CN110673641A - Passenger plane intelligent maintenance inspection system platform based on unmanned aerial vehicle - Google Patents
Passenger plane intelligent maintenance inspection system platform based on unmanned aerial vehicle Download PDFInfo
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- CN110673641A CN110673641A CN201911031348.6A CN201911031348A CN110673641A CN 110673641 A CN110673641 A CN 110673641A CN 201911031348 A CN201911031348 A CN 201911031348A CN 110673641 A CN110673641 A CN 110673641A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention relates to an intelligent passenger plane maintenance inspection system platform based on an unmanned aerial vehicle in the technical field of unmanned aerial vehicles, which comprises an unmanned aerial vehicle body, a remote controller and a ground station serving as a control terminal; carry on the fuselage of unmanned aerial vehicle body as follows: a binocular vision system for acquiring environmental information and obstacle information; the flight control system receives data of the binocular vision system to plan a flight path and is in communication connection with the remote controller and the ground station; a sensor module; the thermal infrared imager is at least in communication connection with the ground station so as to obtain the appearance of the passenger plane and the heating condition of important equipment; wherein, above-mentioned sensor module includes inertial measurement unit, magnetic compass, GPS module, barometer. In short, can be automatic to be patrolled and examined around the quick-witted, showing and promoting the efficiency of patrolling and examining to can keep the accuracy and the agility of patrolling and examining.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an inspection system platform for inspecting civil aircrafts by using an unmanned aerial vehicle.
Background
Before each flight of the civil aircraft, maintenance personnel or a unit must perform comprehensive inspection on the aircraft by winding the aircraft for one circle. And (4) checking that the airplane structure has no collision damage, no obvious leakage of fuel oil, lubricating oil or hydraulic oil, good electrical plug and wire and the like.
At present, the winding machine inspection mainly adopts a manual visual inspection mode, and the method has the disadvantages of large workload, much time consumption and low efficiency. In order to improve the safety inspection efficiency of maintenance personnel or a unit before the aircraft takes off, an intelligent detection device is researched, the conventional surface scanning of the aircraft winding can be carried out before the aircraft takes off and after the aircraft lands, the defect detection under the skin can be carried out, the defect position can be quickly and accurately found out, and the advanced intelligent technical support guarantee is improved for the maintenance and the repair of the aircraft.
The development of unmanned aerial vehicle technique provides new moving platform for patrolling and examining around the aircraft. Through the integrated research to flight attitude control system hardware platform and multisensor software and hardware, utilize unmanned aerial vehicle to carry on high definition camera and infrared thermal imager, ultraviolet imager, shoot the circuit to through artifical analysis video and photo, distinguish main defect and hidden danger.
Disclosure of Invention
The invention aims to provide an intelligent passenger plane maintenance inspection system platform based on an unmanned aerial vehicle, which can automatically perform winding inspection, obviously improve inspection efficiency and keep inspection accuracy and quickness.
The purpose of the invention is realized as follows: an intelligent passenger plane maintenance inspection system platform based on an unmanned aerial vehicle comprises an unmanned aerial vehicle body, a remote controller and a ground station serving as a control terminal;
carry on the fuselage of unmanned aerial vehicle body as follows:
a binocular vision system for acquiring environmental information and obstacle information;
the flight control system receives data of the binocular vision system to plan a flight path and is in communication connection with the remote controller and the ground station;
a sensor module; and
the thermal infrared imager is at least in communication connection with the ground station so as to obtain the appearance of the passenger plane and the heating condition of important equipment;
the sensor module comprises an inertia measurement unit, a magnetic compass, a GPS module and a barometer, wherein the inertia measurement unit, the magnetic compass, the GPS module and the barometer are all connected with the flight control system and transmit data to the flight control system.
Further, the flight control system comprises a data fusion module and a flight controller, the binocular vision system and the sensor module are connected with the input end of the data fusion module, and the output end of the data fusion module is connected with the flight controller.
Further, binocular vision system includes airborne camera and vision collection processing unit, vision collection processing unit is connected with airborne camera to environmental information, barrier information that processing airborne camera obtained, airborne camera, vision collection processing unit pass through the CAN bus and are connected with the input communication of data fusion module, and input environmental information, barrier information to the data fusion module.
Furthermore, the inertia measurement unit, the magnetic compass, the GPS module and the barometer are all connected with the data fusion module through the CAN bus, and the flight information is input into the data fusion module.
Further, the position of the airborne camera is close to the thermal infrared imager.
Furthermore, the flight controller is in communication connection with a remote controller and a ground station.
The invention has the beneficial effects that:
1) the automatic winding inspection is carried out before the take-off and after landing of the passenger plane, manual inspection is not needed, a large amount of time is saved, the efficiency of winding inspection can be improved, the defect detection of the skin can be carried out, the defect position can be quickly and accurately found, the advanced intelligent technical support guarantee is improved for the maintenance and the repair of the passenger plane, and the accuracy and the rapidity of inspection can be kept;
2) the binocular vision system is arranged, the two onboard cameras are used for acquiring vision information, the vision acquisition and processing unit processes vision data to establish three-dimensional flight environment information, the onboard cameras record videos in the inspection process and photograph key equipment so as to be convenient for subsequent investigation and analysis and diagnosis of the surface condition of the skin of the airplane, the defects of the skin of the airplane body can be automatically found by combining an intelligent image recognition technology after acquisition, and the two onboard cameras can acquire obstacle information so as to re-plan a flight path, so that the unmanned aerial vehicle can fly around obstacles in time;
3) the flight control system is arranged, so that the visual information from the binocular vision system can be received, the flight state data of the sensor module can also be received, and a flight control instruction is generated through data fusion processing and is used for controlling the flight path of the unmanned aerial vehicle so as to bypass obstacles or check;
4) due to the arrangement of the thermal infrared imager, the heating conditions of the metal skin, the interface, the insulator and other equipment can be quickly acquired.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a diagram of the control relationship in the present invention.
In the figure, 1 rudder unit, 2 sensor module, 201 inertia measuring unit, 202 magnetic compass, 203GPS module, 204 barometer, 3 flight control system, 301 data fusion module, 302 flight controller, 4 fuselage, 5 binocular vision system, 501 airborne camera, 502 vision acquisition and processing unit, 6 thermal infrared imager, 7CAN bus, 8 remote controllers, 9 ground station.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1-2, an intelligent passenger plane maintenance inspection system platform based on an unmanned aerial vehicle comprises an unmanned aerial vehicle body, a remote controller 8 and a ground station 9 serving as a control terminal.
The fuselage 4 of above-mentioned unmanned aerial vehicle body is gone up and is carried with following part:
a binocular vision system 5 for acquiring environmental information and obstacle information;
the flight control system 3 receives the data of the binocular vision system 5 to plan a flight path, and is in communication connection with the remote controller 8 and the ground station 9;
a sensor module 2; and
and the thermal infrared imager 6 is at least in communication connection with a ground station 9 so as to acquire the appearance of the passenger plane and the heating condition of important equipment.
The sensor module 2 comprises an inertial measurement unit 201, a magnetic compass 202, a GPS module 203 and a barometer 204, wherein the inertial measurement unit 201, the magnetic compass 202, the GPS module 203 and the barometer 204 are all connected with the flight control system 3 and transmit data to the flight control system 3; the inertial measurement unit 201, the magnetic compass 202, the GPS module 203 and the barometer 204 are all connected with the data fusion module 301 through the CAN bus 7, and the flight information is input to the data fusion module 301.
The thermal infrared imager 6 can quickly acquire the heating conditions of equipment such as a metal skin, an interface, an insulator and the like, so that the safety inspection of the passenger plane is more accurate and quicker.
The flight control system 3 comprises a data fusion module 301 and a flight controller 302, the binocular vision system 5 and the sensor module 2 are both connected with the input end of the data fusion module 301, and the output end of the data fusion module 301 is connected with the flight controller 302; the flight controller 302 is in communication connection with the remote controller 8 and the ground station 9. Steering wheel group 1 of above-mentioned unmanned aerial vehicle body receives flight controller 302 control to control unmanned aerial vehicle's flight path.
The binocular vision system 5 comprises an onboard camera 501 and a vision acquisition processing unit 502, the vision acquisition processing unit 502 is connected with the onboard camera 501 and used for processing environmental information and obstacle information acquired by the onboard camera 501, the onboard camera 501 and the vision acquisition processing unit 502 are in communication connection with the input end of the data fusion module 301 through the CAN bus 7, and the environmental information and the obstacle information are input into the data fusion module 301.
In order to facilitate installation or increase the convenience of detection, the onboard camera 501 is located close to the thermal infrared imager 6.
During inspection, the two onboard cameras 501 are used for acquiring visual information, the visual acquisition processing unit 502 processes visual data to establish three-dimensional flight environment information, the onboard cameras 501 record videos in the inspection process and photograph key equipment, so that the subsequent inspection and analysis and diagnosis of the surface conditions of the aircraft skin can be realized, the defects of the aircraft skin can be automatically found by combining an intelligent image recognition technology after acquisition, the two onboard cameras 501 can acquire obstacle information, the obstacle information is processed by the data fusion module 301 and then output to the flight controller 302, the flight path is re-planned, and therefore the unmanned aerial vehicle can timely fly around obstacles. Whole journey accessible remote controller 8 controls unmanned aerial vehicle's flight controller 302 to regulate and control, learn unmanned aerial vehicle's flight path, ground station 9 can in time learn to patrol and examine data and flight information.
After the unmanned aerial vehicle arrives at a key equipment place, starting an automatic identification mode, scanning line equipment through an airborne camera 501, establishing an equipment three-dimensional image through a binocular vision system 5 and a sensor module 2, and comparing the scanned image with equipment in a feature library to confirm the accurate position of equipment to be detected; the thermal infrared imager 6 is started to complete the all-directional state collection.
The binocular vision system 5 is used for visual perception, meanwhile, inertial navigation data are obtained through the inertial measurement unit 201, heading angle information is obtained through the magnetic compass 202, flight position, speed, heading and altitude data are obtained through the GPS module 203, altitude data of the unmanned aerial vehicle are obtained through the barometer 204, and data fusion module 301 is used for conducting fusion processing on sensor data and the visual perception data in the flight control system 3, so that a flight path control command and a path planning command are sent to the unmanned aerial vehicle, and obstacles are avoided.
While the preferred embodiments of the present invention have been described, those skilled in the art will appreciate that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. An intelligent passenger plane maintenance inspection system platform based on an unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle body, a remote controller (8) and a ground station (9) serving as a control terminal;
the unmanned aerial vehicle body is characterized in that the body (4) is provided with the following parts:
a binocular vision system (5) for acquiring environmental information and obstacle information;
the flight control system (3) receives data of the binocular vision system (5) to plan a flight path, and is in communication connection with the remote controller (8) and the ground station (9);
a sensor module (2); and
the thermal infrared imager (6) is at least in communication connection with the ground station (9) to acquire the appearance of the passenger plane and the heating condition of important equipment;
the sensor module (2) comprises an inertial measurement unit (201), a magnetic compass (202), a GPS module (203) and a barometer (204), wherein the inertial measurement unit (201), the magnetic compass (202), the GPS module (203) and the barometer (204) are all connected with the flight control system (3) and transmit data to the flight control system (3).
2. The passenger plane intelligent maintenance inspection system platform based on the unmanned aerial vehicle as claimed in claim 1, wherein: flight control system (3) are including data fusion module (301) and flight controller (302), binocular vision system (5), sensor module (2) all are connected with the input of data fusion module (301), the output and the flight controller (302) of data fusion module (301) are connected.
3. The passenger plane intelligent maintenance inspection system platform based on the unmanned aerial vehicle as claimed in claim 2, wherein: binocular vision system (5) gather processing unit (502) including airborne camera (501) and vision, processing unit (502) is gathered with airborne camera (501) to the vision is connected for environmental information, the barrier information that processing airborne camera (501) acquireed, airborne camera (501), vision are gathered processing unit (502) and are passed through CAN bus (7) and are connected with the input communication of data fusion module (301), and with environmental information, barrier information input to data fusion module (301).
4. The passenger plane intelligent maintenance inspection system platform based on the unmanned aerial vehicle as claimed in claim 2, wherein: the inertial measurement unit (201), the magnetic compass (202), the GPS module (203) and the barometer (204) are connected with the data fusion module (301) through the CAN bus (7), and the flight information is input into the data fusion module (301).
5. The passenger plane intelligent maintenance inspection system platform based on the unmanned aerial vehicle as claimed in claim 3, wherein: the position of the airborne camera (501) is close to the thermal infrared imager (6).
6. The passenger plane intelligent maintenance inspection system platform based on the unmanned aerial vehicle as claimed in claim 2, wherein: the flight controller (302) is in communication connection with the remote controller (8) and the ground station (9).
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| CN111824406A (en) * | 2020-07-17 | 2020-10-27 | 南昌航空大学 | Public safety independently patrols four rotor unmanned aerial vehicle based on machine vision |
| CN112034108A (en) * | 2020-09-16 | 2020-12-04 | 上海市环境科学研究院 | Device and method for analyzing regional pollution condition and computer readable storage medium |
| CN113720721A (en) * | 2021-08-16 | 2021-11-30 | 中国飞机强度研究所 | Calibration fusion method for inspection of inner cabin structure in airplane fatigue test |
| CN113744230A (en) * | 2021-08-27 | 2021-12-03 | 中国民航大学 | Intelligent detection method for aircraft skin damage based on unmanned aerial vehicle vision |
| CN113870456A (en) * | 2021-10-20 | 2021-12-31 | 广东电力通信科技有限公司 | Multi-sensor integrated autonomous inspection system and inspection method |
| TWI752532B (en) * | 2020-06-18 | 2022-01-11 | 亞東學校財團法人亞東科技大學 | System and method for detecting quality of transmission signal with unmanned aerial vehicle |
| CN113720721B (en) * | 2021-08-16 | 2024-05-03 | 中国飞机强度研究所 | Calibration fusion method for inspection of inner cabin structure in aircraft fatigue test |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI752532B (en) * | 2020-06-18 | 2022-01-11 | 亞東學校財團法人亞東科技大學 | System and method for detecting quality of transmission signal with unmanned aerial vehicle |
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| CN112034108A (en) * | 2020-09-16 | 2020-12-04 | 上海市环境科学研究院 | Device and method for analyzing regional pollution condition and computer readable storage medium |
| CN113720721A (en) * | 2021-08-16 | 2021-11-30 | 中国飞机强度研究所 | Calibration fusion method for inspection of inner cabin structure in airplane fatigue test |
| CN113720721B (en) * | 2021-08-16 | 2024-05-03 | 中国飞机强度研究所 | Calibration fusion method for inspection of inner cabin structure in aircraft fatigue test |
| CN113744230A (en) * | 2021-08-27 | 2021-12-03 | 中国民航大学 | Intelligent detection method for aircraft skin damage based on unmanned aerial vehicle vision |
| CN113744230B (en) * | 2021-08-27 | 2023-09-05 | 中国民航大学 | Unmanned aerial vehicle vision-based intelligent detection method for aircraft skin damage |
| CN113870456A (en) * | 2021-10-20 | 2021-12-31 | 广东电力通信科技有限公司 | Multi-sensor integrated autonomous inspection system and inspection method |
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