The structure and defects recognition algorithm of an aircraft surface defects inspection robot

The architecture and trajectory tracing control of a climbing robot used for aircraft surface defects inspection are provided in this paper. The robot has been designed with cruciform structure and equipped with jointed legs and suction cup that allow it maneuver over the surface of an aircraft exterior. To enhance the tracing precision and motion stability of the robot, a TLC(Trajectory Linearization Control) control scheme is adopted. And a rivet's cracks identification algorithm is proposed according to the character of the cracks from a rivet on the surface of aircraft. A star vector algorithm is adopted to extract the feature of rivet with crack defects. And the fuzzy-SVM based algorithm is used to classify the different crack defect around the rivets. The validity of the control scheme and crack defects recognition algorithm is verified by simulation and experiment result.