Automatic maintenance and inspection method and system for surface treatment of aviation high-pressure pipeline joint

Abstract

The application relates to an automatic surface treatment and inspection method and system for an aviation high-pressure pipeline joint. An intelligent processing system is introduced, combined with data acquisition, processing, decision support, and automatic surface detection and maintenance of the high-pressure aviation joint. An intelligent algorithm and a mechanical arm and an industrial robot are combined to detect the surface of the high-pressure aviation joint, identify and analyze surface defects and other abnormalities, and construct corresponding abnormal alarm and defect part automatic maintenance schemes, replacing manual inspection work, batch inspection and maintenance, greatly improving the efficiency, quality and consistency of the surface treatment of the high-pressure aviation joint, reducing human error, and prolonging the service life of the joint. It is expected to be widely used in the aviation industry to improve the efficiency and reliability of maintenance and repair. The workshop terminal provides surface defect guidance for workers, visually displays surface abnormal images, guides workers to perform surface inspection, and realizes efficient surface maintenance and inspection.

Description

Technical Field

[0001] This disclosure relates to the field of aviation facility technology, and in particular to an automated surface treatment maintenance and inspection system, method and electronic equipment for aviation high-pressure pipeline joints. Background Technology

[0002] The increasing demand for long lifespan, high efficiency, lightweight, and high reliability in high-end equipment in fields such as aviation and aerospace urgently requires that its key component, the "high-pressure aviation connector," meet the requirements of lightweight and high strength in terms of materials and compact design in terms of structure.

[0003] High-pressure aviation connectors and other piping components are an indispensable type of key components in various high-end equipment. In order to meet the transmission requirements of hydraulic, fuel, environmental control and various media, as well as the application requirements as a structural frame, a large number of high-pressure aviation connectors and other piping components need to be connected and assembled to form a piping system.

[0004] Connections in piping systems are often the weakest points in the entire system, and the working environment is extremely harsh. Taking aviation hydraulic pipelines as an example, they must not only withstand high and low temperatures and high-frequency vibrations from the outside, but also withstand the pulsating impact of fluids inside. Furthermore, they have high requirements for connection strength, sealing performance, and fatigue resistance. Failure of any pipeline component connection will seriously affect the overall equipment's working efficiency, service performance, and service life.

[0005] Therefore, developing advanced "high-voltage aviation connectors" with long life and high reliability has become one of the key technical requirements for modern high-end equipment manufacturing.

[0006] However, during the manufacturing of high-voltage aviation connectors, a series of surface treatment and testing processes are required before the connectors leave the factory to determine whether their surface treatment performance meets safety requirements. Before leaving the factory, the surface of the high-voltage aviation connectors undergoes high-precision testing, and only those meeting preset performance requirements can be shipped. While general high-voltage aviation connectors undergo surface treatments to meet these safety requirements, such as galvanizing, chrome plating, wear-resistant coating, electroplating for corrosion protection, and anodizing, these processes are typically performed through random manual sampling. A few connectors are randomly selected for surface processing and testing. This post-treatment testing method, in traditional solutions, still relies on experience and manual operation. For the inspection of a large number of high-voltage aviation connectors, manual inspection is prone to errors and is inefficient.

[0007] Furthermore, subsequent maintenance and inspection work is basically completed manually, and there is no way to provide on-site guidance for staff to deal with surface problems, nor can intelligent surface automation processing and maintenance be achieved, resulting in low efficiency. Summary of the Invention

[0008] To address the aforementioned issues, this application proposes an automated surface treatment maintenance and inspection system, treatment method, and electronic equipment for aviation high-pressure pipeline joints.

[0009] This application proposes an automated surface treatment maintenance and inspection system for aviation high-pressure pipeline joints, the automated surface treatment maintenance and inspection system comprising:

[0010] Servo motors are used to drive servo production lines deployed in the servo drive workshop, through which high-pressure aviation pipeline connectors to be inspected are transported in an orderly manner.

[0011] A robotic arm is used to drive an image acquisition unit to dynamically scan the transmitted aviation high-pressure pipeline connector;

[0012] The robotic arm is equipped with an image acquisition unit and a visual positioning device at its end, wherein:

[0013] The visual positioning device is used to perform visual positioning on each of the aviation high-pressure pipeline joints that are transported in an orderly manner on the servo assembly line based on visual positioning technology, and send the positioning information to the back-end server to guide the movement direction of the robotic arm.

[0014] The image acquisition unit is used to dynamically scan and acquire the surface image of the aviation high-pressure pipeline joint under the back-and-forth drive of the robotic arm and send it to the background server.

[0015] Backend server, used for:

[0016] Based on the positioning information, the dynamic scanning path L of the robotic arm relative to each of the aviation high-pressure pipeline joints is calculated, and the movement of the robotic arm is controlled according to the dynamic scanning path L.

[0017] as well as,

[0018] The surface image is subjected to image recognition to analyze whether there are surface anomalies on the surface of the aviation high-pressure pipeline joint, and the abnormal surface image is sent to the decision system;

[0019] The decision-making system intelligently makes decisions and generates corresponding surface maintenance and inspection plans based on the detected abnormal surface images, and sends the surface maintenance and inspection plans to the robot control platform.

[0020] The robot control platform is used to respond to the surface maintenance and inspection scheme, generate corresponding industrial control commands, and control the industrial robot to perform surface treatment on the abnormal parts of the surface.

[0021] An industrial robot is used to execute the industrial control commands and perform surface treatment on abnormal parts of the aerospace high-pressure pipeline connector 5, including spraying, filling or tin plating.

[0022] The servo motor, robotic arm, visual positioning device, image acquisition unit, decision-making system, and robot control platform are all connected to the backend server.

[0023] The industrial robot and the robot control platform are connected in communication.

[0024] As an optional embodiment of this application, the image acquisition unit may optionally include an integrated camera and an ultrasound module:

[0025] The camera is used to capture two-dimensional image data of the surface of the aviation high-pressure pipeline connector and send it to the backend server.

[0026] When the backend server performs image recognition on the surface two-dimensional image data, if it finds an image surface abnormality in the surface two-dimensional image data, it sends a working activation command to the ultrasound module.

[0027] The ultrasonic module is used to respond to the work activation command, start acquiring three-dimensional ultrasonic data of the surface of the aviation high-pressure pipeline joint and send it to the background server.

[0028] As an optional implementation of this application, the backend server is optionally equipped with a path planning system, which is used to calculate the dynamic scanning path L of the robotic arm relative to each of the aviation high-pressure pipeline joints based on the positioning information, and control the movement of the robotic arm according to the dynamic scanning path L.

[0029] The path planning system includes:

[0030] The filing module is used to establish the scan ID of the current aviation high-pressure pipeline joint when the positioning information of the current aviation high-pressure pipeline joint is received;

[0031] The positioning calculation module is used to calculate the real-time visual positioning position L(t) of the aviation high-pressure pipeline joint based on the positioning information.

[0032] The path planning module is used to plan the dynamic scanning path L of the robotic arm end effector relative to the aviation high-pressure pipeline connector based on the Dijkstra algorithm, according to the initial position L(0) of the robotic arm end effector and the real-time visual positioning position L(t).

[0033] L = L(0) → L(t);

[0034] The execution module is used to bind the dynamic scanning path L to the current scanning ID of the aviation high-pressure pipeline connector, and to start controlling the robotic arm to execute the dynamic scanning path L, driving the image acquisition unit to perform back-and-forth dynamic scanning motion.

[0035] As an optional implementation of this application, the background server is optionally equipped with a surface image analysis system, which is used to perform image recognition on the surface image, analyze whether surface defects occur, and send the analysis results to the workshop terminal;

[0036] The surface image analysis system includes:

[0037] The computer vision recognition module is used to perform image detection on the two-dimensional image data of the surface and analyze whether surface anomalies occur.

[0038] If so, extract the abnormal image of the surface anomaly, generate alarm analysis information containing the abnormal image, and send the alarm analysis information to the data interface module; otherwise, abandon the process.

[0039] The three-dimensional ultrasonic modeling module is used to perform three-dimensional ultrasonic modeling on the abnormal parts of the surface of the aviation high-pressure pipeline joint based on the acquired three-dimensional ultrasonic data of the surface, generate a three-dimensional ultrasonic model corresponding to the abnormal parts of the surface, and send it to the data interface module.

[0040] The data interface module is used to send the alarm analysis information and the three-dimensional ultrasonic model of the abnormal surface area to the workshop terminal.

[0041] As an optional embodiment of this application, the surface treatment automated maintenance and inspection system may also include:

[0042] The workshop terminal is used to display a three-dimensional ultrasonic model of the abnormal surface area for workshop administrators to view.

[0043] As an optional implementation of this application, the backend server may also be used for:

[0044] Based on the three-dimensional ultrasonic model of the abnormal surface area of ​​the aviation high-pressure pipeline joint, a corresponding surface inspection scheme is constructed.

[0045] According to the surface maintenance and inspection plan, the corresponding control command is sent to the robot control platform to perform maintenance and inspection operations on the abnormal parts of the surface.

[0046] In another aspect, this application proposes an automated maintenance and inspection method for the surface treatment of aviation high-pressure pipeline joints, comprising the following steps:

[0047] Based on visual positioning technology, each of the aviation high-pressure pipeline joints that are transported in an orderly manner on the servo production line is visually positioned, and the positioning information is sent to the backend server.

[0048] The backend server calculates the dynamic scanning path L of the robotic arm relative to each of the aviation high-pressure pipeline joints based on the positioning information, and controls the movement of the robotic arm according to the dynamic scanning path L.

[0049] The image acquisition unit dynamically scans and acquires surface images of the aviation high-pressure pipeline joint under the back-and-forth drive of the robotic arm and sends them to the back-end server;

[0050] The backend server performs image recognition on the surface image, analyzes whether surface defects occur, and sends the analysis results to the workshop terminal;

[0051] If the analysis finds a surface anomaly, the anomaly image of the surface anomaly is extracted, and an alarm analysis information containing the anomaly image is generated. The alarm analysis information is then sent to the data interface module, which in turn sends it to the workshop terminal.

[0052] The three-dimensional ultrasonic modeling module performs three-dimensional ultrasonic modeling on the abnormal parts of the surface of the aviation high-pressure pipeline joint based on the acquired three-dimensional ultrasonic data of the surface, generates a three-dimensional ultrasonic model corresponding to the abnormal parts of the surface, and sends it to the data interface module, which then sends it to the workshop terminal.

[0053] The backend server constructs a corresponding surface inspection plan based on the three-dimensional ultrasonic model of the abnormal parts of the surface of the aviation high-pressure pipeline joint; and sends the corresponding control commands to the robot control platform according to the surface inspection plan.

[0054] The robot control platform responds to the surface inspection plan, generates corresponding industrial control commands, and controls the industrial robot to perform surface treatment on the abnormal parts of the surface, including spraying, filling or tin plating.

[0055] In another aspect, this application also proposes an electronic device comprising:

[0056] processor;

[0057] Memory used to store processor-executable instructions;

[0058] The processor is configured to implement the automated surface treatment and maintenance method for aviation high-pressure pipeline joints when executing the executable instructions.

[0059] Technical effects of the present invention:

[0060] This application introduces an intelligent processing system that combines data acquisition, processing, decision support, and automated surface inspection and maintenance of high-voltage aviation joints. Utilizing intelligent algorithms combined with robotic arms and industrial robots, it performs image inspection on the surface of high-voltage aviation joints, identifies and analyzes surface defects and other anomalies, and constructs corresponding alarm systems and automated maintenance plans for defective areas. This system can essentially completely replace manual inspection work. Through intelligent automation technology, batch inspection and maintenance can be performed, significantly improving the efficiency, quality, and consistency of high-voltage aviation joint surface treatment, reducing human error, and extending the joint's lifespan. This intelligent processing method is expected to be widely applied in the aerospace industry, improving the efficiency and reliability of maintenance and repair.

[0061] This solution can also provide workers with surface defect guidance through workshop terminals, visually displaying surface anomaly images to guide workers in surface inspection, achieving highly efficient surface maintenance and inspection. Utilizing industrial robots to perform surface anodizing treatment on titanium alloy pipe fittings allows for further automated processing of the aerospace high-pressure pipe fittings after maintenance and inspection on the assembly line, building upon the aforementioned robotic motion scanning.

[0062] Other features and aspects of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0063] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this disclosure together with the specification and serve to explain the principles of this disclosure.

[0064] Figure 1 The diagram shown is an application system schematic of the surface treatment automated maintenance and inspection system of the present invention;

[0065] Figure 2 The diagram shown is a schematic representation of the application structure of the present invention;

[0066] Figure 3 The diagram shows a three-dimensional schematic of the abnormal surface region of the present invention;

[0067] Figure 4 The diagram shown illustrates the ultrasonic acquisition process for surface abnormalities according to the present invention.

[0068] Figure 5 The diagram shows the application components of the path planning system of the present invention.

[0069] Figure 6 The diagram shows the application components of the surface image analysis system of the present invention.

[0070] Figure 7 The diagram shows an application schematic of the electronic device of the present invention. Detailed Implementation

[0071] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0072] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0073] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0074] Example 1

[0075] like Figure 1 As shown, this application proposes an automated surface treatment maintenance and inspection system for aviation high-pressure pipeline joints, the automated surface treatment maintenance and inspection system comprising:

[0076] Servo motors are used to drive the servo production line 4 deployed in the servo drive workshop. Aviation high-pressure pipeline connectors 5 to be inspected are transported in an orderly manner through the servo production line 4.

[0077] Robotic arm 1 is used to drive image acquisition unit 2 to dynamically scan the transmitted aviation high-pressure pipeline connector 5;

[0078] The robotic arm 1 is equipped with an image acquisition unit 2 and a visual positioning device 3 at its end, wherein:

[0079] The visual positioning device 3 is used to perform visual positioning on each of the aviation high-pressure pipeline joints 5 that are transmitted in an orderly manner on the servo production line 4 based on visual positioning technology, and send the positioning information to the background server to guide the movement direction of the robotic arm 1.

[0080] The image acquisition unit 2 is used to dynamically scan and acquire the surface image of the aviation high-pressure pipeline connector 5 under the back-and-forth drive of the robotic arm 1 and send it to the background server.

[0081] Backend server, used for:

[0082] Based on the positioning information, the dynamic scanning path L of the robotic arm 1 relative to each of the aviation high-pressure pipeline joints 5 is calculated, and the movement of the robotic arm 1 is controlled according to the dynamic scanning path L.

[0083] as well as,

[0084] The surface image is subjected to image recognition to analyze whether there are surface anomalies on the surface of the aviation high-pressure pipeline joint, and the abnormal surface image is sent to the decision system;

[0085] The decision-making system intelligently makes decisions and generates corresponding surface maintenance and inspection plans based on the detected abnormal surface images, and sends the surface maintenance and inspection plans to the robot control platform.

[0086] The robot control platform is used to respond to the surface maintenance and inspection scheme, generate corresponding industrial control commands, and control the industrial robot to perform surface treatment on the abnormal parts of the surface.

[0087] An industrial robot is used to execute the industrial control commands and perform surface treatment on abnormal parts of the aerospace high-pressure pipeline connector 5, including spraying, filling or tin plating.

[0088] The servo motor, robotic arm 1, visual positioning device 3, image acquisition unit 2, decision-making system, and robot control platform are all connected to the backend server.

[0089] The industrial robot and the robot control platform are connected in communication.

[0090] The robot control platform is used to respond to the surface inspection plan, generate corresponding industrial control commands, and control the industrial robot to perform surface treatment on the abnormal parts of the surface; the industrial robot is used to treat the abnormal parts of the surface of the aviation high-pressure pipeline joint 5, including spraying, filling or tin plating.

[0091] As an optional implementation of this application, the backend server may also be used for:

[0092] Based on the three-dimensional ultrasonic model of the abnormal surface part of the aviation high-pressure pipeline joint 5, a corresponding surface maintenance and inspection scheme is constructed.

[0093] According to the surface maintenance and inspection plan, the corresponding control command is sent to the robot control platform to perform maintenance and inspection operations on the abnormal parts of the surface.

[0094] like Figure 1 The diagram shown is a schematic representation of the control application of the industrial robot in this embodiment.

[0095] After the backend server identifies and detects aviation pipe joints with surface anomalies using the above method, it can mark the abnormal surface locations on the aviation pipe joints and calculate the defect parameters of those locations. Specifically, it can combine the two-dimensional data and three-dimensional model data of the corresponding abnormal areas to generate corresponding surface inspection, spraying, filling, or tin plating work plans. For example, if a pit defect exists at a certain abnormal surface location, the backend server can further analyze and calculate the filling plan for that pit location, as well as the subsequent tin plating or spraying plans, based on the model and other parameters, and configure the corresponding industrial robot workflow.

[0096] The filling thickness is set based on the thickness of the pit, and the tin plating and spraying time and thickness are set based on the thickness of the zinc plating layer. The generated industrial robot control instructions can be sent to the corresponding industrial robots for execution. The spraying time, work, and position of the industrial robot will be processed in conjunction with the three-dimensional data of the abnormal areas on the surface.

[0097] The repair work of industrial robots on surface abnormalities can be carried out by the back-end server based on the 3D ultrasonic model of the abnormality. The back-end server can construct a surface maintenance plan for the corresponding part, including 3D processing, filling, tin plating, spraying, etc. of the abnormality. The back-end server can then allocate and set the work tasks of each industrial robot according to the surface maintenance plan. For example, if the first step is to fill and repair, the corresponding filling and repair command will be issued to industrial robot A, which is responsible for filling and repairing; if the second step is to tin plating, the corresponding tin plating command will be issued to industrial robot B, which is responsible for tin plating; and so on.

[0098] The specific work tasks can be performed by scheduling and arranging the corresponding industrial robots according to the contents included in the surface maintenance and inspection plan.

[0099] In practice, the robot is controlled from the backend via a robot control platform. This platform could be the industrial computer for each robot, the robot controller, or a robot control application, etc.

[0100] Industrial robots can share the vision positioning device 3. Based on vision positioning technology, they can perform vision positioning on each aviation high-pressure pipeline joint 5 that is transported in an orderly manner on the servo production line 4. This facilitates vision positioning and surface positioning processing for surfaces that require surface treatment during maintenance and inspection.

[0101] If the surface is intact, no surface inspection plan will be generated, and the process will proceed directly to the next step of surface anodizing.

[0102] In this solution, industrial robots can also be used to perform surface anodizing on titanium alloy pipe joints, so that the aviation high-pressure pipe joints 5 after maintenance and inspection on the assembly line can be further automated after the robot motion scanning is performed.

[0103] An anodizing treatment tank (treatment system) can be deployed on one side of the production line.

[0104] After generating the dynamic scanning path L of "Industrial Robot A" as described above, the backend server can continue to generate a robot action that performs anodizing according to a preset action in the background, that is, the dynamic motion trajectory C of "Industrial Robot B" grasping the workpiece for anodizing is generated in advance in the background.

[0105] For example, after industrial robot A, which uses the aforementioned "camera sampling," scans the aviation high-pressure pipeline connector 5, another industrial robot B can grab the aviation high-pressure pipeline connector 5 after surface inspection, move according to a preset dynamic motion trajectory C, grab the aviation high-pressure pipeline connector 5, and go to the anodizing treatment pool (treatment system) on one side to perform surface anodizing treatment on the aviation high-pressure pipeline connector 5.

[0106] After processing, industrial robot B removes aviation high-pressure pipeline connector 5 and places it on the assembly line for the next "aviation high-pressure pipeline connector 5" to be picked up and processed.

[0107] By adopting this solution, surface anodizing can be performed after surface image inspection, adding a comprehensive treatment measure to the aviation high-pressure pipeline joint 5, thereby increasing the surface lubrication and wear resistance of the aviation high-pressure pipeline joint 5 after maintenance and inspection.

[0108] Industrial robots A and B each perform their respective tasks. After sampling data via camera, and confirming this with the backend system, industrial robot A begins executing the tasks assigned by industrial robot B. Specifically, the backend system uses a robot control platform to retrieve and monitor tasks, thereby completing the aforementioned two processes.

[0109] In this solution, a robot control platform communicating with a backend server is installed on one side of the production line. This platform can control multiple industrial robots, each capable of performing different surface treatment tasks based on their job nature, such as welding, tin plating, and filling. The surface treatment work is carried out according to the industrial control instructions calculated and issued by the backend server. The specific surface treatment process and parameters can be configured by combining the control of the industrial robots with data from the 3D model.

[0110] Using this solution, the backend server can also establish control instructions for various types of industrial robots. Through visual positioning and image detection technology, the joints on the production line can be subjected to batch surface treatment work, such as spraying and galvanizing. This can realize batch joint surface treatment work, thereby improving the surface treatment efficiency of aviation joints. In the spraying process and other processes, this solution can still be used for joint visual positioning and surface image detection.

[0111] The decision-making system intelligently makes decisions and generates corresponding surface maintenance and inspection plans based on the detected abnormal surface images.

[0112] In the decision-making system, an AI recognition model can be pre-built based on historical surface image data. This model learns the image features of past surface anomalies to identify and match corresponding surface maintenance and inspection solutions. Specifically, the method of training the AI ​​model using historical "abnormal surface image data and corresponding maintenance and inspection information" as training data can be based on a CNN (Convolutional Neural Network). For details, refer to the CNN model learning and training process.

[0113] By using an AI recognition model to identify abnormal surface images and outputting corresponding maintenance and inspection solutions, the surface treatment can be quickly performed by a robot, enabling rapid surface maintenance and inspection of aviation joints.

[0114] This application introduces an intelligent processing system that combines data acquisition, processing, decision support, and automated surface inspection and maintenance of high-voltage aviation joints. Utilizing intelligent algorithms combined with robotic arms and industrial robots, it performs image inspection on the surface of high-voltage aviation joints, identifies and analyzes surface defects and other anomalies, and constructs corresponding alarm systems and automated maintenance plans for defective areas. This system can essentially completely replace manual inspection work. Through intelligent automation technology, batch inspection and maintenance can be performed, significantly improving the efficiency, quality, and consistency of high-voltage aviation joint surface treatment, reducing human error, and extending the joint's lifespan. This intelligent processing method is expected to be widely applied in the aerospace industry, improving the efficiency and reliability of maintenance and repair.

[0115] This solution can also provide workers with surface defect guidance through workshop terminals, visualize surface abnormality images, guide workers to conduct surface inspections, and achieve highly efficient surface maintenance and inspection.

[0116] like Figure 2 The diagram shown is a structural schematic of this system in practical application.

[0117] This solution employs a batch inspection method, using a servo assembly line in the workshop to systematically transport the aviation high-pressure pipeline connectors 5 to be inspected. The connectors are transported via the servo assembly line, and surface images are acquired by an image acquisition unit driven by a robotic arm on one side of the line. The servo assembly line is driven by servo motors, and the backend server controls the motor speed based on the surface inspection results, thereby controlling the transmission speed of the servo assembly line. For example, if an anomaly is detected on the surface of a connector, the backend sends a corresponding deceleration command to the servo motor to slow it down, or pauses for three seconds for scanning, for maintenance and other tasks.

[0118] An industrial robot is installed on one side of the production line. The robot's robotic arm carries an image acquisition unit that, under the control of a backend server, scans and acquires surface images of the pipe joints on the production line and sends the acquired images back to the backend server. The backend server can then perform image recognition on the surface of each pipe joint based on the acquired images, determining whether surface defects or other anomalies are present. After image analysis, the backend server can send the analysis results to the workshop terminal.

[0119] Each workshop has a workshop terminal that can display the analysis results of various surface images. Based on the analysis results, workshop personnel can view the current workpiece image to see if there are surface anomalies and alarm signals, and quickly guide workshop personnel to inspect products with surface defects.

[0120] The robotic arm must dynamically scan the aviation high-pressure pipeline joints that are being transported. Therefore, it is necessary to acquire the three-dimensional position of the joints in real time. This solution integrates a visual positioning device, such as a visual positioning camera, at the end of the robotic arm. This visual positioning camera works in conjunction with the visual computing software installed on the back-end server. It can use the visual positioning device to take a visual image of the current aviation high-pressure pipeline joint and perform further visual positioning through the back-end server to achieve three-dimensional positioning of the current pipeline joint.

[0121] Real-time visual positioning allows the backend to obtain the real-time three-dimensional coordinates of the conical tip of the aviation high-pressure pipeline. Based on the real three-dimensional position and the initial position of the robotic arm's end effector, the backend can dynamically construct the dynamic motion trajectory of the robotic arm's end effector relative to the pipeline joint. This allows the backend to control the robotic arm, carrying the image acquisition unit, to dynamically scan the surface of the joint back and forth along this trajectory.

[0122] This solution does not limit the robot control software installed on the backend server; it can be deployed by the accompanying robot service.

[0123] This solution enables batch and location-based dynamic scanning of pipe joint surface images. After anomaly analysis of the surface images in the background, it can determine whether there are surface defects. This allows for rapid batch inspection, improving efficiency. After inspection, industrial robots on one side of the production line can be used to perform surface maintenance on defective pipe joints, such as tin plating, spraying, or filling defects and pits.

[0124] Specific industrial robots, such as painting robots, can spray paint on abnormal parts of the surface according to the painting strategy and plan generated in the background.

[0125] As an optional embodiment of this application, the image acquisition unit 2 may optionally include an integrated camera and an ultrasound module:

[0126] The camera is used to capture two-dimensional image data of the surface of the aviation high-pressure pipeline connector 5 and send it to the backend server.

[0127] When the backend server performs image recognition on the surface two-dimensional image data, if it finds an image surface abnormality in the surface two-dimensional image data, it sends a working activation command to the ultrasound module.

[0128] The ultrasonic module is used to respond to the work activation command, start acquiring three-dimensional ultrasonic data of the surface of the aviation high-pressure pipeline connector 5 and send it to the background server.

[0129] like Figure 3 The image shown is a 3D schematic diagram of the surface abnormality area. This solution uses ultrasonic data to construct a 3D ultrasonic model of the corresponding surface abnormality area, as detailed below. The 3D ultrasonic model provides a clear view of the surface defects and dimensional parameters of the pipe joint.

[0130] like Figure 4 The image shows the ultrasonic acquisition process when there are surface anomalies.

[0131] This method combines two-dimensional surface images and three-dimensional ultrasonic surface images for surface inspection of pipe joints.

[0132] The camera first captures a two-dimensional image of the pipe connector's surface. The backend server then performs image recognition on the image to determine if there are any surface anomalies, such as ripples or pits. If such anomalies are detected, an activation command is sent to the ultrasonic module, initiating its operation.

[0133] Three-dimensional ultrasound data of the surface is acquired by three-dimensional ultrasound, which is then used to construct a subsequent three-dimensional ultrasound model. This three-dimensional ultrasound model can be used to quickly construct a three-dimensional model of the corresponding surface defect area, and the defect structure of the abnormal surface area can be visualized.

[0134] The backend server performs image anomaly detection on the 2D image. Based on existing image recognition algorithms, it can determine whether there are anomalies such as ripples, defects, or pits in the image. If so, the backend server issues an activation command to the ultrasound module. The ultrasound module can communicate with the ultrasound system deployed on the backend to acquire 3D data for constructing the 3D model.

[0135] For descriptions of existing solutions regarding two-dimensional image recognition and detection, as well as three-dimensional ultrasound image acquisition, please refer to the descriptions of existing solutions.

[0136] As an optional implementation of this application, the background server is optionally equipped with a path planning system, which is used to calculate the dynamic scanning path L of the robotic arm 1 relative to each of the aviation high-pressure pipeline joints 5 according to the positioning information, and control the movement of the robotic arm 1 according to the dynamic scanning path L.

[0137] The path planning system includes:

[0138] The filing module is used to establish the scanning ID of the current aviation high-pressure pipeline connector 5 when the positioning information of the current aviation high-pressure pipeline connector 5 is received.

[0139] The positioning calculation module is used to calculate the real-time visual positioning position L(t) of the aviation high-pressure pipeline connector 5 based on the positioning information.

[0140] The path planning module is used to plan the dynamic scanning path L of the end of the robotic arm 1 relative to the aviation high-pressure pipeline connector 5 based on the Dijkstra algorithm, according to the initial position L(0) of the end of the robotic arm 1 and the real-time visual positioning position L(t).

[0141] L = L(0) → L(t);

[0142] The execution module is used to bind the dynamic scanning path L to the current scanning ID of the aviation high-pressure pipeline connector 5, and to start controlling the robotic arm 1 to execute the dynamic scanning path L, driving the image acquisition unit 2 to perform back-and-forth dynamic scanning motion.

[0143] like Figure 5 The diagram shown illustrates the components of a path planning system application.

[0144] Once the backend server receives the location information, it can create a file for the current aviation high-pressure pipeline joint and generate a scan ID. Subsequent trajectories will be bound to this scan ID. During subsequent image screening and robot surface treatment of various aviation high-pressure pipeline joints, corresponding control information can be generated based on this scan ID. Furthermore, corresponding surface treatment commands and trajectory commands can be bound to this scan ID. For example, the robot scan trajectory for the current pipeline joint can be bound to the scan ID and sent to the robot for execution. Similarly, if a surface treatment plan for the current joint is generated, it can also be bound to this scan ID and sent to the corresponding industrial robot for execution.

[0145] The surface treatment solution under this scan ID involves an industrial robot performing surface defect treatment and maintenance on the pipe joints corresponding to the current scan ID.

[0146] The positioning calculation module can calculate the real-time positioning position L(t) of the connector based on the positioning information and visual positioning technology. The path planning module can retrieve the initial position L(0) of the robotic arm end effector stored in the background and construct the three-dimensional motion trajectory of the robotic arm end effector relative to the current aviation high-pressure pipeline connector based on the real-time visual positioning position L(t). Specifically, the dynamic scanning path L of the robotic arm end effector relative to the pipe connector can be planned based on the Dijkstra algorithm. This Dijkstra algorithm path planning can plan the shortest motion path, saving time.

[0147] After generating the corresponding dynamic scanning path, it can be sent to the execution module. The execution module controls the robot to dynamically scan the current pipe joint back and forth according to the dynamic scanning path, driven by the image acquisition unit at the end of the robotic arm, thereby acquiring the back-and-forth scanning images. If ultrasonic acquisition is subsequently triggered, back-and-forth ultrasonic scanning is performed simultaneously to acquire the corresponding ultrasonic scan data.

[0148] As an optional implementation of this application, the background server is optionally equipped with a surface image analysis system, which is used to perform image recognition on the surface image, analyze whether surface defects occur, and send the analysis results to the workshop terminal;

[0149] The surface image analysis system includes:

[0150] The computer vision recognition module is used to perform image detection on the two-dimensional image data of the surface and analyze whether surface anomalies occur.

[0151] If so, extract the abnormal image of the surface anomaly, generate alarm analysis information containing the abnormal image, and send the alarm analysis information to the data interface module; otherwise, abandon the process.

[0152] The three-dimensional ultrasonic modeling module is used to perform three-dimensional ultrasonic modeling on the abnormal parts of the surface of the aviation high-pressure pipeline connector 5 based on the acquired three-dimensional ultrasonic data of the surface, generate a three-dimensional ultrasonic model corresponding to the abnormal parts of the surface, and send it to the data interface module.

[0153] The data interface module is used to send the alarm analysis information and the three-dimensional ultrasonic model of the abnormal surface area to the workshop terminal.

[0154] like Figure 6 The diagram shown illustrates the application components of a surface image analysis system.

[0155] Surface defect identification and analysis can be performed using a surface image analysis system, which includes a computer vision recognition module, a three-dimensional ultrasonic modeling module, and a data interface module.

[0156] After receiving the 2D surface image data collected by the camera module, the backend performs image detection, specifically anomaly detection, to determine if any preset surface anomalies exist, such as image ripples or pits. If an anomaly is detected, corresponding alarm analysis information is generated. This alarm analysis information, containing the corresponding anomaly image, can be sent to the workshop terminal via the data interface of the backend server. The workshop terminal displays the anomaly image and its corresponding analysis information. Specific analysis information may include the 2D location of the surface containing the anomaly image on the workpiece surface, and the anomaly details, such as displaying and alarming the size of surface pits. Using vision technology and image computing, the 3D parameters of the anomaly area can be visually calculated.

[0157] If a surface anomaly is detected, the background system triggers a 3D ultrasonic scan to begin acquiring 3D ultrasonic data of the surface. Simultaneously, it can perform a back-and-forth dynamic scan according to the aforementioned motion trajectory, acquiring 3D ultrasonic data of the corresponding workpiece surface through the 3D ultrasonic module and sending the 3D ultrasonic data to the background server. The background server then imports the data into the 3D ultrasonic modeling module (3D modeling software).

[0158] In the 3D ultrasound modeling module, a 3D ultrasound model can be generated based on the 3D data. Specifically, the 3D ultrasound data focuses on surface anomalies. Therefore, after receiving the 3D ultrasound data in the background, it can be preprocessed to remove ultrasound data surrounding the anomaly, retaining only the ultrasound data of the anomalous surface. The 3D ultrasound module can then construct a 3D ultrasound model of the corresponding surface anomaly based on this data. The generated 3D ultrasound model can be used to visually represent the shape of the surface anomaly.

[0159] Subsequently, the three-dimensional ultrasonic model of the abnormal surface area can be sent to the workshop terminal via the data interface, so that workshop personnel can intuitively view the surface defects on the workpiece with surface abnormality alarms and quickly guide workshop personnel to carry out workpiece maintenance and inspection.

[0160] On the backend server, a decision-making system can be deployed. This system can intelligently generate corresponding surface maintenance and inspection solutions based on the detected abnormal surface images. For example, if the surface tin plating layer is defective, a corresponding tin plating solution can be generated and sent to the industrial robot for execution.

[0161] In the tin plating scheme, the areas to be tin-plated are calculated (as well as the working coordinates and range in the image, and tin plating working parameters such as tin plating time and thickness), and the corresponding tin plating scheme is intelligently decided based on the analysis.

[0162] Obviously, those skilled in the art should understand that implementing all or part of the processes in the above embodiments can be accomplished by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the control embodiments described above. Those skilled in the art will understand that implementing all or part of the processes in the above embodiments can be accomplished by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the control embodiments described above. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0163] Example 2

[0164] Based on the implementation principle of Embodiment 1, this application, in another aspect, proposes an automated surface treatment maintenance and inspection method for aviation high-pressure pipeline joints, comprising the following steps:

[0165] Based on visual positioning technology, each aviation high-pressure pipeline connector 5 that is transmitted in an orderly manner on the servo pipeline 4 is visually positioned, and the positioning information is sent to the background server.

[0166] The backend server calculates the dynamic scanning path L of the robotic arm 1 relative to each of the aviation high-pressure pipeline joints 5 based on the positioning information, and controls the movement of the robotic arm 1 according to the dynamic scanning path L.

[0167] Under the back-and-forth drive of the robotic arm 1, the image acquisition unit 2 dynamically scans and acquires the surface image of the aviation high-pressure pipeline connector 5 and sends it to the background server;

[0168] The backend server performs image recognition on the surface image, analyzes whether surface defects occur, and sends the analysis results to the workshop terminal;

[0169] If the analysis finds a surface anomaly, the anomaly image of the surface anomaly is extracted, and an alarm analysis information containing the anomaly image is generated. The alarm analysis information is then sent to the data interface module, which in turn sends it to the workshop terminal.

[0170] The three-dimensional ultrasonic modeling module performs three-dimensional ultrasonic modeling on the abnormal parts of the surface of the aviation high-pressure pipeline joint 5 based on the acquired three-dimensional ultrasonic data of the surface, generates a three-dimensional ultrasonic model corresponding to the abnormal parts of the surface, and sends it to the data interface module, which then sends it to the workshop terminal.

[0171] The backend server constructs a corresponding surface inspection plan based on the three-dimensional ultrasonic model of the abnormal parts of the surface of the aviation high-pressure pipeline joint 5; and sends the corresponding control commands to the robot control platform according to the surface inspection plan.

[0172] The robot control platform responds to the surface inspection plan, generates corresponding industrial control commands, and controls the industrial robot to perform surface treatment on the abnormal parts of the surface, including spraying, filling or tin plating.

[0173] The implementation of the above steps can be understood in conjunction with Example 1, and will not be repeated in this example.

[0174] The modules or steps of the present invention described above can be implemented using a general-purpose computing system. They can be centralized on a single computing system or distributed across a network of multiple computing systems. Optionally, they can be implemented using program code executable by a computing system, thereby storing them in a storage system for execution by the computing system, or fabricating them separately as individual integrated circuit modules, or fabricating multiple modules or steps into a single integrated circuit module. Thus, the present invention is not limited to any specific hardware and software combination.

[0175] Example 3

[0176] like Figure 7 As shown, further, in another aspect, this application also proposes an electronic device, comprising:

[0177] processor;

[0178] Memory used to store processor-executable instructions;

[0179] The processor is configured to implement the aforementioned automated surface treatment maintenance and inspection method and system for aviation high-pressure pipeline joints when executing the executable instructions.

[0180] The electronic device disclosed herein includes a processor and a memory for storing processor-executable instructions. The processor is configured to implement, when executing the executable instructions, any of the aforementioned automated surface treatment inspection method and system for aviation high-pressure pipeline joints.

[0181] It should be noted here that the number of processors can be one or more. Furthermore, the electronic device in this embodiment may also include an input system and an output system. The processor, memory, input system, and output system can be connected via a bus or other means, without specific limitations herein.

[0182] As a computer-readable storage medium, the memory can be used to store software programs, computer-executable programs, and various modules, such as the program or module corresponding to the automated maintenance and inspection method and processing system for surface treatment of aviation high-pressure pipeline joints according to embodiments of this disclosure. The processor executes various functional applications and data processing of the electronic device by running the software programs or modules stored in the memory.

[0183] The input system can be used to receive input digital numbers or signals. These signals can be key signals related to user settings and function control of the device / terminal / server. The output system can include display devices such as screens.

[0184] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An automated surface treatment inspection system for aircraft high pressure pipe fittings, for pre-shipment surface treatment inspection applications, characterized in that, The surface treatment automatic maintenance inspection system comprises: a servo motor for servo driving a servo assembly line deployed in the workshop, the aviation high-pressure pipeline joint to be inspected being orderly transmitted through the servo assembly line; a mechanical arm for driving an image acquisition unit to dynamically scan the transmitted aviation high-pressure pipeline joint; the mechanical arm is provided at the end thereof with the image acquisition unit and a visual positioning device, wherein: the visual positioning device is configured to perform visual positioning on each aviation high-pressure pipeline joint orderly transmitted on the servo assembly line based on a visual positioning technology, and send positioning information to a background server to guide the motion direction of the mechanical arm; the image acquisition unit is configured to dynamically scan and acquire surface images of the aviation high-pressure pipeline joint under the driving of the mechanical arm and send the surface images to the background server; the image acquisition unit comprises an integrated camera and an ultrasonic module; the camera is configured to take surface two-dimensional image data of the aviation high-pressure pipeline joint and send the surface two-dimensional image data to the background server; when the background server performs image recognition on the surface two-dimensional image data, if it is found that there is an image surface abnormality on the surface two-dimensional image data, a working activation instruction is issued to the ultrasonic module; the ultrasonic module is configured to start taking surface three-dimensional ultrasonic data of the aviation high-pressure pipeline joint (5) and send the surface three-dimensional ultrasonic data to the background server in response to the working activation instruction; the background server is configured to: calculate a dynamic scanning path L of the mechanical arm relative to each aviation high-pressure pipeline joint according to the positioning information, and control the motion of the mechanical arm according to the dynamic scanning path L; and perform image recognition on the surface images, analyze whether there is a surface abnormality on the surface of the aviation high-pressure pipeline joint, and send an abnormal surface image to a decision system; the decision system is configured to intelligently decide and generate a corresponding surface maintenance inspection scheme according to the detected abnormal surface image, and send the surface maintenance inspection scheme to a robot control platform; the robot control platform is configured to generate a corresponding industrial control instruction in response to the surface maintenance inspection scheme, and control an industrial robot to perform surface treatment on the surface abnormal part; the industrial robot is configured to execute the industrial control instruction to perform surface treatment, including spraying, filling or tinning, on the surface abnormal part of the aviation high-pressure pipeline joint (5); the servo motor, the mechanical arm, the visual positioning device, the image acquisition unit, the decision system and the robot control platform are respectively in communication connection with the background server; the industrial robot and the robot control platform are in communication connection. The background server is provided with a path planning system configured to calculate a dynamic scanning path L of the mechanical arm relative to each aviation high-pressure pipeline joint according to the positioning information, and control the motion of the mechanical arm according to the dynamic scanning path L; 2. An automated inspection system for surface treatment of an aircraft high pressure pipe joint according to claim 1, characterized in that the path planning system comprises: a filing module configured to establish a scanning ID of the current aviation high-pressure pipeline joint when receiving the positioning information of the current aviation high-pressure pipeline joint; ​ A positioning calculation module is configured to calculate a real-time visual positioning position L(t) of the aviation high-pressure pipeline joint according to the positioning information; A path planning module is configured to plan a dynamic scanning path L of the mechanical arm end relative to the aviation high-pressure pipeline joint based on a Dijkstra algorithm according to an initial position L(0) of the mechanical arm end and the real-time visual positioning position L(t): L = L(0) → L(t); An execution module is configured to bind the dynamic scanning path L under a scanning ID of the current aviation high-pressure pipeline joint, and start to control the mechanical arm (1) to execute the dynamic scanning path L to drive the image acquisition unit to perform dynamic scanning motion.

3. An automated inspection system for surface treatment of aircraft high pressure pipe joints as defined in claim 1, wherein, The background server is provided with a surface image analysis system for image recognition of the surface image, analysis of whether surface defects occur, and sending of analysis results to a workshop terminal; The surface image analysis system comprises: A computer vision recognition module is configured to perform image detection on the surface two-dimensional image data to analyze whether surface abnormalities occur: If yes, an abnormal image of the surface abnormality is extracted, alarm analysis information containing the abnormal image is generated, and the alarm analysis information is sent to a data interface module; otherwise, the alarm analysis information is discarded; A three-dimensional ultrasonic modeling module is configured to perform three-dimensional ultrasonic modeling on the surface abnormal part of the aviation high-pressure pipeline joint according to the taken surface three-dimensional ultrasonic data of the aviation high-pressure pipeline joint, generate a three-dimensional ultrasonic model corresponding to the surface abnormal part, and send the three-dimensional ultrasonic model to the data interface module; A data interface module is configured to send the alarm analysis information and the three-dimensional ultrasonic model of the surface abnormal part to the workshop terminal.

4. The automated inspection system for surface treatment of aircraft high pressure tubing joints of claim 3, wherein, The surface treatment automatic maintenance and inspection system further comprises: A workshop terminal is configured to display the three-dimensional ultrasonic model of the surface abnormal part for viewing by a workshop administrator.

5. An automated inspection system for surface treatment of aircraft high pressure pipe joints as defined in claim 4, wherein, The background server is further configured to: construct a corresponding surface maintenance and inspection scheme according to the three-dimensional ultrasonic model of the surface abnormal part of the aviation high-pressure pipeline joint; issue a corresponding control instruction to the robot control platform according to the surface maintenance and inspection scheme to perform maintenance and inspection operation on the surface abnormal part.

6. An automated maintenance inspection method for surface treatment of an aircraft high-pressure pipe joint, which is implemented based on the automated maintenance inspection system for surface treatment of an aircraft high-pressure pipe joint according to any one of claims 1 to 5, characterized by, The method comprises the following steps: visual positioning of each aviation high-pressure pipeline joint in an orderly transmission on the servo assembly line based on visual positioning technology, and sending of positioning information to a background server; the background server calculates a dynamic scanning path L of the mechanical arm relative to each aviation high-pressure pipeline joint according to the positioning information, and controls the mechanical arm to move according to the dynamic scanning path L; the image acquisition unit dynamically scans to acquire surface images of the aviation high-pressure pipeline joint under the back-and-forth driving of the mechanical arm, and sends the surface images to the background server; the background server performs image recognition on the surface images, analyzes whether surface defects occur, and sends analysis results to a workshop terminal; the background server performs image recognition on the surface images, analyzes whether surface defects occur, and sends analysis results to a workshop terminal; If the analysis finds that a surface anomaly exists, an abnormal image of the surface anomaly is extracted, alarm analysis information containing the abnormal image is generated, and the alarm analysis information is sent to a data interface module, which sends the alarm analysis information to the workshop terminal; The three-dimensional ultrasonic modeling module performs three-dimensional ultrasonic modeling on the surface abnormal position of the aviation high-pressure pipeline joint according to the surface three-dimensional ultrasonic data of the aviation high-pressure pipeline joint, generates a three-dimensional ultrasonic model corresponding to the surface abnormal position, and sends the three-dimensional ultrasonic model to the data interface module, which sends the three-dimensional ultrasonic model to the workshop terminal; The background server constructs a corresponding surface maintenance scheme according to the three-dimensional ultrasonic model of the surface abnormal position of the aviation high-pressure pipeline joint, and issues a corresponding control instruction to the robot control platform according to the surface maintenance scheme; The robot control platform generates a corresponding industrial control instruction in response to the surface maintenance scheme, and controls the industrial robot to perform surface treatment, including spraying, filling, or tinning, on the surface abnormal position.

7. An electronic device, comprising: Comprise: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the method of claim 6 when executing the executable instructions.

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