民机外表面上部自主视觉检查中的降维路径规划研究  

Reduced-dimensional path planning in autonomous visual inspection of upper surface of civil aircraft

作　　者：张威[1,2,3,4] 熊澳鑫 张博利 ZHANG Wei;XIONG Aoxin;ZHANG Boli(College of Aeronautical Engineering,CAUC,Tianjin 300300,China;Aviation Ground Special Equipment Research Base,CAAC,Tianjin 300300,China;Key Laboratory of Smart Airport Theory and System,CAAC,Tianjin 300300,China;Civil Aviation Key Laboratory of Artificial Intelligence for Civil Airline,CAAC,Guangzhou 510406,China)

机构地区：[1]中国民航大学航空工程学院,天津300300 [2]中国民航航空地面特种设备研究基地,天津300300 [3]民航智慧机场理论与系统重点实验室,天津300300 [4]民航航空公司人工智能重点实验室,广州510406

出　　处：《中国民航大学学报》2024年第3期49-54,共6页Journal of Civil Aviation University of China

基　　金：国家自然科学基金民航联合研究基金重点项目(U2033208)。

摘　　要：传统的民机外表面检查过程中,人工目视检查存在成本高、效率低、工作时间长等诸多不足,而带有机载视觉系统的机器人可以安全、快速、准确地检查民机外表面。本文提出一种用于民机外表面上部自主视觉检查的三维覆盖路径规划方法。通过对民机外表面上部进行初步点云获取,对机身、机翼区域切片,将三维点云映射到平面,然后进行二维覆盖路径的规划及三维空间的路径复原,快速生成优化的三维全覆盖检查路径。结果表明,该方法可以缩短三维覆盖路径规划的时间,较大程度地降低民机外表面上部自主视觉检查的成本,推动自动化检查民机表面技术的发展。In the traditional process of inspecting the surface of civil aircraft,manual visual inspection has many shortcomings such as high cost,low efficiency and long working time.However,robots with onboard visual systems can inspect the surface of civil aircraft safely,quickly and accurately.This paper proposes a three-dimensional coverage path planning method for autonomous visual inspection of upper surface of civil aircraft.By initially capturing point cloud on the upper surface of civil aircraft,slicing the fuselage and wing area,mapping the three-dimensional point cloud onto a plane,and then planning a two-dimensional coverage path and restoring the three-dimensional space path,an optimized three-dimensional full coverage inspection path is quickly generated.The results indicate that this method can reduce the time for three-dimensional coverage path planning,and significantly reduce the cost of autonomous visual inspection of the upper surface of civil aircraft,as well as promote the technology development of automated inspection of civil aircraft surface.

关 键 词：自动检查 路径规划 全覆盖检查 三维点云 

分 类 号：V267.22[航空宇航科学与技术—航空宇航制造工程]