用商用无人机自主完成工业无损检测，首次实现无需人工干预的接触式探伤。
Autonomous Aerial Non-Destructive Testing: Ultrasound Inspection with a Commercial Quadrotor in an Unstructured Environment
- 基于机载传感器构建实时控制框架，实现多速率协同控制。
- 在非结构化工业环境中成功完成自主超声检测，依赖全机载感知。
- 适合需要安全进入危险或狭小空间进行检测的工程场景。
本文提出一种集成控制与软件架构，实现了迄今首个基于商用多旋翼无人机的完全自主、接触式无损检测（NDT），该平台原本仅支持遥控操作。为实现自主运行，开发了直接对接机载传感器套件的实时框架。系统采用多速率控制策略：底层控制以200 Hz执行，力估计为100 Hz，阻抗滤波器与轨迹规划器以50 Hz运行，最终向内部飞控发送加速度与偏航率指令。通过在配备超声探头的Flyability Elios 3无人机上进行物理实验验证，系统仅依赖机载感知，在非结构化工业环境内成功完成自主NDT测量。本工作证明了对市售平台进行自主物理交互改造的可行性，为安全、接触式检测高危及受限基础设施开辟了新路径。
原文摘要 · Abstract (English)
This work presents an integrated control and software architecture that enables arguably the first fully autonomous, contact-based non-destructive testing (NDT) using a commercial multirotor originally restricted to remotely-piloted operations. To allow autonomous operation with an off-the-shelf platform, we developed a real-time framework that interfaces directly with its onboard sensor suite. The architecture features a multi-rate control scheme: low-level control is executed at 200 Hz, force estimation at 100 Hz, while an admittance filter and trajectory planner operate at 50 Hz, ultimately supplying acceleration and yaw rate commands to the internal flight controller. We validate the system through physical experiments on a Flyability Elios 3 quadrotor equipped with an ultrasound payload. Relying exclusively on onboard sensing, the vehicle successfully performs autonomous NDT measurements within an unstructured, industrial-like environment. This work demonstrates the viability of retrofitting off-the-shelf platforms for autonomous physical interaction, paving the way for safe, contact-based inspection of hazardous and confined infrastructure.
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