CN206456572U - A kind of Airborne Survey robot - Google Patents
A kind of Airborne Survey robot Download PDFInfo
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- CN206456572U CN206456572U CN201621183245.3U CN201621183245U CN206456572U CN 206456572 U CN206456572 U CN 206456572U CN 201621183245 U CN201621183245 U CN 201621183245U CN 206456572 U CN206456572 U CN 206456572U
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- server
- detection head
- control device
- wireless transmission
- transmission control
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Abstract
The utility model is related to a kind of Airborne Survey robot, and it includes detection head, multiple driving sources, server, intelligent chassis and wireless transmission control device；Both sides of multiple driving sources on the detection head；The detection head and the intelligent chassis are connected by wireless transmission control device with the server；The detection head includes optical camera and thermal infrared imager, and the optical data stream of test point is sent to server by the optical camera by wireless transmission control device；The infrared data stream of test point is sent to server by the thermal infrared imager by wireless transmission control device.The beneficial effects of the utility model are：Using Intelligent Measurement, human factor influence caused by artificial range estimation is reduced；And can realize that large area is detected in real time, imaging clearly is accurate.
Description
Technical field
The utility model is related to a kind of Airborne Survey robot, is carried out before being mainly used in taking off and after landing conventional
Around machine surface scan, and defects detection under covering can be carried out, real-time, quickly and accurately find out defective locations.
Background technology
It is to carry out routine around machine surface scan after preceding and landing to taking off around machine testing, in order to check aircraft
Whether have and fall paint, cut, gouge, crackle, ablation, oil leak, screw caused by thunderbolt, exotic shock, electrostatic ablation, vibrations etc.
The surface defect such as pitch, detection position include head section, forward fuselage, rear fuselage, bottom middle frame, nose-gear,
The positions such as main landing gear, wing, engine, tail.It is mainly artificial range estimation around machine testing method at present, the result manually estimated
Depending on testing staff professional standards and easily cause flase drop and detection leakage phenomenon, there are two kinds of situations in flase drop：One is that this is intact
Sunken position judges into defective, and two be that defective position is judged into zero defect, and this will cause delayed flight and unnecessary
Maintenance, cause economic loss, or influence flight safety；Missing inspection can also have a strong impact on flight safety, even result in aircraft
Aircraft accident.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of Airborne Survey robot, solves artificial range estimation to inspection
Survey personnel specialty level requirement high, and flase drop and detection leakage phenomenon occur, easily cause Flight Safety problem.
The technical scheme that the utility model solves above-mentioned technical problem is as follows：A kind of Airborne Survey robot, including detection
Head, multiple driving sources, server, intelligent chassis and wireless transmission control device；Multiple driving sources are located at the detection
Both sides on head；The detection head and the intelligent chassis are wireless by wireless transmission control device and the server
Connection；The detection head includes optical camera and thermal infrared imager, and the optical camera is by being wirelessly transferred control dress
Put and the optical data stream of test point is sent to server；The thermal infrared imager is by wireless transmission control device by test point
Infrared data stream be sent to server.
The utility model has the advantages that：Using Intelligent Measurement, server controls detection head and by being wirelessly transferred
The optical data stream and thermal infrared imager that control device obtains optical camera acquisition video image obtain the infrared of video image
Data flow；Server can carry out telltale mark and classification by the analysis to optical data stream to suspicious surfaces defect；Server
Depth detection can be done to the position that aircraft surfaces produce defect by the analysis to infrared data stream, that is, detected under aircraft skin
The degree of impairment in face is simultaneously confirmed whether there is surface defect or damage, and defect can also be rapidly and accurately found out using infrared technique
Position；Reduce human factor influence caused by artificial range estimation；And can realize that large area is detected in real time, imaging clearly is accurate；Separately originally
Utility model uses wireless transmission method, reduce between line arrangement problem, and each part can compact Layout, effectively reduce aviation
Detect the volume of robot.
Further：The quantity of the driving source is two, and two driving sources are symmetrically set on the detection head
Both sides.
Further：The driving source is illuminating lamp, flash lamp, laser, air-heater, refrigeration machine or dry ice spray gun.
It is above-mentioned enter two step schemes beneficial effect be：Driving source can provide thermal excitation for the thermal infrared imager in detection head
Or cold shock is encouraged.Using two driving sources, can improve thermal infrared imager collect video image infrared data stream validity and
The degree of accuracy of detection, realizes the accurate detection to aircraft surfaces defect.
Further：Support frame is provided with above the detection head；The two ends of support frame as described above stretch out to form adjutage,
Two driving sources are respectively arranged on two adjutages of support frame as described above.
The beneficial effect of above-mentioned further scheme is：By support frame connecting detection head and driving source, make driving source phase
To detecting that the position of head can carry out manual and wireless regulation according to detection case, improve thermal infrared imager and collect video figure
The validity of the infrared data stream of picture and the degree of accuracy of detection, realize the accurate detection to aircraft surfaces defect.
Further：The intelligent tray bottom is provided with multiple wheels.
The beneficial effect of above-mentioned further scheme is：It is easy to Airborne Survey robot to be moved around machine, carries out aircraft surfaces and lack
Fall into detection.
Further：Also include lowering or hoisting gear, one end of the lowering or hoisting gear and the intelligent chassis or cell managing device
Connection, the other end is connected with the detection head, and the lowering or hoisting gear also passes through wireless transmission control device and the server
Wireless connection.
The beneficial effect of above-mentioned further scheme is：Server can be carried out by the different of test point height to lowering or hoisting gear
Regulation is risen or fallen, optical camera and thermal infrared imager is reached detection at test point, whether aircraft surfaces are defective deposits
Obtaining the video image of big visual angle and different scenes.
Further：Also include cell managing device, the cell managing device includes multiple battery units；The detection cloud
Platform, driving source, server, intelligent chassis, lowering or hoisting gear and wireless transmission control device are connected with the cell managing device.
The beneficial effect of above-mentioned further scheme is：Cell managing device directly can provide electricity for Airborne Survey robot
Source, without external power supply, plug and play is convenient and reliable.
Further：Also include warning device, the warning device by wireless transmission control device and the server without
Line is connected.
The beneficial effect of above-mentioned further scheme is：Server can real-time monitored detect head data flow, utilize image
Identification and artificial intelligence carry out telltale mark and classification to surface defect, and warning device is triggered when confirming as surface defect and is carried out
Alarm.Server occurs real during abnormal conditions to intelligent chassis in robot, cell managing device, lowering or hoisting gear, detection head
Alarm.
Further：The server is computer, and the computer is on the intelligent chassis or cell managing device.
The beneficial effect of above-mentioned further scheme is：The computer, can be by being wirelessly transferred control built with around machine system
Walked along the route map of computer project on the intelligent chassis of device control processed.The computer is also by being wirelessly transferred control
Device control detection head level and pitching two axle movement, further control optical camera and thermal infrared imager level and
Pitching two axle movement, the computer also controls lowering or hoisting gear to be risen or fallen by wireless transmission control device, obtains
Big visual angle and the video image of different scenes.
Brief description of the drawings
Fig. 1 is the front view of the utility model Airborne Survey robot architecture；
Fig. 2 is the left view of the utility model Airborne Survey robot architecture；
Fig. 3 is the top view of the utility model Airborne Survey robot architecture；
Fig. 4 be the utility model Airborne Survey robot in wireless transmission control device structure chart；
Fig. 1 is into Fig. 4：1 is detection head, and 2 be driving source, and 3 be server, and 4 be intelligent chassis, and 5 be that battery management is filled
Put, 6 be lowering or hoisting gear, and 7 be wireless transmission control device, and 8 be warning device.
Embodiment
Principle of the present utility model and feature are described below in conjunction with accompanying drawing, example is served only for explaining this practicality
It is new, it is not intended to limit scope of the present utility model.
As shown in Figures 1 to 4, a kind of Airborne Survey robot includes detection head 1, multiple driving sources 2, server 3, intelligence
Can chassis 4 and wireless transmission control device 7；Both sides of multiple driving sources 2 on the detection head 1；The detection
Head 1 and the intelligent chassis 4 are connected by wireless transmission control device 7 with the server 3；The detection head 1 is wrapped
Include optical camera and thermal infrared imager, the optical camera is by wireless transmission control device 7 by the optics number of test point
Server 3 is sent to according to stream；The thermal infrared imager is sent the infrared data stream of test point by wireless transmission control device 7
To server 3.The wireless transmission control device 7 is preferably in the lowering or hoisting gear 6, to make Airborne Survey robot
Structure is compacter.
The server 3 can control to detect the level and pitching two axle movement of head 1 by wireless transmission control device 7,
The further level and pitching two axle movement of control optical camera and thermal infrared imager, obtains regarding for big visual angle and different scenes
Frequency image makes the effective acquisition of server 3 infrared and optical data stream.Using Intelligent Measurement, server 3 is by being wirelessly transferred control
Device 7 obtains the optical data stream that high-resolution optical camera obtains video image, using high-resolution optical camera
Head and optical video detection technique, server 3 can be realized to be used for quickly detecting to aircraft surfaces defect, and suspicious surface is lacked
It is trapped into row telltale mark and classification；Server 3 also can obtain thermal infrared imager by wireless transmission control device 7 and obtain video figure
The infrared data stream of picture；Using the infrared thermography and sequential thermal imaging of high sensitive, server 3 can be to aircraft table
Depth detection is done at the position that face produces defect, that is, detect the degree of impairment below aircraft skin and being confirmed whether have surface defect or
Damage, the position of defect can also be rapidly and accurately found out using infrared technique；Reduce human factor shadow caused by artificial range estimation
Ring；And can realize that large area is detected in real time, imaging clearly is accurate.
As shown in Figure 1 to Figure 3, the quantity of the driving source 2 is two, and two driving sources 2 are symmetrically set in the inspection
The two ends surveyed on head 1.Driving source 2 can provide thermal excitation for the thermal infrared imager in detection head 1 or cold shock is encouraged.Using two
Driving source, can improve thermal infrared imager collect video image infrared data stream validity and detection the degree of accuracy, realize
Accurate detection to aircraft surfaces defect；The quantity of the driving source 2 can also elect 3,4,5 etc. as；The driving source 2
For illuminating lamp, flash lamp, laser, air-heater, refrigeration machine or dry ice spray gun.
As depicted in figs. 1 and 2, the top of detection head 1 is provided with support frame 11；The two ends of support frame as described above 11 are to extension
Stretch to form adjutage 111, two driving sources 2 are respectively arranged on two adjutages 111 of support frame as described above 11.The support
Frame 11 is being provided with the through hole 112 of bar shaped with detection head 1 link position, the relatively described detection head 1 of the driving source 2
Position can manually be adjusted according to detection case to support frame 11, can be set after the position adjustments of support frame as described above 11 are good by card
It is fixed in the screw in through hole 112；The driving source 2 is fixed on the detection head 1, can also be according to detection case
With detection head 1 wirelessly adjusted, improve thermal infrared imager collect video image infrared data stream validity and
The degree of accuracy of detection, realizes the accurate detection to aircraft surfaces defect.
The server 3 be one be equipped with around machine examination examining system computer, the computer have storage calculate display etc.
Function, including desktop computer and tablet personal computer and industrial computer.The computer is located at the intelligent chassis 4 or cell tube
Manage on device 5.The server 3 can realize route map and the inspection of PLC technology according to the route map and test point around machine testing
The planning of measuring point, the intelligent chassis 4 is connected by wireless transmission control device 7 with the server 3, makes the intelligent chassis
4 carry out at forward-reverse and steering, intelligent walking to test point along the route map and test point and carry out defects detection times
Business, another the utility model can utilize video identification and ultrasound examination testee, and carry out automatic obstacle-avoiding, to prevent being made to aircraft
Into damage.
As depicted in figs. 1 and 2, the bottom of intelligent chassis 4 is provided with multiple wheels 41；It is easy to Airborne Survey robot around machine
Motion carries out defects detection.The wheel 41 is preferably four, and four wheels 41 are chosen as by being arranged on intelligent chassis 4
Four fast pulleys composition on four angles.
As depicted in figs. 1 and 2, the Airborne Survey robot also includes lowering or hoisting gear 6, one end of the lowering or hoisting gear 6
It is connected with the intelligent chassis 4 or cell managing device 5, the other end is connected with the detection head 1, and the lowering or hoisting gear 6 is also
It is connected by wireless transmission control device 7 with the server 3.The lowering or hoisting gear 6 is lifting column, crane or elevating lever；
The lowering or hoisting gear 6 includes elevating mechanism, actuating unit and control cabinet；One end of the elevating mechanism and the intelligent bottom
Disk 4 or cell managing device 5 are connected, the other end with it is described detection head 1 be connected, the elevating mechanism also with the power transmission
Device is connected；The actuating unit is connected with the control cabinet；The control cabinet by be wirelessly transferred with control device 7 with
The server 3 is connected；When in use, the server 3 according to test point height difference by control signal by wirelessly passing
It is defeated to be sent to control cabinet with control device 7；Control cabinet receives further control actuating unit, power transmission after signal
Device further controls elevating mechanism to rise or fall, and optical camera and thermal infrared imager is reached at test point and detects
Whether aircraft surfaces are defective to be present.
As depicted in figs. 1 and 2, the Airborne Survey robot also includes cell managing device 5, the cell managing device
5 include multiple battery units composition, and the cell managing device 5 is on the intelligent chassis 4, the detection head 1, excitation
Source 2, server 3, intelligent chassis 4, lowering or hoisting gear 6 and wireless transmission control device 7 are connected with the cell managing device 5,
Cell managing device 5 directly provides power supply for Airborne Survey robot, and without external power supply, plug and play is convenient and reliable；It is described
The parameters such as the builtin voltage of cell managing device 5, electric current and temperature can be displayed on the display screen of server 3.
As shown in Fig. 2 the Airborne Survey robot also includes warning device 8, the warning device 8 is by being wirelessly transferred
Control device 7 is connected with the server 3.The warning device 8 is connected with the intelligent chassis 4.Server 3 can real-time monitored
Detect the optics and infrared data stream in head 1, using image recognition and artificial intelligence surface defect is carried out telltale mark and
Classification, when confirming as surface defect, triggering warning device 8 is alarmed.Server 3 is to intelligent chassis 4, battery in robot
There are Realtime Alerts during abnormal conditions in managing device 5, lowering or hoisting gear 6, detection head 1.
Concrete operations flow of the present utility model is：The opposing connection machine testing route map of server 3 and test point enter professional etiquette first
Draw, then control intelligent chassis 4 walking of Airborne Survey intelligent robot is arrived at test point by wireless transmission control device 7,
Server 3 controls the rise and fall and inspection of lowering or hoisting gear 6 according to the position of test point by wireless transmission control device 7 afterwards
The level and pitching two axle movement of head 1 are surveyed, optical camera and thermal infrared imager is obtained regarding for big visual angle and different scenes
Frequency image；The optical data stream and infrared data stream of 3 pairs of acquisition video images of server are analyzed afterwards, and to aircraft surfaces
Suspected defects demarcated and classified, further confirm that whether there is surface defect or damage, and using infrared technique it is quickly accurate
Really find out the position of defect.
The utility model can realize the route of PLC technology according to the route map and test point around machine testing, server 3
The planning of figure and test point.Each test point around machine testing can be by video image identification technology and artificial intelligence be Lai really
Recognize, detection method height is intelligent, and use video drive mode, using video identification testee and test point, according to quilt
Whether searched arrive of test point determines the motion and search of robot；Using video location mode, using video to recognizing
Detection object and test point position and mark coordinate system；Using video detection mode, testee and test point are utilized
Coordinate system start to do defects detection.Realize that height is intelligent using video detection, artificial intelligence and infrared thermal imaging technique
Around machine testing, instead of artificial range estimation, Flight Safety is improved.
Preferred embodiment of the present utility model is the foregoing is only, it is all in this practicality not to limit the utility model
Within new spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in guarantor of the present utility model
Within the scope of shield.
Claims (9)
1. a kind of Airborne Survey robot, it is characterised in that：Including detection head (1), multiple driving sources (2), server (3),
Intelligent chassis (4) and wireless transmission control device (7)；Multiple driving sources (2) on detection head (1) two
Side；The detection head (1) and the intelligent chassis (4) pass through wireless transmission control device (7) and the server (3) nothing
Line is connected；The detection head (1) includes optical camera and thermal infrared imager, and the optical camera is by being wirelessly transferred control
The optical data stream of test point is sent to server (3) by device (7) processed；The thermal infrared imager is by being wirelessly transferred control dress
Put (7) and the infrared data stream of test point is sent to server (3).
2. a kind of Airborne Survey robot according to claim 1, it is characterised in that：The quantity of the driving source (2) is two
Individual, two driving sources (2) are symmetrically set in the both sides on the detection head (1).
3. a kind of Airborne Survey robot according to claim 1, it is characterised in that：The driving source (2) is illuminating lamp, dodged
Light lamp, laser, air-heater, refrigeration machine or dry ice spray gun.
4. a kind of Airborne Survey robot according to claim 2, it is characterised in that：It is provided with above the detection head (1)
Support frame (11)；The two ends of support frame as described above (11) stretch out to form adjutage (111), and two driving sources (2) are respectively
On two adjutages (111) of support frame as described above (11).
5. a kind of Airborne Survey robot according to claim 1, it is characterised in that：Intelligent chassis (4) bottom is provided with
Multiple wheels (41).
6. a kind of Airborne Survey robot according to claim 1, it is characterised in that：Also include lowering or hoisting gear (6), the liter
One end of falling unit (6) is connected with the intelligent chassis (4) or cell managing device (5), the other end of the lowering or hoisting gear (6)
It is connected with the detection head (1), the lowering or hoisting gear (6) also passes through wireless transmission control device (7) and the server (3)
Wireless connection.
7. a kind of Airborne Survey robot according to claim 6, it is characterised in that：Also include cell managing device (5), institute
Stating cell managing device (5) includes multiple battery units；The detection head (1), driving source (2), server (3), intelligent bottom
Disk (4), lowering or hoisting gear (6) and wireless transmission control device (7) are connected with the cell managing device (5).
8. a kind of Airborne Survey robot according to claim 1, it is characterised in that：Also include warning device (8), the report
Alarm device (8) passes through wireless transmission control device (7) and the server (3) wireless connection.
9. according to any a kind of Airborne Survey robot in claim 1 to 8, it is characterised in that：The server (3) is
Computer, the computer is on the intelligent chassis (4) or cell managing device (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621183245.3U CN206456572U (en) | 2016-10-27 | 2016-10-27 | A kind of Airborne Survey robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621183245.3U CN206456572U (en) | 2016-10-27 | 2016-10-27 | A kind of Airborne Survey robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206456572U true CN206456572U (en) | 2017-09-01 |
Family
ID=59692358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621183245.3U Expired - Fee Related CN206456572U (en) | 2016-10-27 | 2016-10-27 | A kind of Airborne Survey robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206456572U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450882A (en) * | 2018-05-08 | 2019-11-15 | 同人拓丰（北京）科技有限公司 | A kind of novel detection trolley |
| CN113264200A (en) * | 2021-04-14 | 2021-08-17 | 泛博科技(中山)有限公司 | Aviation intelligent self-checking multi-scene universal unmanned vehicle system |
| CN113844675A (en) * | 2020-12-30 | 2021-12-28 | 上海飞机制造有限公司 | Detection system and control method |
-
2016
- 2016-10-27 CN CN201621183245.3U patent/CN206456572U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450882A (en) * | 2018-05-08 | 2019-11-15 | 同人拓丰（北京）科技有限公司 | A kind of novel detection trolley |
| CN113844675A (en) * | 2020-12-30 | 2021-12-28 | 上海飞机制造有限公司 | Detection system and control method |
| CN113264200A (en) * | 2021-04-14 | 2021-08-17 | 泛博科技(中山)有限公司 | Aviation intelligent self-checking multi-scene universal unmanned vehicle system |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170901 Termination date: 20211027 |
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| CF01 | Termination of patent right due to non-payment of annual fee |