CN110307952A - Dirigible surface based on linear CCD sensor attaches detection robot - Google Patents
Dirigible surface based on linear CCD sensor attaches detection robot Download PDFInfo
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- CN110307952A CN110307952A CN201910596731.XA CN201910596731A CN110307952A CN 110307952 A CN110307952 A CN 110307952A CN 201910596731 A CN201910596731 A CN 201910596731A CN 110307952 A CN110307952 A CN 110307952A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/38—Investigating fluid-tightness of structures by using light
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Abstract
The present invention provides a kind of, and the dirigible surface based on linear CCD sensor attaches detection robot, the robot is made of robot active part and robot secondary part, robot active part and robot secondary part are adsorbed on airship envelope two sides respectively, robot active part is equipped with linear CCD sensor, shading piece and single-chip microcontroller, and robot secondary part is equipped with LED light strip.The robot building is at low cost, and small power consumption, cruise duration is long, does not need image delivering system, and the information of processing is few, and the requirement to processor is low, will not missing inspection.
Description
Technical field
The present invention relates to a kind of, and the dirigible surface based on linear CCD sensor attaches detection robot, belongs to intelligence machine
People and dirigible detection field.
Background technique
Dirigible possesses the incomparable advantage of many Fixed Wing AirVehicles.The scale of the coming years, dirigible market will be fast
Speed expands, and the scale of the year two thousand twenty or so, China's dirigible industry will be promoted to rapidly 50,000,000,000 yuan.
For dirigible, the big factor for jeopardizing flight safety is loophole on covering.If dirigible flies in the sky
When gas leakage, the performance of dirigible will fall rapidly upon, will be greatly affected safely.When safeguarding dirigible, worker needs to use light-illuminating
Detect the loophole in airship envelope, this detection continues several hours every time, not only spend human and material resources, but also sometimes certain
Loophole is likely difficult to find.If can there is a cheap and simple mode to find the loophole on covering, it will give this
Industry brings great convenience.
By structure be broadly divided into three classes using more extensive dirigible at present: rigid airship, blimp, half rigid fly
Ship.Rigid airship is to cover to be constituted air bag with the fabric of air-tightness on metallic framework.This dirigible is mainly by internal complicated gold
Belong to truss as load-carrying construction.There is no metallic framework in blimp air bag, cell parts are by airship envelope load.Air bag rope
Rope is connect with gondola.Blimp between blimp and rigid airship, inside have dragon inside dirigible
The covering of bone, dirigible is directly articulated on keel, and some metal truss are housed on head and tail portion.Covering is that air bag is most important
Structure, thickness have very big tensile strength and tearing strength generally between 100~500 μm.Since robot needs to attach
Movable in airship envelope, therefore it is required that skin-surface does not have apparent barrier, airship envelope detection robot is more suitable for using
In soft and blimp.
Summary of the invention
The dirigible surface patch based on linear CCD sensor that in view of the deficiencies of the prior art, the present invention provides a kind of
Attached detection robot, the robot include robot active part and robot secondary part, robot active part and machine
People's secondary part is adsorbed on airship envelope two sides respectively, and robot active part is equipped with linear CCD sensor, shading piece and core
Piece, robot secondary part are equipped with light source.
Further, the overall structure of robot active part and robot secondary part includes muti-piece linden laminate,
It is supported between linden laminate using nylon column.
Further, the chassis of robot active part and robot secondary part is all made of three-stage design, uses resistance
The connection of Buddhist nun's hinge.
Further, the absorption of robot active part and robot secondary part is realized by permanent magnet.
Further, 9 block permanent magnets are respectively installed on the chassis of robot active part and robot secondary part,
In, chassis is each side equipped with 3 block permanent magnets, distribution triangular in shape, 3 block permanent magnets is equipped among chassis, in line style point
Cloth.
Further, the light source is LED light strip, and chip is single-chip microcontroller.
Further, robot active part and robot secondary part are equipped with buphthalmos wheel.
Further, robot active part is Two-wheeled, differential steering.
Further, the shading piece is hood or shading box.
A kind of dirigible surface based on linear CCD sensor attaches the application method of detection robot, actively by robot
Part and robot secondary part are adsorbed on airship envelope two sides respectively, using correlation detection mode, robot secondary part
It is illuminated using LED light strip, robot active part is detected by linear CCD sensor, when the position by loophole
When, light is detected through loophole by linear CCD sensor, and linear CCD sensor returns the corresponding voltage value of each pixel, right
Each voltage value carries out binary conversion treatment using single-chip microcontroller, and having 5 or more continuous pixels is more than that threshold value is then considered as loophole.
The present invention compared with prior art possessed by the utility model has the advantages that
Robot integrally uses linden laminate and nylon column, and manufacturing cost is low；Using flexible structure, chassis is divided into three
Section, is connected, shape can change with the bending of airship envelope, to preferably be attached to the table of dirigible with damp hinge
Face；Robot active part uses linear CCD sensor, does not need image delivering system, the information of processing is few, to processor
It is required that low, but still it can accomplish not missing inspection, and at low cost, small power consumption, cruise duration are long.
Detailed description of the invention
Fig. 1 is the application robot system composition figure.
Fig. 2 is robot active part front view.
Fig. 3 is robot active part Structure explosion diagram.
Fig. 4 is robot active part and secondary part top view (a) and bottom view (b).
Fig. 5 is robot active part block schematic illustration.
Fig. 6 is three sections of chassis schematic diagrames of robot damp hinge connection.
Fig. 7 is robot secondary part LED light strip photo.
Fig. 8 is that robot active part and secondary part mutually adsorb schematic diagram.
Each appended drawing reference in figure:
1- linden laminate, 2- nylon column, 3- magnet, 4- buphthalmos wheel, 5- damp hinge, 6- linear CCD sensor, 7- shading
Box, 8- single-chip microcontroller, 9-LED light bar, 10- motor, 11- wireless serial, 12- battery, 13- Voltage stabilizing module, 14- motor driving plate,
15- shaft coupling, 16- switch, 17- indicator light, 18- shell, 19- rubber wheel.
Specific embodiment
1. robotic mechanism
Dirigible surface attaches detection robot system composition as shown in Figure 1, active part internal structure such as Fig. 2 institute, robot
Show, the overall effect of robot active part is as shown in figure 3, robot active part and secondary part are approximate in shape, machine
People's active part thickness is larger, and robot secondary part thickness is smaller.
The main body of robot active part and secondary part is made of (Fig. 5) linden laminate 1 and nylon column 2, light weight, strong
It spends big, at low cost.Chassis is bonded together using two layers of linden plate, and the path of upper layer and lower layer cutting is different when processing, is sticked to one
The effect of groove milling is formd after rising, to simplify processing.Using the round magnet 3 with holes of D25, sunk screw can be fixed in
On chassis, installation accuracy is high.9 blocks of magnet 3, each 3 pieces of every section of chassis are installed altogether on chassis.Wherein, the left and right sides drives chassis
Magnet distribution triangular in shape, middle chassis magnet are line style distribution, are designed by above-mentioned targetedly structure, magnetic force can be made equal
It is distributed in entire chassis evenly, adsorbs more stable (Fig. 4 b), detection effect when adapting to dirigible in the sky.It is embedded on chassis
Buphthalmos wheel 4, provides Auxiliary support.Buphthalmos wheel is directly bonded on chassis with hot melt adhesive.Active robot and slave robot
Magnet is opposite, and polarity is on the contrary, skin-surface can be adsorbed on.
Robot uses flexible structure, and chassis is divided into three sections, connects (Fig. 6) with damp hinge 5, and shape can be with winged
The bending of ship covering and change, to preferably be attached to the surface of dirigible.Flexible structure can reduce the Bending Internal Force of bottom plate,
And improve absorption stability.The chassis maximum of the left and right sides can be in 10 ° of angles with middle chassis, be computed, under the angle, machine
People can be attached on the curved surface that minimum profile curvature radius is 0.78m, and the radius of curvature of general airship envelope is greater than 0.78m, therefore machine
Device people is suitable for most of dirigible.By the design of angle change between above-mentioned number of segment and each section, make to use only three sections of bottoms
Plate provides for enough plastic deformation abilities, and is suitable for most of dirigible, also simplifies processing.Loophole is detected to use
Be linear CCD sensor 6, on robot active part, and by shading box 7 provide a dark room conditions avoid the external world
The interference of light.STM32 single-chip microcontroller 8 is additionally provided on robot active part, to the data obtained to linear CCD sensor
Carry out binary conversion treatment.Robot secondary part provides light, using 3528 light bar 9 that LED is intensive, in robot secondary part
Within the scope of interlude 15mm, 33 LED light are arranged, to improve light source continuity, reduce the probability of missing inspection.
In use, robot active part and robot secondary part are adsorbed on airship envelope two sides respectively, using pair
Formula detection mode is penetrated, robot secondary part is illuminated using LED light strip 9, and robot active part is sensed by line array CCD
Device 6 is detected, and when by the position of loophole, light is detected through loophole by linear CCD sensor 6, line array CCD sensing
Device 6 returns the corresponding voltage value of each pixel, to each voltage value using single-chip microcontroller 8 carry out binary conversion treatment, have 5 or more continuously
Pixel be more than threshold value be then considered as loophole.
2. robot control unit
1) motor 10: 25GA370 DC speed-reducing is used.
2) single-chip microcontroller 8: single-chip microcontroller uses stm32F103ZET6, and main resource to be used has timer, serial ports, ADC and IO
Mouthful.
3) motor driving plate 14: using L298N motor drive module, which is carried out using PWM (pulse width modulation)
Speed regulation.
4) wireless serial 11: using AS69-T20 wireless serial as communication module, and setting serial ports is full-duplex mode, wave
Special rate is 115200.
5) battery 12: 550mAh, 3s model airplane battery are used, cruise duration is about 20 minutes.
6) Voltage stabilizing module 13: boosting Voltage stabilizing module uses XL6009 chip, the 12.4V voltage that model airplane battery is exported
13.7V is risen to, to make up the output pressure drop of L298n motor drive module, at this time when PWM output 100%, L298n's
Output can export 12V, the i.e. voltage rating of motor just；Lowering and stabilizing blood pressure module uses LM2596S-ADJ chip, will boost
The voltage of module output is down to 3.3V, powers to single-chip microcontroller.
Although for illustrative purposes, it has been described that exemplary embodiments of the present invention, those skilled in the art
Member it will be understood that, can be in form and details in the case where the scope and spirit for not departing from invention disclosed in appended claims
On the change that carry out various modifications, add and replace etc., and all these changes all should belong to appended claims of the present invention
Protection scope, and each step in the claimed each department of product and method, can in any combination
Form is combined.Therefore, to disclosed in this invention the description of embodiment be not intended to limit the scope of the invention,
But for describing the present invention.Correspondingly, the scope of the present invention is not limited by embodiment of above, but by claim or
Its equivalent is defined.
Claims (10)
1. a kind of dirigible surface based on linear CCD sensor attaches detection robot, it is characterised in that: the robot includes machine
Device people active part and robot secondary part, robot active part and robot secondary part are adsorbed on airship envelope respectively
Two sides, robot active part are equipped with linear CCD sensor, shading piece and chip, and robot secondary part is equipped with light source.
2. detection robot according to claim 1, it is characterised in that: the robot active part and robot are driven
Partial overall structure includes muti-piece linden laminate, is supported between linden laminate using nylon column.
3. detection robot according to claim 1, it is characterised in that: the robot active part and robot are driven
Partial chassis is all made of three-stage design, is connected using damp hinge.
4. detection robot according to claim 1 or 3, it is characterised in that: robot active part and robot are driven
9 block permanent magnets are respectively installed on partial chassis, wherein chassis is each side equipped with 3 block permanent magnets, distribution triangular in shape,
3 block permanent magnets are installed among chassis, are distributed in line style.
5. detection robot according to claim 1, it is characterised in that: the robot active part and robot are driven
Partial absorption is realized by permanent magnet.
6. detection robot according to claim 1, it is characterised in that: the robot active part and robot are driven
Part is equipped with buphthalmos wheel.
7. detection robot according to claim 1, it is characterised in that: the light source is LED light strip, and chip is monolithic
Machine.
8. detection robot according to claim 1, it is characterised in that: the robot active part is Two-wheeled,
Differential steering.
9. detection robot according to claim 1, it is characterised in that: the shading piece is hood or shading box.
10. a kind of application method based on any one of the claim 1-9 detection robot, it is characterised in that: by robot
Active part and robot secondary part are adsorbed on airship envelope two sides respectively, and using correlation detection mode, robot is driven
Part is illuminated using LED light strip, and robot active part is detected by linear CCD sensor, when by loophole
When position, light is detected through loophole by linear CCD sensor, and linear CCD sensor returns the corresponding voltage of each pixel
Value carries out binary conversion treatment using single-chip microcontroller to each voltage value, and having 5 or more continuous pixels is more than that threshold value is then considered as leakage
Hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910596731.XA CN110307952B (en) | 2019-07-02 | 2019-07-02 | Airship surface attaching detection robot based on linear array CCD sensor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910596731.XA CN110307952B (en) | 2019-07-02 | 2019-07-02 | Airship surface attaching detection robot based on linear array CCD sensor |
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| CN110307952A true CN110307952A (en) | 2019-10-08 |
| CN110307952B CN110307952B (en) | 2021-08-31 |
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