基于仿生机器人的狭小空间裂纹检测技术OA

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.