关键词: 自动检查, 路径规划, 全覆盖检查, 三维点云

Abstract: 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

Key words: automatic inspection, path planning, full coverage inspection, three-dimensional point cloud