The Structure and Defects Recognition Algorithm of an Aircraft Surface Defects Inspection Robot
The architecture and trajectory tracing control of a climbing robot used for aircraft surface defects inspection are provided in this paper. The robot has been designed with cruciform structure and equipped with jointed legs and suction cup that allow it maneuver over the surface of an aircraft exterior. To enhance the tracing precision and motion stability of the robot, a TLC(Trajectory Linearization Control) control scheme is adopted. And a rivets cracks identification algorithm is proposed according to the character of the cracks from a rivet on the surface of aircraft. A star vector algorithm is adopted to extract the feature of rivet with crack defects. And the fuzzy-SVM based algorithm is used to classify the different crack defect around the rivets. The validity of the control scheme and crack defects recognition algorithm is verified by simulation and experiment result.
Xing Zhiwei Chen Muhua Gao Qingji
Institute of Aviation Automatic,Civil Aviation University of China,Tianjin China,300300 Beijing Capital International Airport Co.,Ltd.Beijing,China Institute of Robotics,Civil Aviation University of China,Tianjin China,300300
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
740-745
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）