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Advance visual inspection system (ADVISE): A prototype inspection workstation that supports remote visual inspection of aircraft surfaces.

机译：先进的外观检查系统（ADVISE）：支持飞机表面远程外观检查的原型检查工作站。

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摘要

Direct visual inspection is the most widely used method employed for finding surface defects on aircraft surfaces. It requires placing a human inspector on the body of the aircraft to visually examine its surface for defects. An alternative approach to direct visual inspection is robot-based remote visual inspection. Here, an aircraft-capable mobile robot is placed on the body of the aircraft and is controlled remotely by an inspector on the ground. The inspector performs inspection by examining live video of the aircraft surface captured and relayed to the ground by the robot.;This thesis describes a prototype computer-based inspection system called the "Advance Visual Inspection System" (ADVISE) developed to facilitate robot-aided remote visual inspection. ADVISE acts as an interface between the robot on the aircraft body and the inspector on the ground. It is a platform for displaying live video relayed by the robot as well as providing tools for computer-aided video enhancement and automated defect detection. Some of the key subjects that the thesis addresses are: (1) Crown Inspection Mobile Platform (CIMP), a mobile-robot developed at the sensor lab at Carnegie Mellon Robotics Institute; (2) Library of monoscopic and stereoscopic video enhancement algorithms; (3) Automated surface crack and surface corrosion detection algorithms; (4) The role of ADVISE in remote visual inspection.;The thesis provide insight into the design challenges and design strategy adopted in the development of the enhancement and automated surface defect detection algorithms. Various representation models used by modules of these algorithms are described in detail. The algorithms are evaluated through a quantitative analysis of its performance on real aircraft surface defects. Finally, a discussion on how these algorithms can be used in robot-based remote visual inspection is included in the thesis.
机译：直接视觉检查是发现飞机表面缺陷的最广泛使用的方法。它需要在飞机机体上放置一个检查员，以目视检查其表面是否有缺陷。直接视觉检查的另一种方法是基于机器人的远程视觉检查。在此，具有飞行器能力的移动机器人被放置在飞行器主体上，并由地面上的检查员进行远程控制。检查员通过检查由机器人捕获并中继到地面的飞机表面的实时视频来执行检查。；本文描述了一种原型计算机检查系统，称为“高级视觉检查系统”（ADVISE），旨在促进机器人辅助远程视觉检查。 ADVISE充当飞机机身上的机器人与地面检查员之间的接口。它是一个平台，用于显示由机器人中继的实时视频，并提供用于计算机辅助视频增强和自动缺陷检测的工具。论文涉及的一些关键主题是：（1）皇冠检验移动平台（CIMP），这是由卡内基·梅隆机器人研究所的传感器实验室开发的移动机器人； （2）单视和立体视频增强算法库； （3）自动化的表面裂纹和表面腐蚀检测算法； （4）ADVISE在远程视觉检测中的作用。本文提供了对增强和自动表面缺陷检测算法开发中采用的设计挑战和设计策略的见解。详细描述了这些算法的模块所使用的各种表示模型。通过对在实际飞机表面缺陷上的性能进行定量分析来评估算法。最后，本文讨论了如何将这些算法用于基于机器人的远程视觉检测。

著录项

  • 作者

    Gunatilake, Priyan Deveka.;

  • 作者单位

    Carnegie Mellon University.;

  • 授予单位 Carnegie Mellon University.;
  • 学科 Electrical engineering.;Computer science.
  • 学位 Ph.D.
  • 年度 1999
  • 页码 133 p.
  • 总页数 133
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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