Aircraft engine air inlet channel detection system

Abstract

The invention provides an aircraft engine air inlet channel detection system, and belongs to the technical field of aircraft engine air inlet channel detection. In order to solve the problems of low detection efficiency, reliability and safety of an aircraft engine air inlet channel, the invention provides an aircraft engine air inlet channel detection system, which comprises a carrying device, a detection robot and a control device, the carrying equipment is used for carrying the detection robot under the control of the control equipment and enabling the detection robot to be aligned with an inlet of an aircraft air inlet; the detection robot is used for moving in the air inlet channel under the control of the control equipment, and the detection robot comprises a mobile platform, and an engine blade shifting device, a mechanical arm and an image acquisition device which are sequentially arranged from the front end to the rear end of the mobile platform; and a detection device for detecting the interior of the pipeline is arranged at the tail end of the mechanical arm. According to the invention, the human input can be greatly reduced, the detection efficiency and reliability are improved, the human error risk is avoided, and the detection safety is improved.

Description

Technical Field

[0001] The present application relates to the technical field of aircraft engine air intake duct detection, and in particular to an aircraft engine air intake duct detection system. Background Art

[0002] In order to ensure the safe operation of the engine, aircraft engine intake inspection is a necessary process link in aircraft maintenance. Aircraft engine intake inspection is a job that requires high accuracy of detection. At present, the main method is for operators to climb into the engine intake to inspect through naked eye observation and manual operation. Due to the manual inspection of aircraft engine intake, there are problems such as small operating space, dark light, high difficulty and intensity of work, long time consumption, and if there is residual heat in the engine, the intake temperature is high and needs to be dissipated before inspection. More importantly, it is easy to make human errors, such as major ground accidents caused by foreign objects left behind and damaging the engine.

[0003] Although there are currently a variety of devices to facilitate operators in inspecting aircraft engine intake ducts, such as special mechanical auxiliary devices, snake-like robots, rotorcraft, etc., they still have shortcomings such as single inspection items and the need for heavy manual participation in operations, resulting in low inspection efficiency, reliability and safety. For example, the device can only use its own camera to observe the intake duct wall and roughly observe the area around the engine. There are blind spots for various sensors in the intake duct due to observation angles or space limitations, and they cannot replace manual operations in the intake duct, such as turning the engine blades to check for jamming, checking whether the turbine blades in the intake duct can rotate normally, and sucking up foreign matter found. In order to solve the above major risk issues, it is urgent to develop an aircraft engine intake duct inspection system. Summary of the invention

[0004] The purpose of this application is to solve the problem of low efficiency, reliability and safety of aircraft engine inlet detection in the prior art. Therefore, this application provides an aircraft engine inlet detection system, which realizes the docking of the detection robot with the aircraft inlet through a carrier device, and assists in completing various inspections of the engine inlet manually through the engine blade shifting device, mechanical arm and image acquisition device of the detection robot, which can greatly reduce manpower input, improve detection efficiency and reliability, avoid the risk of human error, and improve detection safety.

[0005] The embodiment of the present application provides an aircraft engine air intake inspection system, including a carrier device, an inspection robot, and a control device that are communicatively connected to each other;

[0006] The carrying device is used to carry the detection robot under the control of the control device and align it with the entrance of the aircraft air intake;

[0007] The detection robot is used to move in the air inlet under the control of the control device, and the detection robot includes a mobile platform, and an engine blade shifting device, a mechanical arm and an image acquisition device arranged in sequence from the front end to the rear end of the mobile platform; the engine blade shifting device, the mechanical arm, the image acquisition device and the detection device operate under the control of the control device; wherein,

[0008] The blade shifting device is used to determine the boundaries of the engine blades, shift the engine blades, and obtain images of the damping bosses between the engine blades;

[0009] The image acquisition device is used to acquire the image of the intake duct wall;

[0010] The end of the robot arm is provided with a detection device for detecting inside the pipeline, and the detection device includes an image inspection module inside the pipeline, a turbine shifting and inspection module, a sensor inspection module and a foreign matter suction module; the mobile platform is also provided with a storage device for accommodating foreign matter; and,

[0011] The in-pipe image inspection module is used to move to the target object to be inspected under the drive of the robotic arm and obtain the corresponding image;

[0012] The turbine shifting and inspection module is used to photograph and shift the turbine pipe and turbine blades for inspection;

[0013] The sensor inspection module is used to obtain corresponding images of each sensor in the air intake duct;

[0014] The foreign matter suction module is used to collect foreign matter in the air intake duct.

[0015] The above technical solution can be used to assist manual work in completing various inspections of the aircraft engine air intake duct, such as the turning and photographing inspection of the first-stage rotor blades of the aircraft engine, the photographing inspection of the shock-absorbing boss, the photographing inspection of the stator blades and ball caps of the aircraft engine, the rotation and photographing inspection of the turbine blades, the inspection of defects such as foreign matter and scratches in the air intake duct wall, the photographing inspection of various sensors in the air intake duct, the absorption of foreign matter in the air intake duct wall, etc., so that in the daily inspection of the aircraft, there is no need for manual work to climb into the air intake duct for inspection, thus avoiding errors such as human omission of foreign matter, and improving the safety of detection. At the same time, it can achieve long-term reliable repeated work without omissions, replacing manual inspections of the aircraft engine air intake duct, which can greatly Reduce manpower input and improve detection efficiency and reliability; in addition, the system uses a carrier to carry the detection robot and dock it with the aircraft air inlet, so that while controlling the volume of the detection robot, the docking accuracy of the carrier can be improved by limiting the volume and load of the carrier, thereby improving the detection safety and reliability; the detection robot further controls the volume of the detection robot through the layout of the engine blade shifting device, the mechanical arm and the image acquisition device, making it suitable for flexible operation in the aircraft air inlet with a relatively small space, and also improves the flexibility and accuracy of various inspections by setting the detection device at the end of the mechanical arm, thereby further improving the detection reliability.

[0016] In some embodiments, the carrier is provided with a laser radar, a plurality of upward-firing laser ranging sensors, and a front contact sensor;

[0017] The control device obtains the position of the carrier through the laser radar, and controls the carrier to move so that the multiple upward laser sensors are all irradiated on the upper front edge of the air intake inlet to be inspected; and controls the carrier to rise until the front contact sensor is squeezed onto the lower lip edge of the air intake inlet to be inspected.

[0018] By adopting the above technical solution, through the cooperation of laser radar, multiple upward laser ranging sensors, and front contact sensors, the control equipment can accurately obtain the position of the carrier equipment relative to the inlet entrance to be inspected, thereby improving the docking accuracy of the carrier equipment, the inspection robot and the aircraft air inlet, and further improving the safety and reliability of the inspection.

[0019] In some embodiments, the engine blade shifting device includes a three-axis displacement module, a T-axis displacement module connected to the Z-axis of the three-axis displacement module, and a shifting rod disposed on the T-axis displacement module;

[0020] The three-axis displacement module is connected to an X-axis force sensor and a Y-axis force sensor;

[0021] The head of the lever is provided with a flexible member and an image acquisition unit, the flexible member is used for contacting, the lever is extended or retracted relative to the three-axis displacement module under the drive of the T-axis displacement module, and is driven by the three-axis displacement module to contact or move the engine blade;

[0022] The image acquisition unit is used to acquire the image of the vibration-absorbing boss between the engine blades.

[0023] By adopting the above technical solution, the lever is driven to move by the three-axis displacement module and the T-axis displacement module, which can ensure the accuracy and reliability of the lever movement and avoid damage to the engine blades, thereby improving the safety and reliability of detection.

[0024] In some embodiments, the image acquisition device includes an annular mounting platform, 8 cameras and 8 arc-shaped curved light sources evenly distributed on the circumference of the annular mounting platform, and a light source controller and a switch;

[0025] The annular mounting platform is vertically arranged at the tail of the mobile platform, and its axis is horizontal;

[0026] The 8-way camera fields of view cover the circumference of the annular mounting platform, and the fields of view of adjacent cameras overlap; and the 8-way cameras are connected to the switch;

[0027] The 8 arc-shaped curved surface light sources correspond to the 8 cameras one by one and are arranged in parallel at a first distance; and the 8 arc-shaped curved surface light sources are connected to the light source controller.

[0028] By adopting the above technical solution, an image acquisition device is vertically set up with 8 cameras and 8 arc-shaped curved surface light sources to ensure that the camera field of view can cover the surrounding area without omission, so as to achieve full-surface shooting of the intake duct wall. The arc-shaped curved surface light source has a larger lighting angle, which makes the camera shooting clearer, further improves the image quality, facilitates subsequent accurate judgment, and improves the detection reliability.

[0029] In some embodiments, the in-pipe image inspection module includes two main cameras arranged side by side and a ring light source arranged in a one-to-one correspondence with the two main cameras, and the lenses of the two main cameras are divided into a telephoto lens and a short-focus lens.

[0030] By adopting the above technical solution, through the combination of long focus and short focus, it is possible to shoot the target objects to be inspected at different distances. While controlling the volume of the image inspection module in the pipeline, the image quality is improved, which facilitates subsequent accurate judgment and improves the detection reliability.

[0031] In some embodiments, the turbine dialing and inspection module includes a rotation servo and a tension servo;

[0032] The rotary steering gear is connected to a support rod, and the end of the support rod is connected to a rotatable turning head through a telescopic spring, and the telescopic spring is connected to the stretching steering gear and is extended and retracted under the control of the stretching steering gear so that the turning head is close to or away from the turbine blade, and the extension direction of the telescopic spring is perpendicular to the length direction of the support rod;

[0033] The rotating head is provided with a paddle, and the rotating head drives the paddle to paddle the turbine blade;

[0034] A rear turbine camera is arranged at the end of the support rod, and a front turbine camera is arranged at the rotating head, so as to photograph the turbine pipe and the turbine blades.

[0035] By adopting the above technical scheme, the support rod and the camera at its end can be rotated by rotating the servo during inspection operations, so that the volume of the turbine drive and inspection module in the normal state can be controlled, and then the volume of the detection device and the detection robot can be controlled, so that they are suitable for moving in the air inlet duct, and in the normal state, the center of gravity of the turbine drive and inspection module can be close to the center of the detection device, thereby improving the stability of the detection device, thereby ensuring the stability of other inspection components during inspection operations, and improving the detection reliability; at the same time, when approaching the turbine blades, the extension and contraction of the telescopic spring is controlled by the stretching servo to control the distance between the rotor and the turbine blades, so that micro-distance adjustment can be achieved, thereby avoiding bumps and damage to the turbine blades when extending between the turbine blades, thereby improving the detection reliability and safety.

[0036] In some embodiments, the sensor inspection module includes a macro sensor camera with a built-in light source.

[0037] In some embodiments, the foreign matter suction module includes a suction micro camera and a suction nozzle, and the suction nozzle is connected to a telescopic rod, and the telescopic plane of the telescopic rod is perpendicular to the rotation plane of the support rod of the turbine shifting and inspection module.

[0038] By adopting the above technical solution, smaller foreign objects can be sucked and collected through the suction nozzle, avoiding the need for manual entry into the air inlet for maintenance, enhancing the system function and further improving the detection safety.

[0039] In some embodiments, the detection device includes a mounting plate,

[0040] The two main cameras of the pipeline image inspection module are arranged on the first side of the mounting plate.

[0041] The rotary servo and the stretch servo of the turbine shifting and inspection module are arranged on the second side of the mounting plate, the support rod can be attached to the second side under the drive of the rotary servo, and when the support rod is attached to the second side, the telescopic spring is attached to the third side of the mounting plate, wherein the second side is adjacent to the first side, and the third side is opposite to the first side;

[0042] The telescopic rods of the sensor inspection module and the foreign matter suction module are both arranged on the mounting plate and close to the third side, and the suction microscopic camera of the foreign matter suction module is arranged close to the first side and inclined toward the direction of the telescopic rod.

[0043] By adopting the above technical scheme, the overall integration of the detection device is improved through the reasonable layout of the various components of the pipeline image inspection module, turbine drive and inspection module, sensor inspection module and foreign matter suction module, and the volume and stability of the detection device under normal conditions are effectively controlled, while being suitable for various detection operations.

[0044] In some embodiments, the carrier is provided with an automatic wire-retracting device, the detection robot is connected to the control device via a cable having an aviation plug, and the cable connects the detection robot and the control device via the automatic wire-retracting device;

[0045] The carrier includes a receiving area for receiving the detection robot, and a surface of the receiving area facing the tail of the detection robot is provided with a plurality of forward-firing laser ranging sensors to obtain the distance between the detection robot and the carrier;

[0046] The automatic wire taking-up device comprises a slip ring and a wire clamping mechanism;

[0047] The slip ring includes a stationary ring arranged on the carrier and a rotating ring rotatably sleeved on the stationary ring, and the two are in contact to realize power or signal transmission, the stationary ring is connected to the control device through a cable, the rotating ring is connected to the detection robot through a cable, and the outer surface of the rotating ring is sleeved with a synchronously rotating drum, and the cable can be wound on it as the rotating drum rotates;

[0048] The wire clamping mechanism includes a sliding mechanism arranged at the tail of the accommodating area and a limiting portion slidably arranged on the sliding mechanism. The sliding direction of the sliding mechanism is parallel to the axial direction of the rotating drum and matches the rotation speed of the slip ring. The cable connected to the rotating ring passes through the limiting portion and is connected to the detection robot.

[0049] By adopting the above technical solution, the detection robot and the control equipment are connected by a cable with an aviation plug, which improves the stability and reliability of the communication connection between the two, thereby improving the detection reliability and safety; at the same time, the real-time synchronous adjustment of the cable length between the detection robot and the control equipment is achieved through the automatic wire winding device arranged on the carrying equipment, which further improves the stability and reliability of the communication connection between the two.

[0050] Other features and corresponding beneficial effects of the present application are described in the latter part of the specification, and it should be understood that at least some of the beneficial effects become obvious from the records in the specification of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the system composition of the present invention;

[0052] Figure 2 It is a structural schematic diagram of the control device of the present invention;

[0053] Figure 3 It is a structural schematic diagram of the carrier equipment of the present invention;

[0054] Figure 4 It is a structural schematic diagram of the detection robot of the present invention;

[0055] Figure 5 It is a schematic diagram of the structure of the engine blade shifting device of the present invention in a normal state, that is, in a retracted state;

[0056] Figure 6 This is a schematic diagram of the structure of the engine blade shifting device of the present invention in the working state, that is, in the unfolded state;

[0057] Figure 7 It is a structural schematic diagram of the robot arm end detection device of the present invention;

[0058] Figure 8 It is a schematic diagram of the initial docking position of the carrier of the present invention;

[0059] Fig. 9 A schematic diagram of the carrier device of the present invention aligning with the left air inlet;

[0060] Fig.10 Schematic diagram of the carrier device of the present invention aligned with the right air inlet;

[0061] Fig.11 Schematic diagram of the carrier of the present invention exiting at the end of the inspection.

[0062] Description of reference numerals: 1, air intake duct;

[0063] 100, carrier; 110, mobile chassis; 120, posture adjustment mechanism; 130, receiving tray; 131, receiving area; 140, rotating drum; 150, sliding mechanism; 160, limiting part; 161, mounting seat; 162, first roller; 163, second roller;

[0064] 200, detection robot; 210, mobile platform; 220, engine blade shifting device; 221, X-axis moving platform; 222, Y-axis moving platform; 223, Z-axis moving platform; 224, T-axis displacement module; 225, shifting rod;

[0065] 230. Robotic arm;

[0066] 240, detection device; 241, mounting plate; 242, main camera; 243, rotating servo; 244, support rod; 245, stretching servo; 246, telescopic spring; 247, rotating head; 248, macro sensor camera; 249, suction micro camera; 250, suction nozzle;

[0067] 260. Image acquisition device; 261. Ring mounting platform;

[0068] 300. Control device; 310. Display. DETAILED DESCRIPTION

[0069] The following specific embodiments illustrate the implementation of the present application, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Although the description of the present application will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this application are limited to the implementation. On the contrary, the purpose of introducing the application in conjunction with the implementation is to cover other options or modifications that may be extended based on the claims of the present application. In order to provide a deep understanding of the present application, the following description will include many specific details. The present application can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present application, some specific details will be omitted in the description. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0070] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0071] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0072] In the description of the present application, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description created by the present application, unless otherwise specified, "multiple" means two or more.

[0073] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0074] In order to make the objectives, technical solutions and advantages of the present application more clear, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0075] See also Figure 1 , Figure 1 It is a schematic diagram of the system composition of the present invention.

[0076] An embodiment of the present application provides an aircraft engine air intake inspection system, comprising a carrier device 100, an inspection robot 200, and a control device 300 that are communicatively connected to each other.

[0077] The carrier 100 (i.e. Figure 1The carrier vehicle in the figure is used to carry the inspection robot 200 under the control of the control device 300 and align it with the entrance of the aircraft air inlet 1, that is, the inspection robot 200 can be moved horizontally on the ground, as well as lifted and lowered, and the angle adjusted, so as to dock with the left and right air inlets 1 of the fan, so as to facilitate the inspection robot 200 to enter the corresponding air inlet 1.

[0078] Furthermore, by carrying the detection robot 200 through the carrier 100 to dock with the aircraft air intake 1, the detection robot 200 does not need to be provided with posture adjustment mechanisms such as lifting and lowering and angle adjustment, thereby controlling the volume of the detection robot 200. At the same time, since the carrier 100 is operated on the ground, there are fewer restrictions on its volume and load, so that the docking accuracy can be improved by providing a larger and more sophisticated carrier 100, thereby improving the detection safety and reliability at a lower cost.

[0079] Inspection robot 200 (ie Figure 1 The inspection vehicle in the figure is used to move and perform inspection in the air intake duct 1 under the control of the control device 300, that is, it drives into the air intake duct 1 from the carrier 100, moves and inspects in the air intake duct 1, and then returns to the carrier 100.

[0080] In one embodiment, an automatic wire-winding device is provided between the carrier 100 and the detection robot 200, and the detection robot 200 and the control device 300 are connected via a cable with an aviation plug, and the cable connects the detection robot 200 and the control device 300 via the automatic wire-winding device.

[0081] The carrier 100 includes a receiving area 131 for receiving the detection robot 200. A plurality of forward-firing laser ranging sensors are disposed on the surface of the receiving area 131 facing the tail of the detection robot 200 to obtain the distance between the detection robot 200 and the carrier 100. Two forward-firing laser ranging sensors are usually sufficient.

[0082] The automatic wire taking-up device comprises a slip ring and a wire clamping mechanism. The slip ring can be driven by an AC servo motor, and preferably, the slip ring can transmit various types of electrical signals. The wire clamping mechanism can be driven by a DC motor.

[0083] Specifically, the slip ring includes a stationary ring arranged on the carrier 100 and a swivel ring rotatably mounted on the stationary ring, and the two are in contact to realize power or signal transmission. The stationary ring is connected to the control device through a cable, and the swivel is connected to the detection robot 200 through a cable. At the same time, a synchronously rotating drum 140 is mounted on the outside of the swivel, and the cable can be wound around the drum 140 as it rotates.

[0084] The wire clamping mechanism includes a sliding mechanism 150 disposed at the tail of the accommodating area 131 and a limiting portion 160 slidably disposed on the sliding mechanism 150. The sliding direction of the sliding mechanism 150 is parallel to the axial direction of the rotating drum 140 and matches the rotation speed of the slip ring. The cable connected to the rotating ring passes through the limiting portion 160 and is connected to the detection robot 200. Preferably, the limiting portion 160 includes a mounting seat 161 and a horizontal limiting roller group and a vertical limiting roller group disposed on the mounting seat 161. The mounting seat 161 is slidably disposed on the sliding mechanism 150. The horizontal limiting roller group includes two first rollers 162 disposed horizontally opposite to each other, and the vertical limiting roller group includes two second rollers 163 disposed vertically opposite to each other. A wire outlet channel is formed between the horizontal limiting roller group and the vertical limiting roller group, and the cable passes through the wire outlet channel to improve the stability and reliability of the cable winding and unwinding activities.

[0085] This method connects the detection robot 200 and the control device 300 through a cable with an aviation plug, thereby improving the stability and reliability of the communication connection between the two, thereby improving the detection reliability and safety.

[0086] At the same time, the automatic wire-winding device disposed on the carrier 100 realizes real-time synchronous adjustment of the cable length between the detection robot 200 and the control device 300, further improving the stability and reliability of the communication connection between the two.

[0087] It is understandable that the control device 300 and the carrier 100 may also be connected by a cable having an aviation plug and utilizing an automatic cable retracting device.

[0088] When in use, the automatic wire-winding device can be controlled by the control program running in the control device 300, which has an industrial-grade GPU computing artificial intelligence platform built into the detection robot 200. The control program can obtain the ranging data of the two forward-firing laser ranging sensors of the carrier equipment 100 and the operating status data of the detection robot 200 in real time.

[0089] When the detection robot 200 moves forward, the holding force of the AC servo motor of the automatic wire-taking device is released, and the detection robot 200 drives the automatic wire-taking transposed drum 140 to rotate forward clockwise through the connecting cable. The DC motor wire clamping mechanism that can move left and right receives program control at the same time, driving the connecting cable to move left.

[0090] When the detection robot 200 retreats, the torque holding mode of the AC servo motor of the automatic wire-winding device is turned on, so that the AC servo motor drives the automatic wire-winding rotating drum 140 to rotate counterclockwise backward, and the connecting cable is wound around the rotating drum 140, and the connecting cable is always in a straightened state. The DC motor wire clamping mechanism that can move left and right receives program control at the same time, drives the connecting cable to move to the right, and ensures that the connecting cable is evenly wound around the rotating drum 140.

[0091] In other embodiments, the carrier 100, the inspection robot 200, and the manipulation device 300 are connected via wireless communications, such as Bluetooth, mobile network, etc., thereby simplifying the connection between the three.

[0092] See also Figure 2 , Figure 2 It is a schematic structural diagram of the control device 300 of the present invention.

[0093] In one embodiment, the control device 300 includes two 4K displays 310 that can be pulled out and folded, an industrial-grade GPU computing artificial intelligence platform, a dedicated control industrial computer for the detection robot 200, a generator blade toggle device control box unit, a data exchange module, a UPS power supply and various power conversion modules to achieve control and data processing of the entire system, that is, after receiving and processing various types of data collected by the detection robot 200 and the carrier 100, the detection robot 200 and the carrier 100 are controlled to carry out various motions and image collection and processing. At the same time, the control device 300 can also store various types of data to achieve the preservation and traceability of inspection results. In addition, the UPS power supply supports external input AC 220V power supply while charging, which can meet the working power of the entire system and has a power-off protection function.

[0094] See also Figure 3 , Figure 3 It is a schematic structural diagram of the carrying device 100 of the present invention.

[0095] In one embodiment, the vehicle 100 is provided with a laser radar, a plurality of upward-firing laser ranging sensors, and a front contact sensor. Four upward-firing laser ranging sensors may be provided.

[0096] The control device 300 obtains the position of the carrier 100 through the laser radar, and controls the carrier 100 to move so that multiple upward laser sensors are all irradiated on the upper front edge of the inlet of the air intake duct 1 to be inspected; and controls the carrier 100 to rise until the front contact sensor is squeezed to the lower lip edge of the inlet of the air intake duct 1 to be inspected.

[0097] This method uses a laser radar, multiple upward-firing laser ranging sensors, and a front contact sensor to enable the control device 300 to accurately obtain the position of the carrier 100 relative to the entrance of the air inlet 1 to be inspected, thereby improving the docking accuracy of the carrier 100, the inspection robot 200 and the aircraft air inlet 1, and further improving the safety and reliability of the inspection.

[0098] In one embodiment, the carrier 100 includes a mobile chassis 110, a posture adjustment mechanism 120 disposed on the mobile chassis 110, and a receiving tray 130 disposed above the posture adjustment mechanism 120. The mobile chassis 110 enables the entire device to move. The posture adjustment mechanism 120 is used to adjust the height and inclination of the receiving tray 130. The receiving tray 130 is used to receive the detection robot 200.

[0099] Preferably, the mobile chassis 110 is a Mecanum wheel mobile electric vehicle chassis.

[0100] In a specific embodiment, the chassis of the Mecanum wheel mobile electric vehicle and the attitude adjustment mechanism 120 are manually controlled by a handheld remote control to wirelessly control the chassis of the Mecanum wheel mobile electric vehicle to move forward, backward and rotate on the spot, and the attitude adjustment mechanism 120 is controlled to adjust the pitch angle and the lifting height, and the manual control is used to align the left and right air inlets 1 of the aircraft.

[0101] In another specific embodiment, the chassis of the Mecanum wheel mobile electric vehicle and the attitude adjustment mechanism 120 are automatically aligned by the automatic alignment program of the industrial-grade GPU computing artificial intelligence platform built into the control device 300, which obtains data from the four upward laser ranging sensors, the front contact sensor and the laser radar on the carrier 100 in real time, automatically controls the chassis of the Mecanum wheel mobile electric vehicle to move forward and backward and rotate on the spot, and automatically controls the attitude adjustment mechanism 120 to adjust the pitch angle and the lifting height, so as to automatically align with the left and right air inlet 1 entrances of the aircraft.

[0102] It is understandable that the carrier 100 also includes various motor drivers, lithium battery modules and various power modules to adapt to the operation of various component mechanisms thereon.

[0103] In one embodiment, the carrier 100 uses a dual-mode power supply of an external input AC 220V power supply and a built-in rechargeable lithium battery pack module, supports charging while in use, and can meet the power supply support requirements for autonomous movement of the carrier 100 over longer distances.

[0104] See also Figure 4 , Figure 4 Schematic diagram of the structure of the detection robot 200 of the present invention.

[0105] In one embodiment, the detection robot 200 includes a mobile platform 210, which is preferably a vehicle platform driven by four independent wheel hub motors. Furthermore, the mobile platform 210 has four laser ranging sensors built in on the left and right sides, two of which are symmetrically installed on the left and right sides of the front and rear of the vehicle body, respectively. The distance data between the baffles on both sides of the mobile platform 210 and the two sides of the air inlet duct 1 can be measured in real time, and transmitted to the control device 300 in real time, thereby facilitating the movement control of the detection robot 200.

[0106] When in use, the inspection robot 200 can be controlled by the inspection robot 200 running a control program with a built-in industrial-grade GPU computing artificial intelligence platform in the control device 300. The control program can obtain in real time the distance data measured by the left and right built-in four-way laser ranging sensors of the inspection robot 200. When a deviation is detected in the distance data on both sides, the hub motor driver is commanded in real time to control the speed of the four independent high-power hub motors, thereby adjusting the driving direction to ensure that the inspection robot 200 is centered when moving forward and backward in the intake duct.

[0107] In one embodiment, the engine blade shifting device 220, the mechanical arm 230 and the image acquisition device 260 are sequentially arranged from the front end to the rear end of the mobile platform 210. The engine blade shifting device 220, the mechanical arm 230, the image acquisition device 260 and the detection device 240 operate under the control of the control device 300.

[0108] The blade shifting device is used to determine the boundaries of the engine blades, shift the engine blades, and obtain the image of the shock absorbing bosses between the engine blades.

[0109] The image acquisition device 260 is used to acquire the wall image of the air inlet duct 1 .

[0110] The end of the robot arm 230 is provided with a detection device 240 for detecting inside the pipeline, and the detection device 240 includes an image inspection module inside the pipeline, a turbine shifting and inspection module, a sensor inspection module and a foreign matter suction module. A storage device for accommodating foreign matter is also provided on the mobile platform 210. Preferably, the robot arm 230 is a six-axis robot arm 230, so as to improve the flexibility of detection.

[0111] The in-pipeline image inspection module is used to move to the target object to be inspected under the drive of the robot arm 230 and obtain the corresponding image.

[0112] The turbine turning and inspection module is used to photograph and turn the turbine pipe and turbine blades for inspection.

[0113] The sensor inspection module is used to obtain corresponding images of various sensors in the air intake duct 1 .

[0114] The foreign matter suction module is used to collect foreign matter in the air intake duct 1 .

[0115] This method can assist manual work in completing various inspections of the aircraft engine air inlet 1, such as the turning and photographic inspection of the first-stage rotor blades of the aircraft engine, the photographic inspection of the shock-absorbing boss, the photographic inspection of the stator blades and ball caps of the aircraft engine, the rotation and photographic inspection of the turbine blades, the inspection of defects such as foreign matter and scratches in the wall of the air inlet 1, the photographic inspection of various sensors in the air inlet 1, the absorption of foreign matter in the wall of the air inlet 1, etc., so that during the daily inspection of the aircraft, there is no need for manual work to climb into the air inlet 1 for inspection, thus avoiding errors such as human omission of foreign matter, and improving the safety of detection. At the same time, it can achieve long-term and reliable repeated work without omissions, replacing manual inspection of the aircraft engine air inlet 1, which can greatly reduce manpower investment and improve detection efficiency and reliability.

[0116] In addition, by arranging the engine blade shifting device 220, the robotic arm 230 and the image acquisition device 260, the volume of the detection robot 200 is further controlled, making it suitable for flexible operation in the aircraft air inlet 1 with a relatively narrow space. By arranging the detection device 240 at the end of the robotic arm 230, the flexibility and accuracy of various inspections are improved, thereby further improving the detection reliability.

[0117] In one embodiment, the mobile platform 210 is also provided with a monitoring camera on the top of the vehicle head, a monitoring camera on the bottom of the vehicle head, and a power supply and communication transmission module.

[0118] The monitoring cameras at the top and bottom of the front of the vehicle can capture the image of the detection robot 200 running in the air intake duct 1 in real time, and transmit it to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300 in real time.

[0119] See also Figure 5-6 , Figure 5 It is a schematic diagram of the structure of the engine blade shifting device 220 of the present invention in a normal state, that is, in a retracted state; Figure 6 This is a schematic diagram of the structure of the engine blade shifting device 220 of the present invention in the operating state, that is, in the expanded state.

[0120] In one embodiment, the engine blade shifting device 220 includes a three-axis displacement module, a T-axis displacement module 224 and a shifting rod 225 .

[0121] The three-axis displacement module is a combination of an X-axis moving platform 221, a Y-axis moving platform 222 and a Z-axis moving platform 223, which can realize left-right movement in the X direction, up-and-down movement in the Z direction, and two-stage telescopic movement in the Y direction.

[0122] The T-axis displacement module 224 includes a motor and a transmission mechanism to convert rotational motion into linear motion. The motor, such as a stepper motor or a servo motor, provides power, and the transmission mechanism, such as a gear or a lead screw, realizes motion conversion.

[0123] The T-axis displacement module 224 is connected to the Z-axis of the three-axis displacement module, and the lever 225 is connected to the T-axis displacement module 224. The T-axis displacement module 224 realizes the forward and backward movement of the lever 225, thereby realizing the extension or retraction of the lever 225 relative to the three-axis displacement module, so as to control the volume of the engine blade shifting device 220 under normal conditions, and facilitate the adjustment of the extension length of the lever 225 according to the detection distance, thereby improving the detection flexibility and versatility.

[0124] The three-axis displacement module is connected to an X-axis force sensor and a Y-axis force sensor, that is, the motor modules in the X and Y axial directions have a force control function, thereby realizing the movement of the engine blades.

[0125] The head of the lever 225 is provided with a flexible member and an image acquisition unit. The flexible member is used to contact to avoid damaging the generator blades. Preferably, the flexible member is a rubber wheel. The lever 225 is extended or retracted relative to the three-axis displacement module under the drive of the T-axis displacement module 224, and contacts or moves the engine blades under the drive of the three-axis displacement module. The image acquisition unit is used to acquire the image of the damping boss between the engine blades for detection and judgment.

[0126] The image acquisition unit preferably includes a micro camera and an illumination light source.

[0127] This method drives the lever 225 to move by the three-axis displacement module and the T-axis displacement module 224, which can ensure the accuracy and reliability of the movement of the lever 225, avoid damage to the engine blades, and thus improve the safety and reliability of detection.

[0128] When in use, the engine blade shifting device 220 can be controlled by the shifting device control program of the shifting device control box unit built into the control device 300. When the detection robot 200 runs to a designated position close to the engine in the air intake duct 1, the control program sequentially executes the initialization function, the engine stator blade boundary search function, the engine blade shifting function, and the exit function.

[0129] Specifically, (1) when the inspection robot 200 runs to a specified position in the air intake duct 1 close to the engine, the control program first executes an initialization function, including controlling the Y-axis to move forward a specific stroke, and after the Y-axis moves forward to the position, controlling the Z-axis to descend to a specific stroke, and after the Z-axis descends to the position, the program completes the execution of the initialization function.

[0130] (2) The control program executes the function of finding the boundary of the engine stator blades, including controlling the T-axis lever 225 to move forward a specific stroke and extend between the two stator blades of the engine. After the T-axis lever 225 is moved forward to the position, the X-axis is controlled to move leftward until the rubber wheel at the head of the T-axis lever 225 is driven to squeeze the left stator blade. When the force value of the rubber wheel squeezing the left stator blade reaches the X-axis force feedback threshold set by the program, the X-axis is stopped from moving leftward, and the X-axis is controlled to move rightward in the opposite direction until the rubber wheel at the head of the T-axis lever 225 is driven to squeeze the right stator blade. When the X-axis force feedback threshold set by the program is reached, the X-axis is stopped from moving rightward. The control program records the two stop positions of the left and right X-axis and calculates the middle position. Then, the X-axis is controlled to move leftward to drive the T-axis lever 225 to move to the calculated middle position. The program completes the function of finding the boundary of the engine stator blades. At this time, the state of the engine blade shifting device 220 is as follows: Figure 6 shown.

[0131] (3) The control program executes the engine blade shifting function, controls the T-axis lever 225 to extend forward again by a specific stroke. After the T-axis moves to a certain position, the first step is to control the X-axis to move leftward. During the leftward movement, the rubber wheel at the head of the T-axis lever 225 first contacts the blade and continuously pushes the blade to rotate leftward. The second step is to control the X-axis to move leftward. The third step is to control the Y-axis to move rightward by a specific stroke after the Y-axis moves backward. The fourth step is to control the X-axis to move rightward by a specific stroke after the X-axis moves rightward. The control program repeats the above four steps until all the engine blades are shifted. During the blade shifting process, the micro camera installed at the head of the lever 225 will continuously capture images of the shock absorbing bosses between the engine blades under the auxiliary lighting of the light source. The end detection device 240 of the mechanical arm 230 on the detection robot 200 will synchronously capture images of each rotating engine blade and transmit them back to the industrial-grade GPU computing artificial intelligence platform built into the control device 300. The operator can view and record and store the video in real time on the main interface of the inlet duct 1 detection software.

[0132] (4) After all the engine blades are moved, the control program executes the exit function. First, the program controls the T-axis to move backward by a specific stroke. After the T-axis moves backward into position, the Z-axis moves upward by a specific stroke. After the Z-axis moves upward into position, the X-axis moves right by a specific stroke. After the X-axis moves right into position, the Y-axis moves backward and completely retracts into the detection robot 200. The T-axis moves backward and completely retracts to its initial position. The control program executes the exit function and completes.

[0133] It should be noted that the displacement of the X, Y, Z, and T axes can be 0 according to the requirements, for example Figure 6 The Z-axis is shown in its home position, not raised or lowered.

[0134] Preferably, when the above-mentioned control program executes the initialization function, the engine stator blade boundary search function, the engine blade shifting function, the exit function and other operations, the monitoring cameras on the top and bottom of the front of the vehicle are shooting the entire operation process of the shifting device in real time, and all of them are transmitted back to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300. The operator can watch and record and store the screen video in real time on the main interface of the intake duct 1 detection software.

[0135] Please see again Figure 4 In one embodiment, the image acquisition device 260 includes an annular mounting platform 261, 8 cameras and 8 arc-shaped curved light sources evenly distributed on the circumference of the annular mounting platform 261, and a light source controller and a switch.

[0136] The annular mounting platform 261 is vertically disposed at the rear of the moving platform 210 , with its central axis in a horizontal state.

[0137] The 8-channel cameras, for example, 8-channel high-resolution industrial network port cameras, have a field of view covering the circumference of the annular mounting platform 261, and the fields of view of adjacent cameras overlap. The 8-channel cameras are connected to a switch.

[0138] The 8 arc-shaped curved surface light sources correspond to the 8 cameras one by one and are arranged in parallel at a first distance. The 8 arc-shaped curved surface light sources are connected to a light source controller.

[0139] This method uses an image acquisition device 260 that is vertically arranged and has 8 cameras and 8 arc-shaped curved surface light sources to ensure that the camera field of view can cover the entire surrounding area without omission, thereby achieving full-surface shooting of the wall of the air inlet duct 1. The arc-shaped curved surface light source has a larger lighting angle, which makes the camera's shooting clearer, further improves the image quality, facilitates subsequent accurate judgment, and improves detection reliability.

[0140] When in use, the image acquisition device 260 can be controlled by the surround view image acquisition program of the industrial-grade GPU computing artificial intelligence platform built into the control device 300.

[0141] When the inspection robot 200 performs inspection operations in the air intake duct 1, the program can control the rear camera to take pictures of the pipe wall, and at the same time command the light source controller to control the on and off and brightness adjustment of the surrounding light sources to ensure that there is enough light source to illuminate a certain camera when shooting and no excess light will affect the shooting effect of adjacent cameras. The image data captured by the 8-way camera is transmitted to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300 via the switch. The surround view image acquisition program and the foreign matter and defect recognition program can perform foreign matter and defect image recognition processing, display and storage on the collected pictures.

[0142] See also Figure 7 , Figure 7Schematic diagram of the structure of the end detection device 240 of the robot arm 230 of the present invention.

[0143] In one embodiment, the in-pipe image inspection module of the detection device 240 disposed at the end of the robot arm 230 includes two main cameras 242 disposed side by side and a ring light source disposed in one-to-one correspondence with the two main cameras 242, and the lenses of the two main cameras 242 are divided into a telephoto lens and a short-focus lens. Through the coordination of the telephoto lens and the short-focus lens, the shooting of the target objects to be inspected at different distances can be satisfied. While controlling the volume of the in-pipe image inspection module, the image quality is improved, which facilitates subsequent accurate judgment and improves the detection reliability.

[0144] Preferably, the two main cameras 242 have 12 million pixels.

[0145] When in use, the detection device 240 can be controlled by the robot arm 230 control program and various function inspection programs of the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300.

[0146] When performing image inspection on the wall of the intake duct 1 and the engine, according to the driving position of the inspection robot 200 in the pipeline, the axis joints of the robotic arm 230 complete the corresponding posture movements according to the waypoint coordinates pre-set by the program, so that the image inspection module in the pipeline at the end of the robotic arm 230 is aimed at the area to be inspected, and then the light source of the image inspection module in the pipeline is controlled to cooperate with the camera lighting to take pictures of the area to be inspected, and the collected images are transmitted to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300 for processing.

[0147] In one embodiment, the turbine turning and checking module includes a rotation servo 243 and a tension servo 245 .

[0148] The rotating servo 243 is connected to a support rod 244, and the end of the support rod 244 is connected to a rotatable rotor 247 via a telescopic spring 246. The telescopic spring 246 is connected to a stretching servo 245 and is extended and retracted under the control of the stretching servo 245 so that the rotor 247 moves closer to or away from the turbine blades, and the telescopic direction of the telescopic spring 246 is perpendicular to the length direction of the support rod 244.

[0149] The rotating head 247 is provided with a paddle, and the rotating head 247 rotates to drive the paddle to paddle the turbine blades.

[0150] A rear turbine camera is disposed at the end of the support rod 244, and a front turbine camera is disposed at the rotating head 247 to photograph the turbine pipe and turbine blades.

[0151] This method realizes the rotation of the support rod 244 and the camera at its end during inspection operations by rotating the servo 243, which can control the volume of the turbine drive and inspection module in the normal state, and then control the volume of the detection device 240 and the detection robot 200, so that they are suitable for moving in the air inlet 1, and in the normal state, the center of gravity of the turbine drive and inspection module can be close to the center of the detection device 240, thereby improving the stability of the detection device 240, thereby ensuring the stability of other inspection components during inspection operations and improving detection reliability.

[0152] At the same time, when approaching the turbine blades, the extension and retraction of the telescopic spring 246 is controlled by stretching the servo 245 to control the distance between the rotor 247 and the turbine blades, thereby achieving micro-distance adjustment, thereby avoiding collision and damage to the turbine blades when extending between the turbine blades, thereby improving detection reliability and safety.

[0153] During use, when inspecting the turbine of the intake duct 1, the program controls the inspection robot 200 to travel to a specific position near the turbine, and the shaft joints of the mechanical arm 230 first complete the corresponding posture movements according to the waypoint coordinates pre-set by the program. The program then controls the rotation servo 243 of the turbine toggle and the inspection module to rotate the support rod 244 clockwise, and then controls the mechanical arm 230 to continue to drive the extended support rod 244 to gradually extend into the turbine pipeline according to the waypoint coordinates pre-set by the program. When it is in place in the turbine pipeline, the program controls the stretching servo 245 to release the line, and the telescopic spring 246 is gradually released to carry The rotating head 247 slowly extends forward to the vicinity of the front of the turbine blades, and the program then controls the rotating motor to rotate clockwise and counterclockwise respectively, and the rotating head 247 also rotates clockwise and counterclockwise respectively to drive the turbine blades to rotate. After the rotation is completed, the program controls the stretching servo 245 to retract the line, driving the spring to contract. After the spring contracts into place, the program controls the robotic arm 230 to drive the extended support rod 244 to move out of the turbine pipe. After it is moved into place, the program controls the turbine at the end of the robotic arm 230 and the rotating servo 243 of the inspection module to move, retract the support rod 244, and the robotic arm 230 returns to the initial posture, and the inspection is completed.

[0154] Furthermore, during the entry and exit of the support rod 244, the extension and retraction of the spring, and the rotation of the turbine blades, the front turbine camera can capture real-time images and videos of the turbine pipe and blades, and the rear turbine camera can capture real-time images and videos of the spring extension and retraction process. The images of both cameras are transmitted back to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300, and the operator can view and record and store the screen video in real time on the main interface of the intake duct 1 detection software.

[0155] In one embodiment, the sensor inspection module includes a macro sensor camera 248 with a built-in light source.

[0156] During use, when inspecting various temperature and ice sensors in the air intake duct 1, the program controls the inspection robot 200 to drive to specific positions near the sensor in turn. After the driving position is in place, the axis joints of the robotic arm 230 complete the corresponding posture movements according to the waypoint coordinates pre-set by the program, so that the high-definition macro sensor camera 248 with a built-in light source of the sensor inspection module is initially aligned with the sensor to be inspected, and then the robotic arm 230 is controlled to move slowly so that the high-definition macro sensor camera 248 with a built-in light source of the sensor inspection module goes around the sensor and inside to capture and inspect. The captured images are transmitted back to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300 in real time, and the operator can view and record and store the screen video in real time on the main interface of the air intake duct 1 inspection software.

[0157] In one embodiment, the foreign matter suction module includes a suction microscopic camera 249 and a suction nozzle 250, and the suction nozzle 250 is connected to a telescopic rod, the telescopic plane of the telescopic rod is perpendicular to the rotation plane of the support rod 244 of the turbine shifting and inspection module, and the suction nozzle 250 is used to collect and absorb smaller foreign matter, avoiding the need for manual entry into the air intake duct 1 for maintenance, enhancing the system function, and further improving the safety of detection. Usually, the suction nozzle 250 is set to be suitable for sucking foreign matter not exceeding 5mm*5mm*5mm, which not only meets the suction of foreign matter in most cases, but also controls its own volume and performance requirements, so that it is suitable for being set on the detection device 240 with limited volume.

[0158] During use, when foreign objects are detected in the detection area, the position of the foreign objects can be first identified and located through the foreign object recognition program. After the foreign object position coordinate information is obtained, the foreign object suction program can control the robot arm 230 to complete the corresponding posture movement, so that the suction nozzle 250 of the foreign object suction module at the end of the robot arm 230 is aligned with the foreign object. When the alignment is in place, the foreign object suction motor can be controlled to generate suction, and the foreign object is sucked into the storage device on the vehicle through the connected air pipe. The suction observation camera of the foreign object suction module can capture the alignment and suction process in real time, and transmit the captured image back to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300. The operator can watch and record and store the screen video in real time on the main interface of the intake duct 1 detection software.

[0159] In one embodiment, the detection device 240 includes a mounting plate 241 .

[0160] The two main cameras 242 of the in-pipeline image inspection module are disposed on a first side of the mounting plate 241 .

[0161] The rotary servo 243 and the stretch servo 245 of the turbine shifting and inspection module are arranged on the second side of the mounting plate 241, and the support rod 244 can be attached to the second side under the drive of the rotary servo 243, and when the support rod 244 is attached to the second side, the telescopic spring 246 is attached to the third side of the mounting plate 241, wherein the second side is adjacent to the first side, and the third side is opposite to the first side.

[0162] The telescopic rods of the sensor inspection module and the foreign matter suction module are both arranged on the mounting plate 241 and close to the third side, and the suction microscopic camera 249 of the foreign matter suction module is arranged close to the first side and tilted toward the direction of the telescopic rod.

[0163] This method improves the overall integration of the detection device 240 through the reasonable layout of the various components of the in-pipe image inspection module, turbine drive and inspection module, sensor inspection module and foreign matter suction module, effectively controls the volume and stability of the detection device 240 under normal conditions, and is suitable for various detection operations.

[0164] In a specific embodiment, the system completes a complete aircraft engine inlet duct 1 inspection including the following process:

[0165] S1. Manipulate the carrier 100 to move from the left side of the aircraft to the entrance of the left air inlet 1;

[0166] S2. Manipulate the carrier 100 to align with the entrance of the left air inlet 1, automatically or manually adjust the lifting and pitching mechanism of the carrier 100, ensure that the height and angle of the detection robot 200 when entering are consistent with the entrance of the air inlet 1, and the detection robot 200 enters the left air inlet 1 to complete the detection operation;

[0167] S3. Manipulate the carrier vehicle to move from the left air inlet 1 entrance to the right air inlet 1 entrance;

[0168] S4. Adjust the lifting and pitching mechanism of the carrier to ensure that the height and angle of the detection robot 200 when entering the right air inlet 1 are consistent with the entrance, and the detection robot 200 enters the right air inlet 1 to complete the detection operation;

[0169] S5. Maneuver the carrier 100 from the entrance of the right air inlet 1 to the right side of the aircraft and dock to complete the entire system inspection.

[0170] In a specific embodiment, the alignment of the carrier 100 and the inlet of the aircraft air inlet 1 includes the following process:

[0171] Step 1: Align the left air intake 1 entrance: Control the carrier 100 to park on the left side of the aircraft. Figure 8As shown, the carrier 100 continues to move toward the entrance of the left air inlet 1 of the aircraft, so that the carrier 100 moves between the landing gear and the entrance of the left air inlet 1 of the aircraft, and ensures that the 4-way upward laser sensors installed on the carrier 100 are all irradiated on the front edge of the entrance of the aircraft air inlet 1. The automatic alignment program of the carrier 100 with the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300 is run. The carrier 100 will automatically rise and fall, pitch angle, and move until the front contact sensor of the carrier 100 is squeezed to the lower lip of the entrance of the left air inlet. The carrier 100 stops moving, and the alignment with the entrance of the left air inlet 1 is completed. The detection robot 200 can enter the left air inlet 1 for detection, as shown in FIG. Fig. 9 shown.

[0172] Step 2, moving from the entrance of the left air inlet 1 to the entrance of the right air inlet 1: After the detection robot 200 enters the left air inlet 1 and completes the detection, it returns to the carrier 100, and the robotic arm 230 returns to the initial state. The carrier 100 is controlled to move backward in a straight line. After moving backward in place, the height of the carrier's lifting mechanism is lowered to the lowest point, and the carrier's angle adjustment mechanism is adjusted to a horizontal state. The carrier 100 is controlled to move linearly between the entrance of the right air inlet 1 of the aircraft and the landing gear, and it is ensured that the 4-way upward laser sensors installed on the carrier 100 are all irradiated on the upper front edge of the entrance of the right air inlet 1 of the aircraft.

[0173] Step 3, aligning with the right air inlet 1 entrance: Run the carrier 100 alignment program of the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300, and the carrier 100 will automatically rise and fall, pitch angle, and move until the front contact sensor of the carrier 100 squeezes the lower lip edge of the right air inlet 1 entrance. The carrier 100 stops moving, and the alignment with the right air inlet 1 entrance is completed. The detection robot 200 can enter the right air inlet 1 for detection, such as Fig.10 shown.

[0174] Step 4, exit the inspection from the entrance of the right air inlet 1: After the inspection robot 200 enters the right air inlet 1 and completes the inspection, it returns to the carrier 100, and the robot arm 230 returns to the initial state, and controls the carrier 100 to move backward in a straight line. After moving backward in place, the height of the carrier's lifting mechanism is lowered to the lowest point, and the carrier is controlled to move in a straight line to the right side of the aircraft's right air inlet 1 to a suitable distance outside the aircraft's right air inlet 1, such as Fig.11 As shown, the system detection is completed.

[0175] In a specific embodiment, the inspection of the robot 200 entering the full-function mode of the left air intake duct 1 includes the following process:

[0176] Step 1, system initialization self-test: On the aircraft air inlet 1 detection software interface, after completing the setting of the inspection parameters, run the system initialization self-test. The program controls the initialization self-test of each functional module of the system in turn.

[0177] Step 2, sensor function check: under the control of the program, the detection robot 200 travels to a set distance according to the location of each sensor, and the sensor inspection module of the detection device 240 at the end of the robotic arm 230 takes pictures and inspects the ice sensors, bottom temperature sensors, upper wall temperature sensors, and engine side temperature sensors at different positions in the intake duct 1 one by one, and transmits the collected images to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300 for storage, and displays them on the main interface of the intake duct 1 detection software for the operator to watch.

[0178] Step 3, turbine function inspection: under the control of the program, the inspection robot 200 drives to a set distance according to the position where the turbine inspection needs to stop, and the turbine turning and inspection module of the detection device 240 at the end of the robotic arm 230 takes pictures and turns the turbine pipe and blades for inspection, and transmits the collected images to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300 for storage, and displays them on the main interface of the intake duct 1 inspection software for the operator to watch.

[0179] Step 4, engine function inspection: under the control of the program, the inspection robot 200 drives to a set distance according to the position where the engine inspection needs to stop, and the pipeline image inspection module of the detection device 240 at the end of the robot arm 230 takes pictures and inspects the engine ball cap, stator blades, etc. respectively. When photographing and inspecting the first-stage rotor blades of the engine, the main camera 242 of the pipeline image inspection module of the detection device 240 at the end of the robot arm 230 will be aimed at a fixed area of ​​a blade of the engine. Under the control of the program,

[0180] Each time the blade moving device performs a blade moving action, the main camera 242 will photograph and inspect the corresponding rotating blades, and transmit the collected images to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300 for storage, and display them on the main interface of the air inlet 1 detection software. At the same time, the photographed blade images are identified through the foreign matter and defect recognition program, and the program will automatically mark the identified foreign matter and defect images, and store them separately in a file recording foreign matter or defects, so as to facilitate subsequent manual review and processing.

[0181] Step 5, inspection of the wall of the air inlet duct 1: under the control of the program, the inspection robot 200 first drives to the front end of the air inlet duct 1, and during the retreat process, it photographs and inspects the wall of the air inlet duct 1 all around. According to the retreat step distance set by the program, for each step back, the robotic arm 230 makes 8 posture positions pre-set by the program in sequence according to the position where the inspection vehicle is parked. The in-pipe image inspection module of the inspection device 240 at the end of the robotic arm 230 photographs the 8 target areas of the wall respectively to ensure that the wall of the air inlet duct 1 is photographed completely without omission, and that adjacent pictures overlap when moving backward along the entrance direction of the air inlet duct 1.

[0182] When the inspection robot 200 drives in the circular area at the front end of the air inlet duct 1 to take pictures, the in-pipe image inspection module of the inspection device 240 at the end of the robot arm 230 is used to perform the shooting inspection.

[0183] When the detection robot 200 moves backward to the middle section of the air inlet duct 1 , the in-pipe image inspection module of the detection device 240 at the end of the robot arm 230 and the 8-way surround camera at the rear simultaneously collect and shoot images in front and behind the detection robot 200 .

[0184] When the inspection robot 200 moves backward to the rear section of the inlet duct 1 entrance, the 8-way surround view camera at the rear is used to collect and shoot.

[0185] Step 6, exit: After the above functional inspection process is completed, the robotic arm 230 will return to the initial posture, and the detection robot 200 will automatically exit and dock on the carrier 100.

[0186] In a specific embodiment, the industrial-grade GPU computing artificial intelligence platform of the control device 300 includes an air intake duct 1 type selection module and an inspection mode selection module, and the air intake duct 1 type selection module includes left air intake duct 1, right air intake duct 1, and in-situ test mode. The inspection mode selection module includes a full-function mode and a single-item mode, wherein the single-item mode includes: sensor mode, turbine mode, engine mode, pipe wall inspection, foreign matter suction, etc., and the full-function mode automatically performs all inspections.

[0187] The single-item mode is designed to meet specific single-item testing needs, satisfy users' key inspection items, and improve testing efficiency.

[0188] Taking the full-function mode inspection of the left air intake 1 as an example, the operation process is as follows:

[0189] Step 1, system initialization self-test: On the aircraft air inlet 1 detection software interface, after completing the setting of the inspection parameters, run the system initialization self-test. The program controls the initialization self-test of each functional module of the system in turn.

[0190] Control the actions of each axis of the robot arm 230 and the servo and rotary motor of the end device to ensure that each functional actuator works normally;

[0191] Initialize the motor modules of the blade shifting device in each direction of the front end of the detection robot 200 to ensure that the motor modules and actuators are working properly;

[0192] Determine whether the data of the 4-way laser ranging modules on the left and right sides of the detection robot 200 and the 2 forward-firing laser ranging modules at the rear of the system carrier are normal;

[0193] Check whether the image data collected by the 8-way surround camera at the rear of the inspection robot 200, the upper monitoring camera at the front of the vehicle, the lower monitoring camera at the front of the vehicle, the head camera of the toggle lever 225 of the toggle device, the sensor inspection camera at the end of the mechanical arm 230, the suction observation camera, the pipe wall inspection main camera 242 and the brightness control of the supporting light source are normal;

[0194] Check whether the operating parameters of the wheel hub drive motor of the detection robot 2004 are normal;

[0195] After the above self-tests are normal, the detection robot 200 is released, the brake of the hub motor is released, and the robot can enter the air intake duct 1 to perform the inspection.

[0196] Step 2, sensor function check: under the control of the program, the detection robot 200 travels to a set distance according to the location of each sensor, and the sensor inspection module of the detection device 240 at the end of the robotic arm 230 takes pictures and inspects the ice sensors, bottom temperature sensors, upper wall temperature sensors, and engine side temperature sensors at different positions in the intake duct 1 one by one, and transmits the collected images to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300 for storage, and displays them on the main interface of the intake duct 1 detection software for the operator to watch.

[0197] Step 3, turbine function inspection: under the control of the program, the inspection robot 200 drives to a set distance according to the position where the turbine inspection needs to stop, and the turbine turning and inspection module of the detection device 240 at the end of the robotic arm 230 takes pictures and turns the turbine pipe and blades for inspection, and transmits the collected images to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300 for storage, and displays them on the main interface of the intake duct 1 inspection software for the operator to watch.

[0198] Step 4, engine function inspection: under the control of the program, the inspection robot 200 drives to a set distance according to the position where the engine inspection needs to stop, and the pipeline image inspection module of the detection device 240 at the end of the robot arm 230 takes pictures and inspects the engine ball cap, stator blades, etc. respectively. When photographing and inspecting the first-stage rotor blades of the engine, the main camera 242 of the pipeline image inspection module of the detection device 240 at the end of the robot arm 230 will be aimed at a fixed area of ​​a blade of the engine. Under the control of the program,

[0199] Each time the blade moving device performs a blade moving action, the main camera 242 will photograph and inspect the corresponding rotating blades, and transmit the collected images to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300 for storage, and display them on the main interface of the air inlet 1 detection software. At the same time, the photographed blade images are identified through the foreign matter and defect recognition program, and the program will automatically mark the identified foreign matter and defect images, and store them separately in a file recording foreign matter or defects, so as to facilitate subsequent manual review and processing.

[0200] Step 5, inspection of the wall of the air inlet duct 1: under the control of the program, the inspection robot 200 first drives to the front end of the air inlet duct 1, and during the retreat process, it photographs and inspects the wall of the air inlet duct 1 all around. According to the retreat step distance set by the program, for each step back, the robotic arm 230 makes 8 posture positions pre-set by the program in sequence according to the position where the inspection vehicle is parked. The in-pipe image inspection module of the inspection device 240 at the end of the robotic arm 230 photographs the 8 target areas of the wall respectively to ensure that the wall of the air inlet duct 1 is photographed completely without omission, and that adjacent pictures overlap when moving backward along the entrance direction of the air inlet duct 1.

[0201] When the inspection robot 200 drives in the circular area at the front end of the air inlet duct 1 to take pictures, the in-pipe image inspection module of the inspection device 240 at the end of the robot arm 230 is used to perform the shooting inspection.

[0202] When the detection robot 200 moves backward to the middle section of the air inlet duct 1 , the in-pipe image inspection module of the detection device 240 at the end of the robot arm 230 and the 8-way surround camera at the rear simultaneously collect and shoot images in front and behind the detection robot 200 .

[0203] When the inspection robot 200 moves backward to the rear section of the inlet duct 1 entrance, the 8-way surround view camera at the rear is used to collect and shoot.

[0204] During the above process, the images captured by the camera are transmitted to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300 for storage, and displayed on the main interface of the air intake duct 1 detection software. At the same time, the captured pipe wall image is identified through the foreign matter and defect recognition program, and the identified foreign matter and defect image program will automatically mark them and store them separately in a file recording foreign matter or defects, so as to facilitate subsequent foreign matter suction operations and manual review and processing.

[0205] Step 6, exit: After the above functional inspection process is completed, the robotic arm 230 will return to its initial posture, and the inspection robot 200 will automatically exit and dock on the system carrier.

[0206] When the system finds foreign matter smaller than 5*5*5mm in the intake duct 1 in the full-function inspection mode or the pipe wall inspection mode of the single-item mode, the user can perform the foreign matter suction operation according to the location of the foreign matter identified by the program. The operation process is as follows:

[0207] On the aircraft air inlet 1 detection software interface, set it to foreign object suction mode, run the software, input the location of the foreign object found, and the detection robot 200 will drive to the corresponding position according to the program control. The image inspection module in the pipeline of the detection device 240 at the end of the robot arm 230 will take pictures of the foreign object area again for inspection. When the foreign object appears in the foreign object absorbable range box on the software interface, the user can use the mouse to select the foreign object to be absorbed as needed. The program will automatically control the suction nozzle 250 of the foreign object absorption module of the detection device 240 at the end of the robot arm 230 to aim at the foreign object to be absorbed. The suction force generated by the foreign object absorption motor will absorb the foreign object through the trachea into the foreign object storage device. After the absorption is completed, the robot arm 230 will return to its initial posture, and the detection robot 200 will automatically exit and dock on the system carrier.

[0208] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An aircraft engine inlet detection system, characterized in that: Includes carrier equipment, detection robots and control equipment that are interconnected and communicate with each other; The carrying device is used to carry the detection robot under the control of the control device and align it with the entrance of the aircraft air intake; The detection robot is used to move in the air inlet under the control of the control device, and the detection robot includes a mobile platform, and an engine blade shifting device, a mechanical arm and an image acquisition device arranged in sequence from the front end to the rear end of the mobile platform; the engine blade shifting device, the mechanical arm, the image acquisition device and the detection device operate under the control of the control device; wherein, The blade shifting device is used to determine the boundaries of the engine blades, shift the engine blades, and obtain images of the damping bosses between the engine blades; The image acquisition device is used to acquire the image of the intake duct wall; The end of the robot arm is provided with a detection device for detecting inside the pipeline, and the detection device includes an image inspection module inside the pipeline, a turbine shifting and inspection module, a sensor inspection module and a foreign matter suction module; the mobile platform is also provided with a storage device for accommodating foreign matter; and, The in-pipe image inspection module is used to move to the target object to be inspected under the drive of the robotic arm and obtain the corresponding image; The turbine shifting and inspection module is used to photograph and shift the turbine pipe and turbine blades for inspection; The sensor inspection module is used to obtain corresponding images of each sensor in the air intake duct; The foreign matter suction module is used to collect foreign matter in the air intake duct.

2. The aircraft engine inlet detection system according to claim 1, characterized in that: The carrier is provided with a laser radar, a plurality of upward-firing laser ranging sensors, and a front contact sensor; The control device obtains the position of the carrier through the laser radar, and controls the carrier to move so that the multiple upward laser sensors are all irradiated on the upper front edge of the air intake inlet to be inspected; and controls the carrier to rise until the front contact sensor is squeezed onto the lower lip edge of the air intake inlet to be inspected.

3. The aircraft engine air intake detection system according to claim 1, characterized in that: The engine blade shifting device comprises a three-axis displacement module, a T-axis displacement module connected to the Z-axis of the three-axis displacement module, and a shifting rod arranged on the T-axis displacement module; The three-axis displacement module is connected to an X-axis force sensor and a Y-axis force sensor; The head of the lever is provided with a flexible member and an image acquisition unit, the flexible member is used for contacting, the lever is extended or retracted relative to the three-axis displacement module under the drive of the T-axis displacement module, and is driven by the three-axis displacement module to contact or move the engine blade; The image acquisition unit is used to acquire the image of the vibration-absorbing boss between the engine blades.

4. The aircraft engine inlet detection system according to claim 1, characterized in that: The image acquisition device includes an annular mounting platform, 8 cameras and 8 arc-shaped curved light sources evenly distributed on the circumference of the annular mounting platform, and a light source controller and a switch; The annular mounting platform is vertically arranged at the tail of the mobile platform, and its axis is horizontal; The 8-way camera fields of view cover the circumference of the annular mounting platform, and the fields of view of adjacent cameras overlap; and the 8-way cameras are connected to the switch; The 8 arc-shaped curved surface light sources correspond to the 8 cameras one by one and are arranged in parallel at a first distance; and the 8 arc-shaped curved surface light sources are connected to the light source controller.

5. The aircraft engine air intake detection system according to claim 1, characterized in that: The in-pipeline image inspection module includes two main cameras arranged side by side and an annular light source arranged in one-to-one correspondence with the two main cameras, and the lenses of the two main cameras are divided into a telephoto lens and a short-focus lens.

6. The aircraft engine air intake detection system according to claim 5, characterized in that: The turbine shifting and inspection module includes a rotary servo and a stretching servo; The rotary steering gear is connected to a support rod, and the end of the support rod is connected to a rotatable turning head through a telescopic spring, and the telescopic spring is connected to the stretching steering gear and is extended and retracted under the control of the stretching steering gear so that the turning head is close to or away from the turbine blade, and the extension direction of the telescopic spring is perpendicular to the length direction of the support rod; The rotating head is provided with a paddle, and the rotating head drives the paddle to paddle the turbine blade; A rear turbine camera is arranged at the end of the support rod, and a front turbine camera is arranged at the rotating head, so as to photograph the turbine pipe and the turbine blades.

7. The aircraft engine air intake detection system according to claim 6, characterized in that: The sensor inspection module includes a macro sensor camera with a built-in light source.

8. The aircraft engine air intake detection system according to claim 7, characterized in that: The foreign matter suction module comprises a suction microscopic camera and a suction nozzle, and the suction nozzle is connected with a telescopic rod, and the telescopic plane of the telescopic rod is perpendicular to the rotation plane of the support rod of the turbine shifting and inspection module.

9. The aircraft engine air intake detection system according to claim 8, characterized in that: The detection device comprises a mounting plate, The two main cameras of the pipeline image inspection module are arranged on the first side of the mounting plate. The rotary servo and the stretch servo of the turbine shifting and inspection module are arranged on the second side of the mounting plate, the support rod can be attached to the second side under the drive of the rotary servo, and when the support rod is attached to the second side, the telescopic spring is attached to the third side of the mounting plate, wherein the second side is adjacent to the first side, and the third side is opposite to the first side; The telescopic rods of the sensor inspection module and the foreign matter suction module are both arranged on the mounting plate and close to the third side, and the suction microscopic camera of the foreign matter suction module is arranged close to the first side and inclined toward the direction of the telescopic rod.

10. The aircraft engine inlet detection system according to any one of claims 1 to 9, characterized in that: The carrier device is provided with an automatic wire-retracting device, the detection robot is connected to the control device via a cable with an aviation plug, and the cable connects the detection robot and the control device via the automatic wire-retracting device; The carrier includes a receiving area for receiving the detection robot, and a surface of the receiving area facing the tail of the detection robot is provided with a plurality of forward-firing laser ranging sensors to obtain the distance between the detection robot and the carrier; The automatic wire taking-up device comprises a slip ring and a wire clamping mechanism; The slip ring includes a stationary ring arranged on the carrier and a rotating ring rotatably sleeved on the stationary ring, and the two are in contact to realize power or signal transmission, the stationary ring is connected to the control device through a cable, the rotating ring is connected to the detection robot through a cable, and the outer surface of the rotating ring is sleeved with a synchronously rotating drum, and the cable can be wound on it as the rotating drum rotates; The wire clamping mechanism includes a sliding mechanism arranged at the tail of the accommodating area and a limiting portion slidably arranged on the sliding mechanism. The sliding direction of the sliding mechanism is parallel to the axial direction of the rotating drum and matches the rotation speed of the slip ring. The cable connected to the rotating ring passes through the limiting portion and is connected to the detection robot.

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