3D scanner positioning for aircraft surface inspection

Marie-Anne Bauda (1) , Alex Grenwelge (1) , Stanislas Larnier

1 AKKA Technologies

The French Air-Cobot project aims at improving preflight maintenance as well as providing a traceability of the performed checks. A collaborative mobile robot has been built in order to carry out those tasks. The robot is able to navigate autonomously around the aircraft and perform non-destructive testing thanks to several sensors. More precisely, in this paper we focus on how to obtain a correct position of the 3D scanner fixed on a scissor with respect to the aircraft. It acquires 3D data which is analyzed to process surface inspection. The functional safety of the scissor is based on automatic visual checking of some cues. The full process demonstrates the feasibility of integrating 3D sensor on a mobile platform in safe conditions.

Mots clés: embedded systems; collaborative mobile robot; position control system; non-destructive testing; structured-light three-dimensional scanner

Domaines: Informatique et langage [cs.CL]

Marie-Anne Bauda, Alex Grenwelge, Stanislas Larnier. 3D scanner positioning for aircraft surface inspection. ERTS 2018, Jan 2018, Toulouse, France. ⟨hal-02156494⟩