CN111942615A - Machine vision-based vehicle for detecting lightning stroke condition of outer surface of airplane in outdoor environment - Google Patents
Machine vision-based vehicle for detecting lightning stroke condition of outer surface of airplane in outdoor environment Download PDFInfo
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- CN111942615A CN111942615A CN202010759130.9A CN202010759130A CN111942615A CN 111942615 A CN111942615 A CN 111942615A CN 202010759130 A CN202010759130 A CN 202010759130A CN 111942615 A CN111942615 A CN 111942615A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
Abstract
An aircraft outer surface lightning stroke condition inspection vehicle based on machine vision in an outdoor environment. The device comprises a moving vehicle, a horizontal moving mechanism, a vertical telescopic mechanism, a horizontal rotating mechanism, a telescopic rocker arm mechanism, a shooting system and a driving control room; the invention has the following effects: under the combined action of the horizontal moving mechanism, the vertical telescopic mechanism, the telescopic rocker arm mechanism and the camera mounting frame, the motion of six degrees of freedom in space can be realized, namely, the change of the camera in any position and any posture in space is realized, the shooting area can completely cover the area to be inspected, and the condition that no inspection is carried out in a certain lightning stroke area is avoided. The operation control of each mechanism on the inspection vehicle is realized by the instruction of an operator in the cab control room, so that the manual error caused by manual operation is avoided, and the defects of long time, more personnel, high labor intensity and the like of the conventional inspection mode are overcome. This inspection car is convenient for remove and accords with the regulation, and the security is higher.
Description
Technical Field
The invention belongs to the technical field of airport ground special equipment, and particularly relates to a machine vision-based vehicle for inspecting the lightning stroke condition of the outer surface (including the upper surface of a wing, the upper surface of a horizontal stabilizing plane and the upper end of a vertical stabilizing plane) of an airplane in an outdoor environment.
Background
Aircraft are at risk for lightning strikes during flight, with mild strikes causing burning, melting or showing signs of metal deformation on the exterior surface of the aircraft, and high intensity strikes causing holes to appear on the exterior surface of the aircraft. The lightning strike points on the surface of an aircraft are usually an entry point and an exit point; the lightning stroke high probability area is as follows: the aircraft comprises a wing leading edge, a wing trailing edge, a wing tip, an engine, a vertical tail tip, a horizontal stable tip, an elevator, a nose radar shield and an auxiliary power device. The degree of aircraft damage caused by lightning strikes depends on various factors, and when the aircraft is struck by lightning, the aircraft can be damaged, continuous flight is not influenced, severe damage can be caused, immediate repair is needed, and the aircraft can be stopped for a long time. The lightning strike can seriously affect the operation of an airline company and cause expensive delay and service interruption cost, so that the damage degree of the aircraft can be quickly and accurately checked and judged after the aircraft is struck by the lightning, so that the loss cost of the airline company can be effectively reduced.
A conventional method of inspecting an aircraft for lightning strike damage is to have a lightning strike inspection by maintenance personnel when the unit reports a lightning strike or the aircraft is found to be prone to a lightning strike. The lightning strike inspection comprises visual inspection and operation inspection, the visual inspection of the structure whether lightning strike damage exists or not needs maintenance personnel to search lightning strike traces on the outer surface of the airplane and inspect the lightning strike traces one by one, each trace needs 5 to 10 minutes, and the operation inspection of an electronic and electrical system ensures normal work. Therefore, in the presence of a large number of lightning strike points, the traditional inspection methods require the aircraft to stay on the ground for a long time, sometimes requiring a whole day, which affects the daily operations of the airline companies. European airline easyJet is testing to develop a new method for inspecting aircraft for lightning strike loss using a drone that can fly about the aircraft in a range of about three feet (using a laser to determine the distance) and locate the site of damage caused by the lightning strike; mansion door taigu has studied one set of approved general technique to unmanned aerial vehicle around the machine inspection and has guided and operating procedure, and the unmanned aerial vehicle around the machine inspection is equipped with up-to-date anticollision technique, can only fly in predetermined fence through built-in program control unmanned aerial vehicle, keeps certain predetermined distance with the aircraft surface to ensure safe function. The whole day of inspection can be completed before shooting within a few hours by using the unmanned aerial vehicle, so that the time consumption of lightning damage inspection is greatly reduced, but the unmanned aerial vehicle is allowed by many parts of China civil aviation administration, air management, airports and other management departments when flying on the airport, and general unmanned aerial vehicle inspection is forbidden domestically, so that the method is only suitable for inspecting airplanes parked indoors, and is not suitable for the condition that most airplanes are temporarily parked on the airport parking apron after being struck by lightning.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a machine vision-based vehicle for inspecting lightning strike conditions on an outer surface of an aircraft in an outdoor environment, which can accurately and quickly inspect the lightning strike conditions on the outer surface of the aircraft, and improve inspection efficiency and safety.
In order to achieve the purpose, the machine vision-based vehicle for inspecting the lightning strike condition on the outer surface of the airplane in the outdoor environment comprises a moving vehicle for providing a moving function, a horizontal moving mechanism for realizing horizontal moving during shooting, a vertical telescopic mechanism for realizing vertical moving during shooting and bearing the total weight of each mechanism, a horizontal rotating mechanism for realizing horizontal rotating during shooting, a telescopic rocker arm mechanism for increasing the shooting range and adjusting the shooting angle, a shooting system for inspecting the lightning strike damage condition on the outer surface of the airplane and a cab; the front end of the moving vehicle is connected with a driving control room, and a display and a controller are arranged in the driving control room; the horizontal moving mechanism is arranged on the top surface of the moving vehicle in a mode of moving back and forth; the lower end of the vertical telescopic mechanism is connected to the horizontal moving mechanism, and the upper end of the vertical telescopic mechanism is connected to the lower end of the horizontal rotating mechanism; the lower end of the telescopic rocker arm mechanism is connected with the upper end of the horizontal rotating mechanism, and the upper end of the telescopic rocker arm mechanism is connected with the shooting system; the controller is respectively electrically connected with the display, the horizontal moving mechanism, the vertical telescopic mechanism, the horizontal rotating mechanism, the telescopic rocker arm mechanism and each electric control device in the shooting system.
The horizontal moving mechanism comprises a bottom plate, a sliding track, a moving module and a first servo motor; wherein, the bottom plate is fixed on the top surface of the moving vehicle; the sliding rails extend along the front-back direction, and the two sliding rails are respectively arranged at the two sides of the surface of the bottom plate; the moving module is arranged on the sliding track in a sliding way; first servo motor installs in the rear end middle part of bottom plate, and the output shaft outer end is connected on removing the module to be connected with the controller electricity.
The first servo motor is a rotating motor.
The vertical telescopic mechanism comprises a first basic arm, a first telescopic arm, a second telescopic arm, a base, a switching disc and a second servo motor; wherein, the base is fixed on the surface of the moving module on the horizontal moving mechanism; the first basic arm is of a hollow tubular structure, and the lower end of the first basic arm is fixed on the surface of the base; the first telescopic arm is also of a hollow tubular structure and is nested inside the first basic arm; the second telescopic arm is nested in the first telescopic arm, and the upper end of the second telescopic arm is connected to the bottom surface of the adapter plate; the second servo motor is arranged at the inner lower part of the first basic arm, and the outer end of the output shaft is connected to the lower end of the second telescopic arm and is electrically connected with the controller.
The second servo motor is a linear motor.
The horizontal rotating mechanism comprises two gear discs, a third servo motor and a mounting rack; the two gear discs are horizontally arranged and meshed with each other, and are respectively arranged on the surfaces of the rotary discs on the vertical telescopic mechanism through bearings; an output shaft of the third servo motor is fixed in a central hole of one gear disc; the bottom surface of the mounting rack is fixed at the outer side part of the top surface of the other gear plate.
The third servo motor is a rotating motor.
The telescopic rocker arm mechanism comprises a second basic arm, a third telescopic arm, a fourth telescopic arm, a base, a telescopic oil cylinder, a sliding block, a hinge device and a fourth servo motor; wherein, the base is fixed on one side of the surface of the mounting rack on the horizontal rotating mechanism; the lower end of the telescopic oil cylinder is fixed on the base, and the piston rod is positioned at the upper end and hinged with the sliding block; the lower end of the hinge device is hinged to the other side of the surface of the mounting frame; the second basic arm is of a hollow tubular structure, the rear end of the second basic arm is fixed at the upper end of the hinge device, a sliding groove is formed in the outer circumferential surface of the second basic arm in a protruding mode along the axial direction of the second basic arm, and the sliding block is arranged in the sliding groove; the third telescopic arm is also of a hollow tubular structure and is nested inside the second basic arm; the fourth telescopic arm is nested in the third telescopic arm, and the front end of the fourth telescopic arm is connected with the shooting system; the fourth servo motor is arranged at the inner rear part of the second basic arm, the outer end of the output shaft is connected to the rear end of the fourth telescopic arm, and the fourth servo motor and the telescopic oil cylinder are electrically connected with the controller respectively.
The fourth servo motor is a linear motor.
The shooting system comprises a camera, an electric control holder and a camera mounting rack; the rear end of the camera mounting frame is connected to the front end of a fourth telescopic arm on the telescopic rocker arm mechanism, and the front end of the camera mounting frame is provided with an electric control holder; the camera is arranged on the electric control holder in a manner of swinging back and forth, and the camera and the electric control holder are respectively electrically connected with the controller.
Compared with the prior art, the invention has the following beneficial effects:
the inspection vehicle provided by the invention can work in an outdoor environment such as an airport or an air park, and can shoot a picture around the airplane by the movement of the mobile vehicle under the condition of ensuring a safe distance, so that the airplane cannot be damaged even if the vehicle body falls. Under the combined action of the horizontal moving mechanism, the vertical telescopic mechanism, the telescopic rocker arm mechanism and the camera mounting frame, the motion of six degrees of freedom in space can be realized, namely, the change of the camera in any position and any posture in space is realized, the shooting area can completely cover the area to be inspected, and the condition that no inspection is carried out in a certain lightning stroke area is avoided. The operation control of each mechanism on the inspection vehicle is realized by the instruction of an operator in the cab control room, so that the manual error caused by manual operation is avoided, and the defects of long time, more personnel, high labor intensity and the like of the conventional inspection mode are overcome. This inspection car is convenient for remove and accords with the regulation, and the security is higher.
Drawings
FIG. 1 is a perspective view of the overall structure of an aircraft outer surface lightning strike condition inspection vehicle in an outdoor environment based on machine vision.
FIG. 2 is a front view of an aircraft exterior surface lightning strike condition inspection vehicle in an outdoor environment based on machine vision provided by the invention.
FIG. 3 is a right side view of the aircraft exterior surface lightning strike condition inspection vehicle in the outdoor environment based on machine vision provided by the invention.
Fig. 4 is a partially enlarged view of a portion a in fig. 2.
Fig. 5 is a partially enlarged view of fig. 2 at B.
Fig. 6 is a partially enlarged view of fig. 2 at C.
Detailed Description
The technical solution of the present invention is further described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 6, the vehicle for inspecting the lightning strike condition of the outer surface of the airplane in the outdoor environment based on the machine vision, provided by the invention, comprises a moving vehicle 1 for providing a moving action, a horizontal moving mechanism 2 for realizing the movement in the horizontal direction during shooting, a vertical telescopic mechanism 3 for realizing the movement in the vertical direction during shooting and bearing the total weight of each mechanism, a horizontal rotating mechanism 4 for realizing the rotation in the horizontal direction during shooting, a telescopic rocker arm mechanism 5 for increasing the shooting range and adjusting the shooting angle, a shooting system 6 for inspecting the lightning strike damage condition of the outer surface of the airplane and a cab 7; wherein, the front end of the moving vehicle 1 is connected with a driving control room 7, and a display and a controller are arranged in the driving control room 7; the horizontal moving mechanism 2 is arranged on the top surface of the moving vehicle 1 in a manner of moving back and forth; the lower end of the vertical telescopic mechanism 3 is connected to the horizontal moving mechanism 2, and the upper end is connected to the lower end of the horizontal rotating mechanism 4; the lower end of the telescopic rocker arm mechanism 5 is connected with the upper end of the horizontal rotating mechanism 4, and the upper end is connected with the shooting system 6; the controller is respectively and electrically connected with the display and each electric control device in the horizontal moving mechanism 2, the vertical telescopic mechanism 3, the horizontal rotating mechanism 4, the telescopic rocker arm mechanism 5 and the shooting system 6.
The horizontal moving mechanism 2 comprises a bottom plate 201, a sliding track 202, a moving module 203 and a first servo motor 204; wherein, the bottom plate 201 is fixed on the top surface of the moving vehicle 1; the sliding rails 202 extend in the front-rear direction, and the two sliding rails 202 are respectively arranged at two side parts of the surface of the bottom plate 201; the moving module 203 is installed on the sliding rail 202 in a sliding manner; the first servo motor 204 is installed in the middle of the rear end of the bottom plate 201, and the outer end of the output shaft is connected to the moving module 203 and electrically connected with the controller.
The vertical telescopic mechanism 3 comprises a first basic arm 301, a first telescopic arm 302, a second telescopic arm 303, a base 304, an adapter disc 305 and a second servo motor; wherein, the base 304 is fixed on the surface of the moving module 203 on the horizontal moving mechanism 2; the first basic arm 301 is a hollow tubular structure, and the lower end of the first basic arm is fixed on the surface of the base 304; the first telescopic arm 302 is also a hollow tubular structure, and is nested inside the first basic arm 301; the second telescopic arm 303 is nested inside the first telescopic arm 302, and the upper end of the second telescopic arm is connected to the bottom surface of the adapter 305; the second servo motor is arranged at the inner lower part of the first basic arm 301, and the outer end of the output shaft is connected to the lower end of the second telescopic arm 303 and is electrically connected with the controller.
The horizontal rotating mechanism 4 comprises two gear discs 401, a third servo motor 402 and a mounting frame 403; wherein, the two gear discs 401 are horizontally arranged and mutually meshed, and are respectively arranged on the surface of the transfer disc 305 on the vertical telescopic mechanism 3 through bearings; an output shaft of the third servo motor 402 is fixed in a central hole of one gear plate 401; the bottom surface of the mounting bracket 403 is fixed to the outer side portion of the top surface of the other gear plate 401.
The telescopic rocker arm mechanism 5 comprises a second basic arm 501, a third telescopic arm 502, a fourth telescopic arm 503, a base 504, a telescopic oil cylinder 505, a sliding block 506, a hinge device 507 and a fourth servo motor; wherein, the base 504 is fixed on one side of the surface of the mounting rack 403 on the horizontal rotating mechanism 4; the lower end of a telescopic oil cylinder 505 is fixed on the base 504, and a piston rod is positioned at the upper end and hinged with a sliding block 506; the lower end of the hinge device 507 is hinged to the other side of the surface of the mounting frame 403; the second basic arm 501 is a hollow tubular structure, the rear end of the second basic arm is fixed at the upper end of the hinge device 507, a sliding groove is formed on the outer circumferential surface of the second basic arm along the axial direction of the second basic arm, and the sliding block 506 is arranged in the sliding groove; the third telescopic arm 502 is also a hollow tubular structure and is nested inside the second basic arm 501; the fourth telescopic arm 503 is nested inside the third telescopic arm 502, and the front end of the fourth telescopic arm is connected with the shooting system 6; the fourth servo motor is arranged at the inner rear part of the second basic arm 501, the outer end of the output shaft is connected with the rear end of the fourth telescopic arm 503, and the fourth servo motor and the telescopic oil cylinder 505 are respectively and electrically connected with the controller.
The shooting system 6 comprises a camera 601, an electric control pan-tilt 602 and a camera mounting rack 603; the rear end of the camera mounting rack 603 is connected to the front end of the fourth telescopic arm 503 on the telescopic rocker arm mechanism 5, and the front end is provided with an electric control holder 602; the camera 601 is arranged on the electric control holder 602 in a manner of swinging back and forth, the electric control holder 602 can ensure the stability of the camera 601 during shooting inspection, and the camera 601 and the electric control holder 602 are respectively electrically connected with the controller.
The first servo motor 204 and the third servo motor 402 are rotating motors, and the second servo motor and the fourth servo motor are linear motors
The working principle of the machine vision-based vehicle for inspecting the lightning strike condition on the outer surface of the airplane in the outdoor environment is described as follows:
when the airplane is not in a working state, the first telescopic arm 302 and the second telescopic arm 303 on the airplane outer surface lightning stroke condition inspection vehicle based on the machine vision outdoor environment retract inside the first basic arm 301; the third telescopic arm 502 and the fourth telescopic arm 503 are retracted inside the second base arm 501. When the lightning strike point on the surface of the airplane needs to be inspected, a pilot sitting in the pilot control room 7 drives the inspection vehicle to the airport or the parking apron to be inspected, and then an operator starts the controller and issues a control command. Under the control of the controller, the inspection vehicle runs for a circle around the airplane according to a planned path under the condition of ensuring a safe distance, and in the process, the camera 601 is used for carrying out all-dimensional dead-angle-free shooting inspection on the outer surface of the airplane; the first servo motor 204 can be used for driving the moving module 203 and the components thereon to move back and forth along the sliding track 202, so that the shooting range of the camera 601 during shooting can be adjusted and the shooting precision can be improved; the second servo motor is used for controlling the extending length of the first telescopic arm 302 and the second telescopic arm 303 to adjust the shooting height of the camera 601; the third servo motor 402 is used for realizing the rotation of the camera 601 in the horizontal direction through the gear disc 401 and the mounting frame 403 so as to increase the inspection range; the pitching angle of the camera 601 is adjusted by using the telescopic oil cylinder 505, and the extending lengths of the third telescopic arm 502 and the fourth telescopic arm 503 are controlled by using a fourth servo motor, so that the omnibearing shooting without dead angles on the outer surface of the airplane is realized; images of the outer surface of the airplane continuously shot by the camera 601 are transmitted to the controller and displayed through the display; an operator located within cockpit 7 may determine a lightning strike condition on the exterior surface of the aircraft by viewing the captured image on the display. When a suspected lightning stroke point is shot, an operator can photograph the lightning stroke point in a close distance by controlling the modes of movement, pitching, rotation, focusing, zooming, aperture parameters and the like of the camera 601, the obtained image can be used for comparison analysis and damage condition inspection by maintenance personnel, and finally relevant judgment is made on the lightning stroke condition of the outer surface of the airplane, so that the inspection process is completed.
In addition, the inspection vehicle provided by the invention not only can be applied to the inspection of the lightning stroke condition of the outer surface of the airplane, but also can be expanded to the inspection of the damage condition of the outer surface of the airplane caused by other reasons, such as bird impact, assembly loss, structural corrosion, airplane aging, hail, runway debris and the like.
The machine vision-based vehicle for inspecting the lightning strike condition on the outer surface of the airplane in the outdoor environment is a specific embodiment of the present invention, which already embodies the essential features and advantages of the present invention, and can be modified equivalently in shape, structure, application method and the like according to the practical application requirements and in the light of the teaching of the present invention, and is within the scope of the present invention.
Claims (10)
1. The utility model provides an aircraft surface thunderbolt situation inspection car under outdoor environment based on machine vision which characterized in that: the inspection vehicle comprises a moving vehicle (1) for providing a moving effect, a horizontal moving mechanism (2) for realizing horizontal moving during shooting, a vertical telescopic mechanism (3) for realizing vertical moving during shooting and bearing the total weight of each mechanism, a horizontal rotating mechanism (4) for realizing horizontal rotating during shooting, a telescopic rocker arm mechanism (5) for increasing the shooting range and adjusting the shooting angle, a shooting system (6) for inspecting the lightning damage condition of the outer surface of the airplane and a driving control room (7); wherein the front end of the moving vehicle (1) is connected with a driving control room (7), and a display and a controller are arranged in the driving control room (7); the horizontal moving mechanism (2) is arranged on the top surface of the moving vehicle (1) in a mode of moving back and forth; the lower end of the vertical telescopic mechanism (3) is connected to the horizontal moving mechanism (2), and the upper end is connected to the lower end of the horizontal rotating mechanism (4); the lower end of the telescopic rocker arm mechanism (5) is connected with the upper end of the horizontal rotating mechanism (4), and the upper end of the telescopic rocker arm mechanism is connected with the shooting system (6); the controller is respectively and electrically connected with the display and each electric control device in the horizontal moving mechanism (2), the vertical telescopic mechanism (3), the horizontal rotating mechanism (4), the telescopic rocker arm mechanism (5) and the shooting system (6).
2. The machine vision based outdoor environment aircraft exterior surface lightning strike condition inspection vehicle of claim 1, characterized in that: the horizontal moving mechanism (2) comprises a bottom plate (201), a sliding track (202), a moving module (203) and a first servo motor (204); wherein, the bottom plate (201) is fixed on the top surface of the moving vehicle (1); the sliding rails (202) extend along the front-back direction, and the two sliding rails (202) are respectively arranged at the two sides of the surface of the bottom plate (201); the moving module (203) is arranged on the sliding track (202) in a sliding way; the first servo motor (204) is arranged in the middle of the rear end of the bottom plate (201), and the outer end of the output shaft is connected to the moving module (203) and electrically connected with the controller.
3. The machine vision based outdoor environment aircraft exterior surface lightning strike condition inspection vehicle of claim 2, characterized in that: the first servo motor (204) is a rotating motor.
4. The machine vision based outdoor environment aircraft exterior surface lightning strike condition inspection vehicle of claim 1, characterized in that: the vertical telescopic mechanism (3) comprises a first basic arm (301), a first telescopic arm (302), a second telescopic arm (303), a base (304), an adapter plate (305) and a second servo motor; wherein, the base (304) is fixed on the surface of the moving module (203) on the horizontal moving mechanism (2); the first basic arm (301) is of a hollow tubular structure, and the lower end of the first basic arm is fixed on the surface of the base (304); the first telescopic arm (302) is also of a hollow tubular structure and is nested inside the first basic arm (301); the second telescopic arm (303) is nested in the first telescopic arm (302), and the upper end of the second telescopic arm is connected to the bottom surface of the adapter plate (305); the second servo motor is arranged at the inner lower part of the first basic arm (301), and the outer end of the output shaft is connected to the lower end of the second telescopic arm (303) and is electrically connected with the controller.
5. The machine vision based outdoor environment aircraft exterior surface lightning strike condition inspection vehicle of claim 4, characterized in that: the second servo motor is a linear motor.
6. The machine vision based outdoor environment aircraft exterior surface lightning strike condition inspection vehicle of claim 1, characterized in that: the horizontal rotating mechanism (4) comprises two gear discs (401), a third servo motor (402) and a mounting frame (403); the two gear discs (401) are horizontally arranged and meshed with each other, and are respectively arranged on the surface of the transfer disc (305) on the vertical telescopic mechanism (3) through bearings; the output shaft of the third servo motor (402) is fixed in the central hole of a gear plate (401); the bottom surface of the mounting rack (403) is fixed at the outer side part of the top surface of the other gear plate (401).
7. The machine vision based outdoor environment aircraft exterior surface lightning strike condition inspection vehicle of claim 6, characterized in that: the third servo motor (402) is a rotating motor.
8. The machine vision based outdoor environment aircraft exterior surface lightning strike condition inspection vehicle of claim 1, characterized in that: the telescopic rocker arm mechanism (5) comprises a second basic arm (501), a third telescopic arm (502), a fourth telescopic arm (503), a base (504), a telescopic oil cylinder (505), a sliding block (506), a hinge device (507) and a fourth servo motor; wherein, the base (504) is fixed on one side of the surface of the mounting rack (403) on the horizontal rotating mechanism (4); the lower end of a telescopic oil cylinder (505) is fixed on the base (504), and a piston rod is positioned at the upper end and hinged with the sliding block (506); the lower end of the hinge device (507) is hinged to the other side of the surface of the mounting rack (403); the second basic arm (501) is of a hollow tubular structure, the rear end of the second basic arm is fixed at the upper end of the hinge device (507), a sliding groove is formed in the outer circumferential surface of the second basic arm in a protruding mode along the axial direction of the second basic arm, and the sliding block (506) is arranged in the sliding groove; the third telescopic arm (502) is also of a hollow tubular structure and is nested inside the second basic arm (501); the fourth telescopic arm (503) is nested inside the third telescopic arm (502), and the front end of the fourth telescopic arm is connected with the shooting system (6); the fourth servo motor is arranged at the inner rear part of the second basic arm (501), the outer end of an output shaft is connected to the rear end of the fourth telescopic arm (503), and the fourth servo motor and the telescopic oil cylinder (505) are respectively and electrically connected with the controller.
9. The machine vision based outdoor environment aircraft exterior surface lightning strike condition inspection vehicle of claim 8, wherein: the fourth servo motor is a linear motor.
10. The machine vision based outdoor environment aircraft exterior surface lightning strike condition inspection vehicle of claim 1, characterized in that: the shooting system (6) comprises a camera (601), an electric control holder (602) and a camera mounting rack (603); the rear end of the camera mounting frame (603) is connected to the front end of a fourth telescopic arm (503) on the telescopic rocker arm mechanism (5), and the front end is provided with an electric control holder (602); the camera (601) is arranged on the electric control cloud platform (602) in a manner of swinging back and forth, and the camera (601) and the electric control cloud platform (602) are respectively electrically connected with the controller.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010759130.9A CN111942615A (en) | 2020-07-31 | 2020-07-31 | Machine vision-based vehicle for detecting lightning stroke condition of outer surface of airplane in outdoor environment |
| PCT/CN2021/102131 WO2022022181A1 (en) | 2020-07-31 | 2021-06-24 | Machine-vision-based vehicle for inspecting lightning stroke condition of outer surface of airplane in outdoor environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010759130.9A CN111942615A (en) | 2020-07-31 | 2020-07-31 | Machine vision-based vehicle for detecting lightning stroke condition of outer surface of airplane in outdoor environment |
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| Publication Number | Publication Date |
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| CN111942615A true CN111942615A (en) | 2020-11-17 |
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| CN202010759130.9A Pending CN111942615A (en) | 2020-07-31 | 2020-07-31 | Machine vision-based vehicle for detecting lightning stroke condition of outer surface of airplane in outdoor environment |
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| CN (1) | CN111942615A (en) |
| WO (1) | WO2022022181A1 (en) |
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|---|---|---|---|---|
| CN113720676A (en) * | 2021-08-16 | 2021-11-30 | 中国飞机强度研究所 | Deformation damage detection system that interior cabin was patrolled and examined among aircraft structure fatigue test |
| WO2022022181A1 (en) * | 2020-07-31 | 2022-02-03 | 中国民航大学 | Machine-vision-based vehicle for inspecting lightning stroke condition of outer surface of airplane in outdoor environment |
| CN116297489A (en) * | 2023-03-20 | 2023-06-23 | 广西保晟汽车进出口有限公司 | Portable car paint surface detection device |
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2020
- 2020-07-31 CN CN202010759130.9A patent/CN111942615A/en active Pending
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2021
- 2021-06-24 WO PCT/CN2021/102131 patent/WO2022022181A1/en active Application Filing
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| JP2002187692A (en) * | 2000-12-21 | 2002-07-02 | Tadano Ltd | Bridge inspecting vehicle |
| WO2015059241A1 (en) * | 2013-10-24 | 2015-04-30 | Airbus Group Sas | Collaborative robot for visually inspecting an aircraft |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022022181A1 (en) * | 2020-07-31 | 2022-02-03 | 中国民航大学 | Machine-vision-based vehicle for inspecting lightning stroke condition of outer surface of airplane in outdoor environment |
| CN113720676A (en) * | 2021-08-16 | 2021-11-30 | 中国飞机强度研究所 | Deformation damage detection system that interior cabin was patrolled and examined among aircraft structure fatigue test |
| CN116297489A (en) * | 2023-03-20 | 2023-06-23 | 广西保晟汽车进出口有限公司 | Portable car paint surface detection device |
| CN116297489B (en) * | 2023-03-20 | 2023-10-03 | 广西保晟汽车进出口有限公司 | Portable car paint surface detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022022181A1 (en) | 2022-02-03 |
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