航空科学技术2024，Vol.35Issue(7)：104-110,7.DOI:10.19452/j.issn1007-5453.2024.07.011
基于仿生机器人的狭小空间裂纹检测技术
Narrow Space Crack Detection Technology Based on Bionic Robot
王文娟 1张梦杰 1刘元博 1孙介 1薛景锋 1段晋军 2刘中3
作者信息
- 1. 中国航空研究院,北京 100012
- 2. 南京航空航天大学,江苏 南京 210016
- 3. 北京航空航天大学,北京 100191
- 折叠
摘要
Abstract
The inspection of cracks runs through the entire life cycle of aircraft,and it may bring serious consequences with crack not found in time,especially in narrow space parts such as aircraft box segment,inaccessible to person,small cracks are difficult to be inspected quickly,which brings major safety risks to the aircraft service,ground strength and fatigue tests.A bionic robot platform that can freely enter a narrow space is studied,involving bionic robot mechanism,motion behavior and gait planning,environment perception and obstacle avoidance.Digital enhancement on a large number of images,image processing and image crack algorithm based on deep machine learning have been carried out.The sample of aircraft box segment with narrow space characteristics has been experimented.By means of presetting cracks inside the box segment,effectively integrating image acquisition module and the bionic robot platform,combining with the image acquisition environment regulation,robot path planning and crack algorithm optimization,the crack length and location in a narrow space is successfully detected,which provides technical support for the follow-up rapid inspection of full crack coverage of aircraft and maintenance strategy.关键词
狭小空间/仿生机器人/图像处理/深度机器学习/裂纹识别Key words
narrow space/bionic robot/image processing/deep machine learning/crack detection分类
航空航天引用本文复制引用
王文娟,张梦杰,刘元博,孙介,薛景锋,段晋军,刘中..基于仿生机器人的狭小空间裂纹检测技术[J].航空科学技术,2024,35(7):104-110,7.
