CN113740185B - Aircraft inner cabin structural damage inspection framework in aircraft fatigue test - Google Patents
Aircraft inner cabin structural damage inspection framework in aircraft fatigue test Download PDFInfo
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- 238000007689 inspection Methods 0.000 title claims abstract description 115
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/32—Investigating strength properties of solid materials by application of mechanical stress by applying repeated or pulsating forces
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64F5/60—Testing or inspecting aircraft components or systems
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
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Abstract
The application belongs to the technical field of aircraft strength tests, and particularly relates to an aircraft interior cabin structural damage inspection framework in an aircraft fatigue test. The system comprises a track system, a vision acquisition system and a damage inspection management and control system, wherein the track system comprises an inner cabin inspection slide rail, an inspection AGV trolley and a six-axis robot system, the inner cabin inspection slide rail is arranged in an aircraft and extends from the head part to the tail part of the aircraft, and the inspection AGV trolley can be arranged on the inner cabin inspection slide rail in a sliding manner; the vision acquisition system is arranged at the tail end of the six-axis robot system and is used for acquiring images of an area to be scanned in the aircraft cabin; the damage inspection management and control system is used for controlling the movement of the inspection AGV trolley and the six-axis robot system, controlling the vision acquisition system to acquire images, and storing, detecting and displaying the received images. The application can realize all-weather online damage detection in the aircraft fatigue test, and can push the defects such as cracks, deformation and the like in real time so as to achieve the purpose of full detection in the inspection track range.
Description
Technical Field
The application belongs to the technical field of aircraft strength tests, and particularly relates to an aircraft interior cabin structural damage inspection framework in an aircraft fatigue test.
Background
In the aircraft fatigue test process, whether damage and defects can be timely found and confirmed is important to the flight safety of the new aircraft in trial flight and service. In the test, the state of the parts of the surface of the inner cabin of the aircraft, which are easy to generate surface deformation and surface cracks, and the parts connected by bolts are required to be monitored, and various common defects such as whether the mounting screw of the actuator is loosened or fallen, whether the steel wire rope is broken (broken wire), the state of the connecting part and the like are also required to be monitored for ensuring the test safety. Through analysis, the structural damage and defect types of the tester mainly comprise: the connecting rivets (or bolts) break/loosen or otherwise cause imperfections, structural skin bulging or deformation, structural cracking of aircraft frames, beams, joints or skin, fuselage capsule leaks, and the like.
The current inspection mode of the fatigue test of the whole machine is manual visual inspection and inspection of manual nondestructive inspection equipment, and the inspection mode can only work in a test stop state. The damage of the aircraft structure in the fatigue test is difficult to detect in the stop state, so that the current damage detection mode can cause the problem that the damage of the test structure is missed or not detected timely. Meanwhile, in order to ensure that test data are not disturbed, the test machine is in a test process, any other uncertain load cannot be added on the structure of the test machine, and in order to simulate the loading state of the aircraft in the air, the inner cabin of the aircraft is in a closed pressurizing state, and the inner cabin is in a high-pressure humid environment at the moment, and the characteristics all put higher requirements on efficient and accurate detection of structural damage of the aircraft in the test.
Disclosure of Invention
In order to solve the problems, the application provides an aircraft interior cabin structural damage inspection framework, and provides an aircraft interior cabin structural damage inspection system design scheme based on a 5G+ machine visual angle, which has an aircraft structural damage detection function of a key part and an unreachable part and provides technical support for realizing high efficiency, convenience and real-time detection of the whole machine structural damage.
The application discloses an aircraft interior cabin structural damage inspection framework in an aircraft fatigue test, which comprises a track system, wherein the track system comprises an interior cabin inspection slide rail, an inspection AGV and a six-axis robot system, the interior cabin inspection slide rail is arranged in an aircraft interior cabin and extends from the head part to the tail part of the aircraft, the inspection AGV can be arranged on the interior cabin inspection slide rail in a sliding manner, the fixed end of the six-axis robot system is fixedly arranged on the inspection AGV, and the tail end of the six-axis robot system has a rotation degree of freedom relative to the fixed end in six directions; the vision acquisition system is arranged at the tail end of the six-axis robot system and is used for acquiring images of an area to be scanned in the aircraft cabin; the data transmission system is connected with the vision acquisition system and used for transmitting the images acquired by the vision acquisition system; the damage inspection management and control system is used for controlling the movement of the inspection AGV and the six-axis robot system and controlling the vision acquisition system to acquire images and store, detect and display the received images.
Preferably, two inner cabin inspection slide rails are arranged, each inner cabin inspection slide rail is close to one side wall in the aircraft cabin, a transverse moving platform is arranged at the position, close to the aircraft nose and the aircraft tail, in the aircraft cabin, of each inner cabin inspection slide rail, and the inspection AGV trolley is switched in the two inner cabin inspection slide rails through the transverse moving platform.
Preferably, the inner cabin inspection slide rail is provided with a trolley line connected with the power supply system, the trolley line is provided with a plurality of contact points, the inspection AGV trolley at least comprises two sliding blocks, and each sliding block can be connected with the trolley line.
Preferably, 15 stop points are arranged on each inner cabin inspection slide rail, and the precision of the inspection trolley when reaching a specified position is ensured through a magnetic grating ruler and a photoelectric sensor.
Preferably, a tank chain power supply structure is arranged on the transverse moving platform and used for ensuring that the inspection AGV trolley is normally powered on the transverse moving platform.
Preferably, the vision acquisition system comprises:
the 3D vision module comprises a structured light camera and high-precision laser and is used for forming point cloud data of a region to be scanned;
The 2D vision module comprises a 5.5K high-definition camera and is used for shooting the surface of a scanning area when the structured light camera scans to form a 2D image;
And the monitoring holder module is provided with a monitoring holder camera and is used for starting to check a specific position in the cabin based on a remote monitoring request of a user.
Preferably, the data transmission system further comprises an image compression unit, which is used for compressing the high-definition pictures acquired by the vision acquisition system.
Preferably, the damage inspection management and control system comprises a 5G intelligent terminal management and control module, and the 5G intelligent terminal management and control module is used for determining the stay position of the inspection AGV and the movement action of the mechanical arm of the six-axis robot system, so that the vision acquisition system is controlled to acquire images of a specified scanning area.
Preferably, the damage inspection management and control system comprises a machine vision database and a data management module, wherein the machine vision database and the data management module are used for classifying and storing various information acquired by the vision acquisition system and integrating all acquired machine vision and instrument data.
Preferably, the data transmission system adopts a 5G intelligent industrial terminal which is a 5G module to realize the high-speed uplink and downlink transmission of 5G data.
The application provides an aircraft inner cabin structural damage inspection framework, and provides an automatic inspection thought of the structural damage of a tester based on 5 G+machine vision in the special environment of an inner cabin in the fatigue test process of the aircraft for the first time, which has the advantages of detection automation, wireless and real-time; the inspection system based on 5 G+machine vision can realize all-weather online damage detection in an aircraft fatigue test, can push defects such as cracks, deformation and the like to a platform in real time so as to achieve the purpose of full detection in the inspection track range, and has an demonstration effect for an automatic inspection data operation platform for structural damage in the first aviation test field of the industry; the lightweight mechanical arm can realize full coverage detection of the cabin structure in the testing machine, and meanwhile, the accurate positioning capability of inspection and precision positioning of the test is improved by an accurate guide rail positioning technology; the robot can replace manual work and daily inspection of the top and the inner cabin of the aircraft which cannot be completed by manual work, and the detection efficiency and safety are improved.
Drawings
FIG. 1 is a schematic diagram of an inspection system for an inner cabin;
FIG. 2 is a schematic diagram of an aircraft inspection system according to the present invention;
FIG. 3 is a schematic diagram of an AGV cart and a vision inspection module provided by the invention;
FIG. 4 is a schematic diagram of a dual-contact power supply system for a patrol trolley provided by the invention;
FIG. 5 is a flow chart of the structural damage detection of the testing machine for 5 G+machine vision provided by the invention;
fig. 6 is a schematic diagram of a transverse track switching structure of a patrol trolley provided by the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application become more apparent, the technical solutions in the embodiments of the present application will be described in more detail with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the application. The embodiments described below by referring to the drawings are exemplary and intended to illustrate the present application and should not be construed as limiting the application. All other embodiments, based on the embodiments of the application, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The application provides a5 G+machine vision-based inner cabin inspection system design method in a full-aircraft fatigue strength test, which adopts a 5.5K high-definition camera and a structured light camera to detect structural damage and surface cracks of an aircraft, constructs a set of inner cabin inspection system of a test piece, provides automatic and wireless transportation service for structural damage detection equipment of the aircraft, realizes the aim of high-efficiency detection of structures of key parts and unreachable parts of the aircraft in the full-aircraft strength test, and builds a foundation for all-weather conventional inspection of the aircraft structure and long-term fixed-point detection of the key structures, and the main technical scheme is as follows.
The application provides an aircraft interior cabin structural damage inspection framework in an aircraft fatigue test, which comprises the following steps: the track system comprises an inner cabin inspection slide rail, an inspection AGV trolley and a six-axis robot system, as shown in fig. 1 and 2, the inner cabin inspection slide rail is arranged in an aircraft and extends from the head part to the tail part of the aircraft, the inspection AGV trolley can be slidably arranged on the inner cabin inspection slide rail, the fixed end of the six-axis robot system is fixedly arranged on the inspection AGV trolley, and the tail end of the six-axis robot system has rotational degrees of freedom relative to six directions of the fixed end; the vision acquisition system is arranged at the tail end of the six-axis robot system and is used for acquiring images of an area to be scanned in the aircraft cabin; the data transmission system is connected with the vision acquisition system and used for transmitting the images acquired by the vision acquisition system; the damage inspection management and control system is used for controlling the movement of the inspection AGV and the six-axis robot system and controlling the vision acquisition system to acquire images and store, detect and display the received images.
According to the machine vision system, corresponding detection stations are set according to the space of the cabin part in the aircraft as a detection area, photographing detection points in all directions are designed based on the stations, and each photographing detection point provides corresponding image and three-dimensional point cloud detection functions. The inspection scheme meets the detection requirements of various defects in the aircraft fatigue test process, realizes online defect detection, and transmits inspection data such as cracks, deformation and the like to a data management platform through a 5G network so as to achieve the purpose of full detection within the inspection track range.
In some optional embodiments, the inner cabin inspection slide rail is provided with a trolley line connected with a power supply system, the trolley line is provided with a plurality of contact points, the inspection AGV trolley at least comprises two sliding blocks, and each sliding block can be connected with the trolley line.
The power supply system provided by the application belongs to a part of a track system and is used for realizing real-time power supply for the inspection AGV trolley during inspection, and adopts a trolley line power supply mode based on a closed structure and flame retardant materials, as shown in fig. 4, the power supply system adopts 24V power supply, the maximum current is about 50A (1200W/24V) and is divided into 8 contact points, so that the power failure of the inspection trolley during the use process is avoided, the power supply current is reduced to the minimum, and the safety risk in a cabin is reduced. The contact point adopts a double-slider mode, at least one slider can be ensured to be in complete contact with a sliding contact line in the moving and track switching processes, and the risk of outage in the moving process of the trolley is avoided, so that the working stability of the trolley is ensured.
In some optional embodiments, two inner cabin inspection slide rails are provided, each inner cabin inspection slide rail is close to one side wall in the aircraft cabin, a transverse moving platform is arranged at a position, close to the aircraft nose and the aircraft tail, in the aircraft cabin, and the inspection AGV trolley is switched in the two inner cabin inspection slide rails through the transverse moving platform. When the inspection trolley is switched at two ends of an inner cabin of an airplane, the platform sliding rail and the moving platform sliding rail are accurately butted through the servo system, the trolley is ensured to stably drive into the transverse moving platform through the sliding rail, and the trolley is supplied with power in a bidirectional manner through the middle trolley line and the trolley transverse moving platform trolley line, and meanwhile, the switching power supply is more stable by utilizing the bidirectional contact of the double sliding blocks. By adopting the transverse movement servo control system, after the inspection trolley moves to the transverse movement platform, the inspection trolley precisely moves to the guide rail on the other side through the servo system, and meanwhile, the normal power supply of the inspection trolley in the process of moving to the guide rail to be switched is ensured through tank chain power supply.
In some optional embodiments, 15 stop points are arranged on each inner cabin inspection slide rail, the inspection AGV trolley system adopts a double-guide rail sliding mode, the trolley is ensured to accurately move to 30 shooting points, and fixed position scanning is realized, as shown in fig. 3. The precision of the inspection trolley when reaching the designated position is ensured through the magnetic grating ruler and the photoelectric sensor, the design repetition precision of the track system is 0.1mm, and the inspection trolley is used for automatic scanning and shooting after the robot is precisely positioned. The guide rail reinforcement 60m aluminum plate is used for fixing the double guide rails and is combined with the existing in-cabin ground rail for fixing, so that the influence risk of construction on in-cabin static fatigue test is greatly reduced.
In some alternative embodiments, as shown in fig. 6, a tank chain power supply structure is arranged on the transverse moving platform, and is used for ensuring that the inspection AGV trolley is normally powered on the transverse moving platform.
In some alternative embodiments, as shown in fig. 3, the vision acquisition system includes a 3D vision module, a 2D vision module, and a monitoring cradle head module.
The 3D vision module comprises a structured light camera and high-precision laser and is used for forming point cloud data of an area to be scanned, the 3D vision module scans different areas and different angles in the cabin through a six-axis robot system, acquires the 3D point cloud data of all scanning areas of the inner cabin of the aircraft, and scans bulges, deformation and crack defects in the cabin.
The 2D vision module comprises 5.5K high-definition cameras, wherein the two 5.5K high-definition cameras are used for shooting the surface of a scanning area when the structured light camera scans, so that a 2D image is formed and the 2D vision module is used for shooting scratch and crack defects on the surface of an inner cabin.
And the monitoring holder module is provided with a monitoring holder camera and is used for starting to check a specific position in the cabin based on a remote monitoring request of a user. The high-definition camera of the monitoring tripod head module is used for further shooting and checking the defect part, so that when a person discovers the defect, the high-definition camera of the monitoring tripod head needs further remote control, and the defect is checked through the high-definition camera of the monitoring tripod head.
In some optional embodiments, the data transmission system further includes an image compression unit, configured to compress the high-definition picture acquired by the visual acquisition system.
In some optional embodiments, the damage inspection management and control system includes a 5G intelligent terminal management and control module, configured to determine a stay position of the inspection AGV trolley and a motion of a mechanical arm of the six-axis robot system, so as to control the vision acquisition system to acquire an image of a specified scanning area.
In some optional embodiments, the damage inspection management and control system includes a machine vision database and a data management module for classifying and storing various information collected by the vision collection system, and integrating all collected machine vision and instrument data.
In the embodiment, all collected machine vision and instrument data are integrated aiming at various information collected by the inspection trolley and the vision recognition system to form various big data models, and the big data models are monitored and displayed in a centralized way through an informatization center. As shown in fig. 5, the platform includes modules such as an inner cabin recognition effect display and interaction, a machine vision database and data management platform, and a 5G intelligent terminal management and control platform, specifically as follows: man-machine interaction, data management and interaction management between the inspection trolley and the data management; 5.5K high-definition camera, structured light camera, monitoring cradle head high-definition camera man-machine interaction; the detection points of the manipulator type inspection trolley are added dynamically, and the detection actions based on the detection points are added dynamically; and man-machine interaction display of the collected data transmission operation platform of all cameras.
In some alternative embodiments, the data transmission system adopts a 5G intelligent industrial terminal which is a 5G module to realize the high-speed uplink and downlink transmission of 5G data. In this embodiment, the data processing and transmitting system is connected to the vision acquisition system, and is configured to process the data captured by the vision acquisition system and transmit the processed data to the damage inspection management and control system through the 5G network, where the uplink transmission speed is 120Mbps, and the highest uplink transmission speed can be 150Mbps. Meanwhile, the aircraft surface defect detection system is provided with an ARM (RK 3399) and AI (Atlas 200) operation platform, the calculation force can reach 16Tfps, and the aircraft surface defect detection is realized.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present application should be included in the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (7)
1. An aircraft interior cabin structural damage inspection framework in aircraft fatigue test, which is characterized by comprising:
The track system comprises an inner cabin inspection slide rail, an inspection AGV trolley and a six-axis robot system, wherein the inner cabin inspection slide rail is arranged in an aircraft and extends from the head part to the tail part of the aircraft, the inspection AGV trolley can be slidably arranged on the inner cabin inspection slide rail, the fixed end of the six-axis robot system is fixedly arranged on the inspection AGV trolley, and the tail end of the six-axis robot system has a rotational degree of freedom relative to the fixed end in six directions;
the vision acquisition system is arranged at the tail end of the six-axis robot system and is used for acquiring images of an area to be scanned in the aircraft cabin;
The data transmission system is connected with the vision acquisition system and used for transmitting the images acquired by the vision acquisition system;
The damage inspection management and control system is used for controlling the movement of the inspection AGV and the six-axis robot system and controlling the vision acquisition system to acquire images and store, detect and display the received images;
The inspection AGV trolley is switched in the two inner cabin inspection slide rails through the transverse moving platform; the inner cabin inspection slide rail is provided with a slide wire connected with a power supply system, the slide wire is provided with a plurality of contact points, the inspection AGV trolley at least comprises two sliding blocks, and each sliding block can be connected with the slide wire;
Be provided with tank chain power supply structure on the lateral shifting platform for guarantee to patrol and examine AGV dolly and be in normal power supply on the lateral shifting platform.
2. The aircraft interior cabin structural damage inspection framework in the aircraft fatigue test according to claim 1, wherein 15 stop points are arranged on each interior cabin inspection slide rail, and the precision of the inspection trolley when reaching a specified position is ensured through a magnetic grating ruler and a photoelectric sensor.
3. The aircraft interior cabin structural damage inspection architecture in an aircraft fatigue test of claim 1, wherein the vision acquisition system comprises:
the 3D vision module comprises a structured light camera and high-precision laser and is used for forming point cloud data of a region to be scanned;
The 2D vision module comprises a 5.5K high-definition camera and is used for shooting the surface of a scanning area when the structured light camera scans to form a 2D image;
And the monitoring holder module is provided with a monitoring holder camera and is used for starting to check a specific position in the cabin based on a remote monitoring request of a user.
4. The aircraft interior cabin structural damage inspection architecture in an aircraft fatigue test according to claim 1, wherein the data transmission system further comprises an image compression unit for compressing the high-definition pictures acquired by the vision acquisition system.
5. The aircraft interior cabin structural damage inspection architecture in an aircraft fatigue test according to claim 1, wherein the damage inspection management and control system comprises a 5G intelligent terminal management and control module for determining a stay position of the inspection AGV trolley and a mechanical arm movement action of a six-axis robot system, so as to control the vision acquisition system to acquire images of a designated scanning area.
6. The aircraft interior cabin structural damage inspection architecture in an aircraft fatigue test according to claim 1, wherein the damage inspection management and control system comprises a machine vision database and a data management module for classifying and storing various information acquired by the vision acquisition system and integrating all acquired machine vision and instrument data.
7. The aircraft interior cabin structural damage inspection architecture in an aircraft fatigue test according to claim 1, wherein the data transmission system adopts a 5G intelligent industrial terminal of a 5G module to realize high-speed uplink and downlink transmission of 5G data.
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| CN202110936532.6A CN113740185B (en) | 2021-08-16 | 2021-08-16 | Aircraft inner cabin structural damage inspection framework in aircraft fatigue test |
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| CN202110936532.6A CN113740185B (en) | 2021-08-16 | 2021-08-16 | Aircraft inner cabin structural damage inspection framework in aircraft fatigue test |
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