基于旋翼飞行机械臂的在役大型金属结构智能检测系统研究  

Research on RAM-based Intelligent Detecting System for Large Metal Structures in Service

作　　者：周前飞 丁树庆 王会方 庆光蔚 胡静波 吴祥生 ZHOU Qian-fei;DING Shu-Qing;WANG Hui-fang;QING Guang-wei;HU Jing-bo;WU Xiang-sheng(Nanjing Special Equipment Inspection Institute,Nanjing 210019,China)

机构地区：[1]南京市特种设备安全监督检验研究院,江苏南京210019

出　　处：《机电工程技术》2018年第11期107-111,共5页Mechanical & Electrical Engineering Technology

基　　金：国家质量监督检验检疫总局科技计划资助项目(编号:2017QK139);国家自然科学基金资助项目(批准号:51675098)

摘　　要：为解决大型金属结构人工检测的高空作业难题,降低金属结构表面灰尘、油污、漆皮剥落对裂纹视觉检测的干扰,将无人机、机械臂与涡流无损检测技术进行有机结合,构建一套面向大型金属结构,以多旋翼无人机为平台,搭载机械臂及末端涡流检测探头,与金属结构表面可靠接触采集缺陷信号,实时传输到地面显示,并以信号处理与模式识别方法实现金属结构表面及亚表面裂纹、锈蚀、孔穴等缺陷识别的智能化检测系统。可有效弥补视觉检测的不足,从根本上改变大型金属结构危险检测环境、重要检测部位的人工检验方式,提高大型金属结构检测的智能化、数字化、自动化水平。To solve the problem of high-altitude operations in the large metal structure artificial detection,and reduce the interference ofmetal structure surface dust,grease,and paint peeling on the crack visual inspection,an intelligent detection system for large metalstructures by combining the unmanned aerial vehicle(UAV),mechanical arm,and the eddy current nondestructive testing technologywas built.It uses the multi-rotor UAV as the platform which carrying a mechanical arm and an eddy current testing probe at the arm'send.It can contact with the surface of metal structure reliably to collect the defect signals,and real-time transfer the data to the groundand display.The intelligent detection system can realize the recognition of defects such as the surface and subsurface crack,corrosionand cavity through the signal processing and pattern recognition method.It can effectively make up the deficiency of visual inspection,and fundamentally change the manual inspection mode of the important detection parts of the large metal structure in the dangerousdetection environment,and improve the intelligence,digitization and automation level of the large metal structure inspection.

关 键 词：起重机械 金属结构检测 旋翼飞行机械臂 涡流检测 模式识别 

分 类 号：V279.2[航空宇航科学与技术—飞行器设计]