CN110673641A - An intelligent maintenance and inspection system platform for passenger aircraft based on UAV - Google Patents

Abstract

The invention relates to an unmanned aerial vehicle-based intelligent maintenance and inspection system platform for passenger aircraft in the technical field of unmanned aerial vehicles, comprising an unmanned aerial vehicle body, a remote controller and a ground station as a control terminal; The following parts: binocular vision system, to obtain environmental information and obstacle information; flight control system, to receive the data of the binocular vision system to plan the flight path, and to communicate with the remote controller and the ground station; sensor module; and at least with An infrared thermal imager connected to the ground station to obtain the appearance of the passenger aircraft and the heating status of important equipment; wherein, the above sensor modules include an inertial measurement unit, a magnetic compass, a GPS module, and a barometer. In short, it can automatically perform inspection around the machine, significantly improve the efficiency of inspection, and maintain the accuracy and speed of inspection.

Description

An intelligent maintenance and inspection system platform for passenger aircraft based on UAV

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an inspection system platform for inspecting civil aircraft by using unmanned aerial vehicles.

Background technique

Before each flight of a civil aircraft, the maintenance personnel or crew must make a complete inspection of the aircraft. Check that there is no collision damage to the aircraft structure, no obvious leakage of fuel, lubricating oil or hydraulic oil, electrical plugs and wires are intact, etc.

At present, the inspection around the machine mainly adopts the manual visual inspection method, which is not only labor-intensive, time-consuming, but also inefficient. In order to improve the efficiency of maintenance personnel or crew on the safety inspection of the aircraft before take-off, an intelligent detection device is researched. The defect location improves the advanced intelligent technical support for aircraft maintenance and repair.

The development of UAV technology provides a new mobile platform for patrolling around the aircraft. Through the research on the hardware platform of the flight attitude control system and the integration of multi-sensor software and hardware, the drone is equipped with a high-definition camera, an infrared thermal imager, an ultraviolet imager, and the line is photographed. Defects and hidden dangers.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an intelligent maintenance and inspection system platform for passenger aircraft based on UAV. sex.

The purpose of the present invention is achieved in this way: a drone-based passenger aircraft intelligent maintenance and inspection system platform, including the drone body, a remote controller and a ground station as a control terminal;

The fuselage of the drone body is equipped with the following parts:

Binocular vision system to obtain environmental information and obstacle information;

The flight control system accepts the data of the binocular vision system to plan the flight path, and communicates with the remote controller and the ground station;

sensor modules; and

At least an infrared thermal imager connected to the ground station to obtain the appearance of the passenger aircraft and the heating status of important equipment;

The sensor module includes an inertial measurement unit, a magnetic compass, a GPS module, and a barometer, and the inertial measurement unit, magnetic compass, GPS module, and barometer are all connected to the flight control system and transmit data to the flight control system.

Further, the flight control system includes a data fusion module and a flight controller, the binocular vision system and the sensor module are all connected to the input end of the data fusion module, and the output end of the data fusion module is connected to the flight controller. .

Further, the binocular vision system includes an onboard camera and a visual acquisition and processing unit, the visual acquisition and processing unit is connected to the onboard camera, and is used to process the environmental information and obstacle information obtained by the onboard camera, and the onboard camera is used for processing. The camera and the visual acquisition and processing unit are connected to the input end of the data fusion module through CAN bus, and the environmental information and obstacle information are input into the data fusion module.

Further, the inertial measurement unit, the magnetic compass, the GPS module, and the barometer are all connected to the data fusion module through the CAN bus, and the flight information is input to the data fusion module.

Further, the position of the onboard camera is close to the infrared thermal imager.

Further, the flight controller is communicatively connected with the remote controller and the ground station.

The beneficial effects of the present invention are:

1) Automatic inspection around the aircraft before takeoff and after landing, without manual inspection, saving a lot of time, improving the efficiency of inspection around the aircraft, and performing skin defect detection to quickly and accurately find the defect location , which improves the advanced intelligent technical support for the maintenance and repair of passenger aircraft, and can maintain the accuracy and speed of inspection;

2) Due to the setting of the binocular vision system, two airborne cameras are used to obtain visual information. The visual acquisition and processing unit processes the visual data to establish three-dimensional flight environment information. The airborne cameras record the inspection process and take pictures of key equipment for subsequent adjustment. Read, analyze and diagnose the surface condition of the aircraft skin. After collection, it can automatically find the skin defects of the fuselage combined with the intelligent image recognition technology, and the two onboard cameras can obtain obstacle information to re-plan the flight path, so that the UAV can be timely. fly around obstacles;

3) Due to the setting of the flight control system, it can receive visual information from the binocular vision system, and can also receive the flight status data of the sensor module, and generate flight control instructions through data fusion processing to control the flight path of the UAV. , in order to avoid obstacles or check;

4) Due to the infrared thermal imager, the heating status of equipment such as metal skins, interfaces and insulators can be quickly obtained.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

FIG. 2 is a schematic diagram of the control relationship in the present invention.

In the picture, 1 steering unit, 2 sensor modules, 201 inertial measurement unit, 202 magnetic compass, 203 GPS module, 204 barometer, 3 flight control system, 301 data fusion module, 302 flight controller, 4 fuselage, 5 binocular Vision system, 501 airborne camera, 502 visual acquisition and processing unit, 6 infrared thermal imager, 7 CAN bus, 8 remote control, 9 ground station.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

With reference to Figures 1-2, a drone-based passenger aircraft intelligent maintenance and inspection system platform includes a drone body, a remote controller 8, and a ground station 9 as a control terminal.

The fuselage 4 of the above-mentioned drone body is equipped with the following parts:

Binocular vision system 5 to obtain environmental information and obstacle information;

The flight control system 3 accepts the data of the binocular vision system 5 to plan the flight path, and communicates with the remote controller 8 and the ground station 9;

sensor module 2; and

At least the infrared thermal imager 6 connected in communication with the ground station 9 is used to obtain the appearance of the passenger aircraft and the heating status of important equipment.

The above sensor module 2 includes an inertial measurement unit 201, a magnetic compass 202, a GPS module 203, and a barometer 204. The inertial measurement unit 201, the magnetic compass 202, the GPS module 203, and the barometer 204 are all connected to the flight control system 3 and communicate with each other. The flight control system 3 transmits data; the inertial measurement unit 201 , the magnetic compass 202 , the GPS module 203 , and the barometer 204 are all connected to the data fusion module 301 through the CAN bus 7 , and input flight information to the data fusion module 301 .

The above-mentioned infrared thermal imager 6 can quickly obtain the heating conditions of equipment such as metal skins, interfaces, insulators, etc., so that the safety inspection of the passenger aircraft is more accurate and fast.

The above-mentioned flight control system 3 includes a data fusion module 301 and a flight controller 302, the binocular vision system 5 and the sensor module 2 are connected to the input end of the data fusion module 301, and the output end of the data fusion module 301 is connected to the flight controller 302 ; The flight controller 302 is connected to the remote controller 8 and the ground station 9 in communication. The above-mentioned steering unit 1 of the drone body is controlled by the flight controller 302 to control the flight path of the drone.

The above-mentioned binocular vision system 5 includes an onboard camera 501 and a visual acquisition processing unit 502. The visual acquisition processing unit 502 is connected to the onboard camera 501 and is used to process the environmental information and obstacle information acquired by the onboard camera 501. 501 . The visual acquisition processing unit 502 is connected to the input end of the data fusion module 301 through the CAN bus 7 in communication, and inputs the environmental information and obstacle information into the data fusion module 301 .

In order to facilitate installation or increase the convenience of detection, the above-mentioned onboard camera 501 is located close to the infrared thermal imager 6 .

During patrol inspection, two airborne cameras 501 are used to obtain visual information, and the visual acquisition processing unit 502 processes the visual data to establish three-dimensional flight environment information. Analyzing and diagnosing the surface condition of the aircraft skin, after the collection, it can automatically find the defects of the fuselage skin by combining the intelligent image recognition technology, and the two onboard cameras 501 can obtain the obstacle information, and the obstacle information is processed by the data fusion module 301 and then output to the flight controller 302 to re-plan the flight path so that the UAV can fly around obstacles in time. The flight controller 302 of the UAV can be controlled by the remote controller 8 in the whole process, so as to regulate and learn the flight path of the UAV, and the ground station 9 can obtain the inspection data and flight information in time.

After the drone arrives at the key equipment location, it turns on the automatic identification mode, scans the line equipment through the on-board camera 501, establishes a three-dimensional image of the equipment through the binocular vision system 5 and the sensor module 2, and simultaneously combines the scanned image with the information in the feature library. The equipment is compared to confirm the precise position of the equipment to be detected; the infrared thermal imager 6 is turned on to complete a full range of status collection work.

The binocular vision system 5 is used for visual perception, the inertial navigation data is obtained through the inertial measurement unit 201, the heading angle information is obtained through the magnetic compass 202, the flight position, speed, heading and altitude data are obtained through the GPS module 203, and the barometer 204 is obtained. UAV altitude data, and use the data fusion module 301 in the flight control system 3 to fuse the sensor data with the visual perception data, so as to send flight path control instructions and path planning instructions to the UAV to carry out obstacles. avoid.

The above are the preferred embodiments of the present invention, and those of ordinary skill in the art can also carry out various transformations or improvements on this basis. Without departing from the general concept of the present invention, these transformations or improvements should belong to the claimed protection of the present invention. within the range.

Claims (6)

1. An intelligent passenger plane maintenance inspection system platform based on an unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle body, a remote controller (8) and a ground station (9) serving as a control terminal;

the unmanned aerial vehicle body is characterized in that the body (4) is provided with the following parts:

a binocular vision system (5) for acquiring environmental information and obstacle information;

the flight control system (3) receives data of the binocular vision system (5) to plan a flight path, and is in communication connection with the remote controller (8) and the ground station (9);

a sensor module (2); and

the thermal infrared imager (6) is at least in communication connection with the ground station (9) to acquire the appearance of the passenger plane and the heating condition of important equipment;

the sensor module (2) comprises an inertial measurement unit (201), a magnetic compass (202), a GPS module (203) and a barometer (204), wherein the inertial measurement unit (201), the magnetic compass (202), the GPS module (203) and the barometer (204) are all connected with the flight control system (3) and transmit data to the flight control system (3).

2. The passenger plane intelligent maintenance inspection system platform based on the unmanned aerial vehicle as claimed in claim 1, wherein: flight control system (3) are including data fusion module (301) and flight controller (302), binocular vision system (5), sensor module (2) all are connected with the input of data fusion module (301), the output and the flight controller (302) of data fusion module (301) are connected.

3. The passenger plane intelligent maintenance inspection system platform based on the unmanned aerial vehicle as claimed in claim 2, wherein: binocular vision system (5) gather processing unit (502) including airborne camera (501) and vision, processing unit (502) is gathered with airborne camera (501) to the vision is connected for environmental information, the barrier information that processing airborne camera (501) acquireed, airborne camera (501), vision are gathered processing unit (502) and are passed through CAN bus (7) and are connected with the input communication of data fusion module (301), and with environmental information, barrier information input to data fusion module (301).

4. The passenger plane intelligent maintenance inspection system platform based on the unmanned aerial vehicle as claimed in claim 2, wherein: the inertial measurement unit (201), the magnetic compass (202), the GPS module (203) and the barometer (204) are connected with the data fusion module (301) through the CAN bus (7), and the flight information is input into the data fusion module (301).

5. The passenger plane intelligent maintenance inspection system platform based on the unmanned aerial vehicle as claimed in claim 3, wherein: the position of the airborne camera (501) is close to the thermal infrared imager (6).

6. The passenger plane intelligent maintenance inspection system platform based on the unmanned aerial vehicle as claimed in claim 2, wherein: the flight controller (302) is in communication connection with the remote controller (8) and the ground station (9).

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