Aircraft engine air inlet channel detection method

Abstract

The invention provides an aircraft engine air inlet channel detection method, 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 method which comprises the following steps: S1, a control device controls a carrying device to move from one side of an aircraft to an air inlet channel inlet of a corresponding side edge; s2, the control device adjusts the height and the pitching angle of the containing disc by controlling a posture adjusting mechanism till the front contact sensor is extruded to the lower lip edge of the inlet of the air inlet channel to be detected, and then the control device controls the detection robot to enter the air inlet channel for detection and return to the containing disc after detection is completed; s3, the control equipment controls the movable chassis to move backwards, controls the posture adjusting mechanism to restore the initial state, and then controls the movable chassis to horizontally move to an air inlet channel inlet in the other side edge; s4, repeating the step S2; and S5, the control equipment controls the mobile chassis to move backwards, controls the posture adjusting mechanism to recover the initial state, and then controls the mobile chassis to translate to the outer side of the air passage inlet, so that detection is completed. 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 method. 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., the above-mentioned equipment usually needs to be manually carried into the intake duct, which is inconvenient to operate. At the same time, it cannot replace manual operations in the intake duct, such as turning the engine blades to check whether they are stuck, checking whether the turbine blades in the intake duct can rotate normally, and sucking out foreign objects found. In other words, there are still shortcomings such as single inspection items, heavy manual participation in operations, and non-standard steps, resulting in low inspection efficiency, reliability and safety. 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 inspection in the prior art. Therefore, this application provides an aircraft engine inlet inspection method, which realizes the docking of the inspection 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 inspection robot, which can greatly reduce manpower input, improve inspection efficiency and reliability, avoid the risk of human error, and improve inspection safety.

[0005] The embodiment of the present application provides an aircraft engine intake duct detection method, which is applied to an aircraft engine intake duct detection system, wherein the system comprises a carrier, a detection robot and a control device that are communicatively connected to each other; the carrier comprises a mobile chassis, a posture adjustment mechanism disposed on the mobile chassis and a receiving tray disposed above the posture adjustment mechanism, the receiving tray being used to receive the detection robot, a plurality of laser radars are further disposed on the mobile chassis, and a plurality of upward-firing laser ranging sensors and a front contact sensor are disposed at the front end of the receiving tray; the detection robot is used to enter the intake duct and detect;

[0006] The method comprises:

[0007] S1. The control device controls the carrier carrying the inspection robot to move from one side of the aircraft to the air inlet entrance on the corresponding side, wherein the control device obtains the position of the mobile chassis through multiple laser radars and controls the mobile chassis to move so that multiple upward-firing laser sensors are all irradiated on the upper front edge of the air inlet entrance to be inspected;

[0008] S2, the control device adjusts the height and pitch angle of the receiving plate by controlling the posture adjustment mechanism until the front contact sensor is pressed against the lower lip edge of the inlet of the air inlet to be inspected, and then the control device controls the inspection robot to enter the air inlet for inspection and return to the receiving plate after the inspection is completed;

[0009] S3, the control device controls the mobile chassis to move backward, controls the attitude adjustment mechanism to restore the initial state, and then controls the mobile chassis to move horizontally to the air intake entrance on the other side, and makes the multiple upward laser sensors illuminate the upper front edge of the air intake entrance to be inspected;

[0010] S4, repeat S2;

[0011] S5. The control device controls the mobile chassis to move backward, controls the posture adjustment mechanism to restore to the initial state, and then controls the mobile chassis to move horizontally to the outside of the airway entrance to complete the detection.

[0012] By adopting the above technical scheme, the detection robot is transferred between the left and right air inlets of the aircraft engine by controlling the carrier equipment through the control equipment, thereby improving the convenience and safety of detection; in addition, the carrier equipment is initially positioned by multiple laser radars, secondarily positioned by multiple upward laser sensors, and finally positioned by front contact sensors, thereby improving the accuracy of docking between the carrier equipment and the air inlet, thereby ensuring that the detection robot accurately enters the air inlet and accurately determines each detection position, thereby improving the detection efficiency, reliability and safety.

[0013] In some embodiments, the carrier device is provided with an automatic wire-retracting device, the detection robot and the control device are connected via a cable with an aviation plug, and the cable connects the detection robot and the control device via the automatic wire-retracting device;

[0014] A plurality of forward-firing laser ranging sensors are arranged on the surface of the containing plate facing the tail of the detection robot. The control device obtains the position of the detection robot according to the distance data of the plurality of forward-firing laser ranging sensors, and controls the automatic wire-winding device to reel in and release the wire according to the position of the detection robot.

[0015] 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, by cooperating with the automatic wire-winding device arranged on the carrier equipment and a plurality of forward-firing laser ranging sensors, the real-time synchronous adjustment of the cable length between the detection robot and the control equipment is realized, further improving the stability and reliability of the communication connection between the two.

[0016] In some embodiments, 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; a detection device is arranged at the end of the mechanical arm, and the detection device includes an in-pipe image inspection module, 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 arranged on the mobile platform, and the storage device is connected to the foreign matter suction module through an air pipe;

[0017] The control device controls the detection robot to enter the air intake duct according to the position of each sensor in the air intake duct, and obtains the image of the sensor at the corresponding position through the sensor inspection module;

[0018] The control equipment controls the inspection robot to travel a set distance according to the turbine inspection stop position, and uses the turbine turning and inspection module to photograph and turn the turbine pipe and turbine blades for inspection;

[0019] The control device controls the inspection robot to travel a set distance according to the engine inspection parking position, and controls the engine blade shifting device to shift the engine blades one by one, and at the same time continuously acquires the damping boss image and the corresponding blade images one by one;

[0020] The control device controls the detection robot to retreat out of the air inlet duct, and obtains the image of the air inlet duct wall through the image acquisition device and the image inspection module in the pipeline;

[0021] The control device controls the foreign matter suction module to collect foreign matter in the air intake duct and suck it into the storage device.

[0022] By adopting the above technical scheme, the detection robot can be remotely controlled through the control equipment to assist manual work in completing various inspections of the aircraft engine inlet 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 rotation and photographing inspection of the turbine blades, the inspection of defects such as foreign matter and scratches in the inlet duct wall, the photographing inspection of various sensors in the inlet duct, the absorption of foreign matter in the inlet duct wall, etc., so that in the daily inspection of the aircraft, there is no need for manual work to climb into the inlet duct for inspection, which avoids errors such as human omission of foreign matter and improves the safety of inspection. At the same time, it can achieve long-term reliable repeated work without omission, replace manual inspection of the aircraft engine inlet duct, greatly reduce manpower investment, and improve inspection efficiency and reliability; the detection robot controls the volume of the detection robot by arranging the engine blade turning device, the mechanical arm and the image acquisition device, so that it is suitable for flexible operation in the aircraft inlet duct with a relatively small space, and also improves the flexibility and accuracy of various inspections by arranging the detection device at the end of the mechanical arm, thereby further improving the reliability of inspection.

[0023] In some embodiments, the engine blade shifting device includes a three-axis displacement module, a T-axis displacement module connected to the Z-axis moving platform 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 shifting rod is provided with a flexible member and an image acquisition unit;

[0024] The control device controls the engine blade shifting device to sequentially perform an initialization step, a step of finding the boundary of the engine stator blades, an engine blade shifting step, and an exit step;

[0025] The initialization steps include:

[0026] The control device controls the Y-axis moving stage of the engine blade shifting device to move forward to a specific stroke. After the Y-axis moving stage moves forward to a certain position, the Z-axis moving stage is controlled to descend to a specific stroke. After the Z-axis moving stage descends to a certain position, the initialization is completed.

[0027] The steps to find the boundaries of the engine stator blades include:

[0028] The control device controls the T-axis displacement module of the engine blade shifting device so that the lever moves forward a specific stroke and extends between the two stator blades of the engine. After the lever is moved forward to the right position, the X-axis moving platform is controlled to move left and right until the flexible part of the lever head squeezes the stator blade on the corresponding side and the force value reaches the set X-axis force feedback threshold. The middle position is obtained through the stop positions of the X-axis moving platform twice, and then the T-axis displacement module is controlled to return to the position, and the X-axis moving platform is moved to the middle position to complete the search for the boundary of the engine stator blade;

[0029] The engine blade shifting steps include:

[0030] The control device controls the T-axis displacement module to make the lever extend forward again to a specific stroke. After the lever is moved into position, the blades are moved left and right through the cooperation of the X-axis moving platform and the Y-axis moving platform until all the engine blades are moved. During the blade movement, the control device controls the image acquisition unit at the lever head to continuously capture images of the shock absorbing bosses between the engine blades, and controls the image inspection module in the pipeline to acquire images of each engine blade one by one.

[0031] The exit steps include:

[0032] The control device controls the T-axis displacement module, the Z-axis moving stage, the X-axis moving stage and the Y-axis moving stage to return to the initial positions in sequence, and the exit is completed.

[0033] By adopting the above technical solution, the control device drives the lever to move by controlling the three-axis displacement module and the T-axis displacement module, thereby ensuring the accuracy and reliability of the lever movement and avoiding damage to the engine blades, thereby improving the safety and reliability of detection.

[0034] In some embodiments, the control device realizes moving the blades left and right by cooperating with the X-axis moving platform and the Y-axis moving platform until all the engine blades are moved, including:

[0035] S11, in response to the lever being moved into position, the control device controls the X-axis moving platform to move to one side, and during the movement, the flexible member at the head of the lever first contacts the blade and continuously pushes the blade to rotate to one side;

[0036] S12, in response to the X-axis moving stage moving to one side and into position, the control device controls the Y-axis moving stage to move backward by a preset stroke;

[0037] S13, in response to the Y-axis moving stage moving backward to a position, the control device controls the X-axis moving stage to move a preset stroke to the other side;

[0038] S14, in response to the X-axis moving stage moving to the other side, the control device controls the Y-axis moving stage to move forward by a preset stroke;

[0039] S15. In response to the Y-axis moving table moving forward to a position, the control device controls the X-axis moving table and the Y-axis moving table to repeat steps S11-S14 until all the engine blades are moved.

[0040] In some embodiments, the turbine shifting and inspection module includes a rotating servo and a stretching servo; the rotating servo is connected to a support rod, the end of the support rod is connected to a rotatable rotating head through a telescopic spring, the telescopic spring is connected to the stretching servo, and the telescopic direction of the telescopic spring is perpendicular to the length direction of the support rod; the rotating head is provided with a paddle, the end of the support rod is provided with a rear turbine camera, and the rotating head is provided with a front turbine camera; the control device controls the turbine shifting and inspection module to perform the following steps:

[0041] S21, the control device controls the rotation of the servo, so that the support rod rotates and extends clockwise;

[0042] S22, in response to the support rod being extended into position, the control device controls the mechanical arm to drive the extended support rod to gradually extend into the turbine pipe according to the preset waypoint coordinates;

[0043] S23, in response to the mechanical arm moving into position, the control device controls the stretching steering gear to release the wire, so that the tension of the telescopic spring is gradually released, and the rotor is driven to gradually extend forward to the vicinity of the front of the turbine blade;

[0044] S24, in response to the rotor being inserted into place, the control device controls the rotor to rotate clockwise and counterclockwise to drive the paddle to poke the turbine blades, and controls the front turbine camera and the rear turbine camera to obtain images of the turbine blades;

[0045] S25. After the toggling is completed, the control device controls the stretching servo to retract the wire, so that the telescopic spring shrinks. After the telescopic spring shrinks to the right position, the control device controls the mechanical arm to drive the support rod to move out of the turbine pipe. After the support rod moves out to the right position, the rotary servo is controlled to retract the support rod, and the mechanical arm returns to the initial posture. The inspection is completed.

[0046] By adopting the above technical scheme, the control equipment realizes the rotation of the support rod and the camera at its end during the inspection operation by controlling the rotating servo, 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 and the detection robot, 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 the inspection operation, and improving the detection reliability; at the same time, when approaching the turbine blades, the extension and contraction of the telescopic spring can be controlled by controlling 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.

[0047] In some embodiments, the sensor inspection module includes a macro sensor camera with a built-in light source; the control device controls the mobile platform, the mechanical arm and the sensor inspection module of the detection robot to perform the following steps:

[0048] S31, the control device controls the mobile platform of the detection robot to travel to the preset position of the corresponding sensor;

[0049] S32. In response to the driving position being in place, the control device controls the axis joints of the robotic arm to complete corresponding posture movements according to the preset waypoint coordinates, and makes the macro sensor camera of the sensor inspection module initially align with the sensor to be detected, and then controls the robotic arm to move so that the macro sensor camera shoots around and inside the sensor.

[0050] In some embodiments, the control device controls the image acquisition device and the robotic arm to perform the following steps:

[0051] In response to the instruction of the inspection robot to retreat back to the carrier, the control device controls the mobile platform of the inspection robot to move according to a preset retreat step and stops between two steps to obtain a pipe wall image; and

[0052] When the inspection robot retreats to the front section of the air inlet, the in-pipe image inspection module of the inspection device at the end of the robot arm is controlled to obtain the pipe wall image;

[0053] When the inspection robot retreats to the middle section of the air inlet, the in-pipe image inspection module of the inspection device at the end of the manipulator and the image acquisition device at the rear end of the mobile platform simultaneously acquire the pipe wall image;

[0054] When the detection robot retreats to the rear section of the air inlet, the image acquisition device at the rear end of the mobile platform is controlled to obtain the tube wall image.

[0055] By adopting the above technical solution, the control equipment can obtain the image of the pipe wall by controlling the detection robot when the detection robot returns to the carrier, so as to comprehensively obtain the state of the pipe wall and avoid missing possible traces during the previous entry; and by controlling the image acquisition device and the in-pipe image inspection module at the end of the robotic arm to cooperate in different sections of the air inlet duct, the quality of the acquired image is improved, thereby further improving the detection reliability.

[0056] In some embodiments, the control device controls the robotic arm to move to eight preset posture positions in sequence according to the docking position of the detection robot, and uses the in-pipe image inspection module of the detection device at the end of the robotic arm to photograph eight target areas of the pipe wall respectively.

[0057] In some embodiments, the foreign body suction module includes a suction microscopic camera and a suction nozzle, and the suction nozzle is connected to a telescopic rod; the control device controls the mechanical arm and the foreign body suction module to perform the following steps:

[0058] S41, controlling the device to obtain an image of the foreign object through a microscopic camera, and locating the position of the foreign object according to the image of the foreign object;

[0059] S42, the control device controls the movement of the robot arm according to the position of the foreign object so that the suction nozzle is aimed at the foreign object;

[0060] S43, the control device controls the telescopic rod to move according to the position of the foreign object, so that the suction nozzle is close to the foreign object, and controls the suction nozzle to suck the foreign object, so that the foreign object is transferred to the storage device through the suction nozzle.

[0061] By adopting the above technical solution, the control equipment can collect smaller foreign objects by controlling the suction nozzle, avoiding the need for manual entry into the air inlet for maintenance, enhancing the system function and further improving the safety of detection; in addition, the image is first acquired and the position is located through the microscopic camera, and then the robot arm is used for preliminary alignment, and the telescopic rod is finally aligned, which improves the control accuracy and safety.

[0062] 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

[0063] Figure 1 It is a schematic diagram of the method flow of the present invention;

[0064] Figure 2 It is a schematic diagram of the system composition of the present invention;

[0065] Figure 3 It is a structural schematic diagram of the control device of the present invention;

[0066] Figure 4 It is a schematic diagram of the structure of the carrier of the present invention;

[0067] Figure 5 It is a structural schematic diagram of the detection robot of the present invention;

[0068] Figure 6 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;

[0069] Figure 7 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;

[0070] Figure 8 It is a structural schematic diagram of the robot arm end detection device of the present invention;

[0071] Fig. 9 It is a schematic diagram of the initial docking position of the carrier of the present invention;

[0072] Fig.10 A schematic diagram of the carrier device of the present invention aligning with the left air inlet;

[0073] Fig.11Schematic diagram of the carrier device of the present invention aligned with the right air inlet;

[0074] Fig.12 Schematic diagram of the carrier of the present invention exiting at the end of the inspection.

[0075] Description of reference numerals: 1. air intake duct;

[0076] 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;

[0077] 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;

[0078] 230. Robotic arm;

[0079] 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;

[0080] 260. Image acquisition device; 261. Ring mounting platform;

[0081] 300. Control device; 310. Display. DETAILED DESCRIPTION

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0088] The present embodiment provides an aircraft engine air inlet inspection method, which is applied to an aircraft engine air inlet 1 inspection system. The inspection robot 200 is docked with the aircraft air inlet 1 through a carrier device 100, and the engine blade shifting device 220, the mechanical arm 230 and the image acquisition device 260 of the inspection robot 200 assist in manually completing various inspections of the engine air inlet 1. This can greatly reduce manpower input, improve inspection efficiency and reliability, avoid the risk of human errors, and improve inspection safety.

[0089] See also Figure 1 , Figure 1 It is a schematic diagram of the method flow of the present invention.

[0090] The method includes:

[0091] S1. The control device 300 controls the carrier 100 carrying the inspection robot 200 to move from one side of the aircraft to the entrance of the air inlet 1 on the corresponding side, wherein the control device 300 obtains the position of the mobile chassis 110 through multiple laser radars, and controls the movement of the mobile chassis 110 so that multiple upward-firing laser sensors are all irradiated on the front edge of the entrance of the air inlet 1 to be inspected.

[0092] S2, the control device 300 adjusts the height and pitch angle of the receiving tray 130 by controlling the posture adjustment mechanism 120 until the front contact sensor is pressed against the lower lip edge of the inlet of the air inlet 1 to be inspected, and then the control device 300 controls the detection robot 200 to enter the air inlet 1 for detection and return to the receiving tray 130 after the detection is completed;

[0093] S3, the control device 300 controls the mobile chassis 110 to move backward, and controls the posture adjustment mechanism 120 to restore the initial state, and then controls the mobile chassis 110 to move horizontally to the entrance of the air intake duct 1 on the other side, and makes multiple upward laser sensors illuminate the upper front edge of the entrance of the air intake duct 1 to be inspected.

[0094] S4. Repeat S2.

[0095] S5. The control device 300 controls the mobile chassis 110 to move backward, controls the posture adjustment mechanism 120 to restore to an initial state, and then controls the mobile chassis 110 to move horizontally to the outside of the airway entrance to complete the detection.

[0096] In this method, the control device 300 controls the carrier 100 to transfer the detection robot 200 between the left and right air inlets 1 of the aircraft engine, thereby improving the convenience and safety of detection. In particular, by controlling the carrier 100 to move sequentially and orderly, for example, the carrier 100 moves sequentially from left to right, that is, the left side of the aircraft-the entrance of the left air inlet 1-the entrance of the right air inlet 1-the right side of the aircraft, detection omissions are avoided and detection safety is further improved.

[0097] In addition, the control device 300 performs preliminary positioning of the carrier 100 through multiple laser radars, performs secondary positioning through multiple upward laser sensors, and performs final positioning through a front contact sensor, thereby improving the docking accuracy between the carrier 100 and the air inlet 1, thereby ensuring that the detection robot 200 accurately enters the air inlet 1 and accurately determines each detection position, thereby improving detection efficiency, reliability and safety.

[0098] In a specific embodiment, the alignment of the carrier 100 and the inlet of the aircraft air inlet 1 includes the following process:

[0099] Step 1: Align the left air intake 1 entrance: Control the carrier 100 to park on the left side of the aircraft. Fig. 9 As 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.10 shown.

[0100] 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, and controls the carrier 100 to move backward in a straight line. After moving backward in place, the attitude adjustment mechanism 120 is lowered to the lowest point, and the attitude adjustment mechanism 120 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.

[0101] 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.11 shown.

[0102] 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 mechanical 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 attitude adjustment mechanism 120 is lowered to the lowest point and adjusted to a horizontal state, and the carrier is controlled to move in a straight line to the right side of the right air inlet 1 of the aircraft to a suitable distance outside the right air inlet 1 of the aircraft, such as Fig.12 As shown, the system detection is completed.

[0103] See also Figure 2 , Figure 2 It is a schematic diagram of the system composition of the present invention.

[0104] In one embodiment, an aircraft engine air intake inspection system to which the present method is applied includes a carrier device 100, an inspection robot 200, and a control device 300 that are communicatively connected to each other.

[0105] In one embodiment, the carrier 100 is provided with an automatic wire-retracting device, 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-retracting device.

[0106] The carrier 100 includes a receiving area 131 for receiving the detection robot 200, such as a receiving tray 130. The surface of the receiving tray 130 facing the tail of the detection robot 200 is provided with a plurality of forward-firing laser ranging sensors to obtain the distance between the detection robot 200 and the carrier 100, that is, the control device 300 obtains the position of the detection robot 200 according to the distance data of the plurality of forward-firing laser ranging sensors, and controls the automatic wire-winding device to reel in and unreel the wire according to the position of the detection robot 200. Two forward-firing laser ranging sensors are usually sufficient.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] At the same time, by cooperating with a plurality of forward-firing laser ranging sensors and an automatic wire-winding device arranged on the carrier 100, real-time synchronous adjustment of the cable length between the detection robot 200 and the control device 300 is achieved, further improving the stability and reliability of the communication connection between the two.

[0112] 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.

[0113] In a specific embodiment, the automatic wire-winding device can be controlled by a control program running on the inspection robot 200 with an industrial-grade GPU computing artificial intelligence platform built into the control device 300. The control program can obtain the ranging data of the two forward-firing laser ranging sensors of the carrier 100 and the operating status data of the inspection robot 200 in real time.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] See also Figure 3 , Figure 3 It is a schematic structural diagram of the control device 300 of the present invention.

[0118] 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.

[0119] See also Figure 4 , Figure 4 It is a schematic structural diagram of the carrying device 100 of the present invention.

[0120] In one embodiment, the carrying device 100 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 carrying device 100 is used to realize the horizontal movement of the inspection robot 200 on the ground, as well as lifting and lowering, angle adjustment, etc., 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.

[0121] 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.

[0122] In one embodiment, the vehicle 100 is provided with a plurality of laser radars, a plurality of upward-firing laser ranging sensors, and a front contact sensor. Four upward-firing laser ranging sensors may be provided.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] Preferably, the mobile chassis 110 is a Mecanum wheel mobile electric vehicle chassis.

[0127] 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.

[0128] 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.

[0129] See also Figure 5 , Figure 5 Schematic diagram of the structure of the detection robot 200 of the present invention.

[0130] In one embodiment, the inspection robot 200 is used to move in the air intake duct 1 and perform inspection under the control of the control device 300 .

[0131] 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 front and rear left and right sides of the mobile platform 210. The distance data between the baffles on both sides of the mobile platform 210 and the two sides of the air inlet 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] The control device 300 controls the detection robot 200 to enter the air intake duct 1 according to the position of each sensor in the air intake duct 1, and obtains the image of the sensor at the corresponding position through the sensor inspection module;

[0136] The control device 300 controls the inspection robot 200 to travel a set distance according to the turbine inspection parking position, and uses the turbine turning and inspection module to photograph and turn the turbine pipe and turbine blades for inspection;

[0137] The control device 300 controls the inspection robot 200 to travel a set distance according to the engine inspection parking position, and controls the engine blade shifting device 220 to shift the engine blades one by one, and at the same time continuously acquires the damping boss image and the corresponding blade images one by one;

[0138] The control device 300 controls the detection robot 200 to retreat from the air inlet 1, and obtains the wall image of the air inlet 1 through the image acquisition device 260 and the image inspection module in the pipeline;

[0139] The control device 300 controls the foreign matter suction module to collect foreign matter in the air intake duct 1 and suck it into the storage device.

[0140] By adopting the above technical solution, the inspection robot 200 can be remotely controlled through the control device 300 to assist in completing various inspections of the aircraft engine air inlet 1, 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 rotation and photographing inspection of the turbine blades, the inspection of defects such as foreign matter and scratches in the wall of the air inlet 1, the photographing inspection of various sensors in the air inlet 1, the suction of foreign matter in the wall of the air inlet 1, etc., so that in the daily inspection of the aircraft, there is no need for manual climbing into the air inlet 1 for inspection, which avoids errors such as human omission of foreign matter, improves the safety of inspection, and , can achieve long-term reliable repeated work without omissions, and replace manual inspection of the aircraft engine air inlet 1, which can greatly reduce manpower investment and improve inspection efficiency and reliability; the inspection robot 200 controls the volume of the inspection robot 200 by arranging the engine blade shifting device 220, the mechanical arm 230 and the image acquisition device 260, making it suitable for flexible operation in the aircraft air inlet 1 with a relatively small space, and also improves the flexibility and accuracy of various inspections by arranging the inspection device 240 at the end of the mechanical arm 230, thereby further improving the inspection reliability.

[0141] 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.

[0142] 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.

[0143] 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.

[0144] See also Figure 6-7 , Figure 6 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 7 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.

[0145] 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 .

[0146] The three-axis displacement module, i.e., the combination of the XYZ axis moving table 223, 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.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] The image acquisition unit preferably includes a micro camera and an illumination light source.

[0152] 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.

[0153] In one embodiment, the control device 300 controls the engine blade shifting device 220 to sequentially perform an initialization step, a step of finding the engine stator blade boundary, an engine blade shifting step, and an exit step.

[0154] The initialization steps include:

[0155] The control device 300 controls the Y-axis moving platform 222 of the engine blade shifting device 220 to move forward to a specific stroke. After the Y-axis moving platform 222 moves forward to the right position, the Z-axis moving platform 223 is controlled to descend to the specific stroke. After the Z-axis moving platform 223 descends to the right position, the initialization is completed.

[0156] The steps to find the boundaries of the engine stator blades include:

[0157] The control device 300 controls the T-axis displacement module 224 of the engine blade shifting device 220, so that the lever 225 moves forward a specific stroke and extends between the two stator blades of the engine. After the lever 225 is moved forward to the right position, the X-axis moving platform 221 is controlled to move left and right until the flexible part at the head of the lever 225 squeezes the stator blade on the corresponding side and the force value reaches the set X-axis force feedback threshold. The middle position is obtained by stopping the X-axis moving platform 221 twice, and then the T-axis displacement module 224 is controlled to return to its original position, and the X-axis moving platform 221 is moved to the middle position to complete the search for the boundary of the engine stator blade.

[0158] The engine blade shifting steps include:

[0159] The control device 300 controls the T-axis displacement module 224, so that the lever 225 extends forward again to a specific stroke. After the lever 225 moves into position, the blades are moved left and right through the cooperation of the X-axis moving platform 221 and the Y-axis moving platform 222 until all the engine blades are moved. During the blade movement, the control device 300 controls the image acquisition unit at the head of the lever 225 to continuously capture images of the shock-absorbing bosses between the engine blades, and controls the image inspection module in the pipeline to acquire images of each engine blade one by one. Preferably, the above images are all transmitted back to the built-in industrial-grade GPU computing artificial intelligence platform of the control device 300, and the operator can watch and record and store the video in real time on the main interface of the inlet 1 detection software;

[0160] The exit steps include:

[0161] The control device 300 controls the T-axis displacement module 224, the Z-axis moving platform 223, the X-axis moving platform 221 and the Y-axis moving platform 222 to return to the initial positions in sequence, and the exit is completed.

[0162] In this manner, the control device 300 drives the lever 225 to move by controlling the three-axis displacement module and the T-axis displacement module 224, thereby ensuring the accuracy and reliability of the movement of the lever 225 and avoiding damage to the engine blades, thereby improving the safety and reliability of detection.

[0163] In one embodiment, the control device 300 realizes moving the blades left and right by cooperating with the X-axis moving platform 221 and the Y-axis moving platform 222 until all the engine blades are moved, including:

[0164] S11, in response to the lever 225 moving into position, the control device 300 controls the X-axis moving platform 221 to move to one side, and during the movement, drives the flexible member at the head of the lever 225 to first contact the blade and continuously push the blade to rotate to one side.

[0165] S12, in response to the X-axis moving table 221 moving to one side to a position, the control device 300 controls the Y-axis moving table 222 to move backwards by a preset stroke.

[0166] S13, in response to the Y-axis moving table 222 moving backward to a position, the control device 300 controls the X-axis moving table 221 to move to the other side by a preset stroke.

[0167] S14, in response to the X-axis moving table 221 moving to the other side, the control device 300 controls the Y-axis moving table 222 to move forward by a preset stroke.

[0168] S15. In response to the Y-axis moving table 222 moving forward to a position, the control device 300 controls the X-axis moving table 221 and the Y-axis moving table 222 to repeat steps S11-S14 until all the engine blades are moved.

[0169] 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.

[0170] Preferably, when executing the initialization step, the engine stator blade boundary finding step, the engine blade shifting step and the exit step, the monitoring cameras on the top and bottom of the front of the vehicle are recording 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.

[0171] Please see again Figure 5 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.

[0172] The annular mounting platform 261 is vertically disposed at the rear of the moving platform 210 , with its central axis in a horizontal state.

[0173] 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.

[0174] 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.

[0175] 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.

[0176] See also Figure 8 , Figure 8 Schematic diagram of the structure of the end detection device 240 of the robot arm 230 of the present invention.

[0177] 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.

[0178] Preferably, the two main cameras 242 have 12 million pixels.

[0179] In one embodiment, the turbine turning and checking module includes a rotation servo 243 and a tension servo 245 .

[0180] 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.

[0181] The rotating head 247 is provided with a paddle, and the rotating head 247 rotates to drive the paddle to paddle the turbine blades.

[0182] 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.

[0183] The control device 300 controls the turbine toggle and inspection module to perform the following steps:

[0184] S21, the control device 300 controls the rotary servo 243 to move, so that the support rod 244 rotates and extends clockwise.

[0185] S22, in response to the support rod 244 being extended into position, the control device 300 controls the mechanical arm 230 to drive the extended support rod 244 to gradually extend into the turbine pipe according to the preset waypoint coordinates.

[0186] S23, in response to the robot arm 230 moving into position, the control device 300 controls the stretching servo 245 to release the wire, so that the tension of the telescopic spring 246 is gradually released, and drives the rotor 247 to gradually extend forward to the vicinity of the front of the turbine blade.

[0187] S24. In response to the rotating head 247 being extended into place, the control device 300 controls the rotating head 247 to rotate clockwise and counterclockwise to drive the paddle to move the turbine blades, and controls the front turbine camera and the rear turbine camera to obtain images of the turbine blades.

[0188] S25. After the manipulation is completed, the control device 300 controls the stretching servo 245 to retract the telescopic spring 246. After the telescopic spring 246 is retracted into place, the control device 300 controls the mechanical arm 230 to drive the support rod 244 to move out of the turbine pipe. After the support rod 244 is moved out into place, the rotary servo 243 is controlled to move and the support rod 244 is retracted. The mechanical arm 230 returns to the initial posture, and the inspection is completed.

[0189] This method of controlling the device 300 controls the rotary servo 243 to rotate the support rod 244 and the camera at its end during inspection operations, which can control the volume of the turbine 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 and inspection module can be made 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.

[0190] At the same time, when approaching the turbine blades, the distance between the rotating head 247 and the turbine blades can be controlled by controlling the extension and contraction of the extension spring 246 by manipulating the extension servo 245, so as to achieve micro-distance adjustment, thereby avoiding collision and damage to the turbine blades when extending between the turbine blades, and improving the reliability and safety of detection.

[0191] Preferably, the front turbine camera captures images and videos of the turbine duct and blades in real time, and the rear turbine camera captures images and videos of the spring expansion and contraction process in real time. The images from 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 images and videos in real time on the main interface of the intake duct 1 detection software.

[0192] In one embodiment, the sensor inspection module includes a macro sensor camera 248 with a built-in light source.

[0193] The control device 300 controls the mobile platform 210, the mechanical arm 230 and the sensor inspection module of the detection robot 200 to perform the following steps:

[0194] S31 . The control device 300 controls the mobile platform 210 of the detection robot 200 to move to a preset position corresponding to the sensor.

[0195] S32. In response to the driving position being in place, the control device 300 controls the various axis joints of the robotic arm 230 to complete corresponding posture movements according to the preset waypoint coordinates, and makes the macro sensor camera 248 of the sensor inspection module initially align with the sensor to be detected, and then controls the robotic arm 230 to move, so that the macro sensor camera 248 shoots around and inside the sensor.

[0196] 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.

[0197] In one embodiment, the control device 300 controls the robot arm 230 and the foreign matter suction module to perform the following steps:

[0198] S41, the control device 300 obtains a foreign object image through a microscopic camera, and locates the foreign object according to the foreign object image.

[0199] S42, the control device 300 controls the movement of the robot arm 230 according to the position of the foreign object so that the suction nozzle 250 is aimed at the foreign object.

[0200] S43, the control device 300 controls the telescopic rod to move according to the position of the foreign object, so that the suction nozzle 250 is close to the foreign object, and controls the suction nozzle 250 to suck the foreign object, so that the foreign object is transferred to the storage device through the suction nozzle 250.

[0201] This method first acquires an image and locates the position through a microscopic camera, then performs a preliminary alignment through the robotic arm 230, and finally aligns the telescopic rod, thereby improving the control accuracy and safety.

[0202] In one embodiment, the detection device 240 includes a mounting plate 241 .

[0203] The two main cameras 242 of the in-pipeline image inspection module are disposed on a first side of the mounting plate 241 .

[0204] 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.

[0205] 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.

[0206] This method improves the overall integration of the detection device 240 by rationally arranging the various components of the pipeline 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.

[0207] In one embodiment, the control device 300 controls the image acquisition device 260 and the robotic arm 230 to perform the following steps:

[0208] In response to the instruction of the inspection robot 200 to retreat and return to the carrying equipment 100, the control device 300 controls the mobile platform 210 of the inspection robot 200 to move according to a preset backward step distance, and stops between two steps to obtain the image of the pipe wall. That is, the control device 300 controls the inspection robot 200 to obtain the image of the pipe wall when the inspection robot 200 returns to the carrying equipment 100, so as to fully obtain the state of the pipe wall and avoid missing possible traces during the previous entry.

[0209] Preferably, when the inspection robot 200 retreats to the front section of the air inlet duct 1 , the in-pipe image inspection module of the inspection device 240 at the end of the manipulator arm 230 is controlled to acquire the pipe wall image.

[0210] When the inspection robot 200 retreats to the middle section of the air inlet 1 , the in-pipe image inspection module of the inspection device 240 at the end of the manipulator 230 and the image acquisition device 260 at the rear end of the mobile platform 210 simultaneously acquire the pipe wall image.

[0211] When the inspection robot 200 retreats to the rear section of the air inlet 1 , the image acquisition device 260 at the rear end of the mobile platform 210 is controlled to acquire the tube wall image.

[0212] This method improves the quality of the acquired image by manipulating the image acquisition device 260 and the in-pipe image inspection module at the end of the robot arm 230 to cooperate in different sections of the air inlet duct 1, thereby further improving the detection reliability.

[0213] In one embodiment, the control device 300 controls the robotic arm 230 to move to eight preset posture positions in sequence according to the docking position of the detection robot 200, and uses the in-pipe image inspection module of the detection device 240 at the end of the robotic arm 230 to respectively photograph eight target areas of the pipe wall to further ensure that the entire pipe wall image is obtained.

[0214] In a specific embodiment, the inspection robot 200 enters the full-function mode of the left air intake duct 1 and includes the following process:

[0215] 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.

[0216] 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.

[0217] 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.

[0218] 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,

[0219] 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.

[0220] 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.

[0221] 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.

[0222] 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 tail simultaneously collect and shoot images in front and behind the detection robot 200 .

[0223] 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.

[0224] 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.

[0225] 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.

[0226] The single-item mode is designed to meet specific single-item testing needs, satisfy users' key inspection items, and improve testing efficiency.

[0227] Taking the full-function mode inspection of the left air intake 1 as an example, the operation process is as follows:

[0228] 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.

[0229] 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;

[0230] 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;

[0231] 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;

[0232] 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;

[0233] Check whether the operating parameters of the wheel hub drive motor of the detection robot 2004 are normal;

[0234] 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.

[0235] 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.

[0236] 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.

[0237] 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,

[0238] 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.

[0239] 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.

[0240] 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.

[0241] 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 tail simultaneously collect and shoot images in front and behind the detection robot 200 .

[0242] 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.

[0243] 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.

[0244] 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.

[0245] 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:

[0246] 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.

[0247] 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. A method for detecting an aircraft engine inlet duct, characterized in that: Applied to an aircraft engine air intake inspection system, the system comprises a carrier, an inspection robot and a control device which are communicatively connected to each other; the carrier comprises a mobile chassis, an attitude adjustment mechanism arranged on the mobile chassis and a receiving tray arranged above the attitude adjustment mechanism, the receiving tray is used to receive the inspection robot, a plurality of laser radars are also arranged on the mobile chassis, and a plurality of upward-firing laser ranging sensors and a front contact sensor are arranged at the front end of the receiving tray; The inspection robot is used to enter the air intake duct and conduct inspection; The method comprises: S1. The control device controls the carrier carrying the inspection robot to move from one side of the aircraft to the air inlet entrance on the corresponding side, wherein the control device obtains the position of the mobile chassis through multiple laser radars and controls the mobile chassis to move so that multiple upward-firing laser sensors are all irradiated on the upper front edge of the air inlet entrance to be inspected; S2, the control device adjusts the height and pitch angle of the receiving plate by controlling the posture adjustment mechanism until the front contact sensor is pressed against the lower lip edge of the inlet of the air inlet to be inspected, and then the control device controls the inspection robot to enter the air inlet for inspection and return to the receiving plate after the inspection is completed; S3, the control device controls the mobile chassis to move backward, controls the attitude adjustment mechanism to restore the initial state, and then controls the mobile chassis to move horizontally to the air intake entrance on the other side, and makes the multiple upward laser sensors illuminate the upper front edge of the air intake entrance to be inspected; S4, repeat S2; S5. The control device controls the mobile chassis to move backward, controls the posture adjustment mechanism to restore to the initial state, and then controls the mobile chassis to move horizontally to the outside of the airway entrance to complete the detection.

2. The aircraft engine inlet duct detection method according to claim 1, characterized in that: The carrier is provided with an automatic wire-reeling device, the detection robot and the control device are connected via a cable with an aviation plug, and the cable connects the detection robot and the control device via the automatic wire-reeling device; A plurality of forward-firing laser ranging sensors are arranged on the surface of the containing plate facing the tail of the detection robot. The control device obtains the position of the detection robot according to the distance data of the plurality of forward-firing laser ranging sensors, and controls the automatic wire-winding device to reel in and release the wire according to the position of the detection robot.

3. The aircraft engine inlet duct detection method according to claim 1, characterized in that: The detection robot includes a mobile platform, and an engine blade shifting device, a mechanical arm and an image acquisition device which are arranged in sequence from the front end to the rear end of the mobile platform; a detection device is arranged at the end of the mechanical arm, and the detection device includes an image inspection module in 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 arranged on the mobile platform, and the storage device is connected to the foreign matter suction module through an air pipe; The control device controls the detection robot to enter the air intake duct according to the position of each sensor in the air intake duct, and obtains the image of the sensor at the corresponding position through the sensor inspection module; The control equipment controls the inspection robot to travel a set distance according to the turbine inspection stop position, and uses the turbine turning and inspection module to photograph and turn the turbine pipe and turbine blades for inspection; The control device controls the inspection robot to travel a set distance according to the engine inspection parking position, and controls the engine blade shifting device to shift the engine blades one by one, and at the same time continuously acquires the damping boss image and the corresponding blade images one by one; The control device controls the detection robot to retreat out of the air inlet duct, and obtains the image of the air inlet duct wall through the image acquisition device and the image inspection module in the pipeline; The control device controls the foreign matter suction module to collect foreign matter in the air intake duct and suck it into the storage device.

4. The aircraft engine inlet detection method according to claim 3, characterized in that: The engine blade shifting device includes a three-axis displacement module, a T-axis displacement module connected to the Z-axis moving platform 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 shifting rod is provided with a flexible part and an image acquisition unit; The control device controls the engine blade shifting device to sequentially perform an initialization step, a step of finding the boundary of the engine stator blades, an engine blade shifting step, and an exit step; The initialization steps include: The control device controls the Y-axis moving stage of the engine blade shifting device to move forward to a specific stroke. After the Y-axis moving stage moves forward to a certain position, the Z-axis moving stage is controlled to descend to a specific stroke. After the Z-axis moving stage descends to a certain position, the initialization is completed. The steps to find the boundaries of the engine stator blades include: The control device controls the T-axis displacement module of the engine blade shifting device so that the lever moves forward a specific stroke and extends between the two stator blades of the engine. After the lever is moved forward to the right position, the X-axis moving platform is controlled to move left and right until the flexible part of the lever head squeezes the stator blade on the corresponding side and the force value reaches the set X-axis force feedback threshold. The middle position is obtained through the stop positions of the X-axis moving platform twice, and then the T-axis displacement module is controlled to return to the position, and the X-axis moving platform is moved to the middle position to complete the search for the boundary of the engine stator blade; The engine blade shifting steps include: The control device controls the T-axis displacement module to make the lever extend forward again to a specific stroke. After the lever is moved into position, the blades are moved left and right through the cooperation of the X-axis moving platform and the Y-axis moving platform until all the engine blades are moved. During the blade movement, the control device controls the image acquisition unit at the lever head to continuously capture images of the shock absorbing bosses between the engine blades, and controls the image inspection module in the pipeline to acquire images of each engine blade one by one. The exit steps include: The control device controls the T-axis displacement module, the Z-axis moving stage, the X-axis moving stage and the Y-axis moving stage to return to the initial positions in sequence, and the exit is completed.

5. The aircraft engine inlet detection method according to claim 4, characterized in that: The control device realizes the left and right movement of the blades through the cooperation of the X-axis moving platform and the Y-axis moving platform until all the engine blades are moved, including: S11, in response to the lever being moved into position, the control device controls the X-axis moving platform to move to one side, and during the movement, the flexible member at the head of the lever first contacts the blade and continuously pushes the blade to rotate to one side; S12, in response to the X-axis moving stage moving to one side and into position, the control device controls the Y-axis moving stage to move backward by a preset stroke; S13, in response to the Y-axis moving stage moving backward to a position, the control device controls the X-axis moving stage to move a preset stroke to the other side; S14, in response to the X-axis moving stage moving to the other side, the control device controls the Y-axis moving stage to move forward by a preset stroke; S15. In response to the Y-axis moving table moving forward to a position, the control device controls the X-axis moving table and the Y-axis moving table to repeat steps S11-S14 until all the engine blades are moved.

6. The aircraft engine inlet detection method according to claim 3, characterized in that: The turbine shifting and inspection module includes a rotating servo and a stretching servo; the rotating servo is connected to a support rod, the end of the support rod is connected to a rotatable rotating head through a telescopic spring, the telescopic spring is connected to the stretching servo, and the telescopic direction of the telescopic spring is perpendicular to the length direction of the support rod; the rotating head is provided with a paddle, the end of the support rod is provided with a rear turbine camera, and the rotating head is provided with a front turbine camera; the control device controls the turbine shifting and inspection module to perform the following steps: S21, the control device controls the rotation of the servo, so that the support rod rotates and extends clockwise; S22, in response to the support rod being extended into position, the control device controls the mechanical arm to drive the extended support rod to gradually extend into the turbine pipe according to the preset waypoint coordinates; S23, in response to the mechanical arm moving into position, the control device controls the stretching steering gear to release the wire, so that the tension of the telescopic spring is gradually released, and the rotor is driven to gradually extend forward to the vicinity of the front of the turbine blade; S24, in response to the rotor being inserted into place, the control device controls the rotor to rotate clockwise and counterclockwise to drive the paddle to poke the turbine blades, and controls the front turbine camera and the rear turbine camera to obtain images of the turbine blades; S25. After the toggling is completed, the control device controls the stretching servo to retract the wire, so that the telescopic spring shrinks. After the telescopic spring shrinks to the right position, the control device controls the mechanical arm to drive the support rod to move out of the turbine pipe. After the support rod moves out to the right position, the rotary servo is controlled to retract the support rod, and the mechanical arm returns to the initial posture. The inspection is completed.

7. The aircraft engine inlet duct detection method according to claim 3, characterized in that: The sensor inspection module includes a macro sensor camera with a built-in light source; the control device controls the mobile platform, the robotic arm and the sensor inspection module of the inspection robot to perform the following steps: S31, the control device controls the mobile platform of the detection robot to travel to the preset position of the corresponding sensor; S32. In response to the driving position being in place, the control device controls the axis joints of the robotic arm to complete corresponding posture movements according to the preset waypoint coordinates, and makes the macro sensor camera of the sensor inspection module initially align with the sensor to be detected, and then controls the robotic arm to move so that the macro sensor camera shoots around and inside the sensor.

8. The aircraft engine inlet duct detection method according to claim 3, characterized in that: The control device controls the image acquisition device and the robotic arm to perform the following steps: In response to the instruction of the inspection robot to retreat back to the carrier, the control device controls the mobile platform of the inspection robot to move according to a preset retreat step and stops between two steps to obtain a pipe wall image; and When the inspection robot retreats to the front section of the air inlet, the in-pipe image inspection module of the inspection device at the end of the robot arm is controlled to obtain the pipe wall image; When the inspection robot retreats to the middle section of the air inlet, the in-pipe image inspection module of the inspection device at the end of the manipulator and the image acquisition device at the rear end of the mobile platform simultaneously acquire the pipe wall image; When the detection robot retreats to the rear section of the air inlet, the image acquisition device at the rear end of the mobile platform is controlled to obtain the tube wall image.

9. The aircraft engine inlet duct detection method according to claim 8, characterized in that: The control equipment controls the robotic arm to move to the eight preset posture positions in sequence according to the parking position of the inspection robot, and uses the in-pipe image inspection module of the inspection device at the end of the robotic arm to photograph the eight target areas of the pipe wall respectively.

10. The aircraft engine inlet duct detection method according to claim 3, characterized in that: The foreign body suction module includes a suction microscopic camera and a suction nozzle, and the suction nozzle is connected to a telescopic rod; the control device controls the mechanical arm and the foreign body suction module to perform the following steps: S41, controlling the device to obtain an image of the foreign object through a microscopic camera, and locating the position of the foreign object according to the image of the foreign object; S42, the control device controls the movement of the robot arm according to the position of the foreign object so that the suction nozzle is aimed at the foreign object; S43, the control device controls the telescopic rod to move according to the position of the foreign object, so that the suction nozzle is close to the foreign object, and controls the suction nozzle to suck the foreign object, so that the foreign object is transferred to the storage device through the suction nozzle.

Images