CN102729240A - Plane fuel tank inspecting robot based on connector structure and control method thereof - Google Patents
Plane fuel tank inspecting robot based on connector structure and control method thereof Download PDFInfo
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- CN102729240A CN102729240A CN2012102189678A CN201210218967A CN102729240A CN 102729240 A CN102729240 A CN 102729240A CN 2012102189678 A CN2012102189678 A CN 2012102189678A CN 201210218967 A CN201210218967 A CN 201210218967A CN 102729240 A CN102729240 A CN 102729240A
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Abstract
The invention discloses a plane fuel tank inspecting robot based on a connector structure and a control method thereof. The robot comprises a moving platform, a lifting movement unit, a snake-arm movement unit, a system control unit and a power module. The robot is a bionic robot, can enter a plane fuel tank under the monitoring of working staffs to carry out internal-leaking-point determination and corrosion inspection, has excellent bending performance which does not exist in the traditional discrete type robot, can change the self shape flexibly according to the condition of environmental obstacles, and has unique adaptability to the environment with narrow working space and the non-structured environment. The robot can replace a person for operation in the fuel tank, the working intensity of air crew is reduced, the personal safety is ensured, the maintenance efficiency is increased, and the potential safety hazard of the fuel tank is reduced, therefore, the robot has the important significance in shortening the field stopping time of the plane and reducing economic loss. In addition, almost no electric equipment is arranged on the parts of the robot, extending into the plane fuel tank, so that the anti-explosion precondition is good.
Description
Technical field
The invention belongs to the civil aviation technical field, particularly relate to a kind of fuel tanker inspection machine people and control method thereof based on Continuum Structure.
Background technology
In civil aviaton's engineering maintenance, fuel tanker seepage and corrosion are suitable stubborn problems always.Because work under bad environment, the operating space is little, the fuel tank internal complex structure; And the different type of machines Oiltank structure is not quite similar; The stringer structure is all arranged in centre tank and the wing tank, so the fuel blow path is difficult to analyze, interior leak source and corrosion position are difficult to confirm; So the maintenance fuel tank often needs the very long field time that stops, even could accomplish several times repeatedly.For accomplishing the repairing task as soon as possible, the position that finds leak source and the corrosion quickly and accurately particular importance that just seems.At present, mainly the mode through manual work realizes the definite of leak source and corrosion position, and in this case, the staff often will get into fuel tanker inspection.Operation exists that inflammable, explosive, personnel poison and the danger of aircraft/device damage in aircraft fuel tank, therefore needs badly a kind ofly can replace the people to get into the device that fuel tank is checked.
Summary of the invention
In order to address the above problem, the object of the present invention is to provide a kind of the fuel tanker inspection machine people and control method thereof based on Continuum Structure that can alleviate flight crew's working strength, ensure its personal safety,
In order to achieve the above object, the fuel tanker inspection machine people based on Continuum Structure provided by the invention comprises mobile platform, elevating movement unit, snake arm moving cell, system control unit and power module;
Described mobile platform comprises base plate, two universal wheels and two fast pulleys, wherein floor level setting, and two universal wheels and two fast pulleys are separately positioned on the both sides, front and back end, bottom surface of base plate;
Described elevating movement unit comprises base, straight line module, slide block, servomotor and shaft coupling, and wherein base is fixed on the straight line module at the middle part, surface of base plate; Slide block is installed on the straight line module with the mode that can slide up and down, and is connected with snake arm moving cell lower end simultaneously; Servomotor links to each other through the upper end of the leading screw on shaft coupling and the straight line module;
Described snake arm moving cell comprises snake arm body, snake arm driving mechanism and image sensing module; Wherein snake arm driving mechanism is installed on the slide block, mainly comprises a plurality of electric baseboards, many snake arm drive motors, a plurality of tape base seat bearing, a plurality of spool and snake arm supports; Wherein a plurality of electric baseboard branch multilayers standoff distance along the vertical direction are horizontally disposed with; The surperficial both sides of each electric baseboard are separately installed with a snake arm drive motors side by side, and the other end is corresponding to be equipped with two tape base seat bearings; The output shaft of every snake arm drive motors links to each other with an end of a spool through a shaft coupling, and the other end of spool is connected on the tape base seat bearing; The snake arm support is set in place the position between last two spools in the electric baseboard surface of the superiors, is separately installed with a plurality of reverse wheels on its two sides, and the surface is formed with a plurality of perforates that drive rope on the snake arm body that are used to run through; The lower end of snake arm body is fixed on the snake arm support, and it is made up of at least five joints, and each joint comprises head end disk, end disc portion, a plurality of support disk, flexible support bar and four driving ropes; Wherein the middle part of head end disk, a plurality of support disk and end disc portion from bottom to up standoff distance be sleeved on the flexible support bar; Be formed with a plurality of via holes on the circumference of each head end disk, support disk and end disc portion, the head end disk in a last joint and the end disc portion in next joint interconnect through the joint connector; Four drive rope and run through respectively and be arranged on head end disk, support disk and the end disc portion in a via hole in 90 degree orientation; The lower end is passed and is wound on the corresponding spool with the staggered mode of line that just winds the line and rewind through a reverse wheel from a perforate on the snake arm support, and the upper end is fixed on the end disc portion in this joint; The image sensing module comprises video camera and illuminating lamp, and both are fixed in the upper end of snake arm body;
Described system control unit is installed in the surface of base plate, comprises main control computer, Electric Machine Control plate, data transmission module and lighting control module; Wherein main control computer links to each other with Electric Machine Control plate, data transmission module, lighting control module and monitoring station computer simultaneously; Be used for the motion control instruction that the monitoring station operating personnel that receive assign is decomposed into the controlled quentity controlled variable in each joint on the monitoring station computer; Again to Electric Machine Control plate sending controling instruction, thereby make that each joint can rotoflector or make the straight line module carry out rectilinear motion; Main control computer also is responsible for calculating robot's spatial attitude, and feeds back to the monitoring station computer together with the other system state, controls so that the staff is follow-up; The Electric Machine Control plate links to each other with servomotor and snake arm drive motors with main control computer, is used to receive the movement instruction of main control computer, sends the driving signal to servomotor and snake arm drive motors then, moves according to designated parameter to control these motors; Data transmission module links to each other with main control computer through RS232, joins with video camera simultaneously, is used for order and state are transmitted between robot and monitoring station computer, gives the monitoring station computer with the fuel tank image transfer of camera acquisition simultaneously; Lighting control module links to each other with main control computer through the digital data acquisition card; Join with illuminating lamp simultaneously, be used to control the switch of illuminating lamp, and cooperate video camera that the illumination light of different brightness is provided; Adapting to different light condition, thereby reach the better image collection effect;
Described power module is installed in the surface of base plate, is used to the entire machine people working power is provided.
Described main control computer adopts built-in industrial control machine.
The outside of described snake arm body is provided with snake arm shell, and snake arm shell adopts the bellows with flexible and crooking ability to process.
On described servomotor and the snake arm drive motors photoelectric encoder is installed.
Described flexible support bar adopts the carbon fiber bar.
The surperficial rear end of described base plate also is equipped with handrail.
Fuel tanker inspection machine people's based on Continuum Structure provided by the invention control method comprises the following step that carries out in order:
1) System self-test and initialized S1 stage; In this stage, main control computer will detect the working condition of each relevant device in this robot, and the video camera and the state variable of each joint variable data and run duration are carried out initialization;
2) the S2 stage of whether self-detection result normally being judged; If judged result is " being ", get into the S3 stage; Otherwise get into the S9 stage of abnormality processing, finish operation then;
3) read the S3 stage that the monitoring station computer is assigned instruction; In this stage, main control computer will read the instruction that ground monitoring station computer sends in official hour, get into the S4 stage then;
4) whether robot is read the S4 stage that new instruction is judged; If judged result is " being ", get into the S5 stage; Otherwise get into the S7 stage;
The S5 stage of 5) instruction being resolved; The control instruction that the ground monitoring station computer that S3 was received in the stage sends is resolved, and obtaining concrete control command parameter, and the control instruction of servomotor and snake arm drive motors is upgraded, and gets into the S6 stage then;
6) the S6 stage of joint action; In this stage, main control computer is sent to each driving mechanism with the control instruction that produces, and to carry out corresponding action, gets into the S7 stage then;
7) carry out the S7 stage that state upgrades; To in this stage, main control computer upgrades robot pose, intermediate object program and circumstance state information, and sends to data transmission module, gets into the S8 stage then;
8) to whether withdrawing from the S8 stage of judging; If judged result is " being ", the termination routine operation; Otherwise the porch that turns back to the S3 stage is to continue circulation.
Fuel tanker inspection machine people based on Continuum Structure provided by the invention is a kind of bio-robot; It can under staff's monitoring, get into fuel tanker inside carry out in the confirming and etching detection of leak source; Has the good bending property that the conventional discrete humanoid robot is not had; And can change self shape flexibly, and working space narrow and small environment and destructuring environment had unique adaptive capacity according to the situation of environment barrier.This robot can substitute people's operation in fuel tank, can reduce flight crew's working strength, support personnel's safety undoubtedly, improves maintenance efficiency and reduce the fuel tank potential safety hazard, thereby stop field time to shortening aircraft, to reduce economic loss significant.In addition, the position that extend in this robot in the fuel tanker does not almost have electricity consumption equipment, therefore has good explosion-proof prerequisite.In addition, this robot volume is little, in light weight, can conveniently realize moving through mobile platform, is convenient to realize the maintenance of a plurality of positions.
Description of drawings
Fig. 1 is the fuel tanker inspection machine people overall structure sketch map based on Continuum Structure provided by the invention;
Fig. 2 is the fuel tanker inspection machine philtrum snake arm body structure sketch map based on Continuum Structure provided by the invention;
Fig. 3 is the fuel tanker inspection machine philtrum snake arm driving mechanism structure sketch map based on Continuum Structure provided by the invention;
Fig. 4 is that the fuel tanker inspection machine philtrum system control unit based on Continuum Structure provided by the invention constitutes block diagram;
Fig. 5 fuel tanker inspection machine people control method flow chart based on Continuum Structure provided by the invention.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment fuel tanker inspection machine people and the control method thereof based on Continuum Structure provided by the invention is elaborated.
Like Fig. 1-shown in Figure 4, the fuel tanker inspection machine people based on Continuum Structure provided by the invention comprises mobile platform, elevating movement unit, snake arm moving cell, system control unit 13 and power module 14;
Described mobile platform comprises base plate 17, two universal wheels 15 and two fast pulleys 16, and wherein base plate 17 is horizontally disposed with, and two universal wheels 15 and two fast pulleys 16 are separately positioned on the both sides, front and back end, bottom surface of base plate 17;
Described elevating movement unit comprises base 12, straight line module 11, slide block 9, servomotor 6 and shaft coupling 7; Be used to snake arm moving cell elevating function is provided; Make snake arm moving cell can stretch into fuel tanker inside and check, wherein base 12 is fixed on straight line module 11 at the middle part, surface of base plate 17; Slide block 9 is installed on the straight line module 11 with the mode that can slide up and down, and is connected with snake arm moving cell lower end simultaneously; Servomotor 6 links to each other with leading screw upper end on the straight line module 11 through shaft coupling 7, and under the drive of servomotor 6, slide block 9 will carry out elevating movement, move up and down thereby drive whole snake arm moving cell, for robot provides a up-down free degree;
Described snake arm moving cell comprises snake arm body 4, snake arm driving mechanism 10 and image sensing module; Wherein snake arm driving mechanism 10 is installed on the slide block 9; It is to drive the core that snake arm body 4 and image sensing module get into fuel tanker, mainly comprises a plurality of electric baseboard 36, many snake arm drive motors 34, a plurality of tape base seat bearing 28, a plurality of spool 31 and snake arm supports 29; 36 fens multilayers of wherein a plurality of electric baseboards standoff distance along the vertical direction are horizontally disposed with; The surperficial both sides of each electric baseboard 36 are separately installed with a snake arm drive motors 34 side by side, and the other end is corresponding to be equipped with two tape base seat bearings 28; The output shaft of every snake arm drive motors 34 links to each other with an end of a spool 31 through a shaft coupling 32, and the other end of spool 31 is connected on the tape base seat bearing 28; Snake arm support 29 is set in place the position between last two spools 31 in electric baseboard 36 surfaces of the superiors, is separately installed with a plurality of reverse wheels 30 on its two sides, and the surface is formed with a plurality of perforates that drive rope 25 on the snake arm body 4 that are used to run through; The lower end of snake arm body 4 is fixed on the snake arm support 29; It is made up of at least five joints 20; Each joint 20 has two frees degree; Can be crooked, so snake arm body 4 has ten frees degree at least to all directions, each joint 20 comprises that head end disk 21, end disc portion 19, a plurality of support disk 24, flexible support bar 26 and four drive rope 25; Wherein the middle part of head end disk 21, a plurality of support disk 24 and end disc portion 19 from bottom to up standoff distance be sleeved on the flexible support bar 26; Be formed with a plurality of via holes on the circumference of each head end disk 21, support disk 24 and end disc portion 19, the head end disk 21 in a last joint 20 interconnects through joint connector 22 with the end disc portion 19 in next joint 20; Four drive rope 25 and run through respectively and be arranged on head end disk 21, support disk 24 and the end disc portion 19 in a via hole in 90 degree orientation; The lower end is passed and is wound on the corresponding spool 31 with the staggered mode of line that just winds the line and rewind through a reverse wheel 30 from a perforate on the snake arm support 29, and the upper end is fixed on the end disc portion 19 in this joint 20; The image sensing module comprises video camera 1 and illuminating lamp 2; Both are fixed in the upper end of snake arm body 4; Wherein video camera 1 can the situation that fuel tanker is inner be delivered in the external monitoring system, so that the staff judges the fuel tank internal situation, illuminating lamp 2 then provides illumination light for video camera 1;
Described system control unit 13 is installed in the surface of base plate 17, comprises main control computer 40, Electric Machine Control plate 41, data transmission module 42 and lighting control module 43; Wherein main control computer 40 links to each other with Electric Machine Control plate 41, data transmission module 42, lighting control module 43 and monitoring station computer simultaneously; Be used for the motion control instruction that the monitoring station operating personnel that receive assign is decomposed into the controlled quentity controlled variable in each joint 20 on the monitoring station computer; Again to Electric Machine Control plate 41 sending controling instructions, thereby make that each joint 20 can rotoflector or make straight line module 11 carry out rectilinear motion; Main control computer 40 also is responsible for calculating robot's spatial attitude, and feeds back to the monitoring station computer together with the other system state, controls so that the staff is follow-up; Electric Machine Control plate 41 links to each other with servomotor 6 and snake arm drive motors 34 with main control computer 40; Be used to receive the movement instruction of main control computer 40; Send with snake arm drive motors 34 to servomotor 6 then and drive signal, move according to designated parameter to control these motors; Data transmission module 42 links to each other with main control computer 40 through RS232, joins with video camera 1 simultaneously, is used for order and state are transmitted between robot and monitoring station computer, and the fuel tank image transfer of simultaneously video camera 1 being gathered is given the monitoring station computer; Lighting control module 43 links to each other with main control computer 40 through the digital data acquisition card; Join with illuminating lamp 2 simultaneously, be used to control the switch of illuminating lamp 2, and cooperate video camera 1 that the illumination light of different brightness is provided; Adapting to different light condition, thereby reach the better image collection effect;
Described power module 14 is installed in the surface of base plate 17, is used to the entire machine people working power is provided.
Described main control computer 40 adopts built-in industrial control machine.
The outside of described snake arm body 4 is provided with snake arm shell 5, and snake arm shell 5 adopts the bellows with flexible and crooking ability to process, and it can protect snake arm body 4 and the inner environment of fuel tanker not to be damaged effectively.
On described servomotor 6 and the snake arm drive motors 34 photoelectric encoder is installed; Electric Machine Control plate 41 photoelectric encoder position signallings capable of using form the position and speed closed loop and accurately control; And it is fed back to main control computer 40, be used for extrapolating the spatial attitude of robot.
Described flexible support bar 26 adopts the carbon fiber bar, has uniform curvature to guarantee each joint 20.
The surperficial rear end of described base plate 17 also is equipped with handrail 8.
Fuel tanker inspection machine people work process provided by the invention is set forth as follows at present:
At first utilize handrail 8 the fuel tanker inspection machine people based on Continuum Structure provided by the invention to be pushed into the fuel tanker below that is positioned at aircraft wing and fuselage bottom by the staff; Then snake arm moving cell upper ends on it is arrived the fuel tanker porch, at this moment robot will be in the command reception ready state; The fuel tank target location that the staff can need be arrived by the monitoring station computer settings, and to the robot sending controling instruction; Robot arrives desired location according to staff's instruction through the motion control snake arm of corresponding joint is terminal, and in real time image is transferred to monitoring station, supplies inspection to analyze.
As shown in Figure 5, fuel tanker inspection machine people control procedure provided by the invention comprises the following step that carries out in order:
1) System self-test and initialized S1 stage; In this stage, main control computer 40 will detect the working condition of each relevant device in this robot, and the video camera 1 and the state variable of each joint 20 variable data and run duration are carried out initialization;
2) the S2 stage of whether self-detection result normally being judged; If judged result is " being ", get into the S3 stage; Otherwise get into the S9 stage of abnormality processing, finish operation then;
3) read the S3 stage that the monitoring station computer is assigned instruction; In this stage, main control computer 40 will read the instruction that ground monitoring station computer sends in official hour, get into the S4 stage then;
4) whether robot is read the S4 stage that new instruction is judged; If judged result is " being ", get into the S5 stage; Otherwise get into the S7 stage;
The S5 stage of 5) instruction being resolved; The control instruction that the ground monitoring station computer that S3 was received in the stage sends is resolved, and obtaining concrete control command parameter, and the control instruction of servomotor 6 and snake arm drive motors 3 is upgraded, and gets into the S6 stage then;
6) the S6 stage of joint action; In this stage, main control computer 40 is sent to each driving mechanism with the control instruction that produces, and to carry out corresponding action, gets into the S7 stage then;
7) carry out the S7 stage that state upgrades; To in this stage, main control computer 40 upgrades robot pose, intermediate object program and circumstance state information, and sends to data transmission module 42, gets into the S8 stage then;
8) to whether withdrawing from the S8 stage of judging; If judged result is " being ", the termination routine operation; Otherwise the porch that turns back to the S3 stage is to continue circulation.
Claims (7)
1. fuel tanker inspection machine people based on Continuum Structure, it is characterized in that: described fuel tanker inspection machine people comprises mobile platform, elevating movement unit, snake arm moving cell, system control unit (13) and power module (14);
Described mobile platform comprises base plate (17), two universal wheels (15) and two fast pulleys (16), and wherein base plate (17) is horizontally disposed with, and two universal wheels (15) and two fast pulleys (16) are separately positioned on the both sides, front and back end, bottom surface of base plate (17);
Described elevating movement unit comprises base (12), straight line module (11), slide block (9), servomotor (6) and shaft coupling (7), and wherein base (12) is fixed on straight line module (11) at the middle part, surface of base plate (17); Slide block (9) is installed on the straight line module (11) with the mode that can slide up and down, and is connected with snake arm moving cell lower end simultaneously; Servomotor (6) is through linking to each other on the leading screw on shaft coupling (7) and the straight line module (11);
Described snake arm moving cell comprises snake arm body (4), snake arm driving mechanism (10) and image sensing module; Wherein snake arm driving mechanism (10) is installed on the slide block (9), mainly comprises a plurality of electric baseboards (36), many snake arm drive motors (34), a plurality of tape base seat bearings (28), a plurality of spool (31) and snake arm support (29); Wherein a plurality of electric baseboards (36) branch multilayer standoff distance along the vertical direction is horizontally disposed with; The surperficial both sides of each electric baseboard (36) are separately installed with a snake arm drive motors (34) side by side, corresponding two the tape base seat bearings (28) that are equipped with of the other end; The output shaft of every snake arm drive motors (34) links to each other with an end of a spool (31) through a shaft coupling (32), and the other end of spool (31) is connected on the tape base seat bearing (28); Snake arm support (29) is set in place the position between electric baseboard (36) last two spools in surface (31) in the superiors, is separately installed with a plurality of reverse wheels (30) on its two sides, and the surface is formed with a plurality of perforates that snake arm body (4) is gone up driving rope (25) that are used to run through; The lower end of snake arm body (4) is fixed on the snake arm support (29), and it is made up of at least five joints (20), and each joint (20) comprise head end disk (21), end disc portion (19), a plurality of support disk (24), flexible support bar (26) and four driving ropes (25); Wherein the middle part of head end disk (21), a plurality of support disk (24) and end disc portion (19) from bottom to up standoff distance be sleeved on the flexible support bar (26); Be formed with a plurality of via holes on the circumference of each head end disk (21), support disk (24) and end disc portion (19), the head end disk (21) in a last joint (20) interconnects through joint connector (22) with the end disc portion (19) in next joint (20); Four drive rope (25) and run through respectively and be arranged on head end disk (21), support disk (24) and end disc portion (19) and go up apart in the via hole in 90 degree orientation; The lower end is passed and is wound on the corresponding spool (31) with the staggered mode of line that just winds the line and rewind through a reverse wheel (30) from a perforate on the snake arm support (29), and the upper end is fixed on the end disc portion (19) of this joint (20); The image sensing module comprises video camera (1) and illuminating lamp (2), and both are fixed in the upper end of snake arm body (4);
Described system control unit (13) is installed in the surface of base plate (17), comprises main control computer (40), Electric Machine Control plate (41), data transmission module (42) and lighting control module (43); Wherein main control computer (40) links to each other with Electric Machine Control plate (41), data transmission module (42), lighting control module (43) and monitoring station computer simultaneously; Be used for the motion control instruction that the monitoring station operating personnel that receive assign is decomposed into the controlled quentity controlled variable of each joint (20) on the monitoring station computer; Again to Electric Machine Control plate (41) sending controling instruction, thereby make that each joint (20) can rotoflector or make straight line module (11) carry out rectilinear motion; Main control computer (40) also is responsible for calculating robot's spatial attitude, and feeds back to the monitoring station computer together with the other system state, controls so that the staff is follow-up; Electric Machine Control plate (41) links to each other with servomotor (6) and snake arm drive motors (34) with main control computer (40); Be used to receive the movement instruction of main control computer (40); Send the driving signal to servomotor (6) and snake arm drive motors (34) then, move according to designated parameter to control these motors; Data transmission module (42) links to each other with main control computer (40) through RS232; Join with video camera (1) simultaneously; Be used for ordering and state transmits between robot and monitoring station computer, the fuel tank image transfer of simultaneously video camera (1) being gathered is given the monitoring station computer; Lighting control module (43) links to each other with main control computer (40) through the digital data acquisition card; Join with illuminating lamp (2) simultaneously; Be used to control the switch of illuminating lamp (2); And cooperate video camera (1) that the illumination light of different brightness is provided, adapting to different light condition, thereby reach the better image collection effect;
Described power module (14) is installed in the surface of base plate (17), is used to the entire machine people working power is provided.
2. the fuel tanker inspection machine people based on Continuum Structure according to claim 1 is characterized in that: described main control computer (40) adopts built-in industrial control machine.
3. the fuel tanker inspection machine people based on Continuum Structure according to claim 1 is characterized in that: the outside of described snake arm body (4) is provided with snake arm shell (5), and snake arm shell (5) adopts the bellows with flexible and crooking ability to process.
4. the fuel tanker inspection machine people based on Continuum Structure according to claim 1 is characterized in that: on described servomotor (6) and the snake arm drive motors (34) photoelectric encoder is installed.
5. the fuel tanker inspection machine people based on Continuum Structure according to claim 1 is characterized in that: described flexible support bar (26) adopts the carbon fiber bar.
6. the fuel tanker inspection machine people based on Continuum Structure according to claim 1 is characterized in that: the surperficial rear end of described base plate (17) also is equipped with handrail (8).
7. the fuel tanker inspection machine people based on Continuum Structure as claimed in claim 1 control method, it is characterized in that: described control method comprises the following step that carries out in order:
1) System self-test and initialized S1 stage; In this stage, main control computer (40) will detect the working condition of each relevant device in this robot, and the state variable of video camera (1) and each joint (20) variable data and run duration is carried out initialization;
2) the S2 stage of whether self-detection result normally being judged; If judged result is " being ", get into the S3 stage; Otherwise get into the S9 stage of abnormality processing, finish operation then;
3) read the S3 stage that the monitoring station computer is assigned instruction; In this stage, main control computer (40) will read the instruction that ground monitoring station computer sends in official hour, get into the S4 stage then;
4) whether robot is read the S4 stage that new instruction is judged; If judged result is " being ", get into the S5 stage; Otherwise get into the S7 stage;
The S5 stage of 5) instruction being resolved; The control instruction that the ground monitoring station computer that S3 was received in the stage sends is resolved, and obtaining concrete control command parameter, and the control instruction of servomotor (6) and snake arm drive motors (3) is upgraded, and gets into the S6 stage then;
6) the S6 stage of joint action; In this stage, main control computer (40) is sent to each driving mechanism with the control instruction that produces, and to carry out corresponding action, gets into the S7 stage then;
7) carry out the S7 stage that state upgrades; To in this stage, main control computer (40) upgrades robot pose, intermediate object program and circumstance state information, and sends to data transmission module (42), gets into the S8 stage then;
8) to whether withdrawing from the S8 stage of judging; If judged result is " being ", the termination routine operation; Otherwise the porch that turns back to the S3 stage is to continue circulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210218967.8A CN102729240B (en) | 2012-06-28 | 2012-06-28 | Plane fuel tank inspecting robot based on connector structure and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210218967.8A CN102729240B (en) | 2012-06-28 | 2012-06-28 | Plane fuel tank inspecting robot based on connector structure and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN102729240A true CN102729240A (en) | 2012-10-17 |
| CN102729240B CN102729240B (en) | 2014-09-03 |
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| CN201210218967.8A Active CN102729240B (en) | 2012-06-28 | 2012-06-28 | Plane fuel tank inspecting robot based on connector structure and control method thereof |
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Cited By (39)
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Application publication date: 20121017 Assignee: TIANJIN JIUYUE TECHNOLOGY Co.,Ltd. Assignor: CIVIL AVIATION University OF CHINA Contract record no.: X2024980002388 Denomination of invention: A Aircraft Fuel Tank Inspection Robot Based on Continuum Structure and Its Control Method Granted publication date: 20140903 License type: Common License Record date: 20240301 |