Mobile robot for aircraft inspection

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.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