A large bladder leak defect detection system

Abstract

The application discloses a large-scale capsule leakage defect detection system, which comprises a capsule detection subsystem, a positioning and auxiliary decision-making subsystem and a communication subsystem, wherein the communication subsystem is in communication connection with the capsule detection subsystem and the positioning and auxiliary decision-making subsystem; the capsule detection subsystem is used for receiving the control command of the positioning and auxiliary decision-making subsystem, detecting the capsule in real time, and sending the detection result to the positioning and auxiliary decision-making subsystem; the positioning and auxiliary decision-making subsystem is used for receiving the detection result, modeling and positioning the capsule, obtaining the real-time position of the capsule detection and automatically identifying the defect position; and the communication subsystem is used for data communication between the capsule detection subsystem and the positioning and auxiliary decision-making subsystem. The application solves the detection and position determination of the large-scale capsule defects, collects the robot and the positioning system, and quickly detects the defect information and the position without damaging the capsule and feeds back.

Description

Technical Field

[0001] This invention belongs to the field of large capsule airtightness testing technology, and particularly relates to a large capsule leakage defect detection system. Background Technology

[0002] Large-scale defects directly affect the airtightness of airships and high-altitude balloons, becoming a major obstacle to their development and application. For high-altitude balloons tens of meters long or airships hundreds of meters long, the airship body is typically constructed by welding multiple segments together. This welding process is mostly manual or semi-automated. Dragging, folding, or friction from sharp objects during welding can damage the airship material and even create leakage risks. Currently, there is no unified standard for detecting overall airship leakage, and localized airship leakage is also a challenging task. Existing methods primarily focus on airtightness testing, such as the smear method, to determine the location of defects. This method not only carries the risk of contaminating the airship but is also costly and time-consuming. Therefore, a large-scale airship leakage defect detection system is urgently needed. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention proposes a large capsule leakage defect detection system, which solves the problem of detecting and determining the location of defects in large capsules. By integrating a robot and a positioning system, it can quickly detect defect information and location and provide feedback without damaging the capsule.

[0004] To achieve the above objectives, the present invention provides a large capsule leakage defect detection system, comprising:

[0005] The system includes a capsule detection subsystem, a localization and decision support subsystem, and a communication subsystem, wherein the communication subsystem is communicatively connected to the capsule detection subsystem and the localization and decision support subsystem, respectively.

[0006] The capsule detection subsystem is used to receive control commands from the positioning and decision support subsystem, detect the capsule in real time, and send the detection results to the positioning and decision support subsystem.

[0007] The positioning and auxiliary decision-making subsystem is used to receive the detection results, model and locate the capsule, obtain the real-time location of the detected capsule, and automatically identify the defect location.

[0008] The communication subsystem is used for data communication between the capsule detection subsystem and the positioning and decision support subsystem.

[0009] Optionally, the cyst detection subsystem includes an inner cyst detection module and an outer cyst detection module;

[0010] The inner side detection module of the capsule is used to detect the inner surface of the capsule in real time;

[0011] The outer surface detection module of the capsule is used to inspect the outer surface of the capsule in real time, and to drive the inner surface detection module of the capsule through magnetic force, while sending the detection results to the positioning and auxiliary decision-making subsystem.

[0012] Optionally, the inner detection module of the capsule includes a first housing, a first mounting plate, a first battery, a polytetrafluoroethylene gasket, a first bullseye wheel, a first magnet, and an LED light strip; the first battery is disposed on one side of the mounting plate, the first housing is snapped into the side of the first mounting plate on which the first battery is disposed, and the polytetrafluoroethylene gasket, the first bullseye wheel, the first magnet, and the LED light strip are disposed on the other side of the first mounting plate according to preset requirements.

[0013] Optionally, the outer detection module of the bladder body includes a drive motor, a second housing, a second mounting plate, a second battery, a low-resistance tire, a second bullseye wheel, a second magnet, and a linear CCD sensor and a data processing center; the drive motor and the second battery are disposed on one side of the second mounting plate, the second housing is snapped into the side of the second mounting plate on which the drive motor and the second battery are mounted, and the low-resistance tire, the second bullseye wheel, the second magnet, and the linear CCD sensor and data processing center are disposed on the other side of the second mounting plate according to preset requirements.

[0014] Optionally, the first magnet and the second magnet are positioned opposite each other, and the first bullseye wheel and the second bullseye wheel are positioned opposite each other.

[0015] Optionally, the positioning and decision support subsystem includes a decision support and human-computer interaction module, a positioning tag module, and a remote laser scanning radar module;

[0016] The decision support and human-computer interaction module is used to send control commands to the lateral detection module of the capsule and receive the detection results;

[0017] The positioning tag module is connected to the decision support and human-computer interaction module to construct a relative positioning system and obtain the real-time location of the detected cyst.

[0018] The remote laser scanning radar module is connected to the decision support and human-computer interaction module to model the cyst.

[0019] Optionally, sending control commands to the detection module on the outer side of the capsule includes:

[0020] By inputting a movement command into the decision support and human-computer interaction module, the outer cyst detection module receives the movement command and controls the outer cyst detection module to detect different positions of the cyst according to the movement command.

[0021] Technical advantages of this invention: This invention discloses a large-capacity leakage defect detection system. An inner robot is placed inside the balloon, and an outer robot is placed at the same location on the outside of the balloon, adhering to the balloon surface. The outer robot, as the active component, is equipped with a visual inspection device and communication components. It can receive instructions from decision support and human-machine interaction devices. Working in conjunction with a UWB positioning tag and a remote laser 3D scanning device, the robot's position and posture on the balloon are determined, enabling full coverage of the outer surface and marking of defect locations. Simultaneously, the decision support and human-machine interaction devices can be used to input detection parameters such as detection speed and detection area, plan inspection paths for multiple robots, analyze balloon defects, and display their locations. This invention solves the problem of detecting and determining the location of defects in large balloons. By combining robots and a positioning system, it can quickly detect defect information and location without damaging the balloon and provide feedback. Attached Figure Description

[0022] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0023] Figure 1 This is a schematic diagram of the structure of a large capsule leakage defect detection system according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the robot structure inside the capsule according to an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the robot structure outside the capsule in an embodiment of the present invention;

[0026] Among them, 1-1 is the robot inside the capsule, 1-2 is the robot outside the capsule, 2-1 is the decision support and human-computer interaction device, 2-2 is the UWB positioning tag, 2-3 is the remote laser 3D scanning device, 1 is the first shell, 2 is the first battery, 3 is the polytetrafluoroethylene gasket, 4 is the first bullseye wheel, 5 is the first magnet, 6 is the LED light strip, 7 is the drive motor, 8 is the second shell, 9 is the second battery, 10 is the low-resistance tire, 11 is the second bullseye wheel, 12 is the second magnet, and 13 is the linear CCD sensor and data processing center. Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0029] like Figure 1 As shown, this embodiment provides a large capsule leakage defect detection system, including:

[0030] The system includes a capsule detection subsystem, a localization and decision support subsystem, and a communication subsystem. The communication subsystem is connected to the capsule detection subsystem and the localization and decision support subsystem, respectively.

[0031] The capsule detection subsystem is used to receive control commands from the positioning and decision support subsystem, detect capsules in real time, and send the detection results to the positioning and decision support subsystem.

[0032] The positioning and decision support subsystem is used to receive detection results, model and locate the capsule, obtain the real-time location of the capsule detection, and automatically identify the location of defects.

[0033] The communication subsystem is used for data communication between the capsule detection subsystem and the positioning and decision support subsystem.

[0034] The cyst body detection subsystem includes an inner cyst body detection module and an outer cyst body detection module;

[0035] like Figure 2 As shown, the inner side detection module of the capsule is the inner side robot 1-1, which is used to detect the inner surface of the capsule in real time. The inner side detection module of the capsule includes a first housing 1, a first mounting plate, a first battery 2, a polytetrafluoroethylene gasket 3, a first bullseye wheel 4, a first magnet 5, and an LED light strip 6. The first battery 2 is set on one side of the mounting plate, and the first housing 1 is snapped into the side of the first mounting plate on which the first battery 2 is installed. The other side of the first mounting plate is respectively set with a polytetrafluoroethylene gasket 3, a first bullseye wheel 4, a first magnet 5, and an LED light strip 6 according to the preset requirements.

[0036] like Figure 3As shown, the outer detection module of the capsule is the outer detection robot 1-2, which is used to inspect the outer surface of the capsule in real time and drive the inner detection module of the capsule through magnetic force. At the same time, the detection results are sent to the positioning and auxiliary decision-making subsystem. The outer detection module of the capsule includes a drive motor 7, a second housing 8, a second mounting plate, a second battery 9, a low-resistance tire 10, a second bullseye wheel 11, a second magnet 12, and a linear CCD sensor and data processing center 13. The drive motor 7 and the second battery 9 are set on one side of the second mounting plate. The second housing 8 is snapped to the side of the second mounting plate where the drive motor 7 and the second battery 9 are installed. The other side of the second mounting plate is respectively set with the low-resistance tire 10, the second bullseye wheel 11, the second magnet 12, and the linear CCD sensor and data processing center 13 according to the preset requirements.

[0037] The magnets and bullseye wheels of the inner and outer robots are aligned, and the tires of the outer robot are aligned with the PTFE pads of the inner robot. The two robots are magnetically attached to the surface of the capsule. After receiving motion commands via a linear CCD sensor and data processing center 13, the outer robot controls the drive motor 7 to rotate the low-resistance tire 10, which in turn moves the inner robot via magnetic force. Simultaneously, the information from the LED light strip 6 of the inner robot detected by the linear CCD sensor and data processing center 13 is transmitted back to the external positioning and auxiliary decision-making subsystem, where relevant programs can automatically identify defect information. Only the bullseye wheels, low-resistance tires, and PTFE pads of the inner and outer robots contact the capsule surface; the contact area and friction are small, thus preventing scratches to the capsule surface.

[0038] The positioning and decision support subsystem includes a decision support and human-computer interaction module, a positioning tag module, and a remote laser scanning radar module;

[0039] The decision support and human-computer interaction module is the decision support and human-computer interaction device 2-1, which is used to send control commands to the detection module on the outside of the capsule and receive detection results.

[0040] The positioning tag module is UWB positioning tag 2-2, which is connected to the decision support and human-computer interaction module to build a relative positioning system and obtain the real-time location of the cyst detection.

[0041] The remote laser scanning radar module is a remote laser 3D scanning device 2-3, which is connected to the decision support and human-computer interaction module to model the cyst.

[0042] The modules of the external positioning and decision support subsystem are connected via a wireless network and linked to the robot outside the capsule. In the decision support and human-computer interaction device 2-1, radar scanning data from the remote laser 3D scanning device 2-3 is used to model the capsule, and a relative positioning system is established using the UWB positioning tag 2-2 to obtain the real-time position of the robot outside the capsule and send control commands.

[0043] Each module of the external positioning and decision support subsystem is connected via a wireless network and maintains a wireless connection with the robot module outside the capsule. The decision support and human-machine interaction device 2-1, acting as a data aggregation center, is equipped with decision support and human-machine interaction software. It collects radar scanning data from the remote laser 3D scanning device 2-3, performs capsule modeling in the software, and then establishes a relative positioning system using UWB positioning tags 2-2, thus constructing the capsule surface positioning system. The robot outside the capsule is equipped with a small UWB positioning tag on its linear CCD sensor and data processing center 13. This tag allows the robot to transmit its position information to the decision support and human-machine interaction software within the external positioning and decision support subsystem via a wireless network. Simultaneously, the decision support and human-machine interaction software can also send control commands to the linear CCD sensor and data processing center 13 of the robot outside the capsule.

[0044] In this large capsule leakage defect detection system, the external positioning and decision support subsystem acts as the brain, responsible for command transmission, data aggregation, and processing. The internal and external dual-robot collaborative detection subsystem acts as the executor, responsible for executing control commands and transmitting them back to the external positioning and decision support subsystem. Specifically, the external positioning and decision support subsystem and the internal and external dual-robot collaborative detection subsystem coexist on the same local area network. The decision support and human-machine interaction server controls a remote laser 3D scanning radar to model the large capsule and uses UWB positioning tags to establish a relative position system, determining the position of the robot on the outer surface of the large capsule. Simultaneously, the robot on the outer surface transmits the detection data (i.e., linear CCD sensor data) back to the server. After processing, the defect location can be automatically identified. The decision support and human-machine interaction software installed on the server allows input of up, down, left, and right movement commands, enabling detection of different areas. Furthermore, the software can be used to plan a full-coverage path on the surface of the large capsule and convert it into relevant motion control commands, controlling the robot on the outer surface to move to a designated position, achieving full-surface detection of the large capsule.

[0045] This invention discloses a large-scale balloon leakage defect detection system. An inner robot is placed inside the balloon, while an outer robot is placed at the same location on the outside of the balloon and adheres to the balloon surface. The outer robot, acting as the active component, is equipped with a vision detection device and communication components. It can receive instructions from decision support and human-machine interaction devices. A remote laser 3D scanning device is used to model the balloon, and a relative positioning system is established using UWB tags. The robot uses its internally integrated UWB positioning tags to determine its position and orientation on the balloon, achieving full coverage of the outer surface and marking of defects. Simultaneously, the system allows for the input of detection parameters, such as detection speed and detection area, as well as the planning of inspection paths for multiple robots, balloon defect analysis, and position display, all through the decision support and human-machine interaction devices. This system solves the problem of detecting and locating defects in large balloons. By combining robots and a positioning system, it can quickly detect defect information and location without damaging the balloon and provide feedback.

[0046] The above are merely preferred embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A large capsule leakage defect detection system, characterized in that, include: The system includes a capsule detection subsystem, a localization and decision support subsystem, and a communication subsystem, wherein the communication subsystem is communicatively connected to the capsule detection subsystem and the localization and decision support subsystem, respectively. The capsule detection subsystem is used to receive control commands from the positioning and decision support subsystem, detect the capsule in real time, and send the detection results to the positioning and decision support subsystem. The positioning and auxiliary decision-making subsystem is used to receive the detection results, model and locate the capsule, obtain the real-time location of the detected capsule, and automatically identify the defect location. The communication subsystem is used for data communication between the capsule detection subsystem and the positioning and auxiliary decision-making subsystem. The cyst detection subsystem includes an inner cyst detection module and an outer cyst detection module. The inner side detection module of the capsule is used to detect the inner surface of the capsule in real time; The outer surface detection module of the capsule is used to inspect the outer surface of the capsule in real time, and to drive the inner surface detection module of the capsule through magnetic force, while sending the detection results to the positioning and auxiliary decision-making subsystem. The inner detection module of the capsule includes a first housing (1), a first mounting plate, a first battery (2), a polytetrafluoroethylene gasket (3), a first bullseye wheel (4), a first magnet (5), and an LED light strip (6); the first battery (2) is disposed on one side of the mounting plate, the first housing (1) is snapped into the side of the first mounting plate on which the first battery (2) is disposed, and the polytetrafluoroethylene gasket (3), the first bullseye wheel (4), the first magnet (5), and the LED light strip (6) are disposed on the other side of the first mounting plate according to the preset requirements. The outer detection module of the capsule includes a drive motor (7), a second housing (8), a second mounting plate, a second battery (9), a low-resistance tire (10), a second bullseye wheel (11), a second magnet (12), and a linear CCD sensor and data processing center (13). The drive motor (7) and the second battery (9) are arranged on one side of the second mounting plate. The second housing (8) is snapped onto the side of the second mounting plate on which the drive motor (7) and the second battery (9) are installed. The low-resistance tire (10), the second bullseye wheel (11), the second magnet (12), and the linear CCD sensor and data processing center (13) are respectively arranged on the other side of the second mounting plate according to the preset requirements.

2. The large capsule leakage defect detection system as described in claim 1, characterized in that, The first magnet (5) is positioned opposite to the second magnet (12), and the first bullseye wheel (4) is positioned opposite to the second bullseye wheel (11).

3. The large capsule leakage defect detection system as described in claim 1, characterized in that, The positioning and decision support subsystem includes a decision support and human-computer interaction module, a positioning tag module, and a remote laser scanning radar module. The decision support and human-computer interaction module is used to send control commands to the lateral detection module of the capsule and receive the detection results; The positioning tag module is connected to the decision support and human-computer interaction module to construct a relative positioning system and obtain the real-time location of the detected cyst. The remote laser scanning radar module is connected to the decision support and human-computer interaction module to model the cyst.

4. The large capsule leakage defect detection system as described in claim 3, characterized in that, Sending control commands to the outer detection module of the capsule includes: By inputting a movement command into the decision support and human-computer interaction module, the outer cyst detection module receives the movement command and controls the outer cyst detection module to detect different positions of the cyst according to the movement command.

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