An omnidirectional wheel-based aircraft cargo compartment mechanical damage identification robot

Abstract

The application discloses an airplane cargo hold mechanical damage identification robot based on omni-directional wheels, which comprises a load-bearing part, a holder, a chassis, a Yaw shaft base and a wheel set. The holder is located at the top end of the chassis. The wheel set is fixed on the outer side of the chassis through the load-bearing part and cooperating bolts. The wheel set is provided with four. The load-bearing part further comprises bearing hole positions and limiting holes. The bearing hole positions are arranged on both sides of the load-bearing part. The robot can reduce the workload of the maintenance personnel, improve the mechanical damage identification efficiency, reduce the missed detection rate of the mechanical damage identification, and increase the comprehensiveness of the mechanical damage identification. The robot has great economic benefits in reducing the maintenance cost of the airlines, improving the detection efficiency and precision.

Description

Technical Field

[0001] This invention relates to the fields of aircraft maintainability identification and machine vision identification technology, specifically to an aircraft cargo hold mechanical damage identification robot based on omnidirectional wheels. Background Technology

[0002] In the current traditional work of identifying the mechanical structure inside the aircraft cargo hold, the main task is still for maintenance personnel to check each detail of the aircraft cargo hold one by one and record it with work cards. For more critical mechanical components, they need to be disassembled regularly for inspection with special instruments.

[0003] This method of inspecting the internal structure of an aircraft has many drawbacks.

[0004] Firstly, the working hours are long. A maintenance worker spends a considerable amount of time inspecting the cargo hold, and inspecting large aircraft is a time-consuming and labor-intensive task. Workers also need to use observation tools to examine each part of the aircraft and record the findings on work cards. This extended maintenance time also represents a significant economic loss for airlines.

[0005] Secondly, the high rate of missed inspections is due to human factors. As this work is time-consuming and labor-intensive, it is a high test of the physical and mental strength of aircraft maintenance personnel. When the maintenance personnel are physically exhausted, the rate of missed inspections in various parts of the cabin will increase accordingly, which will reduce the safety of the aircraft after maintenance.

[0006] Finally, the comprehensiveness of the inspection is not high enough. For some parts that are difficult to observe, maintenance personnel usually use flashlights and cameras to observe and judge them one by one. In some areas that are even more difficult to observe, it may be necessary to use special equipment to inspect them one by one. However, the frequency of aircraft inspections using special equipment is much lower than the frequency of regular inspections, which will have a certain impact on the comprehensiveness of the inspection and thus affect the safety of the aircraft. Summary of the Invention

[0007] The purpose of this invention is to provide an aircraft cargo hold mechanical damage identification robot based on omnidirectional wheels to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a mechanical damage identification robot for aircraft cargo hold based on omnidirectional wheels, comprising a load-bearing component, a gimbal, a chassis, a yaw shaft base, and wheel sets. The gimbal is located at the top of the chassis. The wheel sets are fixed to the outside of the chassis by bolts through the load-bearing component. Four wheel sets are provided. The load-bearing component also includes bearing holes and limiting holes. The bearing holes are opened on both sides of the load-bearing component, and the limiting holes are opened on the load-bearing component. The yaw shaft base includes a gimbal plate fixing threaded hole and crossed rollers. The gimbal plate fixing threaded hole is opened on the yaw shaft base, and the crossed rollers are located at the top of the yaw shaft base.

[0009] Preferably, the gimbal includes a lead screw, a Livox LiDAR, an image transmission module, a Zed depth camera, a front plate of the gimbal frame, a side plate of the gimbal frame, a stepper motor, a flexible coupling, a rear plate of the gimbal frame, a gimbal support frame, a parallel four-bar linkage, a Pitch axis motor, an NVIDIA NX computing platform, a slide rail, a Yaw motor support plate, a conductive slip ring, a Yaw axis motor, and a core control board. The Yaw axis motor support plate is located at the center of the bottom of the gimbal for easy support. The Yaw axis motor is fixedly mounted on the Yaw axis motor support plate and drives the gimbal movement. The conductive slip ring is nested in the middle of the Yaw axis motor to prevent the wiring from tangling during gimbal movement. The gimbal is connected to the Yaw axis base through a threaded hole in the gimbal plate. The cross roller is located at the bottom of the gimbal. The Pitch axis motor and the NVIDIA NX computing platform are mounted on the outside of the gimbal support frame. The axis motors and the NVIDIA NX computing platform are fixed and supported by the front and side panels of the gimbal frame. A Zed2 depth camera is connected to one side of the parallel four-bar structure. An image transmission module and a Livox LiDAR are fixed upwards on the other side of the parallel four-bar structure. The Pitch and Yaw axis motors are located below the Zed2 depth camera, facilitating pitch and horizontal rotation operations for the Zed2 depth camera and Livox LiDAR. Two lead screws for raising and lowering the entire gimbal are distributed on the outer sides of the two gimbal side panels. Two stepper motors are located at the lower part of the lead screws on both sides. The two stepper motors are mounted on the Yaw axis motor support plate. The flexible coupling is located at the output end of the stepper motors to facilitate upward movement and lifting of the gimbal. The slide rail is located behind the rear panel of the gimbal frame to provide fixation during the gimbal's ascent. The core control board is fixed to one side of the Zed2 depth camera.

[0010] Preferably, the chassis includes a battery, a battery rack, guide wheels, a buffer frame, a frame support, a base plate, and aluminum tubes. The base plate connects two aluminum tubes to form the chassis skeleton. Both sides of each aluminum tube are connected to the frame support. Each frame support is connected to the buffer frame via several guide wheels, serving to protect the chassis. The upper parts of the two aluminum tubes are connected to the yaw axis motor support plate. The four wheel sets are fixed between the yaw axis motor support plate and the aluminum tubes via load-bearing components and heightening components. The battery is connected to the frame support via the battery rack.

[0011] Preferably, the wheelset includes an omnidirectional wheel, a tension spring, a height-increasing component, a flange bearing, bolts, a motor, a thrust bearing, a D-hole flange, a horizontal bearing motor mount, an electronic speed controller, and a carbon plate. Each wheelset is fixed to the chassis by several bolts via load-bearing components. The bolts fix the carbon plate to the horizontal bearing motor mount through bearing holes, limit holes, the flange bearing, and the thrust bearing. An electronic speed controller is mounted above the horizontal bearing motor mount. The motor is embedded in the horizontal bearing motor mount. The omnidirectional wheel is located inside the wheelset. The D-hole flange is externally embedded in the motor. The carbon plate of each wheelset is connected to the base plate by a set of tension springs to achieve a shock absorption effect.

[0012] Preferably, the omnidirectional wheel includes rollers, fixing bolts, outer clamping plates, middle plates, flange connection holes, and double-layer spacers. The omnidirectional wheel in each wheel set is connected to the D-hole flange through the flange connection holes. Each omnidirectional wheel is composed of outer clamping plates on both sides clamping the middle plate with several fixing bolts. The middle plate clamps the double-layer spacers. Rollers of equal size but different directions are evenly distributed on each outer clamping plate.

[0013] Preferably, the yaw axis motor is embedded inside the cross rollers to facilitate the movement of the yaw axis motor.

[0014] Preferably, the outer frame support has a triangular cutout on the outside, which effectively ensures the structural strength while maintaining the lightweight of the whole vehicle.

[0015] Preferably, the motor is a 3508 motor and the electronic speed controller is a C620.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] This invention replaces the work of identifying mechanical damage inside the aircraft cargo hold with a machine; it invented a robot specifically designed for identifying mechanical damage in the aircraft cargo hold. The robot mainly uses an omnidirectional wheel chassis, which ensures that the robot can rotate freely in a confined space; at the same time, the camera on the top of the robot can be raised and lowered vertically, and has four degrees of freedom of rotation, so that it can observe the mechanical damage of most components inside the cargo hold, such as mechanical cracks, rust, and fractures, and take pictures and record them, and send them to the data terminal.

[0018] This robot can reduce the workload of maintenance personnel, improve the efficiency of mechanical damage identification, reduce the missed detection rate of mechanical damage identification, and increase the comprehensiveness of mechanical damage identification; it has significant economic benefits for reducing the maintenance costs of airlines and improving detection efficiency and accuracy. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the load-bearing structure of the present invention;

[0021] Figure 3 This is a schematic diagram of the Yaw shaft base structure of the present invention;

[0022] Figure 4 This is a schematic diagram of the gimbal structure of the present invention;

[0023] Figure 5 This is a schematic diagram of the installation of the NVIDIA NX computing platform of this invention;

[0024] Figure 6 This is a schematic diagram of the chassis of the present invention;

[0025] Figure 7 This is a schematic diagram of the carbon plate structure of the wheel assembly of the present invention;

[0026] Figure 8 This is a schematic diagram of the omnidirectional wheel structure of the present invention;

[0027] Figure 9 This is a schematic diagram of the Yaw axis motor structure of the present invention;

[0028] Figure 10 This is a schematic diagram of the installation of the core control board of the present invention;

[0029] Figure 11 This is a system diagram of the present invention;

[0030] Figure 12 This is a schematic diagram of the overall framework of the visual program of the present invention;

[0031] Figure 13 This is the first flowchart of the present invention;

[0032] Figure 14 This is the second flowchart of the present invention.

[0033] In the diagram: 1. Load-bearing component; 1-1. Bearing hole; 1-2. Limiting hole; 2. Yaw axis base; 2-1. Threaded hole for gimbal plate fixing; 2-2. Cross roller; 3. Lead screw; 4. Livox LiDAR; 5. Image transmission module; 6. Zed2 depth camera; 7. Front plate of gimbal; 8. Side plate of gimbal; 9. Stepper motor; 10. Flexible coupling; 11. Rear plate of gimbal; 12. Gimbal support frame; 13. Parallel four-bar linkage; 14. Pitch axis motor; 15. NVIDIA NX computing platform; 16. Slide rail; 17. Battery; 18. Battery holder; 19. Guide wheel; 20. All 20-1. Roller; 20-2. Fixing bolt; 20-3. Outer clamping plate; 20-4. Middle plate; 20-5. Flange connection hole; 20-6. Double-layer spacer; 21. Buffer outer frame; 22. Outer frame support; 23. Base plate; 24. Tension spring; 25. Yaw motor support plate; 26. Conductive slip ring; 27. Heightening component; 28. Flange bearing; 29. ​​Plug bolt; 30. Motor; 31. Thrust bearing; 32. D-hole flange; 33. Horizontal bearing motor base; 34. Electronic speed controller; 35. Yaw shaft motor; 36. Core control board; 37. Aluminum tube; 38. Wheel set carbon plate. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see Figure 1-14 This invention provides a technical solution: an aircraft cargo hold mechanical damage identification robot based on omnidirectional wheels, including a load-bearing component 1, a gimbal, a chassis, a yaw shaft base 2, and wheel sets. The gimbal is located at the top of the chassis. The wheel sets are fixed to the outside of the chassis by bolts through the load-bearing component 1. Four wheel sets are provided. The load-bearing component 1 also includes bearing holes 1-1 and limiting holes 1-2. The bearing holes 1-1 are opened on both sides of the load-bearing component 1, and the limiting holes 1-2 are opened on the load-bearing component 1. The yaw shaft base 2 includes a gimbal plate fixing threaded hole 2-1 and crossed rollers 2-2. The gimbal plate fixing threaded hole 2-1 is opened on the yaw shaft base 2, and the crossed rollers 2-2 are located at the top of the yaw shaft base 2.

[0036] The gimbal includes a lead screw 3, a Livox LiDAR 4, an image transmission module 5, a Zed2 depth camera 6, a front plate of the gimbal frame 7, a side plate of the gimbal frame 8, a stepper motor 9, a flexible coupling 10, a rear plate of the gimbal frame 11, a gimbal support frame 12, a parallel four-bar linkage 13, a pitch axis motor 14, an NVIDIA NX computing platform 15, a slide rail 16, a yaw motor support plate 25, a conductive slip ring 26, a yaw axis motor 35, and a core control board 36. The yaw axis motor support plate 25 is located at the center of the bottom of the gimbal for easy support of the cloud. The gimbal is mounted on a yaw axis motor 35, which drives the gimbal movement. A conductive slip ring 26 is nested in the middle of the yaw axis motor 35 to prevent the wiring from tangling during movement. The gimbal is connected to the yaw axis base 2 via a threaded hole 2-1 on the gimbal plate. A cross roller 2-2 is located at the bottom of the gimbal, and the yaw axis motor 35 is embedded inside the cross roller 2-2 for easy movement. A pitch is mounted on the outer side of the gimbal support frame 12. The Pitch axis motor 14 and the NVIDIA NX15 computing platform are fixed and supported by the front panel 7 and side panel 8 of the gimbal frame. A Zed2 depth camera 6 is connected to one side of the parallel four-bar structure 13. An image transmission module 5 and a Livox LiDAR 4 are sequentially fixed upwards on one side of the parallel four-bar structure 13. Both the Pitch axis motor 14 and the Yaw axis motor 35 are located below the Zed2 depth camera 6, facilitating the connection between the Zed2 depth camera 6 and the Livox LiDAR. The radar 4 performs pitch and horizontal rotation operations. Two lead screws 3 are distributed on the outer sides of the two gimbal frame side plates 8 for raising and lowering the entire gimbal. Two stepper motors 9 are located at the lower part of the lead screws 3 on both sides. The two stepper motors 9 are mounted on the yaw axis motor support plate 25. The elastic coupling 10 is located at the output end of the stepper motors 9 to facilitate upward movement and lifting of the gimbal. The slide rail 16 is located behind the gimbal frame rear plate 11 to facilitate fixation during the gimbal's ascent. The core control board 36 is fixed to one side of the Zed2 depth camera 6.

[0037] The chassis includes a battery 17, a battery rack 18, guide wheels 19, a buffer frame 21, an outer frame support 22, a base plate 23, and aluminum tubes 37. The base plate 23 connects two aluminum tubes 37 to form the chassis skeleton. Both sides of each aluminum tube 37 are connected to the outer frame support 22. The outer frame support 22 has triangular cutouts on its outer side, which effectively ensures the structural strength while maintaining the lightweight of the whole vehicle. Each outer frame support 22 is connected to the buffer frame 21 through several guide wheels 19, which serves to protect the chassis. The upper part of the two aluminum tubes 37 is connected to the yaw shaft motor support plate 25. The four wheel sets are fixed between the yaw shaft motor support plate 25 and the aluminum tubes 37 through load-bearing components and heightening components 27. The battery 17 is connected to the outer frame support 22 through the battery rack 18.

[0038] The wheelset includes an omnidirectional wheel 20, a tension spring 24, a heightening component 27, a flange bearing 28, bolts 29, a motor 30, a thrust bearing 31, a D-hole flange 32, a horizontal bearing motor mount 33, an electronic speed controller 34, and a carbon plate 38. Each wheelset is fixed to the chassis by several bolts via a load-bearing component 1. The bolts 29 fix the carbon plate 38 to the horizontal bearing motor mount 33 through bearing holes 1-1, limiting holes 1-2, the flange bearing 28, and the thrust bearing 31. The electronic speed controller 34 is mounted on top of the horizontal bearing motor mount 33. The motor 30 is embedded in the horizontal bearing motor mount 33. The omnidirectional wheel 20 is located inside the wheelset. The D-hole flange 32 is externally embedded in the motor 30. The carbon plate 38 of each wheelset is connected to the base plate 23 by a set of tension springs 24 to achieve a shock absorption effect.

[0039] The omnidirectional wheel 20 includes rollers 20-1, fixing bolts 20-2, outer clamping plates 20-3, middle plates 20-4, flange connection holes 20-5, and double-layer spacers 20-6. In each wheel set, the omnidirectional wheel 20 is connected to the D-hole flange 32 through the flange connection holes 20-5. Each omnidirectional wheel 20 is formed by the outer clamping plates 20-3 on both sides clamping the middle plate 20-4 with several fixing bolts 20-2. The middle plate 20-4 clamps the double-layer spacers 20-6. Rollers 20-1 of equal size but different directions are evenly distributed on each outer clamping plate 20-3.

[0040] Working principle: (1) Automatic identification of inspection mode

[0041] During the detection preparation phase, maintenance personnel turn on the TB48S power switch (17) and place the robot at one end of the aircraft cargo hold. The NVIDIA NX15 computing platform automatically initiates the patrol and identification process using a watchdog timer. Under the control of the core control board (36), the robot uses a multi-line Livox lidar (4) and a Zed2 depth camera (6) to acquire environmental information and perform visual odometry. The 3D data is transmitted to the NVIDIA NX15 computing platform for feature point extraction in each frame. Feature point matching is performed using adjacent frames, and the RANSAC algorithm is used to remove large noise. The resulting pose information (position and attitude) is then obtained. Simultaneously, the pose information provided by the IMU integrated into the core control board can be filtered and fused. The NVIDIA NX15 computing platform optimizes the visual odometry results using filtering theories EKF, UKF, PF, and optimization theories TORO and G2O for tree or graph optimization. The optimal pose estimate is obtained, and the robot's position is determined accordingly. The best path is calculated and planned, and the planned information is converted into the angle and speed of the chassis 3508 motor 30 and transmitted to the core control board 36 via serial port. The core control board 36 contains a BMI088 gyroscope and an STM32F407 microcontroller. The omnidirectional wheels are driven by the specially designed planetary gears of the 3508 motor 30, which is started by an integrated C620 ESC 34 encoder and a reduction gearbox. Figure 8 The robot rotates, enabling it to begin automatic inspection from one end of the cargo hold. Once inspection begins, the robot continuously updates its pose and the overall cabin map using information from a multi-line Livox LiDAR 4 and a Zed2 depth camera 6, combined with the G2O algorithm. This allows the robot to calculate the optimal position for entering each cargo corner, driving the 3508 motor 30 to power the omnidirectional wheels. Figure 8 The robot rotates and adjusts its posture to reach the designated position for critical mechanical damage identification in the cargo hold. The Zed2 depth camera 6 acquires RGB images of the mechanical damage, which are then sent to the NVIDIA NX15 computing platform for processing. (Robot's gimbal) Figure 5 With two degrees of freedom—a pitch axis with a range of 120° and a yaw axis with a range of 360°—it can effectively detect structural damage to the cargo hold's inner walls. When detecting damage to the upper part of the cargo hold, a gimbal can be used via a lead screw 3 driven by a stepper motor 9 and a slide rail 16. Figure 5 The lifting of the robot gimbal Figure 5 The lifting range is 0.5m-3m. The integrated ESC motor of the Yaw axis (35mm) allows for independent control of the gimbal. Figure 5 Without moving the chassis Figure 6 Under these conditions, movement in the yaw axis direction is achieved through independent electric slip rings 26 and a modular wiring topology design. Figure 10 The combination of the yaw axis motor 35 and the pitch axis motor 14 ensures the gimbal... Figure 5The effective operation of the two degrees of freedom, yaw and pitch, in the lifted state enables damage identification from various angles.

[0042] Omnidirectional wheel chassis Figure 6 One of its major advantages is its ability to move 360° without blind spots. When the robot needs to turn, the omnidirectional wheels allow the robot to... Figure 1 It performs a turn in place. The robot's circular chassis also reduces friction with obstacles, and the design of the buffer frame 21 ensures that the robot chassis can turn around when obstacles appear. Figure 6 When suddenly stuck, the yaw axis freedom of the entire vehicle remains completely unaffected due to the presence of the buffer frame 21 and several guide wheels 19, as well as the 360° unobstructed movement characteristic of the omnidirectional wheels. When encountering mechanical damage areas on the other side that are far away, the omnidirectional wheel chassis can be used. Figure 6 Combining depth information for large-scale, multi-angle robotics Figure 1 Position adjustment. When the damaged areas are close together, the gimbal can be adjusted. Figure 4 The yaw and pitch axis motors use RGB information for automatic fine-tuning.

[0043] (2) Manual remote control mode

[0044] This function enables remote control via mobile phone or computer using the DR16 receiver module and WiFi module contained in the core control board 36. The operator can remotely control the robot to specific corrosion locations within the cabin and perform first-person control via the image transmission module 5. The DEBUS target value command is transmitted from the DR16 receiver module on the core control board 36 to the STM32F407 microcontroller on the core control board 36. The STM32F407 microcontroller runs a multi-threaded task in FreeRTOS, processes the instruction, and switches to manual control mode and PID parameters. Through reasonable cascading PIDs, it smoothly controls the chassis 3508 motor 30 to activate the omnidirectional wheels. Figure 8 The system performs rotation and detects different angles using the yaw axis motor (35-axis) and pitch axis motor (14) of the gimbal. It also controls different PWM duty cycles to control two stepper motors (9) to move the gimbal. Figure 5The robot is raised and lowered. It is manually remotely controlled to the damage point, and a Zed2 depth camera 6 is used to scan for mechanical damage. The NVIDIA NX15 computing platform can perform deep learning and store the detected damage information. If there is WiFi coverage, the real-time detection data can be transmitted to a computer. In the absence of WiFi coverage, the operator can also use a signal cable to export the structural damage detection data and various parameters during robot movement. In first-person control, the data packets sent to the computer via the core control board 36 include a user-friendly UI that displays real-time battery level, robot position, and the extent of identified mechanical damage to the cargo compartment.

[0045] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0046] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mechanical damage identification robot for aircraft cargo hold based on omnidirectional wheels, comprising a load-bearing component (1), a gimbal, a chassis, a yaw shaft base (2), and a wheel assembly, characterized in that: The gimbal is located at the top of the chassis. The wheel set is fixed to the outside of the chassis by bolts through the load-bearing component (1). There are four wheel sets. The load-bearing component (1) also includes bearing holes (1-1) and limiting holes (1-2). The bearing holes (1-1) are opened on both sides of the load-bearing component (1). The limiting holes (1-2) are opened on the load-bearing component (1). The Yaw shaft base (2) includes a gimbal plate fixing threaded hole (2-1) and a cross roller (2-2). The gimbal plate fixing threaded hole (2-1) is opened on the Yaw shaft base (2). The cross roller (2-2) is located at the top of the Yaw shaft base (2). The gimbal includes a lead screw (3), a Livox LiDAR (4), an image transmission module (5), a Zed2 depth camera (6), a front panel of the gimbal frame (7), a side panel of the gimbal frame (8), a stepper motor (9), a flexible coupling (10), a rear panel of the gimbal frame (11), a gimbal support frame (12), a parallel four-bar linkage (13), a pitch axis motor (14), an NVIDIA NX computing platform (15), a slide rail (16), a yaw motor support plate (25), a conductive slip ring (26), and a yaw axis motor ( 35) and core control board (36), the yaw axis motor support plate (25) is set at the center of the bottom of the gimbal, the yaw axis motor (35) is fixedly installed on the yaw axis motor support plate (25), the conductive slip ring (26) is nested in the middle of the yaw axis motor (35), the gimbal is connected to the yaw axis base (2) through the gimbal plate fixing thread hole (2-1), the cross roller (2-2) is set at the bottom of the gimbal, and the pitch axis motor (1) is installed on the outside of the gimbal support frame (12). 4) and the computing platform NVIDIA NX (15), the Pitch axis motor (14) and the computing platform NVIDIA NX (15) are fixed and supported by the front plate (7) and side plate (8) of the gimbal frame, a Zed2 depth camera (6) is connected to one side of the parallel four-bar structure (13), and an image transmission module (5) and a Livox LiDAR (4) are fixed upward on one side of the parallel four-bar structure (13). The Pitch axis motor (14) and the Yaw axis motor (35) are both located on the Zed2 platform. At the bottom of the d2 depth camera (6), two lead screws (3) for raising and lowering the entire gimbal are distributed on the outer side of the two gimbal frame side plates (8). The lower part of the lead screws (3) on both sides is a stepper motor (9). The two stepper motors (9) are mounted on the Yaw axis motor support plate (25). The elastic coupling (10) is located at the output end of the stepper motor (9). The slide rail (16) is located behind the gimbal frame rear plate (11). The core control board (36) is fixed on one side of the Zed2 depth camera (6). The chassis includes a battery (17), a battery rack (18), guide wheels (19), a buffer frame (21), a frame support (22), a base plate (23), and aluminum tubes (37). The base plate (23) connects two aluminum tubes (37) to form the chassis frame. Both sides of each aluminum tube (37) are connected to the frame support (22). Each frame support (22) is connected to the buffer frame (21) through several guide wheels (19). The upper part of the two aluminum tubes (37) is connected to the Yaw axis motor support plate (25). The four wheel sets are fixed between the Yaw axis motor support plate (25) and the aluminum tubes (37) through load-bearing components and heightening components (27). The battery (17) is connected to the frame support (22) through the battery rack (18).

2. The aircraft cargo hold mechanical damage identification robot based on omnidirectional wheels according to claim 1, characterized in that: The wheelset includes an omnidirectional wheel (20), a tension spring (24), a heightening element (27), a flange bearing (28), bolts (29), a motor (30), a thrust bearing (31), a D-hole flange (32), a horizontal bearing motor mount (33), an electronic speed controller (34), and a wheelset carbon plate (38). Each wheelset is fixed to the chassis by several bolts via a load-bearing component (1). The bolts (29) pass through bearing holes (1-1), limiting holes (1-2), and flanges. The bearing (28) and the thrust bearing (31) fix the carbon plate (38) of the wheel set to the horizontal bearing motor seat (33). An electronic speed controller (34) is installed above the horizontal bearing motor seat (33). The motor (30) is embedded in the horizontal bearing motor seat (33). The omnidirectional wheel (20) is set inside the wheel set. The D-hole flange (32) is embedded outside the motor (30). The carbon plate (38) of each wheel set is connected to the base plate (23) through a set of tension springs (24).

3. The aircraft cargo hold mechanical damage identification robot based on omnidirectional wheels according to claim 2, characterized in that: The omnidirectional wheel (20) includes rollers (20-1), fixing bolts (20-2), outer clamping plates (20-3), middle plates (20-4), flange connection holes (20-5), and double-layer spacers (20-6). In each wheel set, the omnidirectional wheel (20) is connected to the D-hole flange (32) through the flange connection holes (20-5). Each omnidirectional wheel (20) is composed of the outer clamping plates (20-3) on both sides clamping the middle plate (20-4) through several fixing bolts (20-2). The middle plate (20-4) clamps the double-layer spacers (20-6). Rollers (20-1) of equal size but different directions are evenly distributed on each outer clamping plate (20-3).

4. The aircraft cargo hold mechanical damage identification robot based on omnidirectional wheels according to claim 3, characterized in that: The yaw axis motor (35) is embedded inside the cross roller (2-2).

5. The aircraft cargo hold mechanical damage identification robot based on omnidirectional wheels according to claim 4, characterized in that: The outer frame support (22) has a triangular cutout on its outer side.

6. The aircraft cargo hold mechanical damage identification robot based on omnidirectional wheels according to claim 5, characterized in that: The motor (30) is a 3508 motor, and the electronic speed controller (34) is a C620.

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