Maintenance methods, systems, robots, and media for aero-engine blades

Abstract

This application provides a maintenance method, system, robot, and medium for aero-engine blades. The method, applied to a micro-maintenance robot, includes: using a magnetic composite drive module to move the aero-engine to a blade detection position corresponding to a first movement path obtained from an edge intelligence central system, when the aero-engine's rotational speed is not lower than a preset speed; when the micro-maintenance robot stops at the blade detection position, adsorbing onto the blade detection position using a biomimetic reversible adsorption layer in an adsorption state; using a multispectral sensing module to detect first blade detection data in the blade detection area corresponding to the blade detection position, and obtaining a repair strategy based on the first blade detection data; and using a repair module to perform repair operations on the blade area to be repaired in the blade detection area according to the repair strategy. Thus, the detection and repair functions are integrated to achieve rapid detection and minimally invasive repair.

Description

Technical Field

[0001] This application relates to the field of aero-engine maintenance technology, and in particular to a method, system, micro-maintenance robot, edge intelligence central system, and non-transitory computer-readable storage medium for maintaining aero-engine blades. Background Technology

[0002] Currently, the maintenance of aero-engine blades mainly relies on traditional contact-based measurement devices (such as mechanical positioning pins and elastic structures), wired / wireless robots, and fixed sensors (such as eddy current temperature measurement and fiber optic displacement detection). However, these maintenance technologies generally suffer from the drawbacks of separating detection and repair functions, making them difficult to adapt to different scenarios: while traditional mechanical devices can improve measurement accuracy, they require manual operation and cannot perform repair functions; they rely on battery or cable power, are prone to failure in high-temperature environments, and have limited functionality; although they can identify internal cracks, they require stopping the engine to disassemble the blades, significantly extending the maintenance cycle. In addition, these maintenance technologies are also hampered by limited energy supply (relying on wired deployment or unreliable batteries), the separation of detection and repair (only offline repair is possible), and insufficient environmental adaptability, making it difficult to repair minor damage in a timely manner, seriously threatening the safe operation of the engine. Summary of the Invention

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

[0004] In a first aspect, a maintenance method for aero-engine blades is provided, applied to a micro-maintenance robot. The micro-maintenance robot includes a biomimetic reversible adsorption layer, a magnetic-aerodynamic composite drive module, a multispectral sensing module, and a repair module. The method includes: using the magnetic-aerodynamic composite drive module, when the aero-engine's rotational speed is not lower than a preset speed, moving towards a blade detection position corresponding to a first movement path obtained from an edge intelligent central system; when the micro-maintenance robot's movement stop position is the blade detection position, adsorbing onto the blade detection position using the biomimetic reversible adsorption layer in an adsorption state; using the multispectral sensing module to detect first blade detection data in the blade detection area corresponding to the blade detection position, and obtaining a repair strategy based on the first blade detection data; and using the repair module to perform repair operations on the blade area to be repaired in the blade detection area according to the repair strategy.

[0005] Secondly, a maintenance method for aero-engine blades is provided, applied to an edge intelligent central system. The method includes: planning a first movement path for a micro-maintenance robot to move towards the aero-engine blade based on aero-engine information; sending the first movement path to the micro-maintenance robot so that, when the aero-engine speed is not lower than a preset speed, the micro-maintenance robot, using a magnetic composite drive module, moves towards the blade detection position of the aero-engine blade corresponding to the first movement path, and when the micro-maintenance robot stops at the blade detection position, it uses a biomimetic reversible adsorption layer in an adsorption state to adsorb at the blade detection position; acquiring first blade detection data of the 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 it to the micro-maintenance robot so that the micro-maintenance robot, using a repair module 44, performs a repair operation on the blade area to be repaired in the blade detection area according to the repair strategy.

[0006] Thirdly, a miniature maintenance robot is provided, the robot including a control module, the control module including a memory and a processor, the memory storing computer instructions, which, when executed by the processor, cause the maintenance method for aero-engine blades according to any embodiment of this application to be performed.

[0007] Fourthly, an edge intelligent central system is provided, the edge intelligent central system including a memory and a processor, the memory storing computer instructions, which, when executed by the processor, cause the maintenance method for aero-engine blades according to any embodiment of this application to be executed.

[0008] Fifthly, a non-transitory computer-readable storage medium is provided, on which computer instructions are stored, which, when executed by a processor, cause the maintenance method for an aero-engine blade described in any embodiment of this application to be performed.

[0009] In this application, a micro-maintenance robot is driven by a magnetic composite drive module to move towards the blade detection position of the aero-engine blade corresponding to the first movement path. This allows the micro-maintenance robot to move inside the aero-engine without external power supply. A biomimetic reversible adsorption layer in an adsorption state is attached to the blade detection position, and a multispectral sensing module detects the first blade detection data in the blade detection area corresponding to the blade detection position. This enables real-time detection of aero-engine blade data without stopping or disassembling the aero-engine blade. Furthermore, a repair strategy is obtained based on the first blade detection data, and the repair module performs repair operations on the blade area to be repaired in the blade detection area according to the repair strategy. This yields a repair strategy that matches the actual condition of the aero-engine blade. By executing automatic repair, the detection and repair functions are integrated, achieving rapid detection and minimally invasive repair, shortening the maintenance cycle, improving system adaptability, and ensuring the operational safety of the aero-engine. Attached Figure Description

[0010] Non-limiting and non-exhaustive embodiments of this application are described by way of example with reference to the following figures, wherein:

[0011] Figure 1 This diagram illustrates the structure of a maintenance system for an aero-engine blade according to an embodiment of this application.

[0012] Figure 2 This diagram illustrates a miniature maintenance robot moving inside an aircraft engine, according to an embodiment of this application.

[0013] Figure 3 This diagram illustrates the distribution of a miniature maintenance robot on an aero-engine blade according to an embodiment of this application.

[0014] Figure 4 This diagram illustrates the structure of a miniature maintenance robot according to an embodiment of this application.

[0015] Figure 5 This illustration shows a structural schematic diagram of a control module provided in one embodiment of this application;

[0016] Figure 6 This illustration shows a structural schematic diagram of an edge intelligent hub system according to an embodiment of this application;

[0017] Figure 7 This diagram illustrates a process flow of a maintenance method for an aero-engine blade according to an embodiment of this application.

[0018] Figure 8 This diagram illustrates a process flow of another method for maintaining an aero-engine blade according to an embodiment of this application.

[0019] Figure 9 This diagram illustrates a process flow of another method for maintaining an aero-engine blade according to an embodiment of this application. Detailed Implementation

[0020] To make the above and other features and advantages of this application clearer, the application is further described below in conjunction with the accompanying drawings. The drawings form part of this application and, together with the embodiments of this application, serve to illustrate the application. For clarity and simplicity, detailed descriptions of the known functions and structures of the devices, apparatuses, and / or devices described herein will be omitted where they might obscure the subject matter of this application. It should be understood that the specific embodiments given herein are for the purpose of explanation to those skilled in the art and are exemplary only, not restrictive.

[0021] The features described herein may be embodied in different forms and should not be construed as being limited to the embodiments described herein. Rather, the embodiments described herein are provided merely to illustrate some of the many possible ways of implementing the apparatus and / or system described herein, which will become apparent upon 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, sections, or elements, these components, parts, sections, or elements are not limited by these terms. Rather, these terms are used only to distinguish one component, part, section, or element from another. Therefore, without departing from the teachings of this application, a first component, part, section, or element referred to herein may also be referred to as a second component, part, section, or element.

[0024] The terminology used herein is for describing various embodiments only and is not intended to limit the scope of this disclosure. Unless the context clearly indicates otherwise, "a," "an," and "the" are intended to also include plural forms. The terms "comprising," "including," and "having" specify the presence of the stated features, operations, components, elements, and / or combinations thereof, but do not exclude 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, unless otherwise specified, terms such as “center,” “inner,” “outer,” “axial,” “radial,” and “circumferential” indicating orientation or positional relationship are used 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0026] In this application, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can be a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0027] In the description of this specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0028] One embodiment of this application provides a maintenance system for aero-engine blades. Figure 1 This illustration shows a structural schematic diagram of a maintenance system for an aero-engine blade according to an embodiment of this application, as shown below. Figure 1 As shown, the maintenance system 10 for aero-engine blades may include at least one micro-maintenance robot 11 and an edge intelligent central system 12.

[0029] The micro-maintenance robot 11 has a diameter of no more than 8 millimeters. 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 to collaboratively complete the maintenance of the aero-engine blades. In some embodiments of this application, the edge intelligent central system 12 can be used to aggregate local data of the micro-maintenance robot cluster through a federated learning framework and train a repair model by combining a maintenance knowledge graph (containing more than 2,000 historical repair cases). This repair model can be used to generate repair strategies based on the detection data of the aero-engine blades, so that the micro-maintenance robot cluster can repair the aero-engine blades according to the repair strategies. The repair model can be built based on a lightweight convolutional neural network classification model, while introducing reinforcement learning for dynamic adjustment, that is, fine-tuning the model parameters based on 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 can include damage type classification, damaged area (i.e., the blade area to be repaired), repair priority, and repair operation. The repair operation includes repair parameters.

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

[0032] In one embodiment of this application, the edge intelligence hub 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, thereby the micro-maintenance robot 11 can obtain the repair strategy according to the repair model, and synchronize the repair model among the micro-maintenance robots.

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

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

[0035] In some embodiments of this application, multiple micro-maintenance robots 11 can autonomously and collaboratively operate when the aero-engine is running at low speeds, achieving a closed-loop maintenance process encompassing "detection-analysis-decision-repair." The micro-maintenance robot 11 is based on a high-temperature resistant micro-maintenance robot carrier, employing magnetic-gas composite non-powered drive technology, utilizing the airflow pressure difference and residual magnetic field during turbine rotation to achieve autonomous movement. Furthermore, the surface of the micro-maintenance robot 11 is covered with a biomimetic reversible adsorption layer 41, which dynamically switches between adsorption and repulsion modes to adapt to extreme environments such as high temperatures and high centrifugal forces. Simultaneously, the micro-maintenance robot 11 can combine with a self-organizing network for collaborative detection, covering key areas of the blade surface for initial inspection, i.e., real-time acquisition of detection data such as the morphology, coating, and cracks of the aero-engine blades, and repair of various defects in the engine blades.

[0036] In some embodiments of this 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 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 interference from complex airflow.

[0038] In some embodiments of this application, the micro-maintenance robot 11 can immediately initiate a second inspection 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 based on the repair data, thereby forming a closed-loop iterative optimization mechanism of "damage identification - strategy generation - precise repair - effect verification" to continuously improve maintenance accuracy and efficiency.

[0039] It should be noted that the edge intelligence 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 cluster of micro-maintenance robots. Furthermore, the number of micro-maintenance robots 11 participating in each maintenance cycle can be set according to user needs.

[0040] Figure 2 This diagram illustrates the movement of a miniature maintenance robot inside an aircraft engine, according to an embodiment of this application. Figure 2 As shown, aero-engine blades can include compressor blades and turbine blades. Figure 2 The arrows in the image indicate the direction of movement of the micro-maintenance robots inside the aircraft engine. That is, the cluster of micro-maintenance robots enters the engine from the engine inlet, maintains each level of blades, and exits the engine from the engine outlet.

[0041] Figure 3This illustration shows a schematic diagram of the distribution of a miniature maintenance robot on an aero-engine blade according to an embodiment of this application, as shown below. Figure 3 As shown, the circles represent micro-maintenance robots 11, and multiple micro-maintenance robots 11 are distributed on a single blade of an aero-engine. It should be noted that the distribution positions of the micro-maintenance robots 11 cannot overlap; however, the blade inspection areas of the micro-maintenance robots 11 can overlap.

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

[0043] Figure 4 This application provides a schematic diagram of the structure of a miniature maintenance robot according to an embodiment of the present application. Figure 4 As shown, the micro maintenance robot 11 may include a biomimetic 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 disposed on the outer shell surface of the micro-maintenance robot 11 to conform to the surface of the engine blades. The magnetic-pneumatic composite drive module 42 is disposed on the outside of the shell, while the multispectral sensing module 43, the repair module 44, and the control module 45 are disposed inside the shell.

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

[0046] The magnetic-gas composite drive module 42 can be used to realize the autonomous movement of the micro maintenance robot 11 without external power by utilizing the residual magnetic field and air pressure difference when the turbine of the aircraft engine rotates.

[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 silicon carbide fiber reinforced ceramic matrix composite material). This allows the shell of the micro-maintenance robot 11 to withstand temperatures exceeding 800 degrees Celsius.

[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 (i.e., adsorption state and detachment state) so that the robot can adsorb or detach from the aero-engine blade.

[0049] The biomimetic reversible adsorption layer 41 comprises a nickel-based superalloy micro / nano structure. The nickel-based superalloy micro / nano structure layer contains an array of carbon nanotubes. This carbon nanotube array incorporates a reversible adhesion design.

[0050] In one embodiment of this application, a conductive layer is embedded at the root of the carbon nanotube array. Thus, the operating state of the biomimetic reversible adsorption layer 41 can be controlled by the voltage applied to the carbon nanotube array through the conductive layer.

[0051] In another embodiment of this application, the roots of the carbon nanotube array are also doped with a thermally expandable material. Thus, when the thermally expandable material contracts due to heat, it can cause the carbon nanotube array to bend and detach.

[0052] It should be noted that thermally expanding materials are materials that shrink when heated, such as polyurethane and polyimide.

[0053] In some embodiments, the multispectral sensing module 43 may be composed of a variety of sensors and can be used to realize position detection and aero-engine blade condition detection.

[0054] In one embodiment of this 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] 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 geometric features of the blade (such as the spacing between cooling holes and the curvature of the blade), so that the control module 45 can match the geometric features of the blade with the geometric features of the preset three-dimensional model of the aero-engine blade to achieve positioning.

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

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

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

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

[0060] In some embodiments of this application, the repair module 44 includes a repair agent storage tank, a piezoelectric micropump, and a laser repair unit.

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

[0062] In one embodiment of this application, the repair agent can be an Al / Fe2O3 microcapsule, that is, a composite material formed using microcapsule 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), this repair agent spontaneously reacts to generate 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 micrometers, a hardness of not less than HV800, and a roughness of less than 1.6 micrometers.

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

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

[0066] In some embodiments, to achieve vibration and heat recovery, the micro-maintenance robot 11 may also include a piezoelectric module, a thermoelectric module, and a microcapacitor.

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

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

[0069] Thermoelectric modules can be used to generate electricity by utilizing the temperature difference between aircraft engine blades and the environment. Their output power can reach 1 millivolt to 3 millivolts.

[0070] Miniature capacitors are used to store the electrical energy generated by the piezoelectric and thermoelectric modules, which then power other modules of the miniature 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 also include a magnetic sensing module.

[0072] The magnetic sensing module can be used to detect the magnetic field strength gradient by setting a preset magnetic marker point on the edge of the turbine disk, so as to control the control module 45 to perform positioning according to the magnetic field strength gradient.

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

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

[0075] In some embodiments, the tail of the micro-maintenance robot 11 is a micro-rudder surface that can deflect ±10 degrees. In this way, the attitude can be adjusted according to the real-time airflow speed.

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

[0077] Figure 5 This illustration shows a schematic diagram of the structure of a control module according to an embodiment of this application, such as... Figure 5 As shown, the control module 45 may include a memory 51 and a processor 52. The memory 51 stores computer instructions, which, when executed by the processor 52, cause any of the maintenance methods for aircraft engine blades applied to micro-maintenance robots in this application to be executed.

[0078] Figure 6 This application provides a schematic diagram of the structure of an edge intelligent hub system according to an embodiment of the present application. Figure 6 As shown, the edge intelligent central system 12 may include a memory 61 and a processor 62. The memory 61 stores computer instructions, which, when executed by the processor 62, cause any maintenance method of an aero-engine blade applied to the edge intelligent central system of this application to be executed.

[0079] This application also provides a method for maintaining aircraft engine blades, which is applied to a micro-maintenance robot 11. Figure 7 This invention provides a schematic flowchart illustrating another method for maintaining aero-engine blades according to an embodiment of this application. Figure 7 As shown, the maintenance method for the aero-engine blade may include the following steps.

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

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

[0082] In one embodiment of this application, when the speed of the aero-engine is not lower than a preset speed, the magnetic field strength of the residual magnetic field of the turbine disk of the aero-engine is greater than the activation magnetic field strength of the magnetic-aerodynamic composite drive module 42, and the pressure difference generated by the Venturi effect is not lower than a preset pressure difference value. At this time, the magnetic-aerodynamic composite drive module 42 is activated by the residual magnetic field of the turbine disk, and in conjunction with the pressure difference generated by the Venturi effect, drives the micro-maintenance robot 11 to enter the turbine area along the first moving path and move towards the blade detection position.

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

[0084] S72, when the micro-maintenance robot is at the blade detection position, the biomimetic reversible adsorption layer 41, which is in an adsorption state, is adsorbed onto the blade detection position.

[0085] The mobile stopping position involved in the embodiments of this application is the position where the micro maintenance robot moves and stops at the aero-engine blade according to the first mobile path.

[0086] In one embodiment of this application, when the micro maintenance robot detects that its own moving and stopping position is the blade detection position, that is, when it detects that it has reached the blade detection position, it switches the biomimetic reversible adsorption layer 41 to the adsorption state, thereby adsorbing onto the blade detection position on the surface of the aero-engine blade.

[0087] S73, the multispectral sensing module 43 is used to detect the first leaf detection data of the leaf detection area corresponding to the leaf detection position, and the repair strategy is obtained based on the first leaf detection data.

[0088] One embodiment of this application relates to a blade detection area that can be detected by a micro-maintenance robot 11 at a blade detection location. The blade area includes both the surface and internal regions 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 coating damage, eddy current sensor output data can be used to detect coating peeling, and laser ultrasonic data can be used to detect cracks in the blade. The repair strategy may include repair operations corresponding to the first blade detection data and the corresponding area to be repaired.

[0089] In one embodiment of this application, the micro maintenance robot 11 can use the multispectral sensing module 43 to detect the blade detection area and acquire the corresponding sensor data (i.e., the first blade detection data).

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

[0091] In another embodiment of this application, the micro-maintenance robot 11 can send the first blade detection data to the edge intelligent central system 12. The edge intelligent central system 12 uses a 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, the repair module 44 performs 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 this 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 within the blade detection area. The defect type corresponding to each blade region to be repaired may be the same or different.

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

[0095] In one embodiment of this 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 above embodiments, a micro-maintenance robot is driven by a magnetic composite drive module to move towards the blade detection position of the aero-engine blade corresponding to the first movement path. This allows the micro-maintenance robot to move inside the aero-engine without external power supply. By utilizing a biomimetic reversible adsorption layer in an adsorption state adsorbed at the blade detection position, and by using a multispectral sensing module to detect the first blade detection data in the blade detection area corresponding to the blade detection position, real-time detection of aero-engine blade data can be achieved without stopping or disassembling the aero-engine blade. Furthermore, based on the first blade detection data, a repair strategy is obtained, and the repair module 44 performs repair operations on the blade area to be repaired in the blade detection area according to the repair strategy. This yields a repair strategy that matches the actual condition of the aero-engine blade. By executing automatic repair, the detection and repair functions can be integrated, achieving rapid detection and minimally invasive repair, shortening the maintenance cycle, improving system adaptability, and ensuring the operational safety of the aero-engine.

[0097] In some embodiments, the maintenance method for the aero-engine blade may further include: determining the movement and stopping position of the micro-maintenance robot using a multispectral sensing module 43 or based on magnetic markers set on the turbine disk; detecting whether the movement and stopping position is a blade detection position; and if the movement and stopping position is not a blade detection position, moving the robot to the blade detection position using a magnetic composite drive module 42 based on position compensation deviation.

[0098] One embodiment of this application involves a position compensation deviation calculated based on the difference between the moving and stopping position and the blade detection position.

[0099] In one embodiment of this application, the micro-maintenance robot 11 uses the infrared sensing unit and laser ranging unit in the multispectral sensing module 43 to scan the geometric features of the blade at its location. The scanned blade geometric feature data is then matched with a preset three-dimensional blade model to determine the robot's specific position on the engine blade. This achieves high-precision positioning.

[0100] In another embodiment, when the micro-maintenance robot 11 includes a magnetic sensor, it can analyze and determine its specific position on the engine blade by combining the preset magnetic markers on the edge of the turbine disk and the output data of the magnetic sensor.

[0101] It should be noted that the position of movement and dwell can be determined by the multispectral sensing module 43, by the magnetic marker, or by the multispectral sensing module 43 and the magnetic marker together.

[0102] In one embodiment of this application, when the moving and stopping position is not the blade detection position, the micro-maintenance robot 11 calculates the position compensation deviation between the moving and stopping position and the blade detection position, and adjusts the current of the magnetic-aerodynamic composite drive module 42 according to the position compensation deviation and the airflow field inside the turbine, driving the micro-maintenance robot 11 to move to the blade detection position. In this way, the position error caused by airflow disturbance can be compensated.

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

[0104] One embodiment of this application involves determining the detached blade detection position by either determining that the blade detection area corresponding to the blade detection position does not need repair or determining that the blade detection area has been repaired.

[0105] In one embodiment of this application, when the micro maintenance robot 11 determines the detachment position of the blade detection, it switches the biomimetic reversible adsorption layer 41 to the detachment state, thereby detaching itself from the blade surface where the blade detection position is located.

[0106] In one embodiment of this application, if the micro-maintenance robot 11 needs to continue to detect 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 inspect the next blade inspection position, that is, when the maintenance of the aero-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 movement path towards the turbine outlet, and returns to the robot recovery device.

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

[0109] In one embodiment of this application, the state switching mechanism of the biomimetic reversible adsorption layer 41 can be a voltage switching mechanism. This mechanism can involve applying a first voltage to the conductive layer, switching the working state of the biomimetic reversible adsorption layer 41 to an adsorption state, and applying a second voltage to the conductive layer, switching the working state of the biomimetic reversible adsorption layer 41 to a detachment 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 electrostatic adsorption force, causing the carbon nanotubes to unfold 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 electrostatic repulsion force, causing the carbon nanotubes to shrink, reducing the contact area, decreasing the adhesion, and facilitating detachment.

[0111] In the above embodiments, the working state of the biomimetic 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 aero-engine blade.

[0112] In some embodiments, when a thermally expanding material is doped at the root of the carbon nanotube array, the maintenance method for the aero-engine blade may further include: using the thermally expanding material to control the working state of the biomimetic reversible adsorption layer 41 to switch to a detached state.

[0113] In one embodiment of this application, the state switching mechanism of the biomimetic reversible adsorption layer 41 can be a thermal response deformation switching mechanism. Specifically, the thermal response deformation switching mechanism can involve heating the biomimetic reversible adsorption layer 41, causing the working state of the biomimetic reversible adsorption layer 41 to switch to a detached state.

[0114] This is because when thermally expanding materials contract when heated, the carbon nanotube array can bend and detach, reducing adhesion and making it easier to detach.

[0115] In some embodiments, S74, the repair module 44 performs a repair operation on the blade area to be repaired in the blade detection area according to the repair strategy, which 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 repair agent onto the blade area to be repaired to repair the coating of the blade area to be repaired.

[0116] In one embodiment of this 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 this application, when the repair model analyzes that the crack length has reached 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 this application, when the repair model analyzes that the coating peeling state meets one of the following conditions—that is, the area of ​​a single peeling point is greater than the area threshold, the peeling depth is not less than the thickness threshold, and there is a risk of crack propagation at the peeling edge (i.e., the stress concentration factor evaluated by the model is not less than 1.5)—a coating peeling repair strategy is output. Optionally, the area threshold is not less than 2 square millimeters, and the thickness threshold is not less than 30% of the nominal thickness.

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

[0120] The multispectral sensing module 43 is used to detect the second leaf detection data after the repair of the leaf detection area, so as to determine the actual repair status of the leaf detection area based on the second leaf detection data.

[0121] In one embodiment of this application, the data type of the second leaf detection data is the same as that of the first leaf detection data. The first leaf detection data and the second leaf detection data are detection data before and after the repair of the leaf detection area, respectively.

[0122] In one embodiment of this application, the state of the blade after repair in the blade detection area 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 may include, but is not limited to, coating thickness, crack condition, and coating peeling condition.

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

[0124] Furthermore, when the actual repair status does not reach the ideal repair status, the micro maintenance robot 11 continues to reacquire the repair strategy based on the second blade detection data and repeats S74.

[0125] In some of the above embodiments, secondary detection is used to verify the repair status of the engine blades to ensure that the repaired engine blades can reach the ideal state and ensure the normal operation of the aero-engine.

[0126] In some embodiments, the maintenance method for the aero-engine blade may further include: using a communication module to interact with other micro-maintenance robots in the micro-maintenance robot cluster (excluding itself) to determine whether the micro-maintenance robot cluster has completed the inspection of the engine blade.

[0127] In one embodiment of this application, the communication module can realize self-organizing network communication, such as mesh network communication. A cluster of micro-maintenance robots can form a self-organizing network to achieve short-range communication between the micro-maintenance robots. The micro-maintenance robots share location information through the autonomous network, thereby determining whether the total blade inspection area of ​​the micro-maintenance robot cluster covers the critical areas of the engine blade. The critical areas of the engine blade may include, but are not limited to, the leading edge, blade tip, area around the cooling air gap, and trailing edge.

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

[0129] In one embodiment of this application, multiple micro-maintenance robots located on the same blade interact to exchange repair information. This allows the micro-maintenance robots to calculate the repair area of ​​a single blade based on the repair information and compare the repair area with a repair threshold. If the repair area of ​​a single blade is not less than the repair threshold, a replacement prompt is generated to indicate that the blade needs to be replaced. Optionally, the repair threshold is not less than 5% of the single blade area.

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

[0131] In some embodiments, during the movement of the micro-maintenance robot, a dynamic obstacle avoidance function is enabled, that is, the position of adjacent micro-maintenance robots is detected by a laser ranging module, and if there is a risk of collision, the movement path is replanned.

[0132] This application also provides a method for maintaining aircraft engine blades, which is applied to an edge intelligent central system 12. Figure 8 This invention provides a schematic flowchart of another method for maintaining aero-engine blades according to an embodiment of this application. Figure 8 As shown, the maintenance method for the aero-engine blade may include the following steps.

[0133] S81, based on the aero-engine information, plans the first movement path for the micro-maintenance robot to move towards the aero-engine blade.

[0134] One embodiment of this application relates to aero-engine information including a three-dimensional model of the aero-engine blades and the internal airflow field of the turbine.

[0135] S82 sends the first movement path to the micro maintenance robot.

[0136] In this way, the micro-maintenance robot can use the magnetic composite drive module 42 to move to the blade detection position of the aero-engine blade corresponding to the first moving path according to the first moving path obtained from the edge intelligent central system when the rotation speed of the aero-engine is not lower than the preset speed. When the micro-maintenance robot moves to the blade detection position, it can use the biomimetic reversible adsorption layer 41 in the adsorption state to adsorb onto the blade detection position.

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

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

[0139] This allows the miniature maintenance robot to use the repair module 44 to perform repair operations on the blade area to be repaired in the blade detection area according to the repair strategy.

[0140] In the above embodiments, by planning a first movement path for the micro-maintenance robot to move towards the aero-engine blade based on aero-engine information and sending the information to the micro-maintenance robot, it can be ensured that the micro-maintenance robot reaches the blade detection position according to the preset path. The multispectral sensing module 43 detects the first blade detection data corresponding to the blade detection position, thus enabling real-time detection of aero-engine blade data without stopping or disassembling the aero-engine blade. Furthermore, based on the first blade detection data, a repair strategy is obtained, and the repair module 44 performs repair operations on the blade areas to be repaired within the blade detection area according to the repair strategy. This yields a repair strategy that matches the actual condition of the aero-engine blade. By executing automatic repair, the detection and repair functions are integrated, achieving rapid detection and minimally invasive repair, shortening the maintenance cycle, improving system adaptability, and ensuring the operational safety of the aero-engine.

[0141] In some embodiments, the maintenance method for the aero-engine blade may further include: obtaining a simulated repair state of the area to be repaired based on a repair strategy using data twin technology; and regenerating the repair strategy using a repair model when the simulated repair state does not reach the ideal repair state.

[0142] One embodiment of this application relates to data twin technology, which can refer to three-dimensional flow-thermal coupling simulation. The simulation repair state is the repair simulation data obtained after performing a repair operation using data twin technology.

[0143] The ideal repair state described in this application example can be set according to user needs. For example, no cracks, coating thickness reaching the ideal thickness, and coating peeling area smaller than the ideal area.

[0144] In the above embodiments, the 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. When the simulated repair state does not reach the ideal repair state, the repair strategy is regenerated. This ensures that the repair strategy output by the repair model can be the theoretically optimal strategy, reduces invalid repair operations, and improves 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 the tolerable range.

[0146] For example, the actual repair state represents the coating thickness being restored to 0.19 mm and the crack closing to 0.1 mm. For the simulated repair state, the error rate is less than 5%. Thus, the repair operation accuracy of the micro-maintenance robot meets the repair accuracy requirements.

[0147] In some embodiments, the maintenance method for the aero-engine blade may further include: acquiring 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 for the aero-engine blade may further include: determining the cumulative repair area of ​​a single aero-engine blade based on the first blade detection data and the second blade detection data of at least one micro-maintenance robot; and generating a blade replacement prompt when the cumulative repair area of ​​the single blade is not less than a repair threshold.

[0149] In one embodiment of this application, the edge intelligence hub system 12 can compare the detection data of the first blade and the detection data of the second blade of each micro-maintenance robot to obtain the repair area of ​​each micro-maintenance robot. Furthermore, it accumulates the repair areas of micro-robots on the same blade to obtain the cumulative repair area of ​​a single blade. When the cumulative repair area of ​​a single blade is not less than a repair threshold, a blade prompt message is generated to prompt blade replacement, ensuring the normal operation of the engine.

[0150] To gain a comprehensive understanding of the maintenance methods for aero-engine blades, Figure 9 This illustration shows a flowchart of another maintenance method for aero-engine blades according to an embodiment of this application. This aero-engine blade maintenance method is applied to an aero-engine blade maintenance system, such as... Figure 9 As shown, the maintenance method for the aero-engine blade may include the following steps.

[0151] S91, System Startup and Robot Activation.

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

[0153] S92, adsorption and precise positioning.

[0154] One embodiment of this application involves adsorption, which is the same as step S72 in the aforementioned embodiments, and will not be repeated here. Precise positioning is the same as the positioning method for the micro-maintenance robot in the aforementioned embodiments, and will not be repeated here.

[0155] S93, multispectral collaborative detection.

[0156] The multispectral synergistic detection involved in the implementation 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 one embodiment of this application may refer to generating a repair strategy using a repair model. This generation step is the same as the repair strategy generation step in the aforementioned embodiments, and will not be repeated here.

[0159] S95, adaptive repair execution.

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

[0161] S96, secondary testing and effect verification.

[0162] In one embodiment of this application, the secondary inspection refers to a second inspection performed by a micro-maintenance robot on the blade inspection area after repair. The inspection method is the same as the aforementioned secondary inspection of the blade inspection area, and will not be repeated here.

[0163] The effect verification involved in one embodiment of this application can refer to the comparison and verification of the actual repair state and the simulated repair state in the aforementioned embodiments.

[0164] S97, detachment and safe discharge.

[0165] The disengagement process in one embodiment of this application is the same as the disengagement steps of the micro-maintenance robot in the aforementioned embodiments, and will not be repeated here.

[0166] One embodiment of this application relates to the safe discharge of a miniature maintenance robot from an aircraft engine. The discharge method is the same as that in the foregoing embodiments and will not be described again here.

[0167] S98, closed-loop iterative optimization.

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

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

[0170] In another aspect, this application provides a non-transitory computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, cause the maintenance method for any of the aero-engine blades described in this application to be performed.

[0171] Those skilled in the art will understand that the method steps of this application can be performed by a computer program instructing related hardware, such as electronic devices or processors. The computer program can be stored in a non-transitory computer-readable storage medium, and its execution causes the steps of this application to be performed. Depending on the context, any reference herein to memory, storage, or other media 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 drive, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0172] The 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, provided that such combination does not contain contradictions.

[0173] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for maintaining aircraft engine blades, characterized in that, The method, applied to a micro-maintenance robot, includes a biomimetic reversible adsorption layer, a magnetic composite drive module, a multispectral sensing module, and a repair module. The method comprises: When the rotational speed of the aero-engine is not lower than a preset speed, the magnetic composite drive module moves to the blade detection position of the aero-engine blade corresponding to the first moving path according to the first moving path obtained from the edge intelligent central system. When the movement and stopping position of the micro-maintenance robot is the blade detection position, the biomimetic reversible adsorption layer in an adsorption state is adsorbed at the blade detection position. The multispectral sensing module is used to detect the first leaf detection data in the leaf detection area corresponding to the leaf detection position, and a repair strategy is obtained based on the first leaf detection data. The repair module performs 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 includes: The movement and stopping position of the micro-maintenance robot is determined by using the multispectral sensing module and / or by using magnetic markers set on the turbine disk; Detect whether the moving and stopping position is the blade detection position; When the moving and stopping position is not the blade detection position, the magnetic-pneumatic composite drive module moves to the blade detection position according to the position compensation deviation. The position compensation deviation is calculated based on the difference between the moving and stopping position and the blade detection position.

3. The method according to claim 1, characterized in that, The method further includes: When determining the detachment from the blade detection position, the biomimetic reversible adsorption layer in the detached state is used to detach from the blade surface at the blade detection position.

4. The method according to claim 1 or 3, characterized in that, The biomimetic reversible adsorption layer includes a nickel-based high-temperature alloy micro / nanostructure layer, wherein the nickel-based high-temperature alloy micro / nanostructure layer is provided with a carbon nanotube array, and a conductive layer is embedded at the root of the carbon nanotube array. The method further includes: The working state of the biomimetic reversible adsorption layer is controlled by the conductive layer.

5. The method according to claim 4, characterized in that, The carbon nanotube array is doped with a thermally expanding material at its root, and the method further includes: The working state of the biomimetic reversible adsorption layer is switched to the detachment state by using the thermal expansion material.

6. The method according to claim 1, characterized in that, The repair module includes a repair agent storage tank and a piezoelectric micropump, as well as a laser repair unit. The repair module performs a repair operation on the blade area to be repaired within the blade detection area according to the repair strategy, including: When the repair strategy is a crack repair strategy, the laser repair unit is used to perform laser cladding operation on the area of ​​the blade to be repaired in order to repair the crack in the area of ​​the blade 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 onto the area of ​​the blade to be repaired, so as to repair the coating of the area of ​​the blade to be repaired.

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

8. The method according to claim 1, characterized in that The miniature maintenance robot also includes a communication module, and the method further includes: The communication module is used to interact with other micro-maintenance robots in the micro-maintenance robot cluster (excluding itself) to determine the location of the engine blades, so as to determine whether the maintenance robot cluster has completed the inspection of the engine blades.

9. A method for maintaining aircraft engine blades, characterized in that, The method, applied to an edge intelligent hub system, includes: Based on the aero-engine information, plan the first movement path of the miniature maintenance robot to move towards the aero-engine blade; The first movement path is sent to the micro maintenance robot so that the micro maintenance robot can use the magnetic composite drive module to move to the blade detection position of the aero-engine blade corresponding to the first movement path according to the first movement path obtained from the edge intelligent central system when the speed of the aero-engine is not lower than the preset speed. When the movement and stopping position of the micro maintenance robot is the blade detection position, it uses the biomimetic reversible adsorption layer in the adsorption state to adsorb at the blade detection position. Acquire the first leaf detection data of the leaf detection area corresponding to the leaf detection position, sent by the micro maintenance robot; A repair strategy is generated based on the first blade detection data using the repair model and sent to the micro-maintenance robot so that the micro-maintenance robot can use the repair module to perform repair operations 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 includes: The simulated repair status of the area to be repaired is obtained using data twin technology based on the repair strategy; If 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 includes: Acquire the first leaf detection data of the leaf detection area before the micro-maintenance robot performs the repair operation, and the second leaf detection data of the leaf detection area after the repair operation; By comparing the detection data of the first leaf and the detection data of the second leaf, the actual repair status of the leaf detection area is determined.

12. The method according to claim 11, characterized in that, The method further includes: Based on the first and second blade detection data of at least one of the aforementioned micro-maintenance robots, the cumulative repair area of ​​a single blade of an aero-engine is determined. When the cumulative repair area of ​​a single blade is not less than the repair threshold, a blade replacement prompt message is generated.

13. A miniature maintenance robot, characterized in that, The robot includes a control module, which includes a memory and a processor. The memory stores computer instructions that, when executed by the processor, cause the maintenance method for the aero-engine blades according to any one of claims 1-8 to be performed.

14. An edge intelligent hub system, characterized in that, The edge intelligent central system includes a memory and a processor, the memory storing computer instructions that, when executed by the processor, cause the maintenance method for the aero-engine blades according to any one of claims 9-12 to be performed.

15. A maintenance system for aircraft engine blades, characterized in that, It includes 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, It stores computer instructions that, when executed by a processor, cause the maintenance method for the aero-engine blades according to any one of claims 1-12 to be performed.

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