Imaging system for aircraft bottom detection and control method thereof

Abstract

The invention provides an imaging system for airplane bottom detection and a control method thereof, the imaging system comprises a controller, a box body, a lifting mechanism and a cover plate mechanism, the lifting mechanism and the cover plate mechanism are located in the box body, and a camera is installed at the top of the lifting mechanism. The lifting mechanism pushes the shear fork mechanism to move through a ball screw or an electric push rod so as to achieve lifting of the camera. The cover plate mechanism drives the parallelogram mechanism to do translational motion through a ball screw or an electric push rod, and opening and closing of a top cover of the box body are achieved. A pressure sensor is arranged on the cover plate device and used for detecting the pressure borne by the cover plate mechanism so as to judge whether the cover plate can be opened or not, and cover opening safety is guaranteed. When images need to be shot, the cover plate mechanism moves to open the hatch cover, and the camera rises to shoot the bottom images of the airplane; after shooting is completed, the camera descends, the cover plate mechanism moves to seal the hatch cover, and collision between the camera and the airplane is avoided. While the position of the camera is adjusted, the ground flatness of the parking shed and the sliding safety of the aircraft are not influenced, and high-quality aircraft bottom images can be obtained.

Description

Technical Field

[0001] This invention belongs to the field of aircraft ground maintenance and support technology, specifically relating to an aircraft bottom imaging system and its control method. Background Technology

[0002] Aircraft field maintenance is a crucial step in ensuring the continued airworthiness of aviation equipment and guaranteeing flight safety. In particular, a comprehensive inspection of the aircraft's surface for foreign objects and mechanical malfunctions before takeoff is a key measure to identify and eliminate potential safety hazards and control safety risks on the ground.

[0003] Traditional inspection methods primarily rely on maintenance personnel visually inspecting the aircraft. This method is not only labor-intensive and inefficient, but the results are also susceptible to subjective factors such as personnel's eyesight, physical condition, professional experience, and environmental conditions, making it difficult to guarantee consistency and reliability. With the development of machine vision and artificial intelligence technologies, image analysis-based intelligent aircraft surface inspection systems are gradually being applied. These systems typically acquire surface images using cameras deployed around the aircraft and utilize algorithms to automatically detect the presence of foreign objects or structural anomalies, thereby improving the automation and accuracy of inspections.

[0004] The prerequisite for achieving intelligent inspection of aircraft surfaces is obtaining complete and clear surface images. Current technologies primarily employ two camera deployment methods: fixed and mobile. Fixed deployments typically involve multiple cameras with fixed viewing angles positioned around the apron or on the aircraft's roof, covering the upper and side surfaces of the fuselage. However, due to the low position of the aircraft's underside and the complex surrounding support equipment and ground environment, fixed cameras suffer from obstructed views and poor shooting angles, making it difficult to obtain high-quality images suitable for algorithmic processing. This necessitates manual inspection of this area, preventing intelligent coverage of the entire aircraft surface and limiting the overall system's efficiency and reliability.

[0005] To improve bottom imaging, existing technologies propose using mobile imaging methods, such as manually moving the camera or adjusting its position using platforms like drones or mobile robots. However, manual operation is inefficient and unstable; while drones and robots require dedicated operators and are susceptible to interference from factors like wind in real-world environments, resulting in complex operation, high safety risks, and insufficient stability, making them unsuitable for routine and engineering applications. Summary of the Invention

[0006] To address the problems of low imaging quality, low operational efficiency, and insufficient stability in traditional aircraft bottom imaging methods, an imaging system and its control method for aircraft bottom inspection are provided.

[0007] To achieve the above objectives, the technical solution provided by this invention is:

[0008] An imaging system for inspecting the bottom of an aircraft includes a cabin, a canopy, an industrial camera, a lifting mechanism, a cover mechanism, a pressure sensor, an electric drive module, a first limit switch, a second limit switch, and a controller. The cabin has a receiving space for mounting the lifting mechanism, the cover mechanism, the industrial camera, and the electric drive components. The canopy is mounted on top of the cabin and has an opening that matches the top of the cover mechanism, allowing the industrial camera to pass through and image the bottom of the aircraft.

[0009] The pod is embedded in a mounting groove underground, with the pod cover flush with the ground surface. A lifting mechanism is used to carry and raise / lower the industrial camera, and is positioned directly opposite the opening in the pod cover. A cover plate mechanism is used to open and close the opening in the pod cover, and is located above and to one side of the lifting mechanism.

[0010] The first limit switch is used to detect the upper limit position of the lifting mechanism, and the second limit switch is used to detect the lower limit position of the cover plate mechanism. The electric drive module is used to selectively transmit electric drive force to the lifting mechanism or the cover plate mechanism. The pressure sensor is fixed on the cover plate mechanism to detect the pressure value borne by the cover plate mechanism.

[0011] The controller is used to: determine whether the hatch can be opened based on the pressure value; and to receive the limit position signal output by the first limit switch or the second limit switch; and to control the electric drive module to act on the lifting mechanism or the cover mechanism to lift the industrial camera or open and close the hatch.

[0012] Furthermore, the electric drive module includes a first electric drive assembly and a second electric drive assembly. The first electric drive assembly includes a first drive motor and a first belt drive assembly, wherein the first drive motor transmits its output driving force to the lifting mechanism through the first belt drive assembly. The second electric drive assembly includes a second drive motor and a second belt drive assembly, wherein the second drive motor transmits its output driving force to the cover plate mechanism through the second belt drive assembly.

[0013] Furthermore, the electric drive module includes a dual-axis motor, a first coupling, a first electromagnetic clutch, a first relay, a first belt drive assembly, a first drive shaft, a second coupling, a second electromagnetic clutch, a second drive shaft, a second relay, and a second belt drive assembly. The first output shaft of the dual-axis motor is connected to the first electromagnetic clutch via the first drive shaft and the first coupling. The output end of the first electromagnetic clutch is connected to the lifting mechanism via the first belt drive assembly to transmit the driving force of the dual-axis motor to the lifting mechanism.

[0014] The second output shaft of the dual-axis motor is connected to the second electromagnetic clutch via a second transmission shaft and a second coupling. The output end of the second electromagnetic clutch is connected to the cover plate mechanism via a second belt drive assembly to transmit the driving force of the dual-axis motor to the cover plate mechanism. The first and second electromagnetic clutches are connected to the controller via a first relay and a second relay, respectively. The controller controls the engagement and disengagement of the electromagnetic clutches by controlling the relays to adjust the power output of the dual-axis motor.

[0015] Furthermore, the lifting mechanism includes a fixed base plate, a first linear slide rail, a first lead screw and nut mechanism, a scissor mechanism, a fixed hinge seat, a sliding hinge seat, and a lifting top plate. The fixed base plate is fixedly installed at the bottom of the cabin.

[0016] Two fixed hinge seats are symmetrically fixed to one end of the top surface of the fixed base plate along the width direction. Two first linear slide rails are symmetrically arranged along the length direction of the fixed base plate and are collinear with the fixed hinge seats respectively; a sliding hinge seat is fixedly connected to the top of the slider on each first linear slide rail.

[0017] The first limit switch is installed at the end of the first linear slide rail near the fixed hinge seat, and is used to detect the extreme position of the sliding hinge seat on the first linear slide rail. The first lead screw and nut mechanism is fixed to the fixed base plate and is driven by the first drive motor through the first belt drive assembly.

[0018] Two scissor lift mechanisms are vertically and symmetrically arranged on the fixed base plate; the bottom of each scissor lift mechanism is hinged to both a fixed hinge seat and a sliding hinge seat, and its top is hinged to the bottom surface of the lifting platform. An industrial camera is vertically fixed to the top surface of the lifting platform.

[0019] Furthermore, the first lead screw and nut mechanism includes a first lead screw, a special-shaped nut, and two first bearing seats;

[0020] Two first bearing seats are fixedly installed on the fixed base plate along the length of the first linear slide rail and close to one of the first linear slide rails.

[0021] The two ends of the first lead screw are respectively supported on two first bearing seats, and one end of it is connected to the small pulley of the first belt transmission assembly.

[0022] The irregularly shaped nut has a rod-like structure and is arranged perpendicular to the first lead screw. Its two ends are fixedly connected to sliding hinge seats set on the first linear slide rail. One end of the irregularly shaped nut has a nut structure at its bottom, which cooperates with the first lead screw to convert the rotational motion of the first lead screw into the linear motion of the irregularly shaped nut.

[0023] Furthermore, the cover plate mechanism includes a parallelogram top plate, a connecting rod, a parallelogram bottom plate, a second lead screw and nut mechanism, and a second linear slide rail. The lower surface of the parallelogram top plate is provided with multiple lower limit hinge seats that are vertically downward, while the upper surface of the parallelogram bottom plate is provided with multiple upper limit hinge seats that correspond to the lower limit hinge seats. The two are connected by a connecting plate.

[0024] Two second linear slide rails are symmetrically arranged at both ends of the bottom surface of the parallelogram base plate. The second linear slide rails are installed in the slide rail mounting grooves on the inner wall of the cabin, and the sliders on them are fixedly connected to the bottom surface of the parallelogram base plate. The second linear slide rails are parallel to the first linear slide rails.

[0025] The second lead screw and nut mechanism is arranged adjacent to one of the second linear guideways and includes a second lead screw and a nut; the nut is fixed to the bottom surface of the parallelogram base plate; both ends of the second lead screw are supported by bearing seats fixed to the inner wall of the cabin, and one end is connected to a small pulley of the second belt drive assembly. A second limit switch is installed at one end of the second linear guideway near the second lead screw to detect the extreme positions of the parallelogram top plate and the parallelogram bottom plate along the second linear guideway. A pressure sensor is fixed to the bottom of the parallelogram top plate.

[0026] Furthermore, the hatch opening side has a first wedge-shaped guide surface, and the parallelogram top plate has a second wedge-shaped guide surface that mates with the first wedge-shaped guide surface. A downwardly extending limiting block is located on the lower end face of the hatch near the edge of the hatch opening, used to limit the horizontal movement of the parallelogram top plate when the hatch mechanism closes the hatch opening.

[0027] Furthermore, multiple pulley assemblies are installed on the sidewalls of the parallelogram top plate to reduce contact wear between the parallelogram top plate and the limiting block.

[0028] Furthermore, both sides of the upper limit hinge seat and the lower limit hinge seat are provided with vertical limit grooves and horizontal limit grooves to restrict the horizontal movement of the parallelogram base plate during the opening and closing process.

[0029] This invention also provides an imaging control method based on the above-mentioned imaging system for aircraft bottom detection, including a camera lifting control process and a camera retraction control process, wherein:

[0030] The camera raising control process includes:

[0031] Step 1: The pressure sensor detects the pressure value borne by the cover plate mechanism and sends the detection result to the controller;

[0032] Step 2: The controller compares the pressure value with the preset pressure threshold. If the pressure value is greater than the pressure threshold, the opening procedure is stopped and the system waits for the next judgment. If the pressure value is less than the pressure threshold, the controller issues a control command to control the electric drive module to provide driving force to the cover mechanism. The cover mechanism moves away from the hatch opening.

[0033] Step 3: The controller determines whether the electric drive module has moved to the preset first zero point position. If not, it continues to control the electric drive module to provide driving force to the cover mechanism. If so, it controls the electric drive module to stop providing driving force to the cover mechanism, and the cover mechanism moves into place. At the same time, it controls the electric drive module to provide driving force to the lifting mechanism. At this time, the hatch opening opens, and the lifting mechanism begins to perform the lifting action.

[0034] Step 4: If the controller does not receive the limit position signal from the first limit switch, it continues to supply driving force to the lifting mechanism via the electric drive module. If the controller receives the limit position signal from the first limit switch, it stops supplying driving force to the lifting mechanism, the lifting mechanism stops its lifting motion, and the industrial camera rises to its position. The industrial camera is then controlled to image the bottom of the aircraft under inspection.

[0035] The camera retraction control process includes:

[0036] Step S1: The controller outputs a control command to control the electric drive module to provide driving force to the lifting mechanism, and the lifting mechanism performs a falling operation;

[0037] Step S2: The controller determines whether the electric drive module has moved to the preset second zero point position. If not, it continues to control the electric drive module to provide driving force to the lifting mechanism. If yes, it controls the electric drive module to stop providing driving force to the lifting mechanism and at the same time controls the electric drive module to provide driving force to the cover mechanism. At this time, the lifting mechanism falls to the position and the cover mechanism begins to perform the closing action.

[0038] Step S3: If the controller does not receive the limit position signal from the second limit switch, it continues to provide driving force to the cover mechanism. If the controller receives the limit position signal from the second limit switch, indicating that the cover mechanism is in position, it stops providing driving force to the cover mechanism, and the cover mechanism stops moving. At this time, the industrial camera retracts, and the hatch opening closes.

[0039] The advantages of this invention are:

[0040] 1. This invention embeds an imaging device, comprising an industrial camera, a lifting mechanism, a cover plate mechanism, and an electric drive module, into an installation groove within the aircraft hangar floor. The top plate of the imaging device has an opening for the industrial camera to extend above the ground, and the top plate is flush with the ground. When imaging inspection of the aircraft's underside is required, the controller activates the cover plate mechanism, and the lifting mechanism raises the industrial camera to the ground, achieving high-quality imaging of the aircraft's underside. Compared to traditional fixed-position camera shooting modes, this invention's device offers greater convenience, eliminating the need for manual operation and reducing safety risks.

[0041] 2. When filming is not required, the industrial camera is retracted using the lifting mechanism designed in this invention, and the top opening of the imaging device is closed using the designed cover mechanism. The opening and closing of the cover is performed from below the ground, avoiding collisions with the aircraft and not affecting the flatness of the hangar floor or the aircraft's taxiing safety.

[0042] 3. In this invention, a pressure sensor is installed at the lower part of the cover plate mechanism (i.e., the bottom of the parallelogram top plate). The sensor detects the aircraft pressure on the cover plate mechanism and compares the pressure on the aircraft with the preset pressure threshold through the controller to determine whether the cover plate can be opened. This ensures the safety of opening the cover and avoids safety problems caused by rashly opening the cover plate when the aircraft wheels are pressing on it.

[0043] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0044] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0045] Figure 1 This is an exploded view of the camera adjustment device in Embodiment 1 of the present invention;

[0046] Figure 2 This is an axonometric view of the lifting mechanism and the cover plate mechanism in Embodiment 1 of the present invention;

[0047] Figure 3 This is an exploded view of the lifting mechanism and the cover plate mechanism in Embodiment 1 of the present invention;

[0048] Figure 4 This is a schematic diagram of the camera in retracted state in Embodiment 1 of the present invention;

[0049] Figure 5 This is a schematic diagram of the camera in the raised state in Embodiment 1 of the present invention;

[0050] Figure 6 This is the main view of the cover plate mechanism in Embodiment 1 of the present invention. Figure 1 At this point, the connecting plate moves to a vertical position;

[0051] Figure 7 This is the main view of the cover plate mechanism in Embodiment 1 of the present invention. Figure 2 At this point, the connecting plate rotates to lower the height of the cover plate;

[0052] Figure 8 yes Figure 7 A magnified view of a portion of the image;

[0053] Figure 9 This is a schematic diagram of the camera adjustment device of the present invention and the camera deployed on an aircraft tarmac;

[0054] Figure 10 This is a schematic diagram of the electrical architecture of the camera adjustment device in Embodiment 1 of the present invention;

[0055] Figure 11 This is a schematic diagram of the camera raising control process in Embodiment 1 of the present invention;

[0056] Figure 12 This is a schematic diagram of the camera shrinkage control process in Embodiment 1 of the present invention;

[0057] Figure 13 This is a schematic diagram of the drive module in the camera adjustment device according to Embodiment 2 of the present invention;

[0058] Figure 14 This is a schematic diagram of the electrical architecture of the camera adjustment device in Embodiment 2 of the present invention;

[0059] Figure 15 This is a schematic diagram of the camera lifting control process in Embodiment 2 of the present invention;

[0060] Figure 16 This is a schematic diagram of the camera retraction control process in Embodiment 2 of the present invention;

[0061] Figure 17 This is an exploded view of the camera adjustment device according to Embodiment 3 of the present invention;

[0062] Figure 18 This is a schematic diagram of the camera in the raised state in Embodiment 3 of the present invention;

[0063] Figure 19 This is a schematic diagram of the camera in its retracted state in Embodiment 3 of the present invention.

[0064] In the diagram: 1-Camera adjustment device; 2-Aircraft to be inspected; 3-Lifting mechanism; 301-Fixed base plate; 302-Fixed hinge seat; 303-First limit switch; 304-First slider; 305-Sliding hinge seat; 306-First lead screw; 307-First linear slide rail; 308-First bearing seat; 309-First belt drive assembly; 310-First motor support; 311-First drive motor; 312-Irregular nut; 313-First hinge shaft; 314-Scissor mechanism; 315-Lifting top plate; 316-Camera mounting plate; 4-Cover plate mechanism; 401-Parallelogram base plate; 402-Second bearing seat; 403-Second belt drive assembly; 404-Second motor support; 405-Second drive motor; 406-Second linear slide rail; 407-Second lead screw... 408-Second slider, 409-Limit hinge seat, 409A-Vertical limit groove, 409B-Horizontal limit groove, 410-Second hinge shaft, 411-Second limit switch, 412-Parallelogram top plate, 412A-Wedge guide surface, 413-Connecting rod, 414-Pulley assembly, 414A-Pulley, 415-Nut, 416-Pressure sensor; 5-Bucket body, 501-Bearing seat mounting groove, 502-Linear slide rail mounting groove; 6-Bucket cover, 601-Limit stop; 7-Industrial camera; 801-Dual-axis motor, 802-Coupling, 803-First electromagnetic clutch, 804-Second electromagnetic clutch, 805-Third motor support, 806-Drive shaft, 807-Clutch support, 9-Lifting electric push rod, 10-Transfer electric push rod. Detailed Implementation

[0065] The embodiments of the present invention are described in detail below. These embodiments are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0066] Example 1

[0067] Reference Figures 1-5 This invention provides an imaging system for aircraft bottom inspection, including a camera adjustment device 1, an industrial camera 7, and a controller (not shown in the figure). The camera adjustment device includes a lifting mechanism 3, a cover mechanism 4, a cabin 5, a canopy 6, and an electric drive module. The cabin 5 and the canopy 6 form a mounting box, and the lifting mechanism 3 and the cover mechanism 4 are disposed within the box. The cabin 5 has a stepped cavity for mounting the lifting mechanism and the cover mechanism. The bottom of the lifting mechanism 3 is fixed to the inner wall of the cabin bottom. Symmetrical side walls within the cavity have bearing seat mounting grooves 501 and linear slide rail mounting grooves 502 for mounting the linear slide rail and bearing seat of the cover mechanism.

[0068] The lifting mechanism 3 includes a fixed base plate 301, a fixed hinge seat 302, a first limit switch 303, a first slider 304, a sliding hinge seat 305, a first lead screw 306, a first linear slide rail 307, a first bearing seat 308, a shaped nut 312, a first hinge shaft 313, a scissor mechanism 314, a lifting top plate 315, and a camera mounting plate 316. The fixed base plate 301 serves as the mounting base for the entire lifting mechanism and is fixed to the inner wall of the bottom of the cabin 5. Two fixed hinge seats 302 are symmetrically fixed at one end of the fixed base plate 301 along its width direction. Two first linear slide rails 307 are symmetrically fixed on the fixed base plate 301 along its length direction, and the two first linear slide rails are collinear with the positions of the two fixed hinge seats. A first slider 304 is mounted on the first linear slide rail 307, and a sliding hinge seat 305 is fixed to the top of the first slider 304. The first slider 304 cooperates with the first linear slide rail 307, and under the guidance of the first linear slide rail and the first slider, the sliding hinge seat moves linearly. The scissor mechanism 314 is composed of two scissor arms that are cross-hinged, with the hinge position located in the middle of the two scissor arms. The two scissor mechanisms are vertically mounted on the fixed base plate, and one lower end of the scissor mechanism is hinged to the fixed hinge seat through a first hinge shaft 313, and the other lower end is hinged to the sliding hinge seat 305 through another first hinge shaft 313. The upper ends of the scissor mechanisms are all hinged to the bottom of the lifting top plate 315, realizing the conversion of the horizontal movement of the sliding hinge seat 305 into the vertical movement of the lifting top plate 315. The lifting top plate 315 has mounting holes, and a camera mounting plate 316 is used to fix the industrial camera 7 in the mounting holes.

[0069] A first limit switch 303 is provided at one end of the first linear slide rail to detect the critical position of the sliding hinge seat on the first slide rail, preventing the camera from rising too high and causing collision damage. The irregular nut 312 has a rod-like structure and is set along the width direction of the fixed base plate. Its two ends are fixedly connected to the sliding hinge seat 305 on the first slider. The bottom of one end of the irregular nut has a nut structure, the axis of which coincides with the axis of the first lead screw. Two first bearing seats 308 are provided on the fixed base plate 301 along the inner side of one of the first linear slide rails to support the first lead screw 306 set along the length direction of the first linear slide rail. The first lead screw cooperates with the nut structure on the irregular nut to convert the rotational motion of the first lead screw into the linear motion of the irregular nut, thereby driving the sliding hinge seat and the first slider to move along the first linear slide rail as a whole.

[0070] The electric drive module includes a first electric drive assembly and a second electric drive assembly. The first electric drive assembly includes a first belt drive assembly 309, a first motor support 310, and a first drive motor 311. The first drive motor 311 is fixed to the fixed base plate 301 via the first motor support 310 and is positioned away from the fixed hinge seat 302. The first belt drive assembly 309 connects the output shaft of the first drive motor 311 to a first lead screw 306, for transmitting the power provided by the first drive motor to the first lead screw 306. Specifically, one end of the first lead screw is connected to the small pulley of the first belt drive assembly.

[0071] A hatch cover 6 is located on top of the cabin body 5, and has an opening for the industrial camera 7 to pass through. A cover mechanism 4 is located above the lifting mechanism 3, near the first drive motor 311, and opens and closes the hatch cover 6 via a ball screw mechanism and a parallelogram mechanism. The cover mechanism includes a parallelogram mechanism, a second linear guide rail 406, a second lead screw 407, a second slider 408, a limit hinge seat 409, a second hinge shaft 410, a second limit switch 411, a parallelogram top plate 412, a pulley assembly 414, a nut 415, and a pressure sensor 416.

[0072] The parallelogram mechanism includes a parallelogram base plate 401, a parallelogram top plate 412, and connecting rods 413. Multiple limiting hinge seats 409 are provided at corresponding positions on the top surface of the parallelogram base plate 401 and the bottom surface of the parallelogram top plate 412. In this embodiment, four limiting hinge seats 409 are symmetrically arranged. It also includes multiple connecting rods 413, which are respectively disposed between the limiting hinge seats on the top surface of the parallelogram base plate 401 and the limiting hinge seats on the bottom surface of the parallelogram top plate 412. The two ends of the connecting rods 413 are respectively hinged to the limiting hinge seats 409 on the base plate and the top plate via second hinge shafts 410. Second sliders 408 are symmetrically fixed at both ends of the bottom surface of the parallelogram base plate 401. The second sliders cooperate with the second linear slide rails 406 below them, allowing them to slide along the second linear slide rails; the second linear slide rails are arranged parallel to the first linear slide rails 307. A second limit switch 411 is provided at one end of the second linear slide rail 406 to detect the critical position of the parallelogram bottom plate and top plate on the second linear slide rail, preventing the parallelogram mechanism from over-moving and causing collision damage. The second linear slide rail is supported and fixed by a linear slide rail mounting groove 502 opened on the inner side wall of the cabin.

[0073] Nut 415 is fixedly installed on the bottom surface of the parallelogram base plate. The second lead screw 407 cooperates with nut 415. Utilizing the helical transmission between the second lead screw and nut, the rotational motion of the second lead screw is converted into the linear motion of the nut. In turn, the linear motion of the nut drives the parallelogram mechanism to reciprocate as a whole. Two second bearing seats 402 are symmetrically fixed on the inner wall of the cabin 5 and are respectively connected to both ends of the second lead screw to support the second lead screw 407.

[0074] The second electric drive assembly includes a second belt drive assembly 403, a second motor support 404, and a second drive motor 405. The second drive motor 405 is fixed to the edge of the fixed base plate 301 via the second motor support 404. The output shaft of the second drive motor 405 is connected to one end of the second lead screw via the second belt drive assembly 403, which is used to transmit the opening drive force provided by the second drive motor to the second lead screw 407.

[0075] The hatch 6 has an opening at its top to accommodate a parallelogram-shaped top plate. A limit stop 601 is provided on the lower wall of the hatch near the edge of the opening to restrict the horizontal movement of the parallelogram-shaped top plate, ensuring that the parallelogram-shaped top plate is accurately positioned within the opening of the hatch after it is raised. The inner wall of the hatch opening away from the limit stop has a wedge-shaped guide surface, which matches a wedge-shaped guide surface 412A provided on the right side wall of the parallelogram-shaped top plate.

[0076] Preferably, in order to reduce wear between the left side of the parallelogram top plate and the limiting block 601 of the hatch cover 6, a pulley assembly 414 is provided on the left side of the parallelogram top plate. The pulley 414A of the pulley assembly 414 contacts the limiting block 601 of the hatch cover, thereby reducing wear and enhancing the smoothness of movement.

[0077] Preferably, refer to Figures 6-8 To ensure smooth opening and closing of the top plate of the parallelogram mechanism, vertical limiting grooves 409A and horizontal limiting grooves 409B are respectively provided on both sides of the limiting hinge seat 409 to restrict the position of the parallelogram top plate. The vertical limiting groove 409A prevents the parallelogram top plate from moving to the right side of the parallelogram bottom plate during the closing process. The horizontal limiting groove 409B prevents the parallelogram top plate from moving too far to the left (relative to the bottom plate of the quadrilateral mechanism), which would cause the left side of the parallelogram top plate to form a reverse angle with the limiting block of the hatch cover during the closing process, preventing the parallelogram top plate from moving upwards and causing the hatch to fail to close.

[0078] A pressure sensor 416 is installed at the lower part of the parallelogram top plate. The pressure sensor is connected to the controller and is used to detect the aircraft pressure on the cover mechanism to determine whether the cover can be opened.

[0079] To achieve effective imaging of obstacles on the aircraft's underside surface, an industrial camera 7 is fixed to the lifting top plate 315 of the lifting mechanism via a camera mounting plate. The height of the industrial camera 7 is adjusted via the lifting mechanism. For details, refer to... Figure 9 Multiple mounting slots matching the cabin 5 are set on the ground of the aircraft hangar. The cabin is placed in the mounting slots. The location and number of slots can be determined according to the area under the aircraft that needs to be inspected. In this embodiment, the cameras are specifically arranged along three lines: one fuselage line and two wing lines. When it is necessary to take an image, the cover mechanism is activated to retract, the opening of the canopy is opened, and the lifting mechanism is activated to automatically raise the camera, which extends out of the ground to take pictures of the bottom of the aircraft 2 under inspection. After the inspection is completed, the lifting mechanism is activated to retract the camera, and the cover mechanism is activated to raise the canopy. The opening of the canopy is closed by the parallelogram top plate, making the canopy flush with the ground, avoiding collision between the camera and the aircraft, and ensuring the safety of both the aircraft takeoff and the camera.

[0080] The camera retraction is accomplished in two steps: the camera lowers and the cover (parallelogram mechanism) closes, as detailed below:

[0081] The first step is camera descent: The first drive motor drives the first lead screw to rotate, the first slider moves and causes the sliding hinge seat 305 to move away from the fixed hinge seat 302, the scissor mechanism moves downward and retracts, thereby lowering the height of the lifting top plate 315 and the camera mounted on it. When the sliding hinge seat 305 reaches the preset limit position, the first drive motor stops working. The camera descent process is completed.

[0082] The second step involves closing the cover: The second drive motor 405 drives the second lead screw 407 to rotate via the second belt drive assembly 403. The nut 415 converts the rotational motion of the second lead screw into linear motion, causing the second slider 408 to move. This, in turn, causes the parallelogram mechanism fixed to the second slider to move to the left (towards the canopy top opening). When the pulley assembly 414 on the left side of the parallelogram top plate contacts the canopy's limit stop 601, the parallelogram mechanism moves horizontally to its designated position. In this state, when the second drive motor continues to drive the parallelogram bottom plate to the left, the parallelogram top plate moves upwards due to the constraint of the parallelogram mechanism, until the second limit switch 411 detects that the parallelogram bottom plate has reached its limit position, at which point the second drive motor 405 stops. At this time, the wedge-shaped guide surface 412A on the right side of the parallelogram top plate is in contact with the wedge-shaped guide surface on the inner wall of the canopy opening, making the parallelogram top plate and the canopy flush and preventing pits on the ground from affecting aircraft sliding. Meanwhile, the connecting rod is in a vertical position, which not only enhances the load-bearing capacity of the cover plate mechanism, but also avoids applying horizontal force to the second slider, ensuring reliable closure.

[0083] The camera rises in two steps: opening the cover and raising the camera, as detailed below:

[0084] First, the cover opens: The second drive motor 405 drives the second lead screw 407 to rotate in the opposite direction via the second belt drive assembly 403. The nut 415 converts the reverse rotation of the second lead screw into reverse linear motion, causing the second slider 408 to move in the opposite direction. This, in turn, causes the parallelogram mechanism fixed to the second slider to move to the right (away from the opening direction of the top of the hatch). Because the right side of the parallelogram top plate has a wedge-shaped guide surface, when the parallelogram bottom plate moves to the right, under the constraint of the wedge-shaped guide surface of the parallelogram mechanism, the parallelogram top plate will move to the left side of the parallelogram bottom plate. Simultaneously, the connecting rod 413 rotates towards the parallelogram bottom plate, reducing the vertical height between the top and bottom plates. When the second drive motor reaches the zero position (pre-set in the controller), it stops. At this point, the parallelogram mechanism returns to its initial position, and the hatch opens.

[0085] The second step is camera lifting: the first drive motor drives the first lead screw to rotate, the first slider moves and drives the sliding hinge seat 305 to move away from the fixed hinge seat 302, the scissor mechanism moves upward and rises, thereby driving the lifting top plate 315 and the camera mounted on it to rise in height until the first limit switch 303 detects that the sliding hinge seat 305 has moved to the preset critical position, the first drive motor stops working and the camera is lifted into place.

[0086] Reference Figures 10-12 Embodiment 1 of the present invention also provides the above-mentioned control method for an adjustable camera, including a camera raising control method and a camera retraction control method, wherein the camera raising control method includes the following steps:

[0087] Step 1: Pressure sensor 416 detects the pressure on the parallelogram top plate and sends the result to the controller.

[0088] Step 2: The controller determines whether the measured pressure is less than the pressure threshold. If the measured pressure is greater than the pressure threshold, the controller stops the opening procedure and waits to determine the next detection result of the pressure sensor. If the measured pressure is less than the pressure threshold, the controller issues a command to start the second drive motor 405 (the drive motor of the cover mechanism), which, through the mechanical transmission of the cover mechanism, retracts the parallelogram mechanism, thus opening the hatch.

[0089] Step 3: The controller determines whether the second drive motor 405 has moved to the zero position. If it has not moved to the zero position, the second drive motor 405 continues to run; if it has moved to the zero position, the controller issues a command to stop the second drive motor and starts the first drive motor (the first drive motor is the drive motor of the lifting mechanism), which then raises the camera through mechanical transmission.

[0090] Step 4: The first limit switch 303 detects whether the camera has moved to its limit position: if it has not moved to the limit position, the first drive motor continues to run; if it has moved to the limit position, the controller receives a signal that the camera has reached the limit position and issues a command to control the first drive motor to stop running. At this time, the camera is raised to the ground.

[0091] The camera zoom control method includes the following steps:

[0092] Step 1: The controller sends a command to start the first drive motor (the first drive motor is the drive motor of the lifting mechanism), and then the camera is retracted through mechanical transmission;

[0093] Step 2: The controller determines whether the first drive motor has reached the zero position: if it has not reached the zero position, the first drive motor continues to run; if it has reached the zero position, the controller issues a command to stop the first drive motor and starts the second drive motor (the second drive motor is the drive motor of the cover plate mechanism), which then closes the cover plate through mechanical transmission.

[0094] Step 3: The second limit switch detects whether the cover plate (parallelogram mechanism) has moved to its limit position: if it has not moved to the limit position, the second drive motor continues to run; if it has moved to the limit position, the controller receives a signal that the cover plate has reached the limit position and issues a command to stop controlling the second drive motor to stop running. At this time, the camera retracts and the hatch closes.

[0095] Example 2

[0096] To reduce the number of drive motors, Embodiment 2 employs a dual-axis motor drive scheme, such as... Figure 13 and Figure 14As shown. Embodiment Two differs from Embodiment One only in the drive scheme; the rest of the structure is the same. Specifically, the electric drive module in Embodiment Two includes a dual-axis motor 801, a coupling 802, a first electromagnetic clutch 803, a second electromagnetic clutch 804, a third motor support 805, a drive shaft 806, and a clutch support 807. One output shaft of the dual-axis motor 801 is connected to the first electromagnetic clutch 803 via the coupling 802 and the drive shaft 806. The output end of the first electromagnetic clutch 803 is connected to the small pulley of the first belt drive assembly 309 (the belt drive assembly in the lifting mechanism). The other output shaft of the dual-axis motor is connected to the second electromagnetic clutch 804 via another coupling and another drive shaft. The output end of the second electromagnetic clutch 804 is connected to the small pulley of the second belt drive assembly 403 (the belt drive assembly in the cover plate mechanism). The dual-axis motor 801 is fixed to the base plate 301 via a third motor support 805. The first electromagnetic clutch 803 and the second electromagnetic clutch 804 are respectively fixed to the base plate 301 via clutch supports 807. The first electromagnetic clutch 803 and the second electromagnetic clutch 804 are electrically connected to the controller via a first relay and a second relay, respectively. The controller controls the engagement and disengagement of the electromagnetic clutches by controlling the corresponding relays to adjust the power output of the dual-axis motor.

[0097] When the second driving scheme is adopted, the overall camera control process changes. (Refer to...) Figure 15 The camera raising control process includes the following steps:

[0098] Step 1: The pressure sensor detects the pressure on the cover plate (parallelogram top plate) and sends the result to the controller.

[0099] Step 2: The controller determines whether the measured pressure is less than the pressure threshold. If the measured pressure is greater than the pressure threshold, the controller stops the opening procedure and waits for the next pressure sensor detection result. If the measured pressure is less than the pressure threshold, the controller sends a command to make the first relay 8 output a high level and the second relay output a low level, which respectively energizes and engages the first electromagnetic clutch 803 and de-energizes and disengages the second electromagnetic clutch 804. Then the controller sends a command to start the dual-shaft motor 801, which moves the cover plate through mechanical transmission, thus opening the hatch.

[0100] Step 3: The controller determines whether the dual-axis motor has reached the zero position: If it has not reached the zero position, the dual-axis motor 801 continues to run; if it has reached the zero position, the controller sends a command to stop the dual-axis motor, and causes the first relay to output a low level and the second relay to output a high level, thereby de-energizing and disengaging the first electromagnetic clutch 803 and energizing and engaging the second electromagnetic clutch 804. Then, the controller sends a command to start the dual-axis motor, which, through mechanical transmission, causes the camera to rise.

[0101] Step 4: The first limit switch 303 detects whether the camera has moved to the limit position: if it has not moved to the limit position, the dual-axis motor continues to run; if it has moved to the limit position, the controller receives the signal that the camera has reached the limit position and sends a command to control the dual-axis motor to stop running, thus completing the camera lifting control process.

[0102] Reference Figure 16 After shooting, perform the camera retraction step, including:

[0103] Step 1: The controller sends a command to control the first relay to output a low level and the second relay to output a high level, thereby de-energizing and disengaging the first electromagnetic clutch 803 and energizing and engaging the second electromagnetic clutch 804; then, the controller sends a command to start the dual-axis motor 801, which retracts the camera via mechanical transmission.

[0104] Step 2: The controller determines whether the dual-axis motor has reached the zero position. If it has not reached the zero position, the dual-axis motor continues to run. If it has reached the zero position, the controller sends a command to stop the dual-axis motor, and causes the first relay to output a high level and the second relay to output a low level, thereby energizing and engaging the first electromagnetic clutch 803 and de-energizing and disengaging the second electromagnetic clutch 804. Then, the controller sends a command to start the dual-axis motor, which, through mechanical transmission, closes the cover.

[0105] Step 3: The second limit switch 411 detects whether the cover plate has moved to the limit position: if it has not moved to the limit position, the dual-axis motor continues to run; if it has moved to the limit position, the controller receives the signal that the cover plate has reached the limit position and issues a command to stop the dual-axis motor, thus completing the camera retraction control process.

[0106] Example 3

[0107] Refer to 17 and Figure 18 The lifting mechanism and cover plate mechanism can be driven by electric push rods. Specifically, an electric lifting push rod 9 replaces the lead screw, belt drive assembly, and drive motor in the lifting mechanism, and a connecting plate is added between the two sliding hinge seats 305. Both ends of the connecting plate are fixedly connected to the corresponding sliding hinge seats 305. One end of the electric lifting push rod 9 is hinged to the connecting plate with screws, and the other end is hinged to the fixed base plate 301 with screws. The electric lifting push rod 9 pushes the sliding hinge seat 305 at the end of the scissor lift to reciprocate, realizing the opening and closing of the scissor lift mechanism 314, thereby achieving the raising and retraction of the camera.

[0108] Similarly, a translational electric actuator 10 replaces the lead screw, belt drive assembly, and drive motor in the cover plate mechanism. One end of the translational electric actuator 10 is hinged to the parallelogram base plate 401 by a screw, and the other end is hinged to the actuator mounting slot opened in the inner wall of the cabin by a screw. The translational electric actuator 10 pushes the parallelogram base plate 401 to reciprocate, thereby driving the entire cover plate mechanism to translate and realize the opening and closing of the cabin cover.

[0109] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the scope of the technology disclosed in the present invention, and such modifications or substitutions should all be covered within the scope of protection of the present invention.

Claims

1. An imaging system for detecting the bottom of an aircraft, characterized in that, It includes a cabin body, a hatch cover, an industrial camera, a lifting mechanism, a cover plate mechanism, a pressure sensor, an electric drive module, a first limit switch, a second limit switch, and a controller; The cabin has a storage space for installing a lifting mechanism, a cover mechanism, an industrial camera, and an electric drive assembly. The canopy is mounted on top of the cabin and has an opening that matches the top of the canopy mechanism, the opening being for the industrial camera to pass through to photograph the bottom of the aircraft; The cabin is embedded in an installation groove underground, and the cabin cover is flush with the ground surface; The lifting mechanism is used to carry and lift the industrial camera, and is positioned directly opposite the opening of the hatch. The cover mechanism is used to open and close the opening of the hatch and is located above one side of the lifting mechanism; The first limit switch is used to detect the upper limit position of the lifting mechanism, and the second limit switch is used to detect the lower limit position of the cover plate mechanism. The electric drive module is used to selectively transmit electric drive force to the lifting mechanism or the cover plate mechanism; The pressure sensor is fixed to the cover plate mechanism and is used to detect the pressure value borne by the cover plate mechanism; The controller is used to: determine whether the hatch can be opened based on the pressure value; and receive the limit position signal output by the first limit switch or the second limit switch; and control the electric drive module to act on the lifting mechanism or the cover mechanism to lift the industrial camera or open and close the hatch.

2. The imaging system according to claim 1, characterized in that, The electric drive module includes a first electric drive component and a second electric drive component; The first electric drive assembly includes a first drive motor and a first belt drive assembly. The first drive motor transmits its output driving force to the lifting mechanism through the first belt drive assembly. The second electric drive assembly includes a second drive motor and a second belt drive assembly. The second drive motor transmits its output driving force to the cover plate mechanism through the second belt drive assembly.

3. The imaging system according to claim 1, characterized in that, The electric drive module includes a dual-axis motor, a first coupling, a first electromagnetic clutch, a first relay, a first belt drive assembly, a first drive shaft, a second coupling, a second electromagnetic clutch, a second relay, a second belt drive assembly, and a second drive shaft. The first output shaft of the dual-axis motor is connected to the first electromagnetic clutch via the first transmission shaft and the first coupling. The output end of the first electromagnetic clutch is connected to the lifting mechanism via the first belt drive assembly, which is used to transmit the driving force of the dual-axis motor to the lifting mechanism. The second output shaft of the dual-axis motor is connected to the second electromagnetic clutch via a second transmission shaft and a second coupling. The output end of the second electromagnetic clutch is connected to the cover plate mechanism via a second belt drive assembly, which is used to transmit the driving force of the dual-axis motor to the cover plate mechanism. The first electromagnetic clutch and the second electromagnetic clutch are electrically connected to the controller via the first relay and the second relay, respectively; The controller controls the engagement and disengagement of the electromagnetic clutch by controlling a relay, thereby adjusting the power output of the dual-shaft motor.

4. The imaging system according to claim 2 or 3, characterized in that, The lifting mechanism includes a fixed base plate, a first linear slide rail, a first lead screw and nut mechanism, a scissor mechanism, a fixed hinge seat, a sliding hinge seat, and a lifting top plate; The fixed base plate is fixedly installed at the bottom of the cabin; The two fixed hinge seats are symmetrically fixed to one end of the top surface of the fixed base plate along the width direction of the fixed base plate; Two first linear slide rails are symmetrically arranged along the length of the fixed base plate and are respectively collinear with the fixed hinge seat; the top of the slider on each first linear slide rail is fixedly connected to the sliding hinge seat; The first limit switch is installed at the end of the first linear slide rail near the fixed hinge seat, and is used to detect the movement limit position of the sliding hinge seat on the first linear slide rail; The first lead screw and nut mechanism is fixed to the fixed base plate and is driven by the first drive motor through the first belt drive assembly; Two scissor lift mechanisms are vertically and symmetrically arranged on the fixed base plate; the bottom of each scissor lift mechanism is hinged to the fixed hinge seat and the sliding hinge seat respectively, and its top is hinged to the bottom surface of the lifting top plate. The industrial camera is vertically fixed to the top surface of the lifting platform.

5. The imaging system according to claim 4, characterized in that, The first lead screw and nut mechanism includes a first lead screw, a special-shaped nut, and two first bearing seats; Two first bearing seats are fixedly installed on the fixed base plate along the length of the first linear slide rail and close to one of the first linear slide rails; The two ends of the first lead screw are respectively supported on the two first bearing seats, and one end of the lead screw is connected to the small pulley of the first belt transmission assembly. The irregular nut has a rod-shaped structure and is arranged perpendicular to the first lead screw. Its two ends are respectively fixedly connected to the sliding hinge seat set on the first linear slide rail. The irregular nut has a nut structure at one end of its bottom. The nut structure cooperates with the first lead screw to convert the rotational motion of the first lead screw into the linear motion of the irregular nut.

6. The imaging system according to claim 2 or 3, characterized in that, The cover plate mechanism includes a parallelogram top plate, a connecting rod, a parallelogram bottom plate, a second lead screw and nut mechanism, and a second linear slide rail; The lower surface of the parallelogram top plate is provided with a plurality of vertically downwardly arranged lower limit hinge seats, while the upper surface of the parallelogram bottom plate is provided with a plurality of upper limit hinge seats corresponding to the lower limit hinge seats, and the two are connected by the connecting plate. Two second linear slide rails are symmetrically arranged at both ends of the bottom surface of the parallelogram base plate. The second linear slide rails are installed in the slide rail mounting grooves on the inner wall of the cabin, and the sliders on them are fixedly connected to the bottom surface of the parallelogram base plate. The second linear slide rails are parallel to the first linear slide rails. The second lead screw and nut mechanism is arranged adjacent to one of the second linear slide rails and includes a second lead screw and a nut; the nut is fixed on the bottom surface of the parallelogram base plate; the two ends of the second lead screw are supported by bearing seats fixed to the inner wall of the cabin, and one end of the lead screw is connected to the small pulley of the second belt transmission assembly. The second limit switch is installed at one end of the second linear slide rail near the second lead screw, which is used to detect the extreme positions of the parallelogram top plate and the parallelogram bottom plate along the second linear slide rail. The pressure sensor is fixed to the bottom of the parallelogram top plate.

7. The imaging system according to claim 6, characterized in that, The hatch has a first wedge-shaped guide surface on one side of the opening, and the parallelogram top plate has a second wedge-shaped guide surface on one side that cooperates with the first wedge-shaped guide surface. The lower end face of the hatch near the edge of the hatch opening has a limiting block that extends vertically downward, used to limit the horizontal movement of the parallelogram top plate when the hatch mechanism closes the hatch opening.

8. The imaging system according to claim 7, characterized in that, Multiple pulley assemblies are installed on the sidewall of the parallelogram top plate to reduce contact wear between the parallelogram top plate and the limiting block.

9. The imaging system according to claim 8, characterized in that, Both the upper limit hinge seat and the lower limit hinge seat are provided with vertical and horizontal limiting grooves on both sides to limit the horizontal movement of the parallelogram base plate during the opening and closing process.

10. An imaging control method based on the imaging system for detecting the bottom of an aircraft as described in claim 1, characterized in that, The imaging control method includes a camera raising control process and a camera retraction control process, wherein: The camera lifting control process includes: Step 1: The pressure sensor detects the pressure value borne by the cover plate mechanism and sends the detection result to the controller; Step 2: The controller compares the pressure value with a preset pressure threshold. If the pressure value is greater than the pressure threshold, the opening procedure is stopped, and the system waits for the next judgment. If the pressure value is less than the pressure threshold, the controller issues a control command to control the electric drive module to provide driving force to the cover mechanism. The cover mechanism then moves away from the hatch opening. Step 3: The controller determines whether the electric drive module has reached the preset first zero point position. If not, it continues to control the electric drive module to provide driving force to the cover mechanism; if so, it controls the electric drive module to stop providing driving force to the cover mechanism, and the cover mechanism moves into place. At the same time, it controls the electric drive module to provide driving force to the lifting mechanism. At this time, the hatch opening opens, and the lifting mechanism begins to perform the lifting action. Step 4: If the controller does not receive the limit position signal sent by the first limit switch, it controls the electric drive module to continue to provide driving force to the lifting mechanism; if the controller receives the limit position signal sent by the first limit switch, it controls the electric drive module to stop providing driving force to the lifting mechanism, the lifting mechanism stops lifting, and the industrial camera is raised to the correct position. Control the industrial camera to perform imaging operations on the bottom of the aircraft to be inspected; The camera shrinkage control process includes: Step S1: The controller outputs a control command to control the electric drive module to provide driving force to the lifting mechanism, and the lifting mechanism performs a falling operation; Step S2: The controller determines whether the electric drive module has reached the preset second zero point position. If not, it continues to control the electric drive module to provide driving force to the lifting mechanism. If yes, it controls the electric drive module to stop providing driving force to the lifting mechanism and simultaneously controls the electric drive module to provide driving force to the cover mechanism. At this time, the lifting mechanism falls into place, and the cover mechanism begins to perform the closing action. Step S3: If the controller does not receive the limit position signal sent by the second limit switch, it controls the electric drive module to continue to provide driving force to the cover mechanism; if the controller receives the limit position signal sent by the second limit switch, indicating that the cover mechanism is closed in place, it controls the electric drive module to stop providing driving force to the cover mechanism, and the cover mechanism stops moving. At this point, the industrial camera retracts and the hatch opening closes.

Images