120 and a radar 110, the radar 110 and the video capture device 120 of the aircraft vision system 400 are fused by a radar video information fusion system 130, the aircraft vision system 400 is connected to a flight control computer 687, the flight control computer 687 is connected to a multi-protocol communication network access system 460, the multi-protocol communication network access system 460 is connected to a communication satellite 289, the communication satellite 289 is connected to an uplink launch station 290, the uplink launch station 290 is connected to a first ground network 264, the first ground network 264 is connected to a first switch 291, the first switch 291 is connected to a remote control system 298, the remote control system 298 is connected to a second processor 215, the second processor 215 is connected to a visual display 255, the visual display 255 consists of a first display 174, a second display 175, a third display 176 and a fourth display 179, the aircraft remote pilot data communication link 527 is interrupted, the remote control system is connected to the remote pilot data communication link 298 of the rotary wing aircraft 88 by a backup aircraft remote pilot data communication link 530,
The battery swapping system remote control link 531 comprises: the remote driver 91 is connected with the second processor 215, the second processor 215 is connected with the remote control station 169, the remote control station 169 is connected with the remote control system 298, the remote control system 298 is connected with the first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected with the first switch 291, the first switch 291 is connected with the first ground network 264, the first ground network 264 is connected with the first wireless carrier system 262, the first wireless carrier system 262 is connected with the second wireless carrier system 461, the second wireless carrier system 461 is connected with the second ground network 480, the second ground network 480 is connected with the second switch 474, the second switch 474 is connected with the second wired and wireless local area network 481, the second wired and wireless local area network 481 is connected with the second communication gateway 494 through the remote communication line 479, the second communication gateway 497 is connected with the second network switch 497, the third network switch 505 is connected with the third network switch 505, the third network switch 506 is connected with the intelligent communication terminal 506, the intelligent communication terminal 506 is connected with the first, the second communication gateway 509, the second communication gateway 494 is connected with the first robot palletizer robot conveyor line 512, the first robot palletizer 512, the first robot conveyor line 512, the second robot conveyor line 507, the second palletizer robot conveyor line 512,
The field control link 532 of the battery swapping system comprises: the first monitoring workstation 492 and the second monitoring workstation 493 are connected with the second network switch 497 and the third network switch 505, the third network switch 505 is connected with the intelligent communication terminal 506, the intelligent communication terminal 506 is connected with the first palletizing robot 507, the second palletizing robot 508, the third palletizing robot 509, the fourth palletizing robot 510, the first handling robot 511, the second handling robot 512, the freight elevator 513, the passenger elevator 514, the first conveying line 520 and the second conveying line 516,
the battery swapping system remote data communication link 533 includes: the surveillance vision system 654 is composed of the video capture device 120 and the radar 110, the radar 110 and the video capture device 504 of the surveillance vision system 654 are fused by the radar video information fusion system 130, the surveillance vision system 654 is connected to the video server 503, the video server 503 is connected to the second communication gateway 494, the second communication gateway 494 is connected to the second wired and wireless local area network 481 via the telecommunication line 479, the second wired and wireless local area network 481 is connected to the second switch 474, the second switch 474 is connected to the second ground network 480, the second ground network 480 is connected to the second wireless carrier system 461, the second wireless carrier system 461 is connected to the first wireless carrier system 262, the first wireless carrier system 262 is connected to the first ground network 264, the first ground network 264 is connected to the first switch 291, the first switch 291 is connected to the first wired and wireless local area network 295, the first wired and wireless local area network 295 is connected to the remote control system 298, the remote control system 169 is connected to the remote control station 169, the remote control station is connected to the second processor 215, the second processor 215 is connected to the second processor 215, the second processor 255 is connected to the visual display screen 179, the display screen 176, the fourth display screen 176, the display screen 176 is composed of the display screen 175,
The first ground network 264 comprises a public switched telephone network for providing hard-wired telephony, packet-switched data communications, and internet infrastructure, the one or more segments of the first ground network 264 can be implemented using standard wired networks, fiber-optic and other optical networks, cable networks, power lines, other wireless networks of wireless local area networks, or networks providing broadband wireless access, or any combination thereof, the first ground network 264 directly connects the first call center 265 with the first wireless carrier system 262, and the computer 266 uploads diagnostic information from the rotorcraft 88 through the multi-protocol communication network access system 460 in connection with the flight control computer 687; computer 266 provides internet connectivity, provides DNS services and acts as a network address server that assigns IP addresses to rotorcraft 88 using DHCP or other appropriate protocol, first call center 265 provides system backend functions to rotorcraft 88 flight control computer 687 including a first switch 291, a first server 283, a first database 292, a remote control center 298, and an automatic voice response system 294 connected together by a first wired and wireless local area network 295, first switch 291 is a private exchange switch that routes incoming signals such that voice transmissions are typically sent by conventional telephone to remote control system 298 using VoIP to first automatic voice response system 294, the telephone of remote control system 298 is also capable of using VoIP, voIP and other data communications through first switch 291 are implemented by a modem connected between first switch 291 and the first wired and wireless local area networks, data transmissions are conducted by modem to first server 283 and first database, first database via modem 292, first database is capable of storing account information, user account information, aircraft identification, and is also capable of conducting data transmissions through wireless system 292, 422 x, 11x, it directs the first call center 295 to use of the first remote control system connection to first remote control system 294, the first remote control center 298 is capable of using VoIP to direct the first remote voice response system 294, the first remote control system connection 298 using GPRS call center 265,
The second land network 480 comprises a public switched telephone network for providing hard-wired telephone, packet-switched data communications, and internet infrastructure, one or more segments of the second land network 480 can be implemented using standard wired networks, fiber-optic and other optical networks, cable networks, power lines, other wireless networks such as wireless local area networks, or networks providing broadband wireless access, or any combination thereof, the second land network 480 connecting the second call center 502 with a second wireless carrier system 461, these functions including the switch second switch 474, a second server 475 and a second database 476, the remote control center 298 and the second automated voice response system 477 being connected together by a second wired and wireless local area network 481, second switch 474 is a private exchange switch that routes incoming signals so that voice transmissions are typically sent over a conventional telephone to remote control system 298 using VoIP to second automated voice response system 477, the telephone of remote control system 298 also being capable of using VoIP, voIP and other data communications through second switch 474 being conducted through a modem connected between second switch 474 and second wired and wireless local area network 481, data transmissions being passed via the modem to second server 475 and second database 476, second database 476 being capable of storing account information, user authentication information, aircraft identification, and also being capable of data transmissions over wireless system 422.11x, GPRS,
The multi-protocol communication network access system 460 includes: a processor 487, a microwave communication unit 489, a satellite communication unit 490, a mobile communication unit 491, and a wired communication unit 488; wherein the processor 487 is adapted to receive data information of the microwave communication unit 489, the satellite communication unit 490, the mobile communication unit 491 and the wired communication unit 488, the microwave communication unit 489 comprising: a directional antenna, radio frequency unit 663; the directional antenna is suitable for sending the received radio frequency signal to the radio frequency unit 663, and the radio frequency unit 663 is suitable for sending the modulated radio frequency signal to the processor 487 for demodulation into data information; or after the data information is modulated by the processor 487, the data information is transmitted through the directional antenna of the radio frequency unit 663, and the satellite communication unit 490 includes: a transceiver 661 and a Ka band modem 662; the transceiver 661 and an ultrahigh frequency UHF antenna are connected to a UHF band signal, the processor 487 is configured to convert the received UHF band signal into a Ka band signal, and the Ka antenna connected to the Ka band modem 662 is configured to transmit the converted Ka band signal to a satellite; or the Ka band modem 662 receives the Ka band signal transmitted by the satellite through the connected Ka antenna, the processor is used for converting the received Ka band signal into a UHF band signal, the transceiver 661 is adapted to transmit the converted UHF band signal through the UHF antenna, and the mobile communication unit 491 is a 4G communication module 662, a 5G communication module 663, and a 6G communication module 659; the processor 487 is adapted to receive or transmit 4G, 5G and 6G signals, and the wired communication unit 488 includes: a serial port communication circuit 666, a CAN bus module 656 and an Ethernet module 660; the processor is suitable for receiving data information sent by the serial port communication circuit and/or the CAN bus module 656 and/or the Ethernet module 660 and converting the data information into Ka frequency band signals and/or UHF frequency band signals; or data information is extracted from the Ka frequency band signal and/or the UHF frequency band signal and is sent out through the serial communication circuit 666 and/or the CAN bus module 656 and/or the ethernet module 660, and the serial communication circuit 666 includes: an RS485 signal communication circuit 657 and an RS232 signal communication chip 658 which are electrically connected with the communication interface and the processor,
The distal end of the first link 139 is connected to the proximal end of the second link 137 at a joint providing a horizontal pivot axis 138, the proximal end of the third link 124 is connected to the distal end of the second link 137 at a roll joint such that the third link generally rotates or rolls at joint 123 about an axis extending along the axes of both the second link and the third link, distally after pivot joint 125, the distal end of the fourth link 136 is connected to the instrument holder 136 by a pair of pivot joints 135, 134, the pivot joints 135, 134 together defining the instrument holder 121, translation of the first robotic 89 manipulator arm assembly 133 or the joint 132 of the type facilitating axial movement of the instrument 126, the instrument holder 131 can be attached to a cannula through which the instrument 126 is slidably inserted, distal to the instrument holder 131, the second instrument 126 includes an additional degree of freedom, actuation of the degree of freedom of the second robotic arm assembly 126 is driven by the motor of the robotic manipulator arm assembly 133, the interface between the second instrument 126 and the robotic manipulator arm assembly 133 can be disposed more proximally or distally along the motion chain of the manipulator arm assembly, the second instrument arm assembly 126 includes a pivot point 127, the orientation of the wrist manipulator 128 can be controlled independently of the distal end effector 128 of the end effector 128, the end of the end effector 128 is disposed about the pivot joint 128 a,
The remote pilot 91 sends a signal via the second processor 215, the tristate switch 202 receives an activation signal, the remote pilot 91 uses the second processor 215 and the remote piloting system 258 to couple the first robot 89 to manipulate the arm end 197 of the first robot 182 to grip and move away from the cyclic rod 677, the remote pilot 91 uses the second processor 215 and the remote piloting system 258 to couple the first robot 89 to manipulate the arm end 197 of the second robot 183 to grip and move away from the cyclic rod 683, the first contact terminal 194 and the second contact terminal 196 of the end effector 193 of the first robot 182 apply a force to the cyclic rod 677 to rotate the cyclic rod 677, the first contact terminal 194 and the second contact terminal 196 of the end effector 193 of the second robot 183 apply a force to the cyclic rod 683 to rotate the cyclic rod 683 to release the tristate switch 202 to stop movement of the arm end 197, the remote pilot 91 sends an activation signal in the second direction, the first tristate switch 202 receives an activation signal in the opposite direction from the second switch 197 to activate the cyclic rod 677, the tri-tristate switch 197 receives an activation signal to stop movement of the cyclic rod 197, the cyclic rod 683 sends an activation signal to release the cyclic rod 197,
A first contact end 194 and a second contact end 196 in the end effector 193 that pivot relative to each other to define a pair of end effector jaws 231, the jaws 231 being actuated by squeezing the gripper members of the left hand input device 177 and the right hand input device 178 for an instrument having end effector jaws 231, manipulation of the third robot 184 and the fourth robot 185 by the first robot 89 will cause the transmission assembly 195 to extend and retract the shaft 187 to provide the desired movement of the end effector 193, manipulation of the third robot 184 by the first robot 89 during teledriving to be able to contact and control the right pedal 602 of the pedal 690, manipulation of the fourth robot 185 by the first robot 89 during teledriving to be able to contact and control the left pedal 601 in the pedal 690,
first and second manipulators 182, 183 are configured to cause movement of cyclic rod 677, first and second manipulators 182, 183 are configured to cause movement of collective rod 683, first manipulator 182 has attached thereto instrument holder 180, instrument holder 180 is coupled to instrument 186 and arm end 197, instrument holder 180 is coupled to first manipulator 182 by way of motorized articulation, instrument holder 180 includes an instrument holder frame 188, a clamp 189 secured to a distal end of instrument holder frame 188, clamp 189 is configured to couple to and decouple from arm end 197, instrument holder bracket 190 is coupled to instrument holder frame 188, linear translation of instrument holder bracket 190 along instrument holder frame 188 is motorized translational movement controlled by second processor 215, instrument 186 includes a drive assembly 195, an elongate shaft 187, and an end effector 193, drive assembly 195 is coupled to instrument holder bracket 190, shaft 187 extends distally from drive assembly 195, end effector 193 is disposed at a distal end of shaft 187, shaft 187 defines longitudinal axis 192, longitudinal axis 192 coincides with longitudinal axis 192 of arm end 197 and is configured to translate instrument holder frame 186 along longitudinal axis 197 when instrument holder frame 186, arm holder 190 is retracted along instrument holder frame 188, longitudinal axis 197, instrument holder frame 190 is configured to retract along instrument holder frame 188.
The first robot 89 is mounted on a seat at a primary driver's position 274, the second robot 90 is mounted on a seat at a secondary driver's position 275 in a cockpit 456, the driver's seat 173 includes a seat back 216, an anti-dive beam 217, an anti-dive link mechanism 219, a fifth link 218, a sixth link 230, a seventh link 231, and an upright 256, the first robot 89 and the second robot 90 are fixed to the driver's seat 173, the first manipulator 182, the second manipulator 183, the third manipulator 184, and the fourth manipulator 185 mounted on the upright 256 of the first robot 89 and the second robot 90 are capable of moving up, down, left, right, and forward and backward, the remote driver 91 grips the left hand-held input device 177 with the left hand, the left hand-held input device 177 is capable of causing movement of the first manipulator 182 of the first robot 89, the remote pilot 91 grasps the right hand input device 178 with the right hand, the right hand input device 178 being capable of causing movement of the second manipulator 183 of the first robot 89, the remote pilot 91 being connected to the first foot pedal 214 with the right foot, the first foot pedal 214 being capable of causing movement of the third manipulator 184 of the first robot 89, the remote pilot 91 being connected to the second foot pedal 233 with the left foot, the second foot pedal 233 being capable of causing movement of the fourth manipulator 185 of the first robot 89, the first manipulator 182 and the second manipulator 183 being capable of causing movement of the cyclic lever 677, the first manipulator 182 and the second manipulator 183 being capable of causing movement of the collective lever 683, the third manipulator 184 being capable of causing movement of the right pedal 602 of the pedal 690; the fourth manipulator 185 can cause movement of the left pedal 601 in the pedal 690,
The second processor 215 of the remote console 169 is comprised of hardware, software and firmware, executed by one unit or distributed to several sub-units, each of which can in turn be implemented by any combination of hardware, software and firmware, the second processor 215 can cross-connect control logic and controllers, the second processor 215 can also be distributed as sub-units throughout the teledriving architecture 258, the second processor 215 can execute machine-readable instructions from a non-transitory machine-readable medium that activate the second processor 215 to perform actions corresponding to the instructions, the second processor 215 executes various instructions input by the teledriver 91, the second processor 215 executes instructions input by the teledriver 91 using the left hand-held input device 177 and the right hand-held input device 178 to actuate joints of the first manipulator 182 and the second manipulator 183, respectively, second processor 215 of remote control station 169 is coupled to visual display 255, left hand-held input device 177, right hand-held input device 178, first foot pedal 214, and second foot board 233, visual display 255 is comprised of first display screen 174, second display screen 175, third display screen 176, and fourth display screen 179, all images of rotorcraft 88 collected by aircraft vision system 400 are transmitted to remote control station 169 for decompression by compression and displayed on the display screens of visual display 255, remote pilot 91 views the images on visual display 255 with both eyes, monitors all images collected by vision system 654, transmitted to remote control station 169 for decompression by compression and displayed on the display screens of visual display 255, remote pilot 91 views the images on visual display 255 with both eyes, sixth imaging device 406, seventh imaging device 407, eighth imaging device 408, and, the entire images acquired by the ninth imaging device 409 and the tenth imaging device 410 are transmitted to the remote console 169 to be decompressed and displayed on the display screen of the visual display 255 through compression, the remote driver 91 views the images on the visual display 255 with both eyes,
The left hand-held input device 177 and the right main input device 178 are connected and disconnected to and from the console 169 by wireless communication, the left hand-held input device 177 is connected to the second processor 215, the right hand-held input device 178 is connected to the second processor 215, the remote driver 91 starts to perform the teledriving work after the second processor 215 is activated by the remote console 169, the left hand of the remote driver 91 controls the left hand-held input device 177, the left hand-held input device 177 controls the movement of the arm end 197 of the first manipulator 182 through the second processor 215, the right hand of the remote driver 91 controls the right hand-held input device 178, the right hand-held input device 178 controls the movement of the arm end 197 of the second manipulator 183 through the second processor 215, the arm end 197 of the first manipulator 182 is in contact with and grips the cyclic rod 677 using the first contact terminal 194 and the second contact terminal 196 in the end effector 193, the arm end 197 is in contact with and grips the cyclic rod 677 using the first contact terminal 194 and the second contact terminal 196 in the end effector 193, the cyclic rod 677 can be rotated by moving the left hand-held input device 177 and the right hand-held input device 178 in opposite directions, the remote driver 91 uses the software of the second processor 215 of the remote console 169 to control the first manipulator 182 and the second manipulator 183 of the first robot 89, the remote driver 91 determines the forces exerted on the first manipulator 182 and the second manipulator 183 of the first robot 89 on the cyclic rod 677 through measurement, model estimation, measurement and modeling, the first manipulator 182 and the second manipulator 183 provide tactile feedback to the remote driver 91 through the remote console 169, the tactile feedback simulating manual manipulation of the arm end 197 to control the cyclic rod 677 for the remote driver 91, the tactile feedback simulating experienced by the first manipulator 182 and the second manipulator 183 of the first robot 89 corresponding to the cycle to be performed by the remote driver 91 The reaction force from the rod 677,
The left hand-held input device 177 and the right master input device 178 are connected and disconnected with the console 169 through wireless communication, the left hand-held input device 177 is connected with the second processor 215, the right hand-held input device 178 is connected with the second processor 215, the remote driver 91 starts to perform a remote driving work after the remote console 169 activates the second processor 215, the left hand of the remote driver 91 controls the left hand-held input device 177, the left hand-held input device 177 controls the movement of the arm end 197 of the first manipulator 182 through the second processor 215, the right hand of the remote driver 91 controls the right hand-held input device 178, the right hand-held input device 178 controls the movement of the arm end 197 of the second manipulator 183 through the second processor 215, the arm end 197 of the first manipulator 182 contacts and grips the master control unit 681 using the first contact terminal 194 and the second contact terminal 196 in the end effector 193, the second manipulator end 197 contacts and grips the master control unit 183 tightly using the first contact terminal 194 and the second contact terminal 196 in the end effector 193, the master control unit 183 and the master control unit 183 tightly grips the master control unit 183 using the left hand-held input device 177 and the remote control unit 183, the remote control unit 183 provides a feedback software for measuring the remote control of the remote driver 89 and the remote driver 89, the remote driver can measure the remote driver and the remote driver can simulate the remote driver via the remote driver 89, and remote driver can simulate the remote driver via the remote driver model of the remote driver 89 via the remote driver 91 via the first and the remote driver 89 via the remote driver 89, and the remote driver 91 via the remote driver 89, and the remote driver Corresponding to the reaction force of collective lever 683,
A collective pitch control assembly 681 and a range of motion, the collective pitch rod 696 being mounted on the collective pitch rod support 700 and moving in an arc to indicate the collective pitch position, in the fly-by-wire flight control system 405, the collective pitch rod 696 being decoupled from 524 and 530 such that the range of motion of the collective pitch 696 is not limited by 524 and 530, the collective pitch trim assembly 681 may monitor and determine the position of the collective pitch 696, and the FCC may determine the collective pitch setting as a function of the position of the collective pitch rod, in order to maintain the main rotor speed at a substantially constant RPM, the collective pitch setting may be associated with first and second motor settings such that the first and second motors provide sufficient power to maintain the rotor speed, the collective pitch rod 696 may have a low position 699 and a high position 697 associated with the lowest collective pitch setting and the maximum normal collective pitch setting of 522 and 528, respectively, the low position 699 and the high position 697 may define or bound the normal operating range 698, the normal operating range 698 includes a collective pitch setting that is below the power setting of the MCP, the maximum pitch setting 696 may be associated with the collective pitch setting 694, the high position 693, and the overreach setting may be defined by the maximum power setting 694, the MMP setting 694, the high position 6942 and the maximum power setting may be implemented by the collective pitch setting, the collective pitch setting may be associated with the high drive range 694, the high drive range 694 may be defined by the maximum power range setting 694, the maximum power range setting 694 and the high drive range setting,
Fly-by-wire flight control system 405 of rotorcraft 88 includes cyclic rod 677 in cyclic control assembly 675, cyclic rod 683 in cyclic control assembly 681, pedals 690 in pedal control assembly 689, aircraft sensors 691, first motor control computer 458, second motor control computer 459, first robot 89, second robot 90, aircraft vision system 400, and multi-protocol communication network access system 460 all connected to flight control computer 687, flight control computer 687 being capable of analyzing inputs from remote pilot 91 and sending corresponding commands to first motor control computer 458, second motor control computer 459, and tail 526 vertical stabilizers, flight control computer 687 receiving input commands from remote pilot 91 control through sensors associated with remote pilot 91 flight control, flight control computer 687 further controlling haptic cues from remote pilot 91 control, displaying information 458 in gauges on a dashboard, first motor control computer 458, first motor control computer 523, second motor control computer 459 being capable of changing first rotor blade control system 524 in a first horizontal rotor blade mode control mode, second motor control computer 459 controlling mode in horizontal rotor blade mode control system 530, aircraft control computer 459 being capable of outputting approximate rotational speed control commands to second motor control computer 459 in a second horizontal rotor blade mode, aircraft control computer 530, aircraft control computer 459 being capable of changing in a second horizontal rotor blade mode, aircraft control computer 530, aircraft control system outputting approximate rotational speed control mode to approximate first motor control computer 458, flight control computer 691 is a sensor for measuring system, flight parameters of rotorcraft 88,
Cyclic control assembly 675 is connected to cyclic trim assembly 674, cyclic trim assembly 674 has cyclic position sensor 678, cyclic stop sensor 676 and cyclic actuator or cyclic trim motor 673, cyclic position sensor 678 measures the position of cyclic rod 677, cyclic rod 677 is a single control rod that moves along two axes and allows remote pilot 91 to control pitch and roll, pitch is the vertical angle of the nose of rotorcraft 88, roll is the yaw angle of rotorcraft 88, cyclic control assembly 675 has separate cyclic position sensors 678 that measure roll and pitch separately, cyclic position sensor 678 generates roll and pitch signals, respectively, roll and pitch signals are sent to flight control computer 687, flight control computer 687 controls first nacelle 524, second nacelle 530 and tail 526 vertical stabilizers and associated control devices to control the horizontal movement of rotorcraft 88, total pitch control assembly 681 is connected to cyclic trim assembly 681, total pitch position sensor 68680 is connected to a single longitudinal stop sensor 680, total pitch position sensor 684 and vertical stop sensor 684, total pitch position sensor 684, total pitch control device calculates total pitch movement of rotor craft 684 and tail control device based on total pitch position sensor signal, total pitch sensor 687, total pitch control rod 684 and total pitch position sensor 680, total pitch control device calculate total pitch signal, total pitch control device 680 and total stem 684, total pitch control device calculates total pitch signal, total pitch movement of rotor control rod 684, total stem 684, total linear motion of aircraft, total mast based on total linear motion sensor and total linear motion sensor, total linear motion sensor 680, pedal control assembly 689 has a pedal sensor 688 that measures the position of pedals or other input elements in pedal control assembly 689, pedal sensor 688 detects the position of pedals 690 and sends a pedal position signal to flight control computer 687, flight control computer 687 controls tail 526 vertical stabilizer to yaw or rotate rotorcraft 88 about a vertical axis,
The remote control system 298 terminal group comprises a large-screen liquid crystal display 702, a large-screen display control host 708, a network switch 704, a graphic splicing controller 703, a graphic workstation 701, a graphic workstation group control host 710, a main server 705, a secondary server 706, and a data and voice terminal 707, wherein the network switch 704 is in one-to-one corresponding electrical communication connection with the graphic workstation 701, the graphic splicing controller 703, the graphic workstation group control host 710, the main server 705, the secondary server 706 and the data and voice terminal 707 respectively; the large-screen liquid crystal display screen 702 is used for displaying the graphics, video and audio data spliced by the graphics splicing controller 703, the graphics splicing controller 703 is used for calling the graphics, video and audio from the graphics workstation 701 and completing the combination and splicing work, and the graphics workstation group control host 710 is used for controlling the storage, movement, display and deletion operations of the graphics, video and audio in the graphics workstation 701; the network switch 704 is in corresponding data communication with the graphic workstation 701, the graphic splicing controller 703, the graphic workstation group control host 710, the main server 705, the secondary server 706 and the data and voice terminal 707; the server is composed of a main server 705 and a secondary server 706, the terminal is composed of a data terminal 707 and a voice terminal 707, the main server 705 is used for receiving and controlling data information of the data terminal, and the secondary server 706 is used for receiving and controlling voice information of the voice terminal; the large screen display control host 708 is electrically connected with a wireless receiver 711, the wireless receiver 711 is connected with the PDA controller 709 through wireless communication, data instruction information sent by the data terminal is transmitted to the main server 705 through the network switch 704, logical operation processing is carried out through the main server 705, the data information and processing results are displayed through the large screen liquid crystal display 702 and the liquid crystal display of the data terminal, voice instruction information sent by the voice terminal is transmitted to the secondary server 706 through the network switch 704, logical operation processing is carried out through the secondary server 706, the voice information and processing results are displayed through the large screen liquid crystal display 702 and the liquid crystal display of the voice terminal, data and voice instruction information sent by the PDA controller 709 are transmitted to the wireless receiver 711 through wireless communication, the wireless receiver 711 transmits the data and voice information to the splicing pattern controller 703 through the large screen display control host 708, the data, voice information and processing results are displayed through the liquid crystal display of the large screen liquid crystal display 702 and the PDA controller 709 through logical operation processing of the main server 705, the pattern workstation group control host 710 transmits the data information to the main server 705, the data information and the aircraft operating personnel obtain data information through the operation display 88, and the aircraft operating results are displayed through the main screen display screen 88, and the aircraft operating personnel,
An aircraft vision system 400 of rotorcraft 88 is configured to capture images in a 360 ° region around rotorcraft 88, a first imaging device 467 of aircraft vision system 400 is mounted at a location behind a front windshield, a forward-looking camera for capturing images of a forward field of view (FOV) 462 of rotorcraft 88, a second imaging device 466 of aircraft vision system 400 is mounted at a rear of rotorcraft 88 for capturing a rearward field of view (FOV) 465 of rotorcraft 88, a third imaging device 464 of aircraft vision system 400 is mounted at a left side of rotorcraft 88 for capturing a side-looking image camera of side field of view (FOV) 463, a fourth imaging device 469 of aircraft vision system 400 is mounted at a right side of rotorcraft 88 for capturing a side-looking image camera of side field of view (FOV) 468, and a fifth imaging device 401 of aircraft vision system 400 is mounted at a lower portion of a fuselage 455 of rotorcraft 88 for capturing a view (FOV) 402; a sixth imaging device 406 is mounted on the first robot arm 182, a seventh imaging device 407 is mounted on the second robot arm 183, an eighth imaging device 408 is mounted on the third robot arm 184, a ninth imaging device 409 is mounted on the fourth robot arm 185, a tenth imaging device 410 is mounted on the column 256, the imaging systems of the first imaging device through the tenth imaging device are composed of a video acquisition apparatus 120 and a radar 110, the radar 110 is composed of a laser radar or a millimeter wave radar,
The radar 110 is used for detecting a target and acquiring target data and an environment coordinate of the target, the radar 110 adopts a one-shot-and-two-shot FMCW system and a 2D-FFT data processing technology, the detected target data comprises radial distance, radial speed and angle information of the target, the radial distance and the angle information are converted into transverse distance and longitudinal distance information of the target according to a geometric relation through data characteristic transformation, the transverse distance and the longitudinal distance information form the environment coordinate of the target relative to a video acquisition device, the target data detected by the radar every time are different for the detection of a moving target, in order to obtain more accurate target information and eliminate false targets as far as possible, a data association and target tracking technology is adopted to perform data association and adaptive filtering prediction on the target information detected by the radar for multiple times, when the radar obtains accurate target information, a video trigger signal is output when stable tracking is established on the detected target, a video camera is triggered to perform image acquisition and target extraction, and the target detected by the radar is converted into environment coordinate data relative to the camera and transmitted to the radar video information fusion system 130 for information fusion,
The video collecting device 120 is used for collecting image information and pixel coordinates of a target after the radar tracks the target, the video collecting device 120 is composed of a camera, target characteristic data is obtained by processing the image after collecting the image information, the pixel coordinate data of the target and the like are transmitted to the radar video information fusion system 130, the radar and video collecting device which is in communication connection with the input end of the radar video information fusion system 130 is used for carrying out information fusion on the target data and the image information of the target, specifically comprises the steps of carrying out coordinate conversion on the obtained target data collected by the radar 110 and converting the environmental coordinates into the pixel coordinates corresponding to the image, the radar 110 detects the position of the target and the image information or the video data collected by the video collecting device 120 to carry out time registration, first data association and decision making, and displays the target fusion result on a display screen,
in fig. 13 and 16, the detection and processing method of the radar video composite data detection and processing system includes the following steps:
s1, a radar detection target acquires target data and environment coordinates of a target,
s1.1, detecting a target by a radar, processing echo data to obtain target data, wherein the target data comprises radial distance, radial speed and angle information of the target,
S1.2, converting the radial distance and the angle information into the transverse distance and the longitudinal distance of a target by the radar through data characteristic transformation according to a geometric relation, wherein the transverse distance and the longitudinal distance of the target form an environment coordinate of the target relative to video acquisition equipment,
s1.3, after the radar acquires target data of a target, performing second data association on the radar information, wherein the method for performing the second data association on the target data acquired at the current moment by the radar comprises the following steps: the radar judges the number of targets detected by the radar, if the number of the targets detected by the radar is smaller than a preset number threshold value and the number of the targets is small or sparse, the radar adopts the track bifurcation method or the nearest neighbor method to perform data association, the calculation is simple and good in real-time performance, if the number of the targets detected by the radar is larger than the preset number threshold value and the number of the targets is large and dense, the data association is performed by adopting the joint probability data association algorithm, the algorithm has good tracking performance in a clutter environment, a plurality of targets exist in the clutter environment, the track of each target is formed, if a plurality of echoes exist, all the echoes at a tracking gate are considered to possibly originate from the targets, and only the probability that each echo originates from the target is different,
S1.4, the radar carries out self-adaptive filtering prediction on the target data acquired at the current moment, the self-adaptive filtering prediction can adopt Kalman filtering tracking to carry out target tracking prediction, and the target,
s2, after the radar tracks the target, the video acquisition equipment acquires the image information and the pixel coordinates of the target,
s2.1, the video acquisition equipment acquires image information of a target,
s2.2, the video acquisition equipment carries out image processing on the image information to obtain target characteristic data, transmits the target characteristic data, pixel coordinate data and the like to a radar video information fusion system,
s3, the radar video information fusion system performs information fusion on target data and image information of the target; the information fusion comprises the following steps: coordinate transformation, time registration, data decision and first data association,
s3.1, the radar video information fusion system carries out coordinate conversion on target data acquired by a radar from environment coordinates to pixel coordinates corresponding to video information, and the method specifically comprises the steps of; an origin of the environment coordinate system Ow-XwYwZw takes an intersection point of the video acquisition device perpendicular to the ground as the origin Ow (which can also be set at any position, generally set with reference to actual conditions), an Yw axis points to the right front of the horizontal plane where the video acquisition device acquires the video, a Zw axis points to the upward direction perpendicular to the horizontal plane, an Xw axis is located on the horizontal plane and perpendicular to the Yw axis, a pixel coordinate system Oo-UV, a U axis and a Y axis form an imaging plane, the imaging plane is perpendicular to the Yw axis of the environment coordinate system, the upper left corner of the imaging plane is taken as the origin Oo, a unit of the pixel coordinate system is a pixel, and when the ground clearance H m of the video acquisition device is set, the relationship between the environment coordinate and the pixel coordinate is as shown in formula (1): 
In the formula (1), U is a U-axis coordinate of the target in a pixel coordinate system, V is a V-axis coordinate of the target in the pixel coordinate system, ax and az are equivalent focal lengths of the video acquisition equipment in Xw axis and Zw axis directions, U0 and V0 are coordinates of a pixel center of image information, xw, yw and Zw are environment coordinate values of points in a camera irradiation physical range respectively,
s3.2, the radar video information fusion system carries out time registration on target data of a radar and image information of video acquisition equipment, the data refreshing frequency of the radar is different from that of a video camera, radar detection target information and video target extraction information need to be fused in time, the synchronism of paired data is ensured, the complementary effect of the advantages of the radar and the video is played, the data refreshing frequency of a general radar is faster than that of a video camera, a time registration algorithm based on a least square criterion can be adopted, and the method specifically comprises the following steps: different types of sensors C and R, wherein the sampling period of the sensor C is tau, the sampling period of the sensor R is T, the proportionality coefficient of the sampling period is an integer n, if the last target state estimation time from the sensor C is (k-1) tau, the current time is represented as k tau = [ (k-1) tau + nT ], which means that the number of times of target state estimation by the sensor R is n within one period of the sensor C, the idea of least square method time registration is to fuse n times of measured values collected by the sensor R into a virtual measurement and use the virtual measurement as the measured value of the sensor R at the current time, and the measured value is fused with the measured value of the sensor C to eliminate the purpose of target state measured value asynchronization caused by time deviation and eliminate the influence of time on the multi-sensor information fusion accuracy,
Setting the acquisition cycle of video acquisition equipment as tau, the acquisition cycle of a radar as T, and the proportionality coefficient of the acquisition cycle as an integer n; if the last target state estimation time of the video acquisition equipment is marked as (k-1) tau, the current time is represented as k tau = [ (k-1) tau + nT ], and n is the target detection times of a radar in one period of the video acquisition equipment;
n-time measured values collected by the radar are fused into a virtual measured value which is used as the measured value of the radar at the current moment, and S is assumed n ＝[S1,S2,...,Sn] T For a set of (k-1) some target position data detected by a radar from tau to k tau, sn corresponds to video acquisition data at k tau, and if S1, S2The column vector formed by the derivative of the radar probe data is expressed as the following virtual measurement value si:
where vi represents the measurement noise, the above equation is rewritten into a vector form: s n ＝W n U+V n
Wherein, V n ＝[v1,v2,...,vn] T The mean is zero, and the covariance matrix is:
and then
To measure the noise variance for the fusion of the previous positions,
there is an objective function according to the least squares criterion:
so that J is the smallest, J is paired on two sides
Taking the derivative and making it equal to zero: />
Thus, there are:
the corresponding error covariance matrix is:
will S n Expression of (1) and formula W n By substituting the above two formulas, the composition can be fused The measurement value and the measurement noise variance after the summation are respectively:
wherein c1= -2/n, c2=6/[ n (n + 1) ]
The measured value of the radar at the current moment and the measured value of the video acquisition equipment are fused by adopting a nearest neighbor data association method,
s3.3, the radar video information fusion system carries out data decision on target data of the radar and image information of the video acquisition equipment, and the method specifically comprises the following steps: the radar video information fusion system judges whether the image quality of the image information acquired by the video acquisition equipment at the current moment is greater than a preset threshold value, if so, the target number information extracted by the image information is adopted, otherwise, the target number information extracted by the target data acquired by the radar is adopted,
s3.4, the radar video information fusion system carries out first data association on target data of the radar and image information of the video acquisition equipment, wherein the first data association adopts a nearest neighbor data association method, and the method specifically comprises the following steps: firstly, setting a tracking gate to limit the potential decision number, wherein the tracking gate is a subspace in a tracking space, the tracking gate is set by taking a video processing or radar detection target position as a center, the size of the tracking gate is ensured to have certain probability of correct matching, therefore, the residual error is larger, the residual error is eliminated firstly, if the number of radar detection targets in the tracking gate is more than 1, the residual error with the smallest value is regarded as a target,
S3.5, displaying target fusion result information through a display screen by the radar video information fusion system; flight control computer 687 is coupled to multi-protocol communication network access system 460,
the processor adopts an STM32 series single chip microcomputer, pins 21, 22, 25, 26, 27 and 28 of an STM32F10XC type processor are respectively connected with pins 36, 37, 32, 33, 34 and 35 of an Ethernet module for communication, any pin can be selected from pins 18, 19, 20, 39, 40, 41, 42, 43, 45 and 46 of the STM32F10XC type processor for connecting a radio frequency unit, a transceiver and a Ka frequency band modem as well as 4G, 5G and 6G communication modules,
the CAN bus module adopts an SN65HVD230 type chip, pins 1 and 4 of the CAN bus module are electrically connected with pins 46 and 45 of the processor, the CAN bus module realizes the cascade connection of a plurality of processors, realizes the expansion of the processors so as to meet the requirement of controlling the communication among a plurality of processors,
the serial port communication circuit includes: the communication interface, the RS485 signal communication circuit and the RS232 signal communication chip are electrically connected with the processor; the communication interface is provided with an input end of an RS485 signal communication circuit and an input end of an RS232 signal communication chip, and the input end of the RS485 signal communication circuit and the input end of the RS232 signal communication chip send data information to the processor; the processor is suitable for converting RS232 signals into RS485 signals, pins 9 and 10 of the communication interface are electrically connected with pins 30 and 31 of the processor, pins 3 and 4 of the communication interface are connected with pins 6 and 7 of the RS485 signal communication circuit, pins 5 and 6 of the communication interface are connected with pins 7 and 8 of the RS232 signal communication chip, pins 1, 2 and 4 of the RS485 signal communication circuit are respectively connected with pins 14, 15 and 16 of the processor, pins 10 and 9 of the RS232 signal communication chip are respectively connected with pins 12 and 13 of the processor, and an information classification database is arranged in the processor module; the processor module is suitable for extracting the key content in the data information, comparing the key content in the information classification database, classifying the key content according to the comparison result, transmitting the key content according to the transmission mode corresponding to the classification, and loading the corresponding communication protocol to be transmitted in the data information during the classification transmission so as to meet the corresponding communication requirement, thereby realizing the automatic configuration among the multiple protocols, wherein the serial port communication circuit further comprises: the communication indicating circuit is electrically connected with the communication interface; communication indicating circuit is provided with first pilot lamp, second pilot lamp, and when the RS485 signal communication circuit that links to each other with the communication interface normally worked, first pilot lamp instruction was bright for green lamp to and when the RS232 signal communication chip that links to each other with the communication interface normally worked, the second pilot lamp instruction was bright for green lamp, and multiprotocol communication network access system 460 still includes: a DC-DC voltage reduction circuit; the DC-DC voltage reduction circuit is suitable for supplying power and stabilizing voltage to equipment,
The system 442 for data compression includes: radar 110, video acquisition device 120, radar video information fusion system 130, radar 110 consisting of a laser radar and a millimeter wave radar, raw byte data scanning unit 443, a compressed storage unit 444, a first judgment unit 445, a compressed data generation unit 446, a sending module 447 original byte data scanning unit 443, configured to scan original byte data; a compression storage unit 444 for compressing and storing original byte data; a first determining unit 445, configured to determine whether scanning of the original byte data is completed; a compressed data generating unit 446, configured to generate compressed data according to the stored byte data, transmit the compressed data to the sending module 447,
the system 448 that is data decompression includes a receiving module 263, a compressed data scanning unit 449, a compression logic determination value and compression logic obtaining unit 450, a decompression reading unit 451, a second determination unit 452, and an original byte data restoring unit 453, where the compressed data scanning unit 449 is used to scan compressed data; a compression logic judgment value and compression logic obtaining unit 450, configured to perform compression logic judgment operation on nth byte data of compressed data to obtain a compression logic judgment value and a compression logic, where n is a natural number greater than or equal to 1; a decompression reading unit 451 for decompressing and reading the compressed data according to the compression logic determination value and the compression logic; a second determining unit 452 configured to determine whether the compressed data is completely scanned; an original byte data restoring unit 453 for restoring original byte data based on the read byte data, a display 255 displaying the original byte data restored by the original byte data restoring unit 453,
The radar 110 and the video capture device 120 of the aircraft vision system 400 are fused by the radar video information fusion system 130, the original byte data scanning unit 443 scans images of the radar video information fusion system 130 and transmits the images to the compression storage unit 444, the compression storage unit 444 transmits the images to the first judgment unit 445, the first judgment unit 445 transmits the images to the compressed data generation unit 446, the compressed data generation unit 446 transmits the compressed images to the transmission module 447 and transmits the compressed images to the multi-protocol communication network access system 460 by the transmission module 447, the multi-protocol communication network access system 460 transmits the compressed images to the first switch 291 via the second wireless carrier system 461, the first switch 291 transmits the compressed images to the remote control system 298, the remote control system 298 transmits the received images to the second processor 215, the second processor 215 transmits the received images to the receiving module 263, the receiving module 263 transmits the received images to the compressed data scanning unit 449, the compressed data scanning unit 449 transmits the compressed data scanning unit 449 to the compressed data acquisition unit 450, the compressed data acquisition unit 450 decompresses the read unit 452 and transmits the decompressed data to the second judgment unit 452, the second judgment unit 451, and transmits the original byte data recovery unit 453 to the original byte data recovery unit 453,
The interface information can comprise a compression type and the size of original byte data, the definition of the compression type can use 0 to represent no compression and 1 to represent compression, and further carries out data compression on byte data which exists continuously and incrementally and byte data which exists discontinuously and is the same in the original byte data and discontinuously and incrementally, thereby further reducing the redundancy of the data and improving the data transmission efficiency; by adding interface information to the compressed data, the receiving module can be ensured to correctly complete the decompression processing process,
after data compression, transmission data is transmitted between the wireless node 411 and the wireless node 414 through a wireless channel, wherein the wireless node 411 comprises a sending module 412; wireless node 414 includes a receiving module 413; the data compression function is disposed on the sending module 413, the data decompression function is disposed on the receiving module 413, and the data compression method includes the following steps: scanning original byte data 415, scanning sequentially from a first byte of the original byte data, determining a redundant component of the original byte data according to a scanning result, performing a next compression processing step according to the characteristics of the redundant data, compressing and storing 416 the original byte data, performing a first logic operation on the original byte data and the number of the consecutive same byte data if the consecutive same byte data exists in the original byte data to obtain a first logic operation value, storing the first logic operation value as one byte data, storing any one byte data of the consecutive same byte data as another byte data, for example, when 3 consecutive same byte data exist in the original byte data and are respectively 0x05,0x05 and 0x05, performing a logic "or" operation by using 0x80 and the number 0x03 of the consecutive same byte data to obtain a first logic operation value 0x83, then storing the obtained first logic operation value 0x83 as one byte data, storing the consecutive same byte data as 0x03, and judging whether the scanning is completed according to the scanning result, and determining whether the original byte data is scanned and whether the scanning is completed according to 418; if the scanning is not completed, the step is returned to scan the original byte data 415 to continue scanning, compressed data 418 is generated according to the stored byte data, the original byte data is compressed, and a compression processing step is performed on the continuous same byte data in the original byte data in the storage 416, so that the original byte data occupying 3 bytes of data only occupies 2 bytes of data after data compression processing, and the original byte data occupying 0 × 83 and 0 × 05 are compressed data, which can be known from the technical scheme that, through the step a: scanning original byte data b: if the original byte data contains continuous same byte data, performing a first logical operation with the number of the continuous same byte data to obtain a first logical operation value, and storing the first logical operation value as one byte data and any one byte data of the continuous same byte data as another byte data c: d, judging whether the original byte data is scanned completely, if so, turning to the step d, otherwise, returning to the step a; d: generating compressed data based on the stored byte data,
Firstly, determining original byte data 419 to determine data characteristics in the original byte data according to the steps; if the determination 420 determines that there is consecutive logical byte data, i.e., when the determination is made that there is consecutive incremental byte data in the original byte data; performing a second logical operation to obtain a second logical operation value 421, that is, performing a second logical operation with the number of the continuously increasing byte data to obtain a second logical operation value; then, a step 422 of compressing and storing a second logic operation value and original byte data is executed, namely, the second logic operation value is stored as one byte data, and the first byte data of the continuously increased byte data is stored as another byte data, wherein the second logic operation is to use 0xC0 to carry out or operation with the number of the continuously increased byte data, if the discontinuous same and discontinuously increased byte data 423 exists, namely, when the discontinuous same and discontinuously increased byte data exists in the original byte data; a step 424 of performing a third logical operation to obtain a third logical operation value, that is, performing the third logical operation on the number of the discontinuous and same byte data which are discontinuously increased to obtain the third logical operation value; then, a step 425 of compressing and storing a third logic operation value and the original byte data is executed, that is, each byte data of the byte data which is not continuous and same but not continuous and incremental is stored as another byte data in turn, wherein the third logic operation is to use 0x00 and the number of the byte data which is not continuous and same but not continuous and incremental to carry out or operation, finally the stored byte data is obtained according to the step 426 of obtaining the stored byte data, the compressed data is generated according to the stored byte data,
The step of generating the compressed data 418 according to the stored byte data may be further added with the step of generating a compressed data packet 419 according to the data adding interface information,
the method for decompressing data is a method for decompressing data, and after the receiving module 413 of the wireless node 414 receives the compressed data sent by the other wireless node, the method for decompressing data can be used for decompressing, and then the decompressed data is delivered to the wireless node for subsequent processing, and the method for decompressing data can include the following steps: scanning 427 compressed data 427, where the compressed data is obtained by compressing original byte data by the data compression method in the first embodiment, performing compression logic judgment operation on nth byte data of the compressed data to obtain a compression logic judgment value and a compression logic, where n is a natural number 428 greater than or equal to 1, decompressing and reading 429 the compressed data according to the compression logic judgment value and the compression logic, and if the compression logic judgment value is equal to a first preset value, judging that continuous same byte data exists in the original byte data corresponding to the compression logic; performing a first logical number operation on nth byte data to obtain a data number i, wherein i is a natural number greater than or equal to 2, repeatedly reading n +1 th byte data of the i compressed data, judging whether the compressed data is completely scanned 430, if the scanning is completed, turning to a step of generating compressed data 431 according to the stored byte data, if the scanning is not completed, returning to scan the compressed data 427 to continue the scanning, generating the compressed data 431 according to the stored byte data, recovering the original byte data according to the read byte data, and if the original byte data is decompressed and read 429 according to the compression logic judgment value and the compression logic, performing a step of decompressing and reading 429 on the compressed data, wherein the original byte data is the read byte data x05,0x05,
On the basis of scanning the compressed data 427, that is, on the basis of decompressing and reading the compressed data according to the compression logic judgment value and the compression logic, there is further provided a compression logic judgment value equal to a second preset value, that is, the compression logic corresponds to the continuously increasing byte data in the original byte data; and the compression logic judges that the value is not equal to the first preset value and not equal to the second preset value, namely the compression logic decompresses and reads the compressed data under the condition that the original byte data corresponding to the compression logic has discontinuous same byte data and discontinuous incremental byte data,
firstly, according to the step of determining a compression logic judgment value 432, if the compression logic judgment value is determined to be equal to a second preset value 433, the step of determining that continuously increasing byte data 434 exists in original byte data corresponding to compression logic is performed, and the step of performing second logic number operation on nth byte data of compressed data is further performed to obtain a data number j435, wherein j is a natural number which is more than or equal to 2; finally, starting from the (n + 1) th byte data of the compressed data, sequentially reading the j byte data 436, wherein the second preset value is 0xC0; a second logical number operation, which is to perform an or operation by using 0x38 and nth byte data, wherein if the compression logic judgment value is determined not to be equal to the first preset value and not to be equal to the second preset value 437, a third logical number operation is further performed on the nth byte data of the compressed data by determining that discontinuous identical byte data 438 which are discontinuously increased exist in the original byte data corresponding to the compression logic, so as to obtain a data number k439, wherein k is a natural number which is greater than or equal to 2; finally, the k bytes of data are read sequentially from the (n + 1) th byte of data 440 of the compressed data, wherein the third logical number operation is an OR operation using 0x00 with the nth byte of data, and the original byte of data is recovered from the step of obtaining the read byte of data 441,
Simplified controller schematic 151 connecting a master input device 152 to a master/slave controller 153 of a slave manipulator 154 describes controller inputs, outputs and calculations using vector mathematical notation, where vector X will reference an orientation vector in cartesian coordinates, and where vector q will reference a joint articulation configuration vector of an associated linkage, sometimes referred to as a linkage orientation in joint space, to which indices can be appended to identify particular structures when ambiguities exist, such that
Is the orientation of the primary input device in the associated primary workspace or coordinate system, and x s Indicating the orientation of the follower in the workspace, the velocity vector associated with the orientation vector being indicated by a point above the vector or by the word "dot" between the vector and the subscript, e.g. xdot of the main velocity vector m Wherein a velocity vector is mathematically defined as the change in orientation vector over time, and the controller 153 comprises an inverse Jacobian velocity controller in & @>
Is the orientation of the master input device and is the speed of the master input device, the controller 153 calculates the speed for transmission to the slavePower command of the slave-end-effector 154 to effect slave-master velocity corresponding to slave-end-effector movement of the input device, the controller 153 is capable of calculating a slave-slave orientation x s And from the force reflection signal applied to the main input device at speed and from there to the hand of the remote driver 91,
the first controller module 159 may contain some form of Jacobian controller having a Jacobian correlation matrix, in a port grasp mode the second controller module 160 may receive signals from the slave manipulator 158 indicative of the position or velocity of a follower resulting at least in part from manual articulation of the slave manipulator linkage, in response to which the second module 160 may generate power commands adapted to drive the joints of the follower so as to permit manual articulation of the slave linkage while configuring the follower in a desired joint configuration, during master-slave end effector manipulation the controller may use the second module 160 to assist in varying the signal bqdot o Deriving power commands, such alternative input signals to the second controller module 160 of the controller 157 may be used to drive manipulator linkages to maintain or move minimally invasive aperture pivot positions along the manipulator structure, to avoid collisions between multiple manipulators, to increase the range of motion of the manipulator structure and avoid singularities, to produce desired poses of the manipulator, etc.,
The processor 157 includes a first controller module 159 and a second controller module 160, the first controller module 159 can include primary joint controllers, inverse jacobian master-slave controllers, the primary joint controllers of the first controller module 159 can be configured to produce desired manipulator assembly motions in response to inputs from the master input device 156, the manipulator linkage has a series of alternate configurations for a given end effector position in space, commands for the end effector to assume a given position can cause a variety of different articulation motions and configurations, the second controller module 160 can be configured to assist in driving the manipulator assembly to a desired configuration, the manipulator is driven toward a preferred configuration during master-slave motion, the second controller module 160 will include configuration dependent filters, the primary joint controllers of the first controller module 159And the configuration-dependent filters of the second controller module 160 can each comprise a filter used by the processor 157 to communicate a linear combination of control authority of the joints to one or more objectives or performance of a task, provided that X is the space of joint motion, F (X) can be a filter that controls the joints to i) provide desired end effector motion, and ii) provide pivoting motion of the instrument shaft at the aperture site, the primary joint controller of the first controller module 159 can comprise a filter F (X), conceptually, (1-F-1F) (X) can describe a configuration-dependent subspace filter that gives control actuation authority of the linear combination of joint velocities orthogonal to the objectives of achieving the primary joint controller, such configuration-dependent filter can be used by the second controller module 160 of the controller 157 to achieve a second objective, the two filters can be further subdivided into more filters corresponding to the implementation of more specific tasks, the filter F (X) can be divided into F1 (X) and F2 (X) for controlling the end effector and controlling the pivot axis motion, respectively, either of which can be selected as the highest priority task of the processor, the robotic processor and control technology will often utilize a primary joint controller configured for a first controller task, and configure a correlation filter that utilizes an under-constrained solution generated by the primary joint controller for a second task, the primary joint controller will be described with reference to the first module, while the configuration correlation filter will be described with reference to the second module, additional modules that can include additional functions and various priorities, the hardware and programming code for the first and second module functions are fully integrated, partially integrated, fully separable, the controller 157 can use the functions of both modules simultaneously, can have a variety of different modes, one or both of which are used separately or in different ways, the first controller module 159 can be used with little or no influence from the second controller module 160 during master-slave maneuvers, and the second controller module 160 has a greater role during system set-up when the end effector is not being robotically driven, both modules can be active most or all of the time robot motion is enabled, by having the first module's functions fully integrated, fully separated, and the controller 157 can use both modules' functions simultaneously, can have a variety of different modes, and the first controller module 159 can have little or no effect on the system set-up when the end effector is not being robotically driven Gain is set to zero by setting x s Is set as x s,actual And by reducing the matrix rank in the inverse jacobian controller so that it cannot control too much and the configuration dependent filter has more control authority, the effect of the first module on the state of the manipulator assembly can be reduced or eliminated, thereby changing the mode of the processor 157 to a gripping mode,
the first module 159 contains an inverse Jacobian velocity controller having an output from a calculation performed using an inverse Jacobian matrix modified from a virtual slave path 163, first described, the vector associated with the virtual follower being generally denoted by a v subscript, such that the joint space qdot v Is integrated to provide q v Processing q using inverse motion module 162 v To generate a virtual slave joint orientation signal x v Virtual slave orientation and master input command x m Combined and processed using forward motion 161, the use of virtual followers to facilitate smooth control and force reflection when approaching hard limits of the system, when exceeding soft limits of the system, etc., the structure of other components and other controllers indicated by the first control module 159 and the second control module 160 and control schematic 165, including data processing hardware, software and firmware, such structures including reprogrammable software and data embodied in machine-readable code and stored in tangible media for storage by the second processor 215 of the remote control station 169 using machine-readable code in a variety of different configurations, including random access memory, non-volatile memory, write-once memory, magnetic recording media, and optical recording media, signals embodying code and data associated therewith are transmitted via a variety of communication links including the internet, intranets, ethernet, wireless communication networks and links, electrical signals and conductors, and optical fibers and networks, the second processor 215 comprises one or more data processors of the remote console 169, local data processing circuitry including one or more of a manipulator, an appliance, an individual and remote processing structure and location, a module comprising a single common processor board, a plurality of individual boards, one or more of the modules dispersed across the plurality of boards, wherein one of the modules comprises a single common processor board, a plurality of individual boards, and a plurality of modules comprising a plurality of modules, each of which is coupled to a processor of the processor and a processor of the processor The boards also run some or all of the computations of another module, the software code of the modules being written as a single integrated software code, each module being divided into separate subroutines, or portions of code of one module being combined with some or all of the code of another module, the data and processing structures including any of a variety of centralized or distributed data processing and programming architectures,
in fig. 27, the output of the controller, which will often attempt to solve for a particular manipulator joint configuration vector q for generating commands for these highly configurable slave manipulator mechanisms, the manipulator linkage typically has sufficient degrees of freedom to occupy a range of joint states for a given end effector state, structures in which actuation of one joint is replaced directly by similar actuation of a different joint along the kinematic chain, sometimes referred to as structures with excess, extra, or redundant degrees of freedom, while these terms generally encompass kinematic chains in which the intermediate links can move without changing the orientation of the end effector, the primary joint controller of the first module often attempts to determine or solve for a virtual joint velocity vector qdot when using the velocity controller of fig. 27 to direct the movement of the highly configurable manipulator v Which can be used so that the end effector will follow the master command x accurately m In a system capable of occupying a range of joint states for a given end effector state, the mapping from cartesian commands xdot to joint motions qdot is a one-to-many mapping, because the mechanism is redundant, there are mathematically infinite solutions represented by an inverse living subspace, the controller embodies this relationship using a jacobian matrix that is more column-wise than row-wise, mapping multiple joint velocities to relatively fewer cartesian velocities, determined by the concept of a remote center of motion 298 constrained by software, different modes characterized by the compliance or stiffness of the system can be selectively achieved by having the ability to calculate software pivot points, enabling different systems over a range of pivot points/centers after calculating an estimated pivot pointMode in a fixed pivot embodiment the estimated pivot point can be compared to the desired pivot point to generate an error output that can be used to drive the pivot of the instrument to the desired position, and conversely, in a passive pivot embodiment, although the desired pivot position may not be the most important target, the estimated pivot point can be used for error detection and therefore for safety, as a change in the estimated pivot point position indicates separation from the steering wheel or failure of the sensor, giving the system the opportunity to take corrective action,
A block diagram 231 for actively controlling the remote center of motion (RC), arm end 197 (C), and instrument end effector (E) frame of reference using input from the MTM controller,
a block 232 for actively controlling the instrument end effector (E) system using inputs from the master manipulator controller, while controlling the Remote Center (RC) and arm end 197 (C) systems using secondary input devices using arbitrary references, not necessarily EYE systems, the reference frame transformation EYETREF can be measured directly or calculated from indirect measurements, the signal conditioning unit combining these inputs in an appropriate common system for use by the slave manipulator controllers,
there are three frames of reference to be controlled by the controller of the system, one of which (C) is the frame of reference for the arm end 197, and assuming eye te is commanded by the Master Tool Manipulator (MTM) controller, the pose specification for the remote center frame of reference and the arm end 197 frame of reference are from one or a combination of the following sources: (i) The MTM controller specifies these systems/reference systems in the EYE system, i.e. EYE T RC And EYE T C (ii) the secondary device commands these frame poses in a convenient frame of reference, i.e. REF T RC And REF T C (wherein it is possible to determine EYE T REF ) And (iii) the slave controller specifies these poses in the slave arm's base frame, i.e. the slave arm's base frame W T RC And W T C ，
is a schematic block diagram of systems 212 and 213, the systems 212 and 213 for controlling the relationship between the instrument end effector 193 reference frame and the remote control system 298 reference frame using the second processor 215 of the computer-aided aircraft motion protection system 258, assuming the arm end 197 reference frame and the remote control system 298 reference frame coincide, the arm end 197 reference frame and the remote control system 298 being physically constrained to move relative to the instrument end effector 193 only along the longitudinal axis of the arm end 197 and the instrument, employing two different strategies to control the relationship between the instrument end effector 193 reference frame (E-frame) and the remote control system 298 reference frame (RC-frame), one strategy for actively controlling the relative distance (d) between the two reference frames, whether the E-frame is fixed or moving, using inputs from force/torque sensors or three-state switches, implementing a control subsystem for that mode using a block diagram, which can be described as a 'relative pose controller',
in fig. 33, a general block diagram of relative control of distance from the tip using a three-state switch is represented as follows for an incremental cartesian command "slv _ cart _ delta" from the manipulator: slv _ cart _ delta = S _ slv _ cart _ vel _ Ts (where Ts is the sampling time of the controller), S takes the value [1, -1,0], depending on which it commands the movements of cyclic rod 677, master rod 683, right pedal 602 and left pedal 601,
Is a general block diagram of the distance of the force/torque or pressure sensors from the tip relative to the control arm end 197, the incremental cartesian command "slv _ cart _ delta" to the slave manipulator can be expressed as follows: slv _ cart _ delta = F (F, p) "F" is a programmable function using sensed force or pressure F and some user-defined parameter p as inputs, this is an admittance controller, which can be achieved by estimating cartesian forces along the axis of the arm end 197 by means of joint torque sensors and arm kinematics knowledge, after which the calculated estimate can be used as input F to command incremental movements, signal F can be any other measured or calculated amount of force based on user interaction with the manipulator, the trajectories of the RC and E systems can be controlled independently, where the control inputs governing these trajectories may all come from the master manipulator, the control subsystem block diagram of this additional strategy can be called 'independent attitude controller', can outline the insertion (I/O) movements to allow lateral movements of the remote control system or arm end 197 relative to the instrument tip E, the remote control system 298 or arm end 197 will need to pivot around the tip while driving the instrument to compensate for the movements of E, which will allow movements of the RC and arm end 197 within the cockpit 456,
Is a method of providing fault reaction, fault isolation and fail-soft of a remote system, the components of the first robot 89 and the second robot 90 cooperatively interacting to perform various aspects of fault reaction, fault isolation and fail-soft in the first robot 89 and the second robot 90, the first robot 182, the second robot 183, the third robot 184 and the fourth robot 185 each comprising a plurality of nodes, each node controlling a plurality of motors that drive joints and linkages in the robot arm to affect the freedom of movement of the robot arm, each node also controlling a plurality of brakes for stopping the rotation of the motors, the first robot 182 having motors 307, 309, 311 and 313; a plurality of brakes 308, 310, 312, and 314 and a plurality of nodes 315, 316, and 317, each node 315, 316 controlling a single motor/brake pair; the node 317 controls the two motor/actuator pairs, the sensor processing unit 318 is included to provide motor displacement sensor information to the node 317 for control purposes, the second 183, third 184, fourth 185 manipulators are configured similar to the first 182 with motors, actuators, and nodes, each manipulator arm operatively coupled to an arm processor, an arm processor 328 operatively coupled to a node of the first manipulator 182, an arm processor 325 operatively coupled to a node of the second manipulator 183, an arm processor 323 operatively coupled to a node of the third manipulator 184, and an arm processor 321 operatively coupled to a node of the fourth manipulator 185, each arm processor further including a joint position controller for translating a desired joint position of its operatively coupled manipulator arm to a current command for driving a motor in its operatively coupled manipulator to drive its respective joint to the desired joint position, the system management processor 320 operatively couples arm processors 328, 325, 323, 321; while system management processor 320 is also shown as a separate unit translating a user-manipulated input device associated with a robotic arm to a desired joint position, arm processors 328, 325, 323, 321 are also implemented by program code as part of system management processor 320, arm management processor 319 is operatively coupled to system management processor 320 and arm processors 328, 325, 323, 321, arm management processor 319 initiates, controls, and monitors certain coordinated activities of the arm in order to relieve system management processor 320 from having to do so, arm manager 319 is also implemented by program code as part of system management processor 320, each of the processors and nodes is configured to perform the various tasks herein by any combination of hardware, firmware, and software programming, their functions being performed by one unit or distributed among a number of subunits, each subunit, in turn, implemented by any combination of hardware, firmware, and software programming, system management processor 320 is distributed throughout subunits of first robot 89 and second robot 90, such as remote control station 169, and base 173 of first robot 89 and second robot 90, system management processor 320, arm management processor 319, and each arm processor 328, 325, 323, 321 includes a plurality of processors to perform various processor and controller tasks and functions, each node and sensor processing unit includes a transmitter/receiver (TX/RX) pair to facilitate communication with other nodes of its robot arm and arm processor operatively coupled to its robot arm, TX/RX are daisy-chained into a network, in which daisy-chained arrangement, when RX of each node receives a packet of information from TX of a neighboring node, it verifies the destination field in the packet to determine if the packet is for its node, the node processes the packet, the packet is for another node, the node's TX passes the received packet to the RX of the neighboring node in the opposite direction as where it came, information is passed over the daisy chain network in the form of packets using a packet switching protocol, a Fault Reaction Logic (FRL) line is provided in each robot arm, the fault notification is passed by hand at a fast rate, the first robot 182 includes an FRL line coupled to each of the arm processor 328 and the nodes 315, 316 and 317 of the robot arm 315, the arm processor or node pulls up the FRL line 329 to pass the fault notification to the other components coupled to the arm processor 329 at a fast rate when the arm processor 328 and one of the nodes 315, 316 and 317 detect a fault affecting it, conversely, when the arm processor or node pulls down the FRL line 329 to pass the fault notification to the node of the first robot 182, instead one of the FRL line 329 or FRL notification is used to pass the FRL line notification and the other components of the FRL notification is replaced with one of the specified field 329 or FRL line notification,
Detecting 387 a fault in a failed arm of the plurality of robotic arms in the method, wherein the robotic arm becomes a "failed arm" due to the detected fault, in the arm processor 328 the method then places the failed arm into a safe state, wherein "safe state" refers to a state of the failed arm that isolates the detected fault by preventing further movement of the arm, in the FRL line 329 the method determines whether the fault should be treated as a system fault or a partial fault, wherein "system fault" refers to a fault that affects performance of at least one other robotic arm of the plurality of robotic arms, and "partial fault" refers to a fault that affects performance of only the failed arm, because a local fault results in only the failed arm being held in a safe state until the fault is cleared, it is not the type of fault that results in unsafe operation of the non-failed robotic arm, the fault is the type of unsafe operation that results in non-failed arms, then the method should produce a determination that the detected fault is a system fault, where all robotic arms in the system will be placed in a safe state, in placing the non-failed arm in a safe state 330, the method will place a non-failed arm of the plurality of arms in a safe state only if the fault will be considered a system fault, where "non-failed arm" refers to a robotic arm of the plurality of robotic arms in which no fault has been detected, in recoverable or non-recoverable? 331, the method determines whether a detected fault is classified as a recoverable system fault or a non-recoverable system fault, providing a recovery option 332, the method provides a system user with a recovery option, waiting for a system shutdown 333, the method waits for a system shutdown, determining in a system or local fault 329 that the fault will be considered a local fault, and then in recoverable or non-recoverable? 334, the method determines whether the fault is classified as a recoverable local fault or a non-recoverable local fault, provides a system user with a recovery option and a weakened operation option in providing a recovery option and a weakened operation option 335, provides a system user with a recovery option and a weakened operation option, provides a weakened operation option 336, the fault is classified as a non-recoverable local fault, provides only a weakened operation option,
Fig. 36 is a flow diagram of aspects of a method of performing fault reaction, fault isolation and fault weakening performed by each node 315, 316 and 317 of a plurality of robotic arms of a first robot 89 and a second robot 90, where a fault is detected? 337, each node continuously monitors signals and information in that node to detect faults affecting the node using conventional fault detection methods, this type of detected fault is referred to herein as a "local fault" because it is confined to the node, which also monitors FRL lines for fault notifications issued by another node within its arm processor or its robotic arm, this type of detected fault is referred to herein as a "remote fault" because it is not confined to the node, the detected fault is hardware, firmware, software, environmental, or related communications, wherein the node where the fault has been detected is referred to herein as a "failed node," its robotic arm is referred to herein as a "failed arm," wherein the node where no fault has been detected is referred to herein as a "non-failed node," wherein the robotic arm where no fault has been detected is referred to herein as a "non-failed arm," in placing the node into a safe state 338, where the fault is detected? 337, the node places itself into a safe state by deactivating one or more controlled motors of the node, by engaging one or more controlled actuators of the node, in a local or remote fault 339, does the node determine whether the detected fault is a local fault or a remote fault, as previously detected with reference to a fault? 337, the origin of the fault determines whether it will be treated as a local or remote fault, the fault is determined to be a local fault, then the node is a failed node, which in the first case remains in a safe state by transmitting a fault notification 343 in both directions, as follows: disregard recovery notification 346 and recovery notification? 341 back to normal 342, the fault being determined to be a remote fault, then the node is a non-failed node, in the second case the non-failed node continues by transmitting fault notification 340 back to normal 342 in the opposite direction, in transmitting fault notification 343 in both directions, the failed node transmits fault notification in the failed robotic arm in the upstream and downstream directions to the neighboring node, the "downstream" direction referring to the direction of packet travel away from the arm processor of the node and the "upstream" direction referring to the direction of packet travel toward the arm processor of the node, one way the node completes the process is by pulling the FRL line to a high state, in diagnosing the fault and sending an error message to manager 344, the failed node then diagnoses the fault and sends an error message to system management processor 320, the error message preferably including fault information, its error code, error class and error origin (origin), each type of errors that may occur that affect the node is assigned an error code, the error code is classified into at least four error classes: recoverable arm faults, non-recoverable arm faults, recoverable system faults, and non-recoverable system faults, use "recoverable" meaning that a user is provided with an option to attempt recovery from a fault, use "non-recoverable" meaning that a user is not provided with an option to attempt recovery from a fault, the origin of the fault including information of the identity of the node and optional additional information of the origin of the fault within the node, in a recoverable local fault 345, the failed node determines whether the detected fault is a recoverable local fault, and in a recoverable local fault 345, the determination is no, then remaining in a safe state; disregarding recovery notice 346, the failed node remains in its safe state and disregards any recovery notices it may subsequently receive on the FRL line, the determination in recoverable local fault 345 is yes then the failed node proceeds to recovery notice 341, is a local or remote fault? 339 is the determination that the detected fault is to be treated as a remote fault, then in transmitting fault notification 340 in the opposite direction, the virtual FRL line is used, then the non-failed node transmits the received fault notification in the opposite direction from where the fault notification came, in the case of a real FRL line, the non-failed node does not need to take any action on such transmission of the fault notification, in the recovery notification? 341, both the failed node and the non-failed node wait for a recovery notification to be received, in a return-to-normal state 342, once a recovery notification is received, the node returns itself from a safe state to its normal operating state by reversing the actions taken in placing the node in a safe state 338 while avoiding abrupt changes, the node returning to perform a reference fault detected? 337 of the task of fault detection and,
Is a flow diagram of aspects of a method of performing fault reactions, fault isolation, and graceful degradation that are performed by each arm processor 321, 323, 325, and 28 that is operatively coupled to a robot arm of the first robot 89 and the second robot 90, where a fault is detected? 347, each arm processor, while performing its normal operational tasks, also continuously monitors its own operation and notes the fault notification transmitted at the failed node in its operatively coupled robotic arm, when monitoring its own operation a fault is detected, then the fault is referred to herein as a "local fault", the fault is detected by receiving the fault notification from the failed node in its operatively coupled robotic arm, then the fault is referred to as a "remote fault", a remote fault is a fault notification transmitted along the FRL line by the failed node in the robotic arm to which the arm processor is operatively coupled, when the fault is detected? 347 has been detected, in the aircraft vision system 400 the arm processor puts its joint position controller into a safe state by locking its output motor current command to zero, which serves to reinforce the safe state of their respective nodes, in a local or remote fault? 349, arm processor determines if the detected fault is a local fault or a remote fault, where detected? 347, the source of the fault determines whether the fault is to be treated as a local fault or a remote fault, the fault being determined to be a local fault, then the arm processor is treated as a failed node, the arm processor maintains in a safe state by transmitting downstream a fault notification to arm node 353 by performing the following: ignoring the recovery notification 356 and transmitting the recovery notification to all nodes 351 in the arm, returning the joint controller to the normal state 352, persisting, the failure is determined to be a remote failure, the arm processor is treated as a non-failed node, is the arm processor execute the recovery notification? 350 back to the joint controller to normal state 352, in transmitting downstream a fault notification to arm node 353, the arm processor transmits downstream a fault notification to all nodes of its operatively connected robotic arm, one way for the arm processor to complete the process is by pulling the FRL line to a high state, in diagnosing the fault and sending an error message to system manager 354, the arm processor diagnoses the fault and sends an error message to system manager 320, the error message includes fault information, error codes, error classes, and origin, each type of error occurring that affects the arm processor is assigned an error code, the error codes are classified into error classes, there are at least four error classes: recoverable processor failure, unrecoverable processor failure, recoverable system failure, and unrecoverable system failure, the origin of the failure including information of the identity of the arm processor and optional additional information of the origin of the failure in the arm processor, at recoverable local failure? 355, the arm processor determines if the detected fault is a recoverable local fault, which is done by the fault class of the fault? 355 is no, then remains in a secure state; disregarding recovery notice 356, is the joint position controller of the failed arm processor remain in its safe state and is the arm processor disregard any recovery notice it may subsequently receive on the FRL line, at recoverable local failure? 355 is the determination, then does the arm processor proceed to a recovery notification? 350, at local or remote failures? 349 is the determination that the detected failure is to be treated as a remote failure, then is there a recovery notification? 350, the arm processor waits for a recovery notification to be received from the system management processor 320, in transmitting a recovery notification to all nodes 351 in the arm, once received, the arm processor transmits the recovery notification to all nodes in its operatively coupled robotic arm by, for example, pulling its FRL line low, in returning the joint controller to the normal state 352, the arm processor then returns its joint position controller from the safe state to its normal operating state, the process being completed by releasing the output motor current command of the joint position controller so that they can once again reflect the desired joint position of its operatively coupled robotic arm while avoiding abrupt changes, the arm processor then returns to perform the reference fault detected? 347 of its task of fault detection,
Is a flow diagram of aspects of a method of performing fault reactions, fault isolation and fail-soft, which are performed by the system management processor 320 of the first robot 89 and the second robot 90, in an error message? 357, the system management processor also waits to receive an error message transmitted from another component of the first robot 89 and the second robot 90 while performing its normal operational tasks, the error message being in the error message? 357 is received, in soft-lock all-arm joint controller 358, the system management processor stops the system for safety purposes by, for example, commanding the joint position controllers of all arm processors 328, 325, 323, and 321 in the robotic system to lock their respective outputs at their current values, no new current command input is provided to the robotic arm until the joint position controller's output is unlocked, this locking of the joint position controller's output is referred to herein as a "soft-lock" joint position controller, the method then proceeds to wait for system shutdown 359, in wait for system shutdown 359, the system management processor determines whether the detected fault should be treated as a system fault or an arm fault, the system management processor completes this step by checking error class information provided in an error message, system faults include all faults classified as either recoverable system faults or non-recoverable system faults, since these faults may apply to not only the failed robotic arm, conversely, arm faults include local faults classified as either recoverable or non-recoverable faults, because these faults may only be applied to the failed robotic arm if the first arm controller provides a weakened operation option for a second operation 360 and all mechanical arm recovery options for the robot 89, if the second arm fault handler is provided as a weakened operation option 360 and a weakened operation 360, the local fault is a recoverable local fault, the system management processor also provides the user with an option to recover from the fault, information of the detected fault is provided by the system management processor in addition to each provided option to assist the remote driver 91 in determining whether to accept the option, the option and fault information is provided on the visual display 255 of the remote console 169,
Is an option selected? 361, the system management processor waits for the remote driver 91 to select the option provided in providing the weakened operation option and the arm recovery option (if classified as recoverable) 360, once the option is selected by the remote driver 91, is there weakened or recovered? 362, the system management processor determines whether the selected option is a degraded operation option or a recovery option, a recovery option is provided and the remote driver 91 selects a recovery option, then in the processor 381 which sends a recovery notification to the failed robotic arm, the system management processor sends a recovery notification to the arm processor of the failed robotic arm which will process the recovery notification, including sending a recovery notification to all nodes of the failed arm which then processes the recovery notification, in the soft lock 382 which releases the joint controllers of all arms, the system management processor then releases the soft lock of the joint controllers by unlocking the output of the joint controllers of all arm processors so that the joint controllers again issue motor current commands reflecting the desired joint positions of their operatively coupled robotic arms and then returns to perform a referenced error message? 357 in the form of a message to be sent,
The remote driver 91 selects the weakened operation option, then in the option to provide recovery from failure 363, the system management processor provides the remote driver 91 with the option to recover from failure, in which case recovery from failure is different from the recovery of the soft lock 382 that released the joint controllers of all arms with reference to the processor 381 sending a recovery notification to the failed robotic arm, since no attempt was made to recover the failed arm, recovery was only applied to recover normal operation of the non-failed arm, in which option was selected? 364, the system management processor waits for the user to select the option provided in option 363 providing recovery from the failure, once the option is selected by the remote driver 91, then in sending a message to the arm processor of the failed arm to reinforce the failure 365, which in this case means that additional steps are taken to completely shut down the operation of the failed arm, one example of such reinforcement is operatively disconnecting the joint position controller of the arm processor from other components of the master/slave control system that produces the desired joint position of the manipulator to which it is operatively coupled, another reinforcement is shutting down the power supply to the failed manipulator, in releasing the soft lock 366 of the joint of all non-failed arms, the system management processor then releases the soft lock of the joint controller by unlocking the output of the joint controller of all non-failed arm processors, so that the joint controller then reflects the current command message of the management processor to execute the system processing in error referring back to the motor management controller's motor's execution system's command message that the joint controller again sends out the desired joint position of the manipulator to which it operatively couples. 357 and a task of (c) processing,
In asserting the system FRL condition to all nodes 367, the system management processor makes the system FRL condition valid for all nodes in the first robot 89 and the second robot 90, which is done by causing FRL lines 329, 327, 384 and 385 to be pulled high so that fault notifications are provided to the arm processor and the nodes of the first manipulator 182, the second manipulator 183, the third manipulator 184 and the fourth manipulator 185 at the same time, can the fault be recovered? 369, the system management processor then determines if the system fault is a recoverable system fault, this step being accomplished by checking the error class in the received error message, at recoverable fault? 369 is no, then in provide failure recovery option 363, the system management processor takes no further action and waits for the system to be shut down, adding: recoverable failure? 369 is determined to be yes, then in providing a recover from failure option 370, the system management processor provides the user with an option to recover from failure, where is selected? 371, the management processor waits for the remote driver 91 to select a recovery option which is selected in sending a recovery notification to all arm processors 372, the system management processor sends a recovery notification to the arm processors of all the robot arms of the first robot 89 and the second robot 90, releases each soft-lock joint controller to operate in the arm 373 upon a user request, the system management processor releases the soft-lock of each joint controller to operate the arm of the joint controller in its normal operating state upon receiving a request or action from the remote driver 91, so that the released joint controller again issues a motor current reflecting the desired joint position of the robot arm it is operating to, and then returns to perform a reference error message? 357 in the flow direction of the gas flow,
Is a flow chart of aspects of a method of performing fault reactions, fault isolation and fail-soft performed by a system management processor operatively coupled to first robot 89 and second robot 90 and arm management processors 328, 325, 323 and 321, arm management processor 319 initiating, controlling and monitoring certain coordinated activities of first robot arm first robot 182, second robot arm 183, third robot arm 184, fourth robot arm 185 of first robot 89 and second robot 90, arm manager 319 initiating and monitoring initiating a brake test, wherein arm manager 319 communicates with each of arm processors 328, 325 and 323, so that a specific sequence of brakes having different torque values is applied to the brakes of their respective robotic arms, coordination of the activity is in this case done by arm manager 319 because the overhead of encoding it into each arm processor is redundant, at the end of each sequence the maximum torque value calculated by each arm processor is passed back to arm manager 319, upon the occurrence of an out-of-range error, arm manager 319 will communicate a failure to the failed arm, arm manager command the arm processor to perform arm activity, monitor the result, and decide if the activity result indicates arm failure, when a failure is detected? 374, arm manager monitors coordinated activities of the robotic arms to detect a fault in one arm based on reports from the respective arm processors of the robotic arm, the arm manager determines that a fault has occurred when the reported measurements exceed an expected value by a threshold amount, in which case the detected fault is one of the nodes of the robotic arm or a fault that the arm processor would not normally detect, in which case? 374 until either a recovery notification is received from the arm manager or the system is restarted, in a suppress to failed arm command 375, the arm manager suppresses any further commands to the failed arm, no further commands will be transmitted from the arm manager to the arm processor of the failed arm until either a recovery notification is received from the system manager or the system is restarted, in transmitting a fault notification to the failed arm 376, the arm manager transmits a fault notification to the failed arm by pulling the FRL line of the failed arm to a high state, in the case of a virtual FRL line, the arm manager transmits a fault notification in the same or a different packet field than the packet field designated for transmitting the fault notification through one of the nodes of the failed arm or the arm processor, in transmitting an error message to the system manager 377, the arm manager transmits an error message to the system manager, the error message having the available details of the fault, each fault type detected by the arm manager is assigned an error code, and the error code is classified as an error class, the origin of the fault includes identity information of the failed arm and optional information of the source of the fault,
In an error message? 357 the system manager then begins processing error messages, in recoverable failures? 378, does the arm manager determine whether the detected fault is a recoverable fault, based on the fault class of the fault, in recoverable fault? 378, then in processor 381 sending a recovery notification to the failed robotic arm, the arm manager continues to suppress any further commands to the failed arm and disregards any recovery notifications subsequently received from the system manager, in recoverable failures? The determination in 378 is yes, then are there a recovery notification? 379, the arm manager waits for the recovery notification received from the management processor, and in the stop suppress to failed arm command 380, the recovery notification is received, the arm manager stops the suppress to failed arm command and returns to its normal operation mode and execution reference failure is detected? 374 of the task of fault detection,
disposed on fuselage 455 are a first nacelle 524, a second nacelle 530, and a tail structure 526, first nacelle 524 including a first rotor system 521, second nacelle 530 including a second rotor system 527, first rotor system 521 including a first rotor blade 522, second rotor system 527 including a second rotor blade 528, first nacelle 524 including a first gearbox 523 for driving first rotor system 521, second nacelle 530 including a second gearbox 529 for driving second rotor system 527, first nacelle 524 and second nacelle 530 being convertible between a helicopter mode in which first nacelle 524 and second nacelle 530 are approximately vertical and an airplane mode in which first nacelle 524 and second nacelle 530 are approximately horizontal, tail 526 serving as a vertical stabilizer,
Nose gear 548 and rear gear 549 mounted at the bottom of fuselage 455 are capable of opening and retracting, nose gear 548 being able to be housed in a first compartment 550 and rear gear 549 being able to be housed in a second compartment 551 when rotorcraft 88 is in flight, the fuselage of rotorcraft 88 comprising a forward cockpit 456, a mid-fuselage 457 and a tail portion 526 of the fuselage, tail portion 526 acting as a vertical stabilizer, mid-fuselage 457 being separated by an intermediate layer 535, this intermediate layer 535 separating a top compartment 536 forming a cabin space and a bottom compartment 552 forming an equipment space, extending from the front to the rear of this rotorcraft 88, the means for reinforcing cladding 552 comprising longitudinal stiffeners such as 538, 539 and transverse first, second, third, fourth, fifth and sixth frames 540, 541, 542, 543, a top layer 544, a fifth and 545, the load-bearing top layer 546 of the fuselage being fixed to the two mid-fuselage first and second frames 540, 541, a load-bearing intermediate layer 535 secured to the two intermediate first and second frames 540, 541, a top layer 546 secured to the two intermediate first and second frames 540, 541, an intermediate layer 535 secured to the transverse first, second, third, fourth, fifth and sixth frames 540, 541, the intermediate layer 535 extending forward of the rotorcraft 88 along the middle 457 of the fuselage 455 into the cockpit 456 and rearward of the rotorcraft 88 toward the tail 526 of the fuselage, the intermediate layer 535 separating the top compartment 536 from the bottom compartment 552 at the middle 457, an equipment layer 535 mounted at the front end of the intermediate layer in the cockpit 456, an onboard battery box exchange system 568 suspended below the intermediate layer 535 of the bottom compartment 552, the bottom compartment 552 between the intermediate layer 535 and the side 553 of the fuselage, an open bottom 554 provided at the bottom of the bottom compartment 552, the top layer 546 is attached to the airfoil 525,
Providing a first battery box mounting location 582 at the front of the on-board battery box exchange system 568; a second battery housing mounting location 583 is provided at the rear of the onboard battery housing exchange system 568, in use, a first battery housing 588 is mounted at the first battery housing mounting location 582, a second battery housing 592 is mounted at the second battery housing mounting location 583, and in use, a first battery housing electrical connector mount 572, a second battery housing electrical connector mount 575, a first battery housing control system 565, a second battery housing control system 571, a first bracket 581, a first bracket load bearing platform 573, a second bracket 584, a second bracket load bearing platform 577, a battery support first load bearing platform 574, a battery support second load bearing platform 576, a first robot link 580, a second robot link 569, a servo motor 586, a reduction gearbox 585,
in the onboard battery box replacing system 568, a hydraulic controller 600 and a servo motor controller 604 which are included by a first battery box control system 565 and a second battery box control system 571 are connected with a master controller 599, the hydraulic controller 600 is connected with a multi-path decompression amplifier 601, the multi-path decompression amplifier 601 is connected with an electro-hydraulic proportional valve 602, the electro-hydraulic proportional valve 602 is connected with an oil cylinder 603 which drives a second manipulator connecting rod 569 to move up and down, the servo motor controller 604 is connected with a multi-path servo amplifier 605, the multi-path servo amplifier 605 is connected with a servo motor 586 which drives the second manipulator connecting rod 569 to rotate, and the servo motor 586 is connected with the second manipulator connecting rod 569 through a speed reducer 607; the hydraulic controller 600 is connected with the displacement sensor 597, and the hydraulic controller 600 is connected with the pressure sensor 598; the displacement sensor 597 is used for detecting the moving distance of the second manipulator connecting rod 569, and the pressure sensor 598 is used for detecting the pressure of hydraulic oil in the oil cylinder 603; the servo motor controller 604 is connected with the photoelectric encoder 608, the photoelectric encoder 608 is used for detecting the rotating speed of a power output shaft of the reduction gearbox 585, the master controller 599 is connected with the display screen 596, the master controller 599 is connected with the camera 595, the master controller 599 is connected with the display screen 596, the camera 595 is used for shooting the moving condition of the second manipulator connecting rod 569, the display screen 596 is used for displaying the moving condition of the second manipulator connecting rod 569, the hydraulic controller 600 is communicated with the master controller 599 through a CAN bus, the servo motor controller 604 is connected with the master controller 599 through the CAN bus, the master controller 599 receives a remote control end instruction through an RS232 data line, tasks are distributed to the hydraulic controller 600 and the servo motor controller 604 through the CAN bus to control the actions of each executing mechanism of the second manipulator connecting rod 569, the output end of the hydraulic controller 600 is connected with the multi-way pressure reducing amplifier 601, the oil cylinder 603 is controlled through the electro-hydraulic proportional valve 602, the output end of the servo motor controller 604 is connected with the multi-way servo amplifier 586, the output end of the servo motor 586 is connected with the servo motor to control amplifier 586, the robot is arranged on the environment through the servo motor 585, the robot connecting rod 586, the camera is arranged through the display screen 599, the environment display screen 599, the robot linkage of the robot linkage 569, the robot is prevented from colliding with the display screen 599,
The first transfer robot 511 and the second transfer robot 512 have degrees of freedom in three directions of an X axis, a Z axis and an R axis, and sequentially comprise a linear walking mechanism 640, a hydraulic lifting mechanism 639 and an angle deviation correction mechanism 641, the linear walking mechanism 640 is positioned at the bottoms of the first transfer robot 511 and the second transfer robot 512 and comprises a pulley 632, a belt 629, a first servo motor 631, a first speed reducer 630 and a base 636, the two pulleys at the front end are connected with a group of universal couplings for a robot power device, the two pulleys at the rear end are driven devices, the first servo motor 631 is connected with a matched first speed reducer 630 expansion sleeve, the power transmission between the first speed reducer 630 and the pulley 632 is realized through the belt, the pulley 632 is driven to linearly walk on the first steel rail 524 and the second steel rail 655, a photoelectric switch is arranged at the lower end of the linear walking mechanism 640 and is sequentially matched with an origin and two front and rear limit blocking pieces, providing a PLC control system 610 with in-place switch signals, realizing the original point search and reset of the first transfer robot 511 and the second transfer robot 512 and stopping the border-crossing operation of the first transfer robot and the second transfer robot, wherein a front limit baffle, an original point baffle and a rear limit baffle are sequentially arranged along a laid linear slide rail, the original point baffle is positioned between the front limit baffle and the rear limit baffle, a hydraulic lifting mechanism 639 is positioned at the upper part of the base of the linear traveling mechanism 640 and comprises two hydraulic telescopic cylinders, a first-stage hydraulic cylinder 634 is positioned at the lower part of a second-stage hydraulic cylinder 622, the second-stage hydraulic cylinder 622 carries out telescopic motion after the first-stage hydraulic cylinder 634 is completely extended, one side of the first-stage hydraulic cylinder and one side of the second-stage hydraulic cylinder are respectively welded with a cross beam and are provided with an anti-rotation beam, the anti-rotation beam is matched with two anti-rotation holes positioned on the first-stage hydraulic cylinder welding cross beam and the base welding cross beam to prevent the battery from rotating along with the hydraulic mechanism 639 in the lifting process, and racks 638, racks are respectively arranged at the other sides of the first-stage hydraulic cylinder and the second-stage hydraulic cylinder, the device comprises an encoder 637, a baffle and a first proximity switch, wherein the baffle is matched with the proximity switch, the first proximity switch is arranged at the bottom end of a welding beam of a primary hydraulic cylinder, when the primary hydraulic cylinder 634 extends completely, the baffle triggers a switching signal of the proximity switch, the secondary hydraulic cylinder 622 starts to move in a telescopic mode, a rack 638 arranged on the side face of the secondary hydraulic cylinder 622 is meshed with the encoder 637 through a gear, the rising height of the secondary hydraulic cylinder 622 is obtained by calculating the revolution number of the encoder 637, the encoder 637 is connected with a PLC control system 610, the PLC control system 610 starts to count at a high speed, an angle correcting mechanism 641 arranged at the upper end of a hydraulic lifting mechanism 639 comprises a reducer 623, a large pinion 624, a second servo motor 628 and a second reducer 627, the second servo motor 628 is arranged on the mounting flange 623, the pinion 628 is arranged at the upper end of the second servo motor 628, a large gear is arranged on the secondary hydraulic cylinder 622, the large gear and the small gear are mechanically meshed and rotate along with the driving of a second servo motor 628, a blocking piece is arranged at the lower end of the large gear, a second proximity switch is arranged on the mounting flange 623, the large gear sequentially triggers signals of a left limit switch and a right limit switch of rotation and an original electric reset switch in the rotation process to ensure that the large gear rotates in a specified range, a battery box tray 626 is arranged at the upper end of the angle deviation correcting mechanism 641, the rotation center of the large gear is concentric with the gravity center of the battery box tray 626, four limiting blocks 625 are arranged on the battery box tray 626 and are coupled with four protrusions at the bottom of a battery pack box of a rotary wing aircraft 88 to be replaced, the position of a battery box can be finely adjusted and reliably fixed, an ultrasonic ranging sensor 507 and a DMP sensor 617 are arranged on the battery box tray 626, the ultrasonic ranging sensor 507 is used for measuring the distance from the battery box tray 626 to a chassis of the rotary wing aircraft 88 to be replaced, the DMP sensor 617 is matched with a reflector arranged on a battery pack box chassis of the rotorcraft 88 to be replaced to search and calculate the target position of the reflector, obtain the horizontal angle deviation between the first transfer robot 511 and the second transfer robot 512 and the rotorcraft 88 to be replaced, the linear traveling mechanism 640 and the hydraulic lifting mechanism 639 are linked, the angle deviation rectifying mechanism 641 starts to operate only when the first transfer robot 511 and the second transfer robot 512 linearly travel and vertically lift to reach a set position, the hydraulic lifting mechanism 639 restarts to operate only when the battery pack tray 626 on the angle deviation rectifying mechanism 641 reaches a desired effect, the linear traveling mechanism 640 and the angle deviation rectifying mechanism 641 are driven by servo motors, the driving motors are connected with corresponding encoders, each encoder is connected with a corresponding driver, the drivers send position pulse signals to the servo motors, the encoders transmit the acquired motor rotation information back to the drivers to form position mode full closed-loop control,
The PLC control system 610 in the control system block diagram of the first transfer robot 511 and the second transfer robot 512 is a core part for controlling the actions of the first transfer robot 511 and the second transfer robot 512, and comprises a touch screen 620, a wireless communication module 621, an Oilon PLC 611, an A/D module 612 and a D/A module 613, wherein the wireless communication module 621 communicates with the touch screen 620 through a second serial port RS130, the Oilon PLC 611 communicates with the touch screen 620 through a first serial port RS126, the touch screen 620 communicates with a background monitoring system 619 through an industrial Ethernet, an ultrasonic distance measuring sensor 616, a DMP sensor 617, a hydraulic proportional flow valve 618, an encoder 615, a proximity switch 608 and a photoelectric switch 614 are in real-time data transmission communication with the PLC control system 610, the ultrasonic distance measuring sensor 616 and the DMP sensor 617 are connected with the A/D module 612 in the PLC control system 610, an analog signal acquired by a sensor is converted into a digital signal and is transmitted to a PLC control system 610, a hydraulic proportional flow valve 618 is connected with a D/A module 613 in the PLC control system 610, the digital control signal of the PLC control system 610 is converted into analog flow control information, the speed control of a hydraulic lifting mechanism 637 is realized, an encoder 615 is connected with an A/D module 612 of the PLC control system 610, the encoder 615 acquires the lifting height of a single-side rack of a secondary hydraulic cylinder 641, the lifting distance of the secondary hydraulic cylinder 641 is acquired through calculation, the data is fed back to the PLC control system 610 to form full closed loop control in the lifting process, a proximity switch 608 and a photoelectric switch 614 are connected with an ohm dragon PLC controller 611, the limit position information of the degree of each of a first carrying robot 511 and a second carrying robot 512 is transmitted in real time, the interrupt mode and the high-speed counting mode of the PLC control system 610 are triggered, accurate and rapid movement of the first transfer robot 511 and the second transfer robot 512 within a predetermined range is realized,
The aircraft ground carrier 170 is provided with a multi-layer structure from bottom to top, the rotorcraft battery changing station 235 is arranged below the first layer 647, the 2 nd layer 648 and above are stereo airports for the rotorcraft 88, the top layer 652 is a parking apron for the rotorcraft 88, each layer is provided with a landing work area 93 for the rotorcraft 88, a passenger up-and-down work area 94 for a passenger 473 of the rotorcraft 88, a battery box replacement area 95 for the rotorcraft 88, and a takeoff work area 96 for the rotorcraft 88, after landing of the rotorcraft 88 on the landing work area 93 is completed, a worker drives the aircraft tractor 649 to connect with the nose gear 548 in front of the aircraft nose gear 548, then the aircraft tractor 649 pulls the rotorcraft 88 to the passenger up-and-down work area 94 under guidance of an empty pipe system to complete passenger up-and-down, then the aircraft tractor 649 pulls the rotorcraft 88 to enter the battery box replacement area 95, then the aircraft tractor 649 pulls the rotor 88 to enter the takeoff work area 96 to prepare for takeoff,
first battery box 588 delivery flow at power shortage: the second transfer robot 512 walks to the gate of the freight elevator 513 by a second rail 655 under the rotorcraft 88 with the first battery box 588 in power shortage unloaded, the fourth palletizing robot 510 grabs the first battery box 588 at the top of the second transfer robot 512 and puts the first battery box 588 into a goods shelf 646 in the freight elevator 513, the freight elevator 513 is closed after the goods shelf 646 is full, after the freight elevator 513 reaches the floor where the main power change station is located, an elevator door 645 is opened, the third palletizing robot 509 grabs the top of the first transfer robot 511 placed with the first battery box 588 on the goods shelf 646, the first transfer robot 511 walks to the station one 644 at a position accurately positioned by the elevator door 645 along a first rail 524, the second palletizing robot 508 takes the first battery box 588 down to the station seven 642, and the first battery box 588 flows to the station five 515 along with the first conveying line 520, the first palletizing robot 507 scans the upper surface of the first battery box 588 at one time by using a three-dimensional scanning recognizer with the scanning speed being more than 500mm/s, the three-dimensional scanning recognizer obtains the three-dimensional coordinates of the height and the position of the first battery box 588 and the included angles between the three-dimensional coordinates and a coordinate system shaft through a 3D detection mode of the three-dimensional scanning recognizer by scanning the outline diagram of the detected object and fitting a plurality of outline diagrams into a three-dimensional image, the three-dimensional scanning recognizer sends the data to the first palletizing robot 507 for positioning, a control device PLC of the first palletizing robot 507 sends a trigger signal to the three-dimensional scanning recognizer to enable the three-dimensional scanning recognizer to start scanning, after the scanning is finished, the position coordinates of the first battery box 588 are obtained, the first palletizing robot 507 moves to the fifth station 515 position to grab the first battery box 588 position for palletizing at the sixth station 519 position according to the position data of the first battery box 588, a forklift forks the whole stack of the first battery box 588 after the stack is palletized, the second battery pack 592 carrying a power shortage will be carried in the same manner as the first battery pack 588 carrying a power shortage,
First battery box 588 in full charge carries out the procedure: after the entire stack of fully charged first battery boxes 588 is forked into the fourth station 518 by the forklift, the first palletizing robot 507 unlocks the first battery boxes 588 into the third station 517, the first battery boxes 588 flow with the second conveyor line 516 into the robot gripping station two 643, the first transfer robot 511 travels along the first rail 524 into the station one 644, the second palletizing robot 508 grips the first battery boxes 588 at the station two 643 and places it on top of the first transfer robot 511 which enters the station one 644, the first transfer robot 511 travels along the first rail 524 to the gate of the freight elevator 513, the third palletizing robot 509 grips the first battery boxes 588 at the top of the first transfer robot 511 and places it on the shelf 646 inside the freight elevator 513, after the freight elevator 513 has reached the designated floor level, the elevator doors are opened, the fourth palletizing robot 510 grips the first battery boxes 646 on the shelf 646 and places it on top of the second transfer robot 512,
in step 1, the remote pilot 91 remotely initiates the unloading procedure of the first battery box 588, the second transfer robot 512 walks along the second rail 655 to the first battery box installation position 582 under the on-board battery box exchange system 568 of the rotorcraft 88, the battery box tray 625 abuts against the first battery box 588, the first battery box control system 565 starts to operate, the first carriage 581 mounted at the lower end of the first manipulator link 580 is driven by the power unit to move along with the first manipulator link 580 to disengage from the first battery box 588, the first load bearing platform 573 on the first carriage 581 is gradually disengaged from the first battery box first fixed platform 589, the first carriage 581 is disengaged from the first battery box 588, the second transfer robot 512 drives the first battery box 588 to disengage from the first battery support platform 574, the first battery box control system 565 stops operating, the second transfer robot 512 carries the first battery box 588 to the battery unloading position of the fourth transfer robot 510 along the second rail 655 track, the fourth transfer robot 588 unloads the first battery box 510,
Step 2, the remote pilot 91 starts a program for installing a first battery box 588, the fourth palletizing robot 510 grabs the fully charged first battery box 588 and places the fully charged first battery box 588 on a battery box tray 625 at the top of the second transfer robot 512, the second transfer robot 512 orbitally moves to the lower side of the rotor craft 88 along a second steel rail 655, after the second transfer robot 512 completes the positioning in the X/Y direction, the robot ascends by utilizing the output difference value of an ultrasonic distance measuring sensor and the output of a hydraulic mechanism encoder to be used as an input proportional flow valve of a PID controller for carrying out PID control, when the hydraulic mechanism ascends to a desired position and stops ascending and positioning accurately, the second transfer robot 512 pushes the first battery box 588 to a first battery box installation position 582 on an onboard battery box replacing system 568, pushes the first battery box 588 to move so that a first battery box first fixing platform 589 gradually enters a first bracket bearing platform 573, the first battery box control system 565 starts to work, pushes the first battery box 588 to move in the direction of the first battery box in the first battery box installation direction, the first battery box 572 gradually enters the first bracket bearing platform 573, and then controls the first battery box plug connector 572 to close to the first battery box 590, and the first battery box mounting system 590 to control the second transfer robot 512,
Step 3, the remote pilot 91 remotely starts the unloading procedure of the second battery box 592, the second transfer robot 512 orbits along the second rail 655 to a second battery box installation position 583 under the onboard battery box exchange system 568 of the rotorcraft 88, the battery box tray 625 abuts against the second battery box 592, the second battery box control system 571 starts to work, the second carriage 584 mounted at the lower end of the second manipulator link 569 is driven by the power unit to move away from the second battery box 592 along with the second manipulator link 569, the second carriage bearing platform 577 on the second carriage 584 gradually disengages from the second battery box first fixed platform 594, the second carriage 584 disengages from the second battery box 592, the second transfer robot 512 orbits the second battery box 592 away from the battery support second bearing platform 576, the second battery box control system 571 stops working, the second transfer robot 512 carries the second battery box 592 along the second rail 655 to the battery box unloading position of the fourth robot 510, and the second battery box control system 592 unloads the second battery box pallet 510,
step 4, the remote pilot 91 starts a program for installing a second battery box 592, the fourth palletizing robot 510 grabs a fully charged first battery box 588 and places the fully charged first battery box 588 on a battery box tray 625 at the top of the second transfer robot 512, the second transfer robot 512 orbitally moves to the lower side of the rotor craft 88 along a second steel rail 655, after the second transfer robot 512 completes the positioning in the X/Y direction, the robot lifting process utilizes the output of an ultrasonic distance measuring sensor and the output difference value of an encoder of a hydraulic mechanism to perform PID control as an input proportional valve of a PID controller, when the hydraulic mechanism is lifted to a desired position and stops lifting, the positioning is accurate, the second transfer robot 512 pushes the second battery box 592 to a second battery box installation position 583 on an onboard battery box replacing system 568, pushes the second battery box 592 to move so that a first fixing platform 571 of the second battery box gradually enters a bearing platform 577 of a second bracket, the control system of the second battery box begins to work, pushes the second battery box 592 to move towards a second battery box connector 575, the second battery box connector 575 is connected with a second battery box 571, the second battery box heater plug is connected with the second battery box 571, the second battery box heater plug of the second transfer robot 512, the second transfer robot 512 is closed,
Step 5, the remote pilot 91 sends a battery box replacement completion signal, and the rotorcraft battery replacement master station 235 completes origin reset.
Priority Applications (2)
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| CN202110402296.XA CN115958996A (en) | 2021-04-14 | 2021-04-14 | Aircraft operation and protection system consisting of remote driving, energy supply and ground aircraft carrier |
| PCT/CN2022/085778 WO2022218219A1 (en) | 2021-04-14 | 2022-04-08 | Aircraft operation guarantee system consisting of remote driving, energy supply, and ground carrier |
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| CN202110402296.XA CN115958996A (en) | 2021-04-14 | 2021-04-14 | Aircraft operation and protection system consisting of remote driving, energy supply and ground aircraft carrier |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116737483A (en) * | 2023-08-11 | 2023-09-12 | 成都飞机工业（集团）有限责任公司 | Assembly test interaction method, device, equipment and storage medium |
| CN116841260A (en) * | 2023-06-14 | 2023-10-03 | 成都飞机工业（集团）有限责任公司 | Dynamic adaptive planning and scheduling method for aircraft component assembly |
| CN117238174A (en) * | 2023-09-14 | 2023-12-15 | 华南师范大学 | Decoding analysis method, device and equipment for aviation data and storage medium |
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| US9439232B2 (en) * | 2014-01-17 | 2016-09-06 | GM Global Technology Operations LLC | Managing traditional Wi-Fi and Wi-Fi direct connections using a wireless device |
| CN107305372B (en) * | 2016-04-25 | 2020-06-19 | 岳秀兰 | Electric automobile energy monitoring and supply network for remote monitoring of cloud computing network architecture |
| KR20230141937A (en) * | 2016-06-09 | 2023-10-10 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Computer-assist remote control surgical system and method |
| WO2019025872A2 (en) * | 2018-11-26 | 2019-02-07 | Wasfi Alshdaifat | Autonomous city transportation means with artificial telepathy |
| CN111464978A (en) * | 2019-01-22 | 2020-07-28 | 岳秀兰 | Vehicle remote driving system established by connection of primary wireless equipment and secondary wireless equipment through Internet of things |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116841260A (en) * | 2023-06-14 | 2023-10-03 | 成都飞机工业（集团）有限责任公司 | Dynamic adaptive planning and scheduling method for aircraft component assembly |
| CN116737483A (en) * | 2023-08-11 | 2023-09-12 | 成都飞机工业（集团）有限责任公司 | Assembly test interaction method, device, equipment and storage medium |
| CN116737483B (en) * | 2023-08-11 | 2023-12-08 | 成都飞机工业（集团）有限责任公司 | Assembly test interaction method, device, equipment and storage medium |
| CN117238174A (en) * | 2023-09-14 | 2023-12-15 | 华南师范大学 | Decoding analysis method, device and equipment for aviation data and storage medium |
| CN117238174B (en) * | 2023-09-14 | 2024-04-16 | 华南师范大学 | Decoding analysis method, device and equipment for aviation data and storage medium |
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