Aero-engine blade maintenance method and system, robot and medium

Abstract

The invention provides an aero-engine blade maintenance method and system, a robot and a medium, the method is applied to a micro maintenance robot, and the method comprises the steps that when the rotating speed of an aero-engine is not lower than the preset rotating speed, a magnetic-gas composite driving module is used for obtaining a first moving path according to an edge intelligent center system; moving to a blade detection position of the aero-engine blade corresponding to the first moving path; when the moving stop position of the micro maintenance robot is the blade detection position, the bionic reversible adsorption layer in the adsorption state is adsorbed to the blade detection position; detecting first leaf detection data of a leaf detection area corresponding to the leaf detection position by using a multispectral sensing module, and obtaining a repair strategy based on the first leaf detection data; and a repair module is utilized to perform repair operation on the to-be-repaired blade area in the blade detection area according to the repair strategy. In this way, the detection function and the repair function are integrated, and the purposes of rapid detection and minimally invasive repair are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of aircraft engine maintenance, and in particular to a maintenance method, system, micro maintenance robot, edge intelligent central system and non-transitory computer-readable storage medium for aircraft engine blades. Background Art

[0002] At present, the maintenance of aircraft engine blades mainly relies on traditional contact measurement devices (such as mechanical positioning pins and elastic parts), wired / wireless robots and fixed sensors (such as eddy current temperature measurement and optical fiber displacement detection). However, the above maintenance technologies generally have the defects of separation of detection and repair functions and difficulty in adapting to the scene: although traditional mechanical devices can improve measurement accuracy, they require manual operation and cannot realize the repair function; they rely on batteries or cables for power supply, are prone to failure in high temperature environments, and have a single function; although internal cracks can be identified, the blades need to be shut down and disassembled, which greatly extends the maintenance cycle. In addition, due to limited energy supply (dependence on wired deployment or unreliable batteries), the separation of detection and repair links (only offline repair) and insufficient environmental adaptability, the above maintenance technologies are difficult to repair minor damage in a timely manner, seriously threatening the safety of engine operation. Summary of the Invention

[0003] The purpose of this application is to provide a maintenance method, system, micro maintenance robot, edge intelligent central system and non-transitory computer-readable storage medium for aircraft engine blades to solve the above-mentioned problems existing in the maintenance process of existing aircraft engine blades.

[0004] In a first aspect, a maintenance method for aircraft engine blades is provided, which is applied to a micro maintenance robot, wherein the micro maintenance robot includes a bionic reversible adsorption layer and a magnetic composite drive module, a multispectral sensing module and a repair module. The method includes: utilizing the magnetic composite drive module to move to a blade detection position of the aircraft engine blade corresponding to the first moving path according to a first moving path obtained from an edge intelligent central system when the rotational speed of the aircraft engine is not lower than a preset rotational speed; utilizing the bionic reversible adsorption layer in an adsorption state to adsorb at the blade detection position when the moving stop position of the micro maintenance robot is the blade detection position; utilizing the multispectral sensing module to detect first blade detection data of a blade detection area corresponding to the blade detection position, and obtaining a repair strategy based on the first blade detection data; utilizing the repair module to perform a repair operation on the blade area to be repaired in the blade detection area according to the repair strategy.

[0005] In a second aspect, a maintenance method for aircraft engine blades is provided, which is applied to an edge intelligent central system, and the method includes: planning a first moving path for a micro maintenance robot to move toward the aircraft engine blade according to aircraft engine information; sending the first moving path to the micro maintenance robot, so that the micro maintenance robot uses a magnetic composite drive module to move to a blade detection position of the aircraft engine blade corresponding to the first moving path according to the first moving path obtained from the edge intelligent central system when the rotational speed of the aircraft engine is not lower than a preset rotational speed, and when the moving stop position of the micro maintenance robot is the blade detection position, the micro maintenance robot uses a bionic reversible adsorption layer in an adsorption state to be adsorbed at the blade detection position; obtaining first blade detection data of a blade detection area corresponding to the blade detection position sent by the micro maintenance robot; generating a repair strategy based on the first blade detection data using a repair model, and sending the repair strategy to the micro maintenance robot, so that the micro maintenance robot uses the repair module 44 to perform a repair operation on the blade area to be repaired in the blade detection area according to the repair strategy.

[0006] In a third aspect, a micro maintenance robot is provided, which includes a control module, the control module includes a memory and a processor, the memory stores computer instructions, and when the computer instructions are executed by the processor, the maintenance method of the aircraft engine blade described in any embodiment of the present application is executed.

[0007] In a fourth aspect, an edge intelligent central system is provided, which includes a memory and a processor, wherein computer instructions are stored on the memory, and when the computer instructions are executed by the processor, the maintenance method of the aircraft engine blade according to any embodiment of the present application is executed.

[0008] In a fifth aspect, a non-transitory computer-readable storage medium is provided, on which computer instructions are stored. When the computer instructions are executed by a processor, the maintenance method of the aircraft engine blade described in any embodiment of the present application is executed.

[0009] In the solution of the present application, a magnetic composite drive module drives the micro-maintenance robot to move toward a blade detection position on an aircraft engine blade corresponding to the first movement path, enabling the micro-maintenance robot to move within an aircraft engine without external power supply. By utilizing a biomimetic reversible adsorption layer in an adsorbed state to adsorb to the blade detection position, and utilizing a multispectral sensing module to detect first blade detection data from a blade detection area corresponding to the blade detection position, real-time detection of aircraft engine blade data can be achieved without shutting down or disassembling the aircraft engine blade. Furthermore, a repair strategy is derived based on the first blade detection data, and a repair module performs repair operations on the blade area to be repaired within the blade detection area according to the repair strategy. This results in a repair strategy that matches the actual situation of the aircraft engine blade. By executing automated repairs, the detection and repair functions are integrated, achieving rapid detection and minimally invasive repair, shortening maintenance cycles, improving system adaptability, and ensuring aircraft engine operational safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Non-limiting and non-exhaustive embodiments of the present application are described, by way of example, with reference to the following drawings, in which:

[0011] Figure 1 A schematic structural diagram of a maintenance system for an aircraft engine blade provided by one embodiment of the present application is shown;

[0012] Figure 2 A schematic diagram showing a micro maintenance robot provided by an embodiment of the present application moving inside an aircraft engine;

[0013] Figure 3 A schematic diagram showing the distribution of a micro maintenance robot provided by an embodiment of the present application on an aircraft engine blade is shown;

[0014] Figure 4 A schematic structural diagram of a micro maintenance robot provided in one embodiment of the present application is shown;

[0015] Figure 5 A schematic structural diagram of a control module provided in one embodiment of the present application is shown;

[0016] Figure 6 A schematic diagram of the structure of an edge intelligent hub system provided by one embodiment of the present application is shown;

[0017] Figure 7 A schematic diagram illustrating a flow chart of a maintenance method for an aircraft engine blade provided by one embodiment of the present application;

[0018] Figure 8 A schematic flow chart illustrating another method for maintaining an aircraft engine blade provided by an embodiment of the present application is shown;

[0019] Figure 9 A flow chart illustrating another method for maintaining an aircraft engine blade provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0020] In order to make the above and other features and advantages of the present application clearer, the present application is further described below in conjunction with the accompanying drawings. The accompanying drawings constitute a part of this application and are used together with the embodiments of the present application to illustrate this application. For the purpose of clarity and simplicity, detailed descriptions of known functions and structures of the devices, apparatuses and / or equipment described herein will be omitted when they may obscure the subject matter of the present application. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art and are merely exemplary and non-restrictive.

[0021] The features described herein may be embodied in different forms and should not be construed as limited to the embodiments described herein. Rather, the embodiments described herein are provided merely to illustrate some of the many possible ways to implement the devices and / or systems described herein, which will be apparent after understanding the disclosure of this application.

[0022] As used herein, the term "and / or" includes any one of the associated listed items and any combination of any two or more of the associated listed items.

[0023] Although terms such as "first," "second," and "third" may be used herein to describe various components, parts, portions, or elements, these components, parts, portions, or elements are not limited by these terms. Rather, these terms are used merely to distinguish one component, part, portion, or element from another component, part, portion, or element. Therefore, without departing from the teachings of this application, a first component, part, portion, or element referred to herein may also be referred to as a second component, part, portion, or element.

[0024] The terms used herein are only used to describe various embodiments and are not intended to limit the present disclosure. Unless the context clearly indicates otherwise, "a," "an," and "the" are intended to include plural forms as well. The terms "include," "comprise," and "have" specify the presence of stated features, operations, components, elements, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, operations, components, elements, and / or combinations thereof.

[0025] In the description of this application, it should be understood that if terms such as "center", "inside", "outside", "axial", "radial", and "circumferential" appear to indicate orientation or positional relationships, unless otherwise specified, they are understood to be based on the orientation or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this 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. Therefore, they cannot be understood as limitations on this application.

[0026] In this application, unless otherwise specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integration; mechanical connections, electrical connections, direct connections, or indirect connections through an intermediary; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0027] In the description of this specification, if the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" appear, it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0028] On the one hand, an embodiment of the present application provides a maintenance system for aircraft engine blades. Figure 1 A schematic diagram of the structure of a maintenance system for an aircraft engine blade according to an embodiment of the present application is shown. Figure 1 As shown, the maintenance system 10 for aircraft engine blades may include: at least one micro maintenance robot 11 and an edge intelligent central system 12.

[0029] Among them, the diameter of the micro maintenance robot 11 is not greater than 8 mm. Multiple micro maintenance robots 11 can form a micro maintenance robot cluster. The edge intelligent central system 12 can interact with the micro maintenance robot cluster for data and collaboratively complete the maintenance of aircraft engine blades. In some embodiments of the present application, the edge intelligent central system 12 can be used to aggregate the local data of the micro maintenance robot cluster through a federated learning framework and train a repair model in combination with a maintenance knowledge graph (including more than 2,000 historical repair cases). The repair model can be used to generate a repair strategy based on the detection data of the aircraft engine blades, so that the micro maintenance robot cluster can repair the aircraft engine blades according to the repair strategy. The repair model can be constructed based on a lightweight convolutional neural network classification model, and at the same time, reinforcement learning dynamic adjustment is introduced, that is, the model parameters are fine-tuned according to real-time repair status feedback. The repair accuracy of this repair model can reach more than 92%.

[0030] It should be noted that the output of the repair model may include damage type classification, damage area (ie, blade area to be repaired), repair priority, and repair operation, wherein the repair operation includes repair parameters.

[0031] In some embodiments of the present application, the input parameters of the repair model may include environmental parameters (such as temperature and centrifugal force, etc.) in addition to the detection data of the aircraft engine blade.

[0032] In one embodiment of the present application, the edge intelligent central system 12 can be used to send the model parameters of the trained repair model to the micro maintenance robot 11, so that the micro maintenance robot 11 can obtain the repair model according to the model parameters, so that the micro maintenance robot 11 can obtain the repair strategy according to the repair model, and synchronize the repair model between the micro maintenance robots.

[0033] In another embodiment of the present application, the edge intelligent central system 12 can be used to store the trained repair model, obtain the detection data of the micro maintenance robot 1 (i.e., the first blade detection data), generate a repair strategy using the repair model, and send the repair strategy to the micro maintenance robot 11.

[0034] In some embodiments of the present application, the edge intelligent central system 12 can use digital twin technology (i.e., three-dimensional flow field-thermomechanical coupling simulation) to pre-optimize the repair strategy.

[0035] In some embodiments of the present application, multiple micro-maintenance robots 11 can autonomously collaborate when the aircraft engine is in a low-speed operating condition, realizing a closed-loop maintenance of the entire process of "detection-analysis-decision-repair". The micro-maintenance robot 11 is based on a high-temperature resistant micro-maintenance robot carrier, adopts a magnetic-gas composite unpowered drive technology, and uses the airflow pressure difference and residual magnetic field during turbine rotation to achieve autonomous movement. In addition, the surface of the micro-maintenance robot 11 is covered with a bionic reversible adsorption layer 41, which can adapt to extreme environments such as high temperature and high centrifugal force by dynamically switching between adsorption and repulsion modes. At the same time, the micro-maintenance robot 11 can be combined with a self-organizing network for collaborative detection, covering key areas on the blade surface, and performing the first detection, that is, real-time collection of detection data such as the morphology, coating and cracks of the aircraft engine blades, and repairing various defects on the engine blades.

[0036] In some embodiments of the present application, in order to improve the robot's adaptability, the micro maintenance robot 11 can achieve operation without external power supply through vibration and heat energy recovery technology.

[0037] In addition, the micro maintenance robot 11 can combine pre-stored flow field data and real-time position data to achieve navigation correction, thereby reducing complex airflow interference.

[0038] In some embodiments of the present application, the micro maintenance robot 11 can start a second detection immediately after the repair is completed, and feed back the repaired data to the edge intelligent central system 12, so that the edge intelligent central system 12 can update the repair model according to the repair data, thereby forming a closed-loop iterative optimization mechanism of "damage identification-strategy generation-precise repair-effect verification", and continuously improving maintenance accuracy and efficiency.

[0039] It should be noted that the edge intelligent hub system 12 is a system architecture based on the integration of edge computing and artificial intelligence technologies. It aims to achieve real-time data processing, analysis, and decision-making by deploying intelligent algorithms and models on edge devices close to the micro-maintenance robot cluster. Furthermore, the number of micro-maintenance robots 11 participating in maintenance at any one time can be set according to user needs.

[0040] Figure 2 A schematic diagram showing a micro maintenance robot provided by an embodiment of the present application moving inside an aircraft engine is shown. Figure 2 As shown, aircraft engine blades may include compressor blades and turbine blades. Figure 2 The arrows in the figure indicate the direction in which the micro-maintenance robots move inside the aircraft engine, that is, the micro-maintenance robot cluster enters the engine from the aircraft engine inlet, maintains the blades at each level, and leaves the aircraft engine from the aircraft engine outlet.

[0041] Figure 3A schematic diagram showing the distribution of a micro maintenance robot provided by an embodiment of the present application on an aircraft engine blade is shown in FIG. Figure 3 As shown, the circles represent micro maintenance robots 11, and multiple micro maintenance robots 11 are distributed on a single blade of the aircraft engine. It should be noted that the distribution positions of the micro maintenance robots 11 cannot overlap, but the blade detection areas of the micro maintenance robots 11 can overlap.

[0042] In some of the above embodiments, the maintenance system of aircraft engine blades can achieve rapid detection and minimally invasive repair without downtime or disassembly through micro-maintenance robots and the edge intelligent central system 12, significantly shortening the maintenance cycle and improving the safety and economy of engine operation.

[0043] Figure 4 A schematic diagram of the structure of a micro maintenance robot provided by an embodiment of the present application is shown in FIG. Figure 4 As shown, the micro maintenance robot 11 may include a bionic reversible adsorption layer 41 , a magnetic composite drive module 42 , a multispectral sensing module 43 , a repair module 44 and a control module 45 .

[0044] The biomimetic reversible adsorption layer 41 can be placed on the outer surface of the micro-maintenance robot 11 to conform to the surface of the engine blade. The magnetic composite drive module 42 is placed outside the outer shell, and the multispectral sensing module 43, repair module 44, and control module 45 are all placed inside the outer shell.

[0045] The control module 45 can be used to control the working states of the bionic reversible adsorption layer 41, the magnetic composite drive module 42, the multi-spectral sensing module 43, and the repair module 44. In addition, the control module 45 of the micro maintenance robot 11 is also used to process data sent by other modules.

[0046] The magnetic composite drive module 42 can be used to utilize the residual magnetic field and airflow pressure difference when the aircraft engine turbine rotates to achieve autonomous movement of the micro maintenance robot 11 without external energy.

[0047] In some embodiments, the shell of the micro maintenance robot 11 can be made of a high-temperature resistant ceramic matrix composite material (such as a silicon carbide fiber reinforced ceramic matrix composite material). In this way, the shell of the micro maintenance robot 11 can withstand temperatures above 800 degrees.

[0048] In some embodiments, the biomimetic reversible adsorption layer 41 can be used for dual-state switching, that is, dynamically switching between two working states (ie, adsorption state and detachment state) to enable the robot to adsorb or detach from the aircraft engine blade.

[0049] The biomimetic reversible adsorption layer 41 includes a nickel-based high-temperature alloy micro-nanostructure layer provided with a carbon nanotube array. The carbon nanotube array enhances the reversible adhesion design.

[0050] In one embodiment of the present application, the roots of the carbon nanotube array are embedded in a conductive layer, so that the working state of the bionic reversible adsorption layer 41 can be controlled by applying a voltage to the carbon nanotube array through the conductive layer.

[0051] In another embodiment of the present application, the roots of the carbon nanotube array are further doped with a thermal expansion material, so that when the thermal expansion material contracts due to heat, the carbon nanotube array can bend and detach.

[0052] It should be noted that thermal expansion materials are materials that shrink when heated, such as polyurethane, polyimide, etc.

[0053] In some embodiments, the multispectral sensing module 43 may be composed of a variety of sensors and may be used to implement position detection and aircraft engine blade status detection.

[0054] In one embodiment of the present application, the multispectral sensing module 43 may include an infrared sensing unit, a laser ranging unit, a laser ultrasonic unit, and an eddy current sensing unit.

[0055] Among them, the infrared sensing unit and the laser ranging unit can be used to detect the position of the micro maintenance robot 11, that is, to scan the blade geometric features (such as cooling hole spacing and blade curvature) so that the control module 45 can match the blade geometric features with the geometric features of the preset three-dimensional model of the aircraft engine blade to achieve positioning.

[0056] In addition, the infrared sensor unit can also be used to scan the coating thickness. For example, the output data of the infrared sensor unit can detect that the local thickness of the leading edge of the third-stage blade has dropped to 0.15mm.

[0057] The eddy current sensing unit can be used to emit a high-frequency electromagnetic field (such as 1 MHz-10 MHz) and measure the change signal of the coating conductivity, so that the control module 45 calculates the thickness based on the change signal of the coating conductivity and detects whether the coating is peeling off (i.e., determines the peeling boundary based on the sudden change of the change signal).

[0058] The laser ultrasonic unit can be used to irradiate the surface of the aircraft engine blade with a pulsed laser, generate ultrasonic waves, and receive reflected waves so that the control module 45 can analyze the crack depth based on the transmitted waves.

[0059] For example, the output data of the laser ultrasonic unit was used to detect a 0.6 mm deep crack 10 mm away from the leading edge.

[0060] In some embodiments of the present application, the repair module 44 includes a repair agent tank, a piezoelectric micro pump, and a laser repair unit.

[0061] In one embodiment of the present application, the repair agent storage tank can be a high-temperature resistant ceramic microfluidic tank, and the piezoelectric micropump can be used to release the repair agent according to the gradient of the repair area.

[0062] In one embodiment of the present application, the repair agent can be an Al / Fe2O3 microcapsule, a composite material formed using microencapsulation technology with Fe2O3 as the core and Al as the shell. When the blade surface temperature is high (e.g., 400°C to 800°C), the repair agent reacts to form a dense Al2O3 composite coating, resulting in high hardness and low roughness after repair.

[0063] Optionally, the Al2O3 composite coating has a thickness of 50-100 microns, a hardness of not less than HV800, and a roughness of less than 1.6 microns.

[0064] In one embodiment of the present application, the laser repair unit can be an ytterbium-doped fiber laser, which can emit laser light with a wavelength of 1030 nm and a pulse width of 500 fs-10 ps. The laser repair unit can use a focusing lens to reduce the beam diameter to 20 μm, scanning the crack area point by point to achieve micro-cladding.

[0065] Optionally, the scanning speed is 50 mm per second and the micro-cladding depth accuracy can reach ±5 μm.

[0066] In some embodiments, in order to achieve vibration and heat energy recovery, the micro maintenance robot 11 may further include a piezoelectric module, a thermoelectric module and a micro capacitor.

[0067] The piezoelectric module can be arranged inside the housing, and the thermoelectric module can be mounted on the surface of the housing. The piezoelectric module is connected to the thermoelectric module and the micro capacitor.

[0068] In one embodiment of the present application, the piezoelectric module may be a piezoelectric ceramic, which is used to convert the vibration of an aircraft engine blade into electrical energy. The aircraft engine blade vibration frequency is 50 Hz to 200 Hz, and the output power is 0.1 mV to 0.5 mV.

[0069] Thermoelectric modules can be used to generate electricity using the temperature difference between aircraft engine blades and the environment, with output power reaching 1 to 3 millivolts.

[0070] Microcapacitors are used to store the electrical energy generated by the piezoelectric module and the thermoelectric module to power other modules of the micro maintenance robot.

[0071] In some embodiments, in order to make the positioning of the micro maintenance robot 11 more accurate, the micro maintenance robot 11 may further include a magnetic sensing module.

[0072] The magnetic sensing module can be used to detect the magnetic field intensity gradient by setting a preset magnetic marking point on the edge of the turbine disk, so that the control module 45 can be positioned according to the magnetic field intensity gradient.

[0073] In some embodiments, the micro maintenance robot 11 also includes a communication module for communicating with the edge intelligent hub system 12.

[0074] In some embodiments, the housing of the micro maintenance robot 11 can be an airfoil-shaped housing (e.g., with a leading edge having an acute angle of 30 degrees and a trailing edge having an arc shape). This allows the robot to follow the flow field inside the turbine and use the pressure difference to generate lift and move along a predetermined path.

[0075] In some embodiments, the rear end of the housing of the micro maintenance robot 11 is a micro rudder that can be deflected by ±10 degrees. In this way, the posture can be adjusted according to the real-time airflow speed.

[0076] In some embodiments, the micro maintenance robot 11 may also include a speed sensing module for detecting real-time centrifugal force, so that the control module 45 calculates the robot's adsorption force or detachment force based on the real-time centrifugal force, thereby determining the voltage or temperature required for the bionic reversible adsorption layer 41 to match the adsorption or detachment at various speeds.

[0077] Figure 5 A schematic diagram of the structure of a control module provided in one embodiment of the present application is shown in FIG. Figure 5 As shown, the control module 45 may include a memory 51 and a processor 52, wherein the memory 51 stores computer instructions, which, when executed by the processor 52, cause any maintenance method of an aircraft engine blade applied to a micro maintenance robot in the present application to be executed.

[0078] Figure 6 A schematic diagram of the structure of an edge intelligent central system provided by an embodiment of the present application is shown as follows: Figure 6 As shown, the edge intelligent hub system 12 may include a memory 61 and a processor 62, wherein the memory 61 stores computer instructions, which, when executed by the processor 62, cause any maintenance method of an aircraft engine blade applied to the edge intelligent hub system of the present application to be executed.

[0079] On the other hand, the present application provides a maintenance method for aircraft engine blades, which is applied to a micro maintenance robot 11. Figure 7 A flow chart showing another method for maintaining an aircraft engine blade according to an embodiment of the present application is shown as follows: Figure 7 As shown, the maintenance method of the aircraft engine blade may include the following steps.

[0080] S71, using the magnetic composite drive module 42 to move to the blade detection position of the aircraft engine blade corresponding to the first moving path according to the first moving path obtained from the edge intelligent central system when the aircraft engine speed is not lower than the preset speed.

[0081] The preset rotational speed involved in one embodiment of the present application may be no greater than 800 revolutions per minute and no less than 400 revolutions per minute. The first movement path may be determined based on a three-dimensional model of the aircraft engine blade and the airflow field within the turbine. The endpoint of the first movement path is the blade detection position. The blade detection position is the target position of the aircraft engine blade that the micro maintenance robot 11 needs to reach.

[0082] In one embodiment of the present application, when the aircraft engine speed is at least a preset speed, the residual magnetic field strength of the aircraft engine's turbine disk is greater than the activation magnetic field strength of the magnetic hybrid drive module 42, and the air pressure differential generated by the Venturi effect is at least a preset air pressure differential. At this point, the magnetic hybrid drive module 42 is activated by the residual magnetic field of the turbine disk, and, in conjunction with the air pressure differential generated by the Venturi effect, drives the micro-maintenance robot 11 along a first movement path, into the turbine area, and toward the blade detection position.

[0083] In one embodiment of the present application, the activation magnetic field strength is not less than 50 millitesla, and the preset air pressure difference is not less than 100 Pa.

[0084] S72 , when the moving stop position of the micro maintenance robot is the blade detection position, the bionic reversible adsorption layer 41 in the adsorption state is used to adsorb on the blade detection position.

[0085] The moving stop position involved in the embodiment of the present application is a position where the micro maintenance robot moves along a first moving path and stops on an aircraft engine blade.

[0086] In one embodiment of the present application, when the micro maintenance robot detects that its moving stop position is the blade detection position, that is, when it detects that it has reached the blade detection position, it switches the bionic reversible adsorption layer 41 to the adsorption state, thereby adsorbing to the blade detection position on the surface of the aircraft engine blade.

[0087] S73 , using the multispectral sensing module 43 to detect first blade detection data of a blade detection area corresponding to the blade detection position, and obtaining a repair strategy based on the first blade detection data.

[0088] The blade detection area involved in one embodiment of the present application is the blade area that can be detected by the micro maintenance robot 11 at the blade detection position. The blade area includes the surface area and the internal area of the blade. The first blade detection data may include but is not limited to infrared data, eddy current sensor output data, and laser ultrasonic data. Infrared data can be used to detect the coating damage state, eddy current sensor output data can be used to detect the coating peeling state of the blade, and laser ultrasonic data can be used to detect the crack state of the blade. The repair strategy may include the repair operation corresponding to the first blade detection data and the corresponding area to be repaired.

[0089] In one embodiment of the present application, the micro maintenance robot 11 can use the multi-spectral sensing module 43 to detect the blade detection area and obtain corresponding sensor data (ie, first blade detection data).

[0090] In an embodiment of the present application, the micro maintenance robot 11 can use the internally stored repair model to obtain a repair strategy based on the first blade detection data.

[0091] In another embodiment of the present application, the micro maintenance robot 11 may send the first blade detection data to the edge intelligent central system 12. The edge intelligent central system 12 uses the repair model to obtain a repair strategy based on the first blade detection data, and sends the repair strategy to the micro maintenance robot 11.

[0092] S74 , using the repair module 44 to perform a repair operation on the blade area to be repaired in the blade detection area according to the repair strategy.

[0093] In one embodiment of the present application, there may be more than one blade region to be repaired, that is, there may be at least one blade region to be repaired in the blade detection area. The defect types corresponding to each blade region to be repaired may be the same or different.

[0094] The repair operations involved in one embodiment of the present application may include but are not limited to coating loss repair operations, crack repair operations, and coating peeling repair operations.

[0095] In an embodiment of the present application, the micro maintenance robot 11 controls the repair module 44 to perform corresponding repair operations on each blade area to be repaired in the blade detection area according to the repair strategy.

[0096] In some of the aforementioned embodiments, a magnetic composite drive module drives the micro-maintenance robot to move toward a blade detection position on an aircraft engine blade corresponding to the first movement path, enabling the micro-maintenance robot to move within an aircraft engine without external power. By utilizing a biomimetic reversible adsorption layer in an adsorbed state to adsorb to the blade detection position, and utilizing a multispectral sensing module to detect first blade detection data from a blade detection region corresponding to the blade detection position, real-time detection of aircraft engine blade data can be achieved without shutting down or disassembling the aircraft engine blade. Furthermore, a repair strategy is obtained based on the first blade detection data, and a repair module 44 performs repair operations on the blade region to be repaired within the blade detection region according to the repair strategy. This allows for a repair strategy that matches the actual conditions of the aircraft engine blade. By executing automated repairs, detection and repair functions are integrated, achieving rapid detection and minimally invasive repair, shortening maintenance cycles, improving system adaptability, and ensuring aircraft engine operational safety.

[0097] In some embodiments, the maintenance method of the aircraft engine blades may also include: using a multi-spectral sensing module 43 or based on a magnetic marking point set on the turbine disk to determine the moving stop position of the micro maintenance robot; detecting whether the moving stop position is a blade detection position; when the moving stop position is not a blade detection position, using the magnetic composite drive module 42 to move to the blade detection position according to the position compensation deviation.

[0098] The position compensation deviation involved in an embodiment of the present application is calculated based on the difference between the moving stop position and the blade detection position.

[0099] In one embodiment of the present application, the micro-maintenance robot 11 uses the infrared sensor unit and laser ranging unit in the multispectral sensing module 43 to scan the geometric features of the blade at its location. The robot then matches the scanned blade geometric feature data with a pre-set three-dimensional blade model to determine the specific location of the engine blade. This allows for high-precision positioning.

[0100] In another embodiment, when the micro maintenance robot 11 includes a magnetic sensor, it can combine the preset magnetic marking points on the edge of the turbine disk and the output data of the magnetic sensor to analyze and obtain the specific position of the micro maintenance robot on the engine blade.

[0101] It should be noted that the moving stop position can be determined by the multi-spectral sensing module 43, can also be determined by the magnetic marking point, or can also be determined by the multi-spectral sensing module 43 and the magnetic marking point together.

[0102] In one embodiment of the present application, when the mobile stop position is not the blade detection position, the micro-maintenance robot 11 calculates the position compensation deviation between the mobile stop position and the blade detection position. Based on this position compensation deviation and the flow field inside the turbine, the current of the magnetic composite drive module 42 is adjusted to drive the micro-maintenance robot 11 to the blade detection position. This can compensate for position errors caused by airflow disturbances.

[0103] In some embodiments of the present application, the maintenance method for the aircraft engine blade may further include: when determining the detached blade detection position, utilizing the bionic reversible adsorption layer 41 in a detached state to detach from the blade surface at the blade detection position.

[0104] An embodiment of the present application involves determining the detached blade detection position, which may be determining that a blade detection area corresponding to the blade detection position does not need to be repaired or determining that the blade detection area has been repaired.

[0105] In one embodiment of the present application, when the micro maintenance robot 11 determines that it has left the blade detection position, it switches the bionic reversible adsorption layer 41 to a detached state, thereby detaching itself from the blade surface where the blade detection position is located.

[0106] In an embodiment of the present application, if the micro maintenance robot 11 needs to continue detecting the next blade detection position, the micro maintenance robot 11 moves from the current blade detection position to the next blade detection position.

[0107] If the micro maintenance robot 11 does not need to continue to detect the next blade detection position, that is, when the maintenance of the aircraft engine blade is completed, the micro maintenance robot 11 follows the airflow field inside the turbine, uses the pressure difference to generate lift, moves along the second moving path toward the turbine outlet, and returns to the robot recovery device.

[0108] In some embodiments, when the conductive layer is embedded in the root of the carbon nanotube array, the maintenance method for the aircraft engine blade may further include: controlling the working state of the bionic reversible adsorption layer 41 according to the conductive layer.

[0109] In one embodiment of the present application, the state switching mechanism of the biomimetic reversible adsorption layer 41 may be a voltage switching mechanism. The voltage switching mechanism may be that a first voltage is applied to the conductive layer, causing the biomimetic reversible adsorption layer 41 to switch to an adsorbed state. Furthermore, a second voltage is applied to the conductive layer, causing the biomimetic reversible adsorption layer 41 to switch to a detached state. Optionally, the first voltage is +5 volts, and the second voltage is -5 volts.

[0110] This is because applying a first voltage to the conductive layer generates an electrostatic adsorption force, which causes the carbon nanotubes to expand and increase the contact area, thereby enhancing the adsorption force of the biomimetic reversible adsorption layer 41. Applying a second voltage to the conductive layer generates an electrostatic repulsive force, which causes the carbon nanotubes to shrink, reducing the contact area and the adhesion force, making it easier to detach.

[0111] In the above embodiment, the working state of the bionic reversible adsorption layer 41 can be freely switched through the voltage switching mechanism, so as to flexibly change the state between the micro maintenance robot and the aircraft engine blade.

[0112] In some embodiments, when the root of the carbon nanotube array is doped with a thermal expansion material, the maintenance method of the aircraft engine blade may further include: using the thermal expansion material to control the working state of the bionic reversible adsorption layer 41 to switch to a detached state.

[0113] In one embodiment of the present application, the state switching mechanism of the biomimetic reversible adsorption layer 41 may be a thermal response deformation switching mechanism, wherein the thermal response deformation switching mechanism may be heating the biomimetic reversible adsorption layer 41 to switch the working state of the biomimetic reversible adsorption layer 41 to the detached state.

[0114] This is because when the thermal expansion material contracts due to heat, it can cause the carbon nanotube array to bend and detach, reducing adhesion and facilitating detachment.

[0115] In some embodiments, S74, using the repair module 44 to perform a repair operation on the blade area to be repaired in the blade detection area according to the repair strategy, may include: when the repair strategy is a crack repair strategy, using the laser repair module 44 to perform a laser cladding operation on the blade area to be repaired to repair the cracks in the blade area to be repaired; when the repair strategy is a coating damage strategy or a coating peeling repair strategy, using a piezoelectric micropump to press the repair agent storage tank to spray the repair agent to the blade area to be repaired to repair the coating of the blade area to be repaired.

[0116] In one embodiment of the present application, when the repair model analyzes that the coating thickness loss value reaches a loss threshold, a coating damage repair strategy is output. Optionally, the loss threshold is not less than 20% of the nominal thickness.

[0117] In one embodiment of the present application, when the repair model analyzes that the crack length reaches a length threshold, a crack repair strategy is output. Optionally, the length threshold is not less than 0.5 mm.

[0118] In one embodiment of the present application, a coating spalling repair strategy is output when the repair model analyzes that the coating spalling state meets one of the following conditions: the spalling area at a single location is greater than an area threshold, the spalling depth is no less than a thickness threshold, and there is a risk of crack propagation at the spalling edge (i.e., the model-assessed stress concentration factor is no less than 1.5). Optionally, the area threshold is no less than 2 square millimeters, and the thickness threshold is no less than 30% of the nominal thickness.

[0119] In some embodiments, after the repair module 44 performs a repair operation on the blade region to be repaired in the blade detection region according to the repair strategy at S74, the maintenance method for the aircraft engine blade may further include:

[0120] The multispectral sensing module 43 is used to detect the repaired second blade detection data of the blade detection area, so as to determine the actual repair status of the blade detection area according to the second blade detection data.

[0121] The data type of the second blade detection data involved in an embodiment of the present application is the same as the data type of the first blade detection data. The first blade detection data and the second blade detection data are detection data before and after the blade detection area is repaired.

[0122] In one embodiment of the present application, the blade state of the blade detection area after repair can be obtained by analyzing the second blade detection data, and the actual repair state of the blade detection area can be determined based on the repaired blade state. The blade state can include but is not limited to coating thickness, crack state, and coating peeling state.

[0123] In another embodiment of the present application, the difference in blade status before and after repair of the blade detection area can be determined by comparing the first blade detection data with the second blade detection data, thereby determining the actual repair status of the blade detection area.

[0124] In addition, when the actual repair state does not reach the ideal repair state, the micro maintenance robot 11 continues to re-acquire the repair strategy based on the second blade detection data and repeatedly executes S74.

[0125] In some of the above embodiments, the repair status of the engine blades is verified through secondary detection to ensure that the repaired engine blades can reach an ideal state, thereby ensuring the normal operation of the aircraft engine.

[0126] In some embodiments, the maintenance method for aircraft engine blades may further include: utilizing a communication module to interact with other micro-maintenance robots in the micro-maintenance robot cluster other than itself to detect blade positions, so as to determine whether the micro-maintenance robot cluster has completed the detection of the engine blades.

[0127] In one embodiment of the present application, the communication module can implement ad hoc network communication, such as mesh network communication. A cluster of micro-maintenance robots can form an ad hoc network to enable short-range communication between the micro-maintenance robots. The micro-maintenance robots share location information via the autonomous network, thereby determining whether the cluster's total blade inspection area covers critical areas of the engine blade. These critical areas of the engine blade may include, but are not limited to, the leading edge, blade tip, cooling airspace, and trailing edge.

[0128] In some embodiments, the maintenance method for aircraft engine blades may further include: accumulating a single-blade repair area; and generating a replacement prompt when the single-blade repair area is not less than a repair threshold.

[0129] In one embodiment of the present application, multiple micro-maintenance robots on the same blade exchange repair information. The micro-maintenance robots calculate the single-blade repair area based on the repair information and compare the single-blade repair area with a repair threshold. If the single-blade repair area is not less than the repair threshold, a replacement prompt is generated to prompt blade replacement. Optionally, the repair threshold is not less than 5% of the single-blade area.

[0130] It should be noted that the repair information is information obtained by comparing the last blade detection data with the first blade detection data, and may include but is not limited to the last repair area.

[0131] In some embodiments, when the micro maintenance robot is moving, a dynamic obstacle avoidance function is enabled, that is, a laser ranging module is used to detect the position of adjacent micro maintenance robots. If there is a risk of collision, the moving path is replanned.

[0132] On the other hand, the present application provides a maintenance method for aircraft engine blades, which is applied to the edge intelligent hub system 12. Figure 8 A flow chart showing another method for maintaining an aircraft engine blade according to an embodiment of the present application is shown. Figure 8 As shown, the maintenance method of the aircraft engine blade may include the following steps.

[0133] S81, planning a first movement path for the micro maintenance robot to move toward the aircraft engine blade according to the aircraft engine information.

[0134] The aircraft engine information involved in one embodiment of the present application includes a three-dimensional model of the aircraft engine blades and the airflow field inside the turbine.

[0135] S82: Send a first moving path to the micro maintenance robot.

[0136] In this way, the micro maintenance robot uses the magnetic composite drive module 42 to move to the blade detection position of the aircraft engine blade corresponding to the first moving path according to the first moving path obtained from the edge intelligent central system when the rotational speed of the aircraft engine is not lower than the preset rotational speed, and when the moving stop position of the micro maintenance robot is the blade detection position, it uses the bionic reversible adsorption layer 41 in the adsorption state to adsorb at the blade detection position.

[0137] S83, acquiring first blade detection data of the blade detection area corresponding to the blade detection position sent by the micro maintenance robot.

[0138] S84: Generate the repair strategy based on the first blade detection data using the repair model, and send it to the micro maintenance robot.

[0139] In this way, the micro maintenance robot can use the repair module 44 to perform a repair operation on the blade area to be repaired in the blade detection area according to the repair strategy.

[0140] In the above embodiment, by planning a first movement path for the micro-maintenance robot to move toward the aircraft engine blade based on aircraft engine information and transmitting the information to the micro-maintenance robot, it is possible to ensure that the micro-maintenance robot reaches the blade detection position along the preset path. The multispectral sensing module 43 detects first blade detection data of the blade detection area corresponding to the blade detection position, thereby enabling real-time detection of aircraft engine blade data without shutting down or disassembling the aircraft engine blade. Furthermore, a repair strategy is obtained based on the first blade detection data, and a repair operation is performed on the blade area to be repaired in the blade detection area according to the repair strategy using the repair module 44. Thus, a repair strategy that matches the actual situation of the aircraft engine blade is obtained. By performing automatic repair, the detection and repair functions are integrated to achieve the goals of rapid detection and minimally invasive repair, shorten the maintenance cycle, improve system adaptability, and ensure the safe operation of the aircraft engine.

[0141] In some embodiments, the maintenance method of the aircraft engine blade may also include: using data twin technology to obtain a simulated repair state of the area to be repaired based on the repair strategy; when the simulated repair state does not reach the ideal repair state, using the repair model to regenerate the repair strategy.

[0142] The data twin technology involved in one embodiment of the present application may refer to a three-dimensional flow field-thermomechanical coupling simulation. The simulation repair state is the repair simulation data obtained after performing a repair operation using the data twin technology.

[0143] The ideal repair state involved in an example of this application can be set according to user needs, such as no cracks, the coating thickness reaches the ideal thickness, the coating peeling area is smaller than the ideal area, etc.

[0144] In the above embodiment, data twin technology is used to simulate the repair state that can be achieved after the repair operation is performed according to the repair strategy, and when the simulated repair state does not reach the ideal repair state, the repair strategy is regenerated, thereby ensuring that the repair strategy output by the repair model can be the theoretically optimal strategy, reducing invalid repair operations, and improving maintenance accuracy and efficiency.

[0145] In some embodiments, the error between the actual repair state and the simulated repair state can be used to detect whether the repair operation accuracy of the micro maintenance robot is within a tolerance range.

[0146] For example, the actual repair state shows that the coating thickness is restored to 0.19mm and the crack is closed to 0.1mm. For the simulated repair state, the error rate is less than 5%. In this way, the repair operation accuracy of the micro maintenance robot meets the repair accuracy.

[0147] In some embodiments, the maintenance method of the aircraft engine blade may also include: obtaining first blade detection data of the blade detection area before the micro-maintenance robot performs the repair operation, and second blade detection data of the blade detection area after the repair operation is performed; comparing the first blade detection data and the second blade detection data to determine the actual repair status of the blade detection area.

[0148] In some embodiments, the maintenance method of the aircraft engine blade may also include: determining the cumulative repair area of a single blade of the aircraft engine blade based on the first blade detection data and the second blade detection data of at least one micro maintenance robot; when the cumulative repair area of the single blade is not less than the repair threshold, generating a blade replacement prompt message.

[0149] In one embodiment of the present application, the edge intelligence central system 12 can compare the first and second blade detection data of each micro-maintenance robot to determine the repair area of each micro-maintenance robot. Furthermore, the repair areas of the micro-robots on the same blade are accumulated to determine the cumulative repair area of a single blade. If the cumulative repair area of a single blade is not less than a repair threshold, a blade prompt is generated to prompt blade replacement to ensure normal engine operation.

[0150] In order to understand the overall maintenance methods of aircraft engine blades, Figure 9 A flow chart of another method for maintaining an aircraft engine blade according to an embodiment of the present application is shown. The method for maintaining an aircraft engine blade is applied to a maintenance system for an aircraft engine blade, such as Figure 9 As shown, the maintenance method of the aircraft engine blade may include the following steps.

[0151] S91, system startup and robot activation.

[0152] The robot activation involved in one embodiment of the present application is the same as step S71 of the aforementioned embodiment and will not be repeated here.

[0153] S92, adsorption and precise positioning.

[0154] The adsorption in this embodiment is the same as step S72 in the above embodiment, and will not be described in detail here. The precise positioning is the same as the positioning method of the micro maintenance robot in the above embodiment, and will not be described in detail here.

[0155] S93, multispectral collaborative detection.

[0156] The multi-spectral collaborative detection involved in the first embodiment of this application is the same as step S73 and will not be repeated here.

[0157] S94, repair strategy generation.

[0158] The repair strategy generation involved in an embodiment of the present application may refer to generating a repair strategy using a repair model. The generation steps are the same as the repair strategy generation steps in the above embodiment and will not be repeated here.

[0159] S95, adaptive repair execution.

[0160] The adaptive repair execution involved in one embodiment of the present application is the same as step S74 of the aforementioned embodiment, and will not be repeated here.

[0161] S96, secondary testing and effect verification.

[0162] The secondary inspection involved in one embodiment of the present application refers to the micro maintenance robot performing a second inspection on the blade inspection area after repair. The inspection method is the same as the secondary inspection of the blade inspection area mentioned above, and will not be repeated here.

[0163] The effect verification involved in an embodiment of the present application may refer to comparing and verifying the actual repair state and the simulated repair state in the aforementioned embodiment.

[0164] S97, disengagement and safe discharge.

[0165] The detachment involved in one embodiment of the present application is the same as the detachment steps of the micro maintenance robot in the aforementioned embodiment, and will not be repeated here.

[0166] The safe discharge involved in one embodiment of the present application refers to the discharge of the micro maintenance robot from the aircraft engine. The discharge method is the same as the discharge method in the previous embodiment and will not be repeated here.

[0167] S98, closed-loop iterative optimization.

[0168] Here, after the micro-maintenance robot is safely discharged, the edge intelligent central system iteratively optimizes the repair model based on the repair data and updates the repair model.

[0169] In this way, a closed-loop iterative optimization mechanism of "damage identification-strategy generation-precise repair-effect verification" is formed to continuously improve maintenance accuracy and efficiency.

[0170] On the other hand, the present application provides a non-transitory computer-readable storage medium having computer instructions stored thereon. When the computer instructions are executed by a processor, the maintenance method of any aircraft engine blade described in the present application is executed.

[0171] Those skilled in the art will appreciate that the method steps of the present application can be performed by instructing relevant hardware such as electronic devices or processors through a computer program, and the computer program can be stored in a non-transitory computer-readable storage medium, which causes the steps of the present application to be performed when the computer program is executed. Depending on the circumstances, any reference to memory, storage or other media herein may include non-volatile or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid-state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0172] The various technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification as long as such combination does not conflict.

[0173] 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 them. 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 maintaining an aircraft engine blade, characterized in that: Applied to a micro maintenance robot, the micro maintenance robot includes a bionic reversible adsorption layer and a magnetic composite drive module, a multispectral sensing module, and a repair module. The method includes: Using the magnetic composite drive module to move to a blade detection position of the aircraft engine blade corresponding to a first movement path obtained from the edge intelligent central system when the rotation speed of the aircraft engine is not lower than a preset rotation speed; When the moving stop position of the micro maintenance robot is the blade detection position, the bionic reversible adsorption layer in the adsorption state is adsorbed on the blade detection position; Detecting first blade detection data of a blade detection area corresponding to the blade detection position using the multispectral sensing module, and acquiring a repair strategy based on the first blade detection data; The repair module is used to perform a repair operation on the blade area to be repaired in the blade detection area according to the repair strategy.

2. The method according to claim 1, characterized in that The method further comprises: Determining the moving and stopping position of the micro maintenance robot by using the multispectral sensing module and / or according to magnetic marking points set on the turbine disk; detecting whether the moving stop position is the blade detection position; When the moving stop position is not the blade detection position, the magnetic composite driving module is used to move to the blade detection position according to a position compensation deviation, where the position compensation deviation is calculated based on the difference between the moving stop position and the blade detection position.

3. The method according to claim 1, characterized in that The method further comprises: When it is determined that the blade is separated from the blade detection position, the bionic reversible adsorption layer in the separated state is separated from the blade surface at the blade detection position.

4. The method according to claim 1 or 3, characterized in that The bionic reversible adsorption layer includes a nickel-based high-temperature alloy micro-nanostructure layer, the nickel-based high-temperature alloy micro-nanostructure layer is provided with a carbon nanotube array, and the roots of the carbon nanotube array are embedded in the conductive layer. The method further includes: The conductive layer is used to control the working state of the bionic reversible adsorption layer.

5. The method according to claim 4, characterized in that The roots of the carbon nanotube array are doped with a thermal expansion material, and the method further comprises: The thermal expansion material is used to control the working state of the bionic reversible adsorption layer to switch to a detached state.

6. The method according to claim 1, characterized in that The repair module includes a repair agent storage tank, a piezoelectric micropump, and a laser repair unit. The repair module is used to perform a repair operation on the blade area to be repaired in the blade detection area according to the repair strategy, including: When the repair strategy is a crack repair strategy, using the laser repair unit to perform a laser cladding operation on the blade area to be repaired, so as to repair cracks in the blade area to be repaired; When the repair strategy is a coating damage repair strategy or a coating peeling repair strategy, the piezoelectric micropump is used to press the repair agent storage tank to spray the repair agent to the blade area to be repaired, so as to repair the coating of the blade area to be repaired.

7. The method according to claim 1, characterized in that After the repairing module is used to perform a repairing operation on the to-be-repaired blade region in the blade detection region according to the repairing strategy, the method further includes: The multispectral sensing module is used to detect the repaired second leaf detection data of the leaf detection area, so as to determine the actual repair status of the leaf detection area according to the second leaf detection data.

8. The method according to claim 1, characterized in that The micro maintenance robot further includes a communication module, and the method further includes: The communication module is used to communicate with other micro maintenance robots in the micro maintenance robot cluster except the maintenance robot itself to determine whether the maintenance robot cluster has completed the detection of the engine blades.

9. A method for maintaining an aircraft engine blade, characterized in that: Applied to an edge intelligent hub system, the method includes: Planning a first movement path for the micro maintenance robot to move toward the blade of the aircraft engine according to the aircraft engine information; sending the first movement path to the micro-maintenance robot so that the micro-maintenance robot, using the magnetic composite drive module, moves to a blade detection position of the aircraft engine blade corresponding to the first movement path according to the first movement path obtained from the edge intelligent central system when the rotational speed of the aircraft engine is not less than a preset rotational speed, and when the movement stop position of the micro-maintenance robot is the blade detection position, the micro-maintenance robot is adsorbed at the blade detection position using the bionic reversible adsorption layer in an adsorption state; Acquire first blade detection data of a blade detection area corresponding to the blade detection position sent by the micro maintenance robot; A repair strategy is generated based on the first blade detection data using a repair model and sent to the micro maintenance robot so that the micro maintenance robot uses the repair module to perform a repair operation on the blade area to be repaired in the blade detection area according to the repair strategy.

10. The method according to claim 9, characterized in that The method further comprises: Using data twin technology to obtain a simulated repair state of the area to be repaired based on the repair strategy; When the simulated repair state does not reach the ideal repair state, the repair strategy is regenerated using the repair model.

11. The method according to claim 9, characterized in that The method further comprises: Acquire first blade detection data of the blade detection area before the micro maintenance robot performs a repair operation, and second blade detection data of the blade detection area after the micro maintenance robot performs the repair operation; The first blade detection data and the second blade detection data are compared to determine an actual repair status of the blade detection area.

12. The method according to claim 11, characterized in that The method further comprises: determining a single-blade cumulative repair area of the aircraft engine blade based on the first blade detection data and the second blade detection data of at least one of the micro maintenance robots; When the cumulative repair area of the single blade is not less than the repair threshold, a blade replacement prompt message is generated.

13. A micro maintenance robot, characterized in that: The robot comprises a control module, wherein the control module comprises a memory and a processor, wherein computer instructions are stored in the memory, and when the computer instructions are executed by the processor, the maintenance method for an aircraft engine blade according to any one of claims 1 to 8 is executed.

14. An edge intelligent central system, characterized in that: The edge intelligent hub system includes a memory and a processor, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, the maintenance method of the aircraft engine blade according to any one of claims 9 to 12 is executed.

15. A maintenance system for aircraft engine blades, characterized in that: It comprises at least one micro maintenance robot as described in claim 13 and an edge intelligent hub system as described in claim 14.

16. A non-transitory computer-readable storage medium, characterized in that Computer instructions are stored thereon, which, when executed by a processor, cause the maintenance method for an aircraft engine blade according to any one of claims 1 to 12 to be performed.

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