A mobile robotic non-destructive inspection system based on laser ultrasonic propagation and optical images

icaf2023 Tracking Number 81

With the advancement of the aerospace industry, the concept of smart hangars that apply high-level smart technologies for more efficient and objective structural stability inspections has emerged. In aerospace, composite materials with excellent corrosion resistance and low weight are preferred as substitutes for metallic materials. However, because composites can have defects that are visually difficult to detect, such as interlayer separation, delamination, and voids, non-destructive testing (NDT) technology is needed to detect internal defects. Most of the existing smart hangar-related technologies rely on visual inspections, and NDT equipment relies on manual inspections. This paper introduces a mobile robotic laser ultrasonic testing system for automatic NDT of the lower surfaces of aircraft and engine cowlings. The measurement system is composed of a laser ultrasonic generation, measurement, and integrated module. Based on the robot operating system (ROS), the mobile robot can automatically move to the target point using navigation technology. By using a LiDAR camera to calculate the angle and distance of the inspection surface, the scanner's posture can be controlled to perform optimal inspections. The proposed inspection system and method are verified by inspecting CFRP specimens with artificially inserted defects and aluminum specimens with honeycomb structures. Keywords: Non-destructive testing, Laser ultrasonic testing, Mobile robot, Smart hangar