Research of Crawling Robot on Aircraft Skin Based on Non-destructive Testing
The key technologies of the robot used to inspect aircraft skin defects, just as the system structure, hybrid control method, crawling navigation tactic and defect inspection, are studied. Firstly, the system structure established, and on the base of it, layer controlled hybrid Petri net is presented, which can descrip the static characteristics and dynamic behavior of the crawling robot. Then, recognition method for rivet lines of aircraft skin based Fisher discriminant criterion function and the compensative location method of visual navigation are proposed, which can ensure exact motion control. At last, based of magneto-optical image, the methods of defect inspectionan of crack and corrosion are posed, which can detect fast and exactly. From the mentioned researches, the inspection system for aircraft defects is constituted, and the validity of the algorithms verified by experiments.
defect inspection of aircraft skin crawling robot layer controlled hybrid Petri net rivet line distinguish
GAO Qing-ji KONG Hai-long
Robotics Institute, Civil Aviation University of ChinaCAUCTianjin, China Northeast Dianli University NEDU Jilin, China
国际会议
哈尔滨
英文
42-45
2011-01-18（万方平台首次上网日期，不代表论文的发表时间）