Design And Implemetation Of A Cargo Robot In Aircraft Maintenance

Aircraft maintenance is a very important part of aircraft operation.Traditionally,it is a labor-intensive industry.In the process of maintenance,the components that do not meet the requirements of airworthiness should be replaced according to the actual situation of inspection.An autonomous path planning robot is designed to transport parts and components in complex maintenance sites in order to improve maintenance efficiency.Aircraft maintenance environments are complex.In addition to all kinds of dismantled aircraft parts or maintenance equipment,there are various prohibited areas such as engine run area.Cargo robots need to be able to autonomously avoid these prohibited areas and obstacles.Cable bulge or damage pit,different material ground and other complex situations exist in the workplace,which may lead to robot collision obstacles or even speed out of control,greatly affecting the safety of the maintenance.Therefore,the designed robot needs to satisfy the functional requirements of good speed control and path planning.In order to meet the above requirements,this paper designs a cargo robot which can be used for autonomous path planning control in aircraft maintenance process.In order to solve the problem of autonomous path planning in the process of robot operation,the ant colony algorithm based on artificial potential field optimization is adopted.The effectiveness of the optimized ant colony algorithm is verified by simulation and actual operation.In order to improve the stability of speed control,based on the traditional PID control,this paper adds the process of fuzzy control,that is,the method of fuzzy PID control to realize the motion control process of the robot,completes the computer simulation of ant colony algorithm and compares the parameters in actual operation,thus verifying the effectiveness of this algorithm.In order to design a real robot that meets the requirements,the hardware selection and implementation of the robot are also carried out in this paper.The cargo robot adopts two driving wheels combined with two universal wheels to realize steering and straight running through differential speed control.In order to verify the actual operation effect of the autonomous path planning method and speed control,the software and program are designed in this paper.After debugging and running the robot in the actual field environment,several validation experiments of speed control and path planning are carried out in the process of motion.It shows that the robot can achieve the required performance of the design in this paper.