CN110927813B - Automatic detection device and method for aircraft fuel tank - Google Patents
Automatic detection device and method for aircraft fuel tank Download PDFInfo
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- CN110927813B CN110927813B CN201911260767.7A CN201911260767A CN110927813B CN 110927813 B CN110927813 B CN 110927813B CN 201911260767 A CN201911260767 A CN 201911260767A CN 110927813 B CN110927813 B CN 110927813B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors
- H02P7/04—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors by means of a H-bridge circuit
Abstract
The invention discloses an aircraft fuel tank automatic detection device and method based on visual guidance, wherein the device comprises a mobile platform, a control mechanism, a vertical lifting mechanism, a horizontal telescopic mechanism, an obstacle detection mechanism and a fuel tank internal image data acquisition mechanism; the mobile platform is used for realizing the movement and the positioning of the automatic detection device of the airplane fuel tank; the vertical lifting mechanism can stretch up and down; the horizontal telescopic mechanism can horizontally stretch; the obstacle detection mechanism is used for detecting whether obstacles exist at the upper end of the vertical lifting mechanism and the front end of the horizontal telescopic mechanism; the oil tank internal image data acquisition mechanism is used for acquiring oil tank internal image data; the control mechanism is used for controlling the other mechanisms in a general control manner. The detection device has small volume and good space accessibility; the control strategy is simple, and the automation degree is high; the modularized detection device has the advantages of modular design, high mechanism reliability, good maintainability and low cost, can realize automatic detection of redundant materials in the wing oil tank of the large-scale transport plane, effectively reduces the labor intensity of workers and improves the detection efficiency.
Description
Technical Field
The invention relates to a device and a method for automatically detecting a narrow space, in particular to a device and a method for automatically detecting the interior of an aircraft fuel tank based on visual guidance.
Background
In recent years, with the concern and support of China on the development of the aviation industry, the aviation manufacturing industry of China is rapidly developed. The domestic large-scale transport plane is successfully developed and put into mass production, but the production process also reveals many problems to be solved urgently, such as detection of excess inside the wing oil tank of the large-scale airplane. In order to fully utilize the structural space of an airplane, a large-sized transport plane generally uses a closed box section of a wing part as fuel oil storage, and a plurality of oil tank inspection ports are usually reserved on the lower surface of the wing. The wing manufacturing work is complicated and tedious, bolts, rivets and even production tools can be left inside the wing oil tank due to the negligence of workers in the assembling process, and the redundancy poses great threat to the flight safety of the airplane, so that the redundancy check on the oil tank is necessary after the wing is assembled. The internal structure of purlin, rib, pipe of arranging of wing, the space is narrow and small and complicated, and traditional inspection method relies on the workman to climb into inside the oil tank from the inspection hatchway and carries out visual inspection, and workman's operational environment is abominable, operating space is little, intensity of labour is big and inefficiency, therefore needs an automatic detection device to replace workman's oil tank surplus object inspection work urgently.
At present, some attempts are made at home and abroad for researching a device and a method for detecting the interior of an aircraft fuel tank, for example, China civil aviation university researches a line-driven continuous robot for detecting the aircraft fuel tank, and the problems of difficult control, small effective load, easy breakage of flexible materials and the like exist, so that the device and the method cannot be practically applied. The continuous robots have the problems of complex control, high cost and the like.
Disclosure of Invention
The invention provides an automatic detection device and a detection method for an aircraft fuel tank, aiming at the problems in the background art, and the automatic detection device and the detection method are used for replacing manual work to carry out redundancy inspection on the aircraft fuel tank.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
an automatic detection device for aircraft fuel tanks, wherein: the system comprises a mobile platform, a control mechanism, a vertical lifting mechanism, a horizontal telescopic mechanism, an obstacle detection mechanism and an oil tank internal image data acquisition mechanism;
the mobile platform is used as a carrying platform of the control mechanism, the vertical lifting mechanism, the horizontal telescopic mechanism, the obstacle detection mechanism and the internal image data acquisition mechanism of the oil tank and is used for realizing the movement and the positioning of the automatic detection device of the aircraft oil tank;
the lower end of the vertical lifting mechanism is arranged on the mobile platform and can stretch up and down;
the rear end of the horizontal telescopic mechanism is fixed at the upper end of the vertical lifting mechanism and can horizontally stretch;
the obstacle detection mechanism is fixed at the front end of the horizontal telescopic mechanism and the upper end of the vertical lifting mechanism and used for detecting whether obstacles exist at the upper end of the vertical lifting mechanism and the front end of the horizontal telescopic mechanism or not and transmitting detection data to the control mechanism;
the oil tank internal image data acquisition mechanism is arranged at the front end of the horizontal telescopic mechanism and is used for acquiring oil tank internal image data and transmitting the data to the control mechanism;
control mechanism installs on moving platform, and control mechanism respectively with moving platform, vertical elevating system, horizontal telescopic machanism, barrier detection mechanism and the inside image data acquisition mechanism signal connection of oil tank to can receive the inside image data of gathering the oil tank that detection data and the inside image data acquisition mechanism of oil tank that barrier detection mechanism transmitted, and can the analytical data, control moving platform removes, vertical elevating system goes up and down and horizontal telescopic machanism is flexible.
In order to optimize the technical scheme, the specific measures adopted further comprise:
the moving platform is an AGV platform with a laser radar or ultrasonic positioning system, and the AGV platform can receive signals of the control mechanism and move to an appointed position according to the signals.
The control mechanism comprises a direct current motor controller, a direct current power supply, a lower singlechip and an upper industrial personal computer, wherein the direct current motor controller, the direct current power supply, the lower singlechip and the upper industrial personal computer are all arranged in a control cabinet, the control cabinet is fixed on the movable platform, the direct current motor controller, the direct current power supply, the next singlechip all with upper industrial computer signal connection, vertical elevating system, horizontal telescopic machanism all passes through the direct current motor drive, realize going up and down and the level is flexible, direct current motor controller and vertical elevating system, horizontal telescopic machanism's direct current motor signal connection, control direct current motor positive and negative function, direct current power supply is used for each direct current motor power supply, the next singlechip is used for realizing the collection of sensor data and control signal's conversion, upper industrial computer is used for realizing image data's analysis processes and automated detection control.
The vertical lifting mechanism is composed of a lifting mechanism direct current motor, a vertical electric push rod and an intermediate connecting piece, wherein the lifting mechanism direct current motor is fixed on the moving platform and is in transmission connection with the lower end of the vertical electric push rod through a ball screw structure, so that the rotation of the lifting mechanism direct current motor is converted into linear motion of the vertical electric push rod, the lower end of the intermediate connecting piece is connected with the upper end of the vertical electric push rod, the intermediate connecting piece is offset for a certain distance towards the axial direction of the vertical electric push rod in the direction opposite to the extending direction of the horizontal telescopic mechanism and is used for reducing the bending moment generated by the self weight of the horizontal telescopic mechanism on the vertical electric push rod, and the upper end of the intermediate connecting piece is fixedly connected with.
The horizontal telescopic mechanism comprises a front horizontal electric push rod, a rear horizontal electric push rod and a connector, wherein the front horizontal electric push rod and the rear horizontal electric push rod are respectively provided with a horizontal direct current motor, the horizontal direct current motors can push the corresponding horizontal electric push rods to move back and forth, the front horizontal electric push rod is connected with the rear horizontal electric push rod in series through the connector, and the rear horizontal electric push rod is fixed at the upper end of the middle connecting piece.
The obstacle detection mechanism comprises a front-end obstacle detection mechanism and an upper-end detection mechanism, the front-end obstacle detection mechanism comprises a front infrared distance sensor and a front camera, the front infrared distance sensor and the front camera are fixed at the front end of the front horizontal electric push rod, the front infrared distance sensor is used for sensing the distance between the front end of the front horizontal electric push rod and an obstacle in the front of the horizontal electric push rod, the front camera is used for acquiring an obstacle image, the upper-end detection mechanism comprises an upper infrared distance sensor and an upper camera, the upper infrared distance sensor and the upper camera are fixed at the rear end of the front horizontal electric push rod, the upper infrared distance sensor is used for sensing the distance between the upper part of the front horizontal electric push rod and the obstacle, the upper camera is used for acquiring an obstacle image on the upper part of the horizontal electric push rod, the front infrared distance sensor and the front camera, the upper infrared distance sensor and the upper camera are in signal connection with the control mechanism.
The internal image data acquisition mechanism of the oil tank comprises three acquisition mechanism infrared cameras which are distributed in a fan shape in the front of the front horizontal electric push rod, and the three acquisition mechanism infrared cameras can splice images to obtain a field angle exceeding 180 degrees.
The viewing angle of the oil tank internal image data acquisition mechanism faces downwards.
An automatic detection method for an aircraft fuel tank comprises the following steps:
firstly, calibrating an upper infrared distance sensor and an upper camera in advance to obtain a correct relative position between an identified target inspection opening and an automatic detection device of an aircraft fuel tank;
calibrating three acquisition mechanism infrared cameras which are used for acquiring image information and distributed in a fan shape in advance, and splicing the images to obtain a field angle exceeding 180 degrees;
constructing an environment map by using a laser radar or an ultrasonic positioning system of the mobile platform in advance, marking a work station at the inspection hole, and recording coordinates;
fourthly, the mobile platform automatically plans a route to reach the position near the target inspection opening according to a pre-drawn environment map, the inspection opening is identified by the upper camera, and the control mechanism drives the mobile platform to carry out position fine adjustment according to a relative position relation calibrated in advance so as to realize accurate positioning;
and step five, after the positioning is finished, the control mechanism controls the vertical lifting mechanism to start to ascend, the horizontal telescopic mechanism is sent into the oil tank from the inspection port, and meanwhile, the upper infrared distance sensor monitors the distance between the horizontal telescopic mechanism and the top of the oil tank in real time to prevent collision. When the detected distance is smaller than the safe distance, the control mechanism controls the vertical lifting mechanism to stop lifting;
step six, acquiring internal information of the oil tank by using a front infrared distance sensor and a front camera;
seventhly, the control mechanism controls the horizontal telescopic mechanism to start extending, three acquisition mechanism infrared cameras positioned at the front end of the horizontal telescopic mechanism acquire image data of the bottom of the oil tank, and the front infrared distance sensor and the front camera perform obstacle detection in real time, so that the front end of the horizontal telescopic mechanism does not collide with the oil tank in the extending process of the horizontal telescopic mechanism;
step eight, after data acquisition is finished, retracting the horizontal telescopic mechanism, descending the vertical lifting mechanism, and automatically planning a route by the mobile platform to move to a next task point;
step nine, repeating the step four to the step eight until the collection is finished;
and step ten, analyzing and processing the acquired image data to realize automatic detection of the aircraft fuel tank.
The automatic detection device and method for the aircraft fuel tank based on the visual guidance have the advantages that the detection device is small in size and good in space accessibility; the control strategy is simple, and the automation degree is high; the modularized design, the mechanism reliability is high, the maintainability is good, and the cost is low. The method can replace manual visual inspection, realize automatic detection of the excess inside the aircraft wing oil tank, greatly reduce the labor intensity of workers and improve the detection efficiency.
Drawings
Fig. 1 is a schematic perspective view of an automatic detection device for an aircraft fuel tank according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of a horizontal telescopic structure in an automatic detection device for an aircraft fuel tank according to an embodiment of the invention;
fig. 3 is a schematic diagram of the basic work flow of the automatic detection device for the airplane fuel tank according to the embodiment of the invention.
The reference signs are: the system comprises a moving platform 1, a control mechanism 2, a vertical lifting mechanism 3, a vertical electric push rod 31, an intermediate connecting piece 32, a horizontal telescopic mechanism 4, a front horizontal electric push rod 41, a rear horizontal electric push rod 42, a connector 43, an obstacle detection mechanism 5, a front-end obstacle detection mechanism 51, an upper-end detection mechanism 52 and an oil tank internal image data acquisition mechanism 6.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
The invention aims to provide an automatic detection device for excess materials in a narrow space, which is used for replacing the traditional manual visual inspection, can effectively reduce the labor intensity of workers and improve the inspection efficiency and the inspection quality.
The present invention will be described in further detail with reference to the drawings and detailed description, in order to clearly and easily explain the above objects, features and advantages of the present invention.
As shown in fig. 1-2, an automatic detection device for aircraft fuel tank, wherein: the system comprises a mobile platform 1, a control mechanism 2, a vertical lifting mechanism 3, a horizontal telescopic mechanism 4, an obstacle detection mechanism 5 and an oil tank internal image data acquisition mechanism 6;
the mobile platform 1 is used as a carrying platform of the control mechanism 2, the vertical lifting mechanism 3, the horizontal telescopic mechanism 4, the obstacle detection mechanism 5 and the oil tank internal image data acquisition mechanism 6 and is used for realizing the movement and the positioning of the automatic detection device of the aircraft oil tank; the moving platform 1 is an AGV platform with a laser radar or an ultrasonic positioning system, and the AGV platform can receive the signal of the control mechanism 2 and move to a specified position according to the signal.
The lower end of the vertical lifting mechanism 3 is arranged on the mobile platform 1 and can stretch up and down; the vertical lifting mechanism 3 consists of a lifting mechanism direct current motor, a vertical electric push rod 31 and an intermediate connecting piece 32, the lifting mechanism direct current motor is fixed on the moving platform 1 and is in transmission connection with the lower end of the vertical electric push rod 31 through a ball screw structure, so that the rotation of the lifting mechanism direct current motor is converted into the linear motion of the vertical electric push rod 31, and the maximum stroke can reach 400 mm; the lower end of the middle connecting piece 32 is connected with the upper end of the vertical electric push rod 31, and the middle connecting piece 32 is offset for a certain distance towards the opposite direction of the extending direction of the horizontal telescopic mechanism 4 towards the axis of the vertical electric push rod 31, so that the bending moment generated by the self weight of the horizontal telescopic mechanism on the vertical electric push rod 31 is reduced, and the abrasion of the working process of the vertical electric push rod 31 is reduced. The height of the middle connecting piece 32 can be adjusted according to the height of the actual oil tank inspection opening from the ground. The upper end of the middle connecting piece 32 is fixedly connected with the rear end of the horizontal telescopic mechanism 4.
The rear end of the horizontal telescopic mechanism 4 is fixed at the upper end of the vertical lifting mechanism 3 and can horizontally stretch; the device is used for carrying the oil tank internal image data acquisition mechanism 6 to reach the deep part of the oil tank. The horizontal telescopic mechanism 4 comprises a front horizontal electric push rod 41, a rear horizontal electric push rod 42 and a connector 43, wherein the front horizontal electric push rod 41 and the rear horizontal electric push rod 42 are respectively provided with a horizontal direct current motor, the maximum stroke is 250mm, the horizontal direct current motors can push the corresponding horizontal electric push rods to move back and forth, the front horizontal electric push rod 41 is connected with the rear horizontal electric push rod 42 in series through the connector 43, and the rear horizontal electric push rod 42 is fixed at the upper end of the middle connecting piece 32. The total length of retraction is 400mm, the total length of extension is 900mm, the ratio of the stroke to the retraction length reaches 1.2, while the common single electric push rod is limited by structural characteristics, and the ratio of the stroke to the retraction length is about 0.8 at most. Due to the design of the series electric push rod, the automatic detection of the redundant objects in the narrow space of the wing oil tank is possible.
The obstacle detection mechanism 5 is fixed at the front end of the horizontal telescopic mechanism 4 and the upper end of the vertical lifting mechanism 3, and is used for detecting whether obstacles exist at the upper end of the vertical lifting mechanism 3 and the front end of the horizontal telescopic mechanism 4 or not and transmitting detection data to the control mechanism 2; the obstacle detection mechanism 5 comprises a front-end obstacle detection mechanism 51 and an upper-end detection mechanism 52, the front-end obstacle detection mechanism 51 comprises a front infrared distance sensor and a front camera, the front infrared distance sensor and the front camera are fixed at the front end of the front horizontal electric push rod 41, the front infrared distance sensor is used for sensing the distance between the front end of the front horizontal electric push rod 41 and an obstacle in the front of the horizontal electric push rod 41, the front camera is used for acquiring an obstacle image, the upper-end detection mechanism 52 comprises an upper infrared distance sensor and an upper camera, the upper infrared distance sensor and the upper camera are fixed at the rear end of the front horizontal electric push rod 41, the upper infrared distance sensor is used for sensing the distance between the upper part of the front horizontal electric push rod 41 and the obstacle, the upper camera is used for acquiring the obstacle image of the upper part of the horizontal electric push rod 41, the front infrared distance sensor, The front camera, the upper infrared distance sensor and the upper camera are all in signal connection with the control mechanism 2.
The oil tank internal image data acquisition mechanism 6 is arranged at the front end of the horizontal telescopic mechanism 4 and is used for acquiring oil tank internal image data and transmitting the data to the control mechanism 2; the internal image data acquisition mechanism 6 of the oil tank comprises three acquisition mechanism infrared cameras, the three acquisition mechanism infrared cameras adopt industrial high-definition infrared cameras, and the active infrared cameras with infrared light sources are used in consideration of weak light in the oil tank, so that the oil tank has better imaging performance in a low-illumination environment; the active infrared cameras are distributed in a fan shape in front of the front horizontal electric push rod 41, and the infrared cameras of the three acquisition mechanisms can splice images to obtain a field angle exceeding 180 degrees. The angle of view of the internal oil tank image data acquisition mechanism 6 is directed downward. Considering that the possibility of the existence of the bottom of the oil tank in the probable excess of the oil tank is considered, the excess detection is only carried out on the bottom of the oil tank. The obtained images are synthesized by using an image splicing technology, the image distortion can be basically eliminated through calibration, and the internal information of the oil tank is visually presented.
An automatic detection method for an aircraft fuel tank comprises the following steps:
firstly, calibrating an upper infrared distance sensor and an upper camera in advance to obtain a correct relative position between an identified target inspection opening and an automatic detection device of an aircraft fuel tank;
calibrating three acquisition mechanism infrared cameras which are used for acquiring image information and distributed in a fan shape in advance, and splicing the images to obtain a field angle exceeding 180 degrees;
thirdly, constructing an environment map by using a laser radar or an ultrasonic positioning system of the mobile platform 1 in advance, marking a work station at the inspection hole, and recording coordinates;
step four, the mobile platform 1 automatically plans a route to reach the position near a target inspection opening according to a pre-drawn environment map, the inspection opening is identified by the upper camera, and the control mechanism 2 drives the mobile platform 1 to carry out position fine adjustment according to a relative position relation calibrated in advance so as to realize accurate positioning;
and step five, after the positioning is finished, the control mechanism 2 controls the vertical lifting mechanism 3 to start to ascend, the horizontal telescopic mechanism 4 is sent into the oil tank from the inspection port, and meanwhile, the upper infrared distance sensor monitors the distance between the horizontal telescopic mechanism 4 and the top of the oil tank in real time to prevent collision. When the detected distance is smaller than the safe distance, the control mechanism 2 controls the vertical lifting mechanism 3 to stop lifting;
step six, acquiring internal information of the oil tank by using a front infrared distance sensor and a front camera; according to the preset program, the orientation of the device is finely adjusted,
seventhly, the control mechanism 2 controls the horizontal telescopic mechanism 4 to start to extend, three acquisition mechanism infrared cameras positioned at the front end of the horizontal telescopic mechanism 4 acquire image data of the bottom of the oil tank, and the front infrared distance sensor and the front camera perform obstacle detection in real time, so that the front end of the horizontal telescopic mechanism 4 does not collide with the oil tank in the extending process of the horizontal telescopic mechanism 4;
step eight, after data acquisition is finished, retracting the horizontal telescopic mechanism 4, descending the vertical lifting mechanism 3, and automatically planning a route of the mobile platform 1 to move to a next task point;
step nine, repeating the step four to the step eight until the collection is finished;
and step ten, analyzing and processing the acquired image data to realize automatic detection of the aircraft fuel tank.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (8)
1. An automatic detection method for an aircraft fuel tank is provided with an automatic detection device for the aircraft fuel tank, and is characterized in that: the automatic detection device for the aircraft oil tank comprises a mobile platform (1), a control mechanism (2), a vertical lifting mechanism (3), a horizontal telescopic mechanism (4), an obstacle detection mechanism (5) and an oil tank internal image data acquisition mechanism (6);
the moving platform (1) is used as a carrying platform of the control mechanism (2), the vertical lifting mechanism (3), the horizontal telescopic mechanism (4), the obstacle detection mechanism (5) and the image data acquisition mechanism (6) in the oil tank and is used for realizing the moving and positioning of the automatic detection device of the aircraft oil tank;
the lower end of the vertical lifting mechanism (3) is arranged on the mobile platform (1) and can stretch up and down;
the rear end of the horizontal telescopic mechanism (4) is fixed at the upper end of the vertical lifting mechanism (3) and can horizontally stretch;
the obstacle detection mechanism (5) is fixed at the front end of the horizontal telescopic mechanism (4) and the upper end of the vertical lifting mechanism (3) and used for detecting whether obstacles exist at the upper end of the vertical lifting mechanism (3) and the front end of the horizontal telescopic mechanism (4) or not and transmitting detection data to the control mechanism (2);
the oil tank internal image data acquisition mechanism (6) is arranged at the front end of the horizontal telescopic mechanism (4) and is used for acquiring oil tank internal image data and transmitting the data to the control mechanism (2);
the control mechanism (2) is installed on the mobile platform (1), the control mechanism (2) is in signal connection with the mobile platform (1), the vertical lifting mechanism (3), the horizontal telescopic mechanism (4), the obstacle detection mechanism (5) and the oil tank internal image data acquisition mechanism (6) respectively, can receive detection data transmitted by the obstacle detection mechanism (5) and acquired oil tank internal image data transmitted by the oil tank internal image data acquisition mechanism (6), can analyze data, and controls the mobile platform (1) to move, the vertical lifting mechanism (3) to lift and the horizontal telescopic mechanism (4) to stretch; the specific method for automatically detecting the aircraft fuel tank comprises the following steps:
firstly, calibrating an upper infrared distance sensor and an upper camera in advance to obtain a correct relative position between an identified target inspection opening and an automatic detection device of an aircraft fuel tank;
calibrating three acquisition mechanism infrared cameras which are used for acquiring image information and distributed in a fan shape in advance, and splicing the images to obtain a field angle exceeding 180 degrees;
thirdly, constructing an environment map by using a laser radar or an ultrasonic positioning system of the mobile platform (1) in advance, marking a working station at the inspection hole, and recording coordinates;
step four, the mobile platform (1) automatically plans a route to reach the position near a target inspection opening according to a pre-drawn environment map, the inspection opening is identified by the upper camera, and the control mechanism (2) drives the mobile platform (1) to carry out position fine adjustment according to a relative position relation calibrated in advance so as to realize accurate positioning;
after positioning is completed, the control mechanism (2) controls the vertical lifting mechanism (3) to start to ascend, the horizontal telescopic mechanism (4) is sent into the oil tank from the inspection opening, meanwhile, the upper infrared distance sensor monitors the distance between the horizontal telescopic mechanism (4) and the top of the oil tank in real time to prevent collision, and when the detected distance is smaller than a safety distance, the control mechanism (2) controls the vertical lifting mechanism (3) to stop ascending;
step six, acquiring internal information of the oil tank by using a front infrared distance sensor and a front camera;
seventhly, the control mechanism (2) controls the horizontal telescopic mechanism (4) to start to extend, three acquisition mechanism infrared cameras positioned at the front end of the horizontal telescopic mechanism (4) acquire image data of the bottom of the oil tank, and the front infrared distance sensor and the front camera perform obstacle detection in real time, so that the front end of the horizontal telescopic mechanism (4) does not collide with the oil tank in the extending process of the horizontal telescopic mechanism (4);
step eight, after data acquisition is finished, retracting the horizontal telescopic mechanism (4), descending the vertical lifting mechanism (3), and automatically planning a route of the mobile platform (1) to move to a next task point;
step nine, repeating the step four to the step eight until the collection is finished;
and step ten, analyzing and processing the acquired image data to realize automatic detection of the aircraft fuel tank.
2. The method of claim 1, wherein the method comprises the steps of: the moving platform (1) is an AGV platform with a laser radar or ultrasonic positioning system, and the AGV platform can receive signals of the control mechanism (2) and move to a specified position according to the signals.
3. The method for automatically detecting the fuel tank of the airplane as claimed in claim 2, wherein: the control mechanism (2) comprises a direct current motor controller, a direct current power supply, a lower singlechip and an upper industrial personal computer, wherein the direct current motor controller, the direct current power supply, the lower singlechip and the upper industrial personal computer are all arranged in a control cabinet, the control cabinet is fixed on the mobile platform (1), the DC motor controller, the DC power supply and the lower singlechip are all in signal connection with the upper industrial personal computer, the vertical lifting mechanism (3) and the horizontal telescopic mechanism (4) are driven by a direct current motor to realize lifting and horizontal telescopic, the direct current motor controller is in signal connection with direct current motors of the vertical lifting mechanism (3) and the horizontal telescopic mechanism (4) to control the direct current motors to operate positively and negatively, the direct current power supply is used for supplying power for the direct current motors, the lower single chip microcomputer is used for achieving acquisition of sensor data and conversion of control signals, and the upper industrial personal computer is used for achieving analysis processing and automatic detection control of image data.
4. An automatic detection method for an aircraft fuel tank as claimed in claim 3, wherein: the vertical lifting mechanism (3) consists of a lifting mechanism direct current motor, a vertical electric push rod (31) and an intermediate connecting piece (32), the lifting mechanism direct current motor is fixed on the moving platform (1), the lifting mechanism direct current motor is in transmission connection with the lower end of the vertical electric push rod (31) through a ball screw structure to convert the rotation of the lifting mechanism direct current motor into the linear motion of the vertical electric push rod (31), the lower end of the middle connecting piece (32) is connected with the upper end of the vertical electric push rod (31), the middle connecting piece (32) is biased for a certain distance towards the opposite direction of the extending direction of the horizontal telescopic mechanism (4) towards the axis of the vertical electric push rod (31), the bending moment generated by the weight of the horizontal telescopic mechanism on the vertical electric push rod (31) is reduced, and the upper end of the middle connecting piece (32) is fixedly connected with the rear end of the horizontal telescopic mechanism (4).
5. The method of claim 4, wherein the method comprises the steps of: the horizontal telescopic mechanism (4) is composed of a front horizontal electric push rod (41), a rear horizontal electric push rod (42) and a connector (43), the front horizontal electric push rod (41) and the rear horizontal electric push rod (42) are respectively provided with a horizontal direct current motor, the horizontal direct current motors can push the corresponding horizontal electric push rods to move back and forth, the front horizontal electric push rod (41) is connected with the rear horizontal electric push rod (42) in series through the connector (43), and the rear horizontal electric push rod (42) is fixed at the upper end of the middle connecting piece (32).
6. An automatic detection method for an aircraft fuel tank as claimed in claim 5, wherein: the obstacle detection mechanism (5) comprises a front-end obstacle detection mechanism (51) and an upper-end detection mechanism (52), the front-end obstacle detection mechanism (51) comprises a front infrared distance sensor and a front camera, the front infrared distance sensor and the front camera are fixed at the front end of a front horizontal electric push rod (41), the front infrared distance sensor is used for sensing the distance between the front end of the front horizontal electric push rod (41) and an obstacle in the front of the front horizontal electric push rod (41), the front camera is used for acquiring an obstacle image, the upper-end detection mechanism (52) comprises an upper infrared distance sensor and an upper camera, the upper infrared distance sensor and the upper camera are fixed at the rear end of the front horizontal electric push rod (41), the upper infrared distance sensor is used for sensing the distance between the upper part of the front horizontal electric push rod (41) and the obstacle, go up the camera with be used for the obstacle image acquisition to preceding horizontal electric putter (41) upper portion, preceding infrared distance sensor, preceding camera, go up infrared distance sensor and go up the camera and all with control mechanism (2) signal connection.
7. The method of claim 6, wherein the method comprises the steps of: the internal image data acquisition mechanism (6) of the oil tank comprises three acquisition mechanism infrared cameras which are distributed in a fan shape in the front of the front horizontal electric push rod (41), and the three acquisition mechanism infrared cameras can splice images to obtain a field angle exceeding 180 degrees.
8. The method of claim 7, wherein the method comprises the steps of: the angle of view of the oil tank internal image data acquisition mechanism (6) faces downwards.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911260767.7A CN110927813B (en) | 2019-12-10 | 2019-12-10 | Automatic detection device and method for aircraft fuel tank |
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| CN201911260767.7A CN110927813B (en) | 2019-12-10 | 2019-12-10 | Automatic detection device and method for aircraft fuel tank |
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| CN110927813A CN110927813A (en) | 2020-03-27 |
| CN110927813B true CN110927813B (en) | 2020-12-29 |
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| CN102390353A (en) * | 2011-09-22 | 2012-03-28 | 谢祯桂 | Oil tank alarming device for vehicle |
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