Mobilni robot za pregled zrakoplova

undergraduate thesis

• Title (english): Mobile robot for aircraft inspection
• Author: Branimir Ćaran
• Mentor: Mladen Crneković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2020-02-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Automation and Robotics

Abstract

Mobilni robot za pregled zrakoplova je jedna od vrsti automatiziranih vođenih vozila(AGV), te
će u ovom radu biti razmatrana njegova konstrukcija, potrebni pogonski sustavi, senzorika,
komunikacija i oprema za pregled i upravljačke jedinice. Pregled zrakoplova je mukotrpan i
skup posao kojeg moraju obavljati ljudi, a primjenom mobilnih robota koji su u stanju obići
trup aviona i sami skenirati dolazi do višetrukog šteđenja vremena i novca. Mobilni robot za
pregled zrakplova ostvaruje potisnu silu, koja mu omogućuje pridržavanje na trupu zrakoplova,
dok mu četiri pogonska motora omogućuju kretanje po istom. Na robotu se također nalaze i dva
servo motora koji omogućuju zakret potisnih motora prilikom prelaska s jednom dijela trupa na
drugi. Konstrukcija mobilnog robota je izrađena tehnologijom 3D printanja kako bi se uspjela
postići željena masa robota, dok je krajnji cilj napraviti robota s većinski karbonskom
konstrukcijom. Senzori kojima je robot opremljen mu služe za snalaženje u prostoru(LIDAR
senzori), a enkoderi na pogonskim motorima mu omogućuju precizno kretanje po trupu
zrakoplova. Kako očitavanje samo unutarnjih koordinata nije dovoljno, uveden je i navigacijski
sustav koji zajedno s enkoderima čini sustav s dvostrukom petljom te tako omogućuje robotu
precizno kretanje i navigiranje po zrakoplovu. Zbog potrebe za pregledom oštećenih dijelova
zrakoplova, javila se potreba za korištenjem kamere kao sredstva za vizualnu inspekciju
zrakoplova i WiFi modula kao sredstva komunikacije unutar robota kao i robota i okoline. Sve
gore spomenuto je na kraju potkrjepljeno i proračunom kojim je dokazano da se robot ima
sposobnost kretanja po zrakoplovu i mogućnost kvalitetnog pregleda zrakoplova.

Abstract (english)

Mobile aircraft inspection robot is a type of automated guided vehicle (AGV), and this paper
will discuss its construction, required propulsion systems, sensors, communication and
inspection equipment and control units. Inspecting aircraft is a painstaking and expensive job
that people have to do, and using mobile robots that are able to bypass the fuselage and scan
itself results in multiple savings of time and money. The mobile airplane inspection robot exerts
a thrust force that allows it to adhere to the hull of the aircraft, while its four propulsion engines
allow it to move in the same direction. The robot also has two servo motors that allow the
thrusters to rotate as they move from one part of the hull to another. The design of the mobile
robot is made with 3D printing technology to achieve the desired mass of the robot, while the
ultimate goal is to create a robot with a mostly carbon structure. The sensors that the robot is
equipped with are used for space management (LIDAR sensors), and encoders on propulsion
engines allow it to accurately move around the fuselage. As the reading of the internal
coordinates alone is not enough, a navigation system was introduced, which together with the
encoders makes it a double-loop system, allowing the robot to accurately move and navigate
the aircraft. Due to the need to inspect the damaged parts of the aircraft, there was a need to use
the camera as a means of visual inspection of the aircraft and WiFi modules as a means of
communication within the robot as well as the robot and the environment. All of the above was
eventually supported by a budget that proved that the robot has the ability to move around the
aircraft and the ability to inspect the aircraft properly.

• Keywords: mobilni robot; pregled zrakoplova; konstrukcija mobilnog robota; navigacija; senzorika
• Keywords (english): mobile robot; aircraft review; mobile robot design; navigation; sensors
• Language: croatian
• URN:NBN: urn:nbn:hr:235:040418
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2020-02-22 14:52:03