A robot for inspecting a machine, a control system and a control method

Abstract

The application discloses a machine inspection robot, a control system and a control method, and relates to the technical field of aircraft inspection. The robot comprises a robot body, a visual camera, a laser radar sensor and a processor which are installed on the robot body. The robot body moves along a preset machine inspection path. During the movement of the robot body, the processor obtains a shooting image based on the visual camera and three-dimensional point cloud data obtained by the laser radar sensor, and obtains an inspection result of the current aircraft through three-level comparison with the last inspection result of the aircraft, initialization data of the aircraft and a maintenance manual of the aircraft. The inspection result is used to determine whether the aircraft can be released. The application can automatically complete the machine inspection of the aircraft, determine whether the aircraft can be released, improve the release accuracy and efficiency, and reduce the cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aircraft inspection, in particular to a robot for aircraft inspection, a control system and a control method. BACKGROUND

[0002] After the aircraft lands, an aircraft maintenance line engineer performs an around-aircraft inspection, which can include aircraft outer surface defect inspection, leakage inspection, tire tread wear condition inspection, brake wear condition inspection, engine inlet defect inspection, fan blade defect inspection, tail nozzle defect inspection, and landing gear defect inspection. If defects are found, the aircraft maintenance line engineer confirms whether the aircraft meets the release standard by querying the aircraft original manufacturer's manual standard (which is a technical document provided by the aircraft manufacturer to guide the maintenance, inspection and operation of the aircraft).

[0003] However, the current around-aircraft inspection by manual has the following disadvantages:

[0004] (1) The work skills and qualifications of the aircraft maintenance line engineer are required to be high, and human factors may affect the release accuracy.

[0005] (2) The airport apron is used for aircraft parking, passenger boarding and alighting, loading and unloading of goods, supply of provisions and energy, aircraft maintenance, cleaning and other ground services, and its working environment is not conducive to efficient querying of the aircraft original manufacturer's manual standard, affecting the aircraft release efficiency, which may cause aircraft delay and affect the release accuracy.

[0006] (3) The cost of training, training and personnel salary of the aircraft maintenance line engineer is high. SUMMARY

[0007] The purpose of the present application is to provide a robot for aircraft inspection, a control system and a control method, which can automatically complete the around-aircraft inspection of the aircraft, determine whether the aircraft can be released, improve the release accuracy and efficiency, and reduce the cost.

[0008] To achieve the above purpose, the present application provides the following solutions:

[0009] In a first aspect, the present application provides a robot for aircraft inspection, comprising: a robot body, and a vision camera, a laser radar sensor and a processor installed on the robot body, the robot body, the vision camera and the laser radar sensor are in communication connection with the processor;

[0010] The robot body is used to move along a preset around-aircraft inspection path;

[0011] The visual camera is configured to continuously capture images of the aircraft based on the preset inspection scheme around the aircraft during movement of the robot body, so as to check defects on the aircraft and obtain the captured images;

[0012] The processor is configured to, upon receiving each of the captured images, compare the captured image with a previous inspection result of the aircraft based on a position of the robot body at the time, and if the comparison is unsuccessful, determine a position of a defect that is not successfully compared based on the captured image, and send a scanning instruction and the position of the defect that is not successfully compared to the laser radar sensor;

[0013] The laser radar sensor is configured to, upon receiving the scanning instruction, scan the defect that is not successfully compared based on the position of the defect that is not successfully compared, and obtain three-dimensional point cloud data;

[0014] The processor is configured to process the three-dimensional point cloud data, determine defect information of the defect that is not successfully compared, compare the defect information of the defect that is not successfully compared with initialization data of the aircraft, if the comparison is unsuccessful, compare the defect information of the defect that is not successfully compared with a maintenance manual of the aircraft, and obtain a comparison result of the defect that is not successfully compared for the second time; the initialization data is an inspection result obtained by performing comprehensive inspection on the aircraft;

[0015] The processor is configured to, after movement of the robot body is completed, store all the captured images, positions of the robot body corresponding to the captured images, and the comparison result of the defect that is not successfully compared for the second time as a current inspection result of the aircraft; and the current inspection result of the aircraft is used to determine whether the aircraft can be released.

[0016] Optionally, the processor is configured to send a driving instruction based on a preset inspection path around the aircraft, and the robot body is configured to work based on the driving instruction to move along the preset inspection path around the aircraft;

[0017] The processor is configured to send a capturing instruction based on a preset inspection scheme around the aircraft, and the visual camera is configured to work based on the capturing instruction to continuously capture images of the aircraft based on the preset inspection scheme around the aircraft during movement of the robot body, so as to check defects on the aircraft and obtain the captured images.

[0018] Optionally, the visual camera is configured to capture a plurality of sub-images by capturing the area between two adjacent stands from top to bottom when the robot body moves to a shooting position in the shooting instruction, each of the sub-images corresponds to the area between two adjacent stringers, each of the sub-images has a stand and a stringer, the number of the sub-images is equal to the difference between the number of stringers and 1, and all the sub-images form the shooting image.

[0019] The position of the defect which is not successfully compared once is determined based on the shooting image, and specifically, for each of the sub-images in the shooting image, the position of the defect which is not successfully compared once is located based on the stand and the stringer in the sub-image.

[0020] Optionally, the unsuccessful comparison is a newly added defect or a change in the defect information of the defect, the defect is a defect occurring on a check object related to an agreed check item, the check object includes an aircraft outer surface, an oil leakage point, a wheel, a brake, an engine inlet, a fan blade, a tail nozzle and a landing gear, if the defect is a defect occurring on the aircraft outer surface, the wheel, the brake, the engine inlet, the fan blade, the tail nozzle and the landing gear, the defect information includes the shape, size and position of the defect, and if the defect is a defect occurring on the oil leakage point, the defect information includes the oil leakage rate.

[0021] Optionally, if the comparison results of the defects which are not successfully compared twice in the current inspection result of the aircraft are all successful comparison, the aircraft can be released.

[0022] Optionally, the initialization data is obtained when the aircraft is first used or after a repair work affecting the state of the aircraft outer surface is completed, the repair work affecting the state of the aircraft outer surface includes periodic maintenance, structural repair, paint spraying, coating and external configuration modification, the initialization data includes the MSN number of the aircraft and the defect information, treatment scheme and release basis of the overall inspection defects determined by the overall inspection, the treatment scheme is a repair scheme for repairing the overall inspection defects, and the release basis is an allowable value of the overall inspection defects determined based on a maintenance manual of the aircraft.

[0023] Optionally, the maintenance manual is a standard of an original factory manual of the aircraft.

[0024] In a second aspect, the application provides a control system based on the machine-circulating inspection robot, which comprises an airport operation control system, an airline maintenance control system, an inspection robot operation control system and a machine-circulating inspection robot.

[0025] The airport operation control system is used to send first information to the inspection robot operation control system. The first information includes the airport parking position number where the aircraft is to land and the robot number to perform the task.

[0026] The airline maintenance control system is used to send second information to the inspection robot operation control system. The second information includes the aircraft's MSN number, the airport information where the aircraft is to land, the aircraft's landing information, the results of the aircraft's last inspection, the aircraft's initialization data, and the aircraft's maintenance manual.

[0027] The inspection robot operation and control system is used to generate a machine-around inspection path and a machine-around inspection plan based on the first information and the second information, and send the first information, the second information, the machine-around inspection path, the machine-around inspection plan and the inspection instructions to the machine-around inspection robot with the corresponding robot number to be executed.

[0028] The aircraft inspection robot is used to inspect the aircraft after it lands, upon receiving the inspection instruction, and to obtain the inspection results for this inspection.

[0029] The inspection robot operation and control system is used to transmit the inspection results of the aircraft to the airline's maintenance control system.

[0030] The airline's maintenance control system is used to determine whether an aircraft can be released based on the results of the current inspection.

[0031] Optionally, the airport information for which the aircraft is to land includes the airport name, and the landing information includes the time when the aircraft lands at the airport; the airline maintenance control system is used to issue a release command when the comparison results of the two unsuccessful defects in the current inspection results of the aircraft are both successful, and the aircraft can be released.

[0032] Thirdly, this application provides a control method based on a machine inspection robot, the control system based on the aforementioned machine inspection robot working as follows:

[0033] The airport operations control system sends the first information to the inspection robot operations control system. The first information includes the airport parking position number where the aircraft is about to land and the robot number to perform the task.

[0034] The airline's maintenance control system sends a second message to the inspection robot's operation control system. The second message includes the aircraft's MSN number, the airport information where the aircraft is to land, the aircraft's landing information, the results of the aircraft's last inspection, the aircraft's initialization data, and the aircraft's maintenance manual.

[0035] The inspection robot operation and control system generates a machine-around inspection path and a machine-around inspection plan based on the first information and the second information, and sends the first information, the second information, the machine-around inspection path, the machine-around inspection plan and the inspection command to the machine-around inspection robot with the corresponding robot number to be executed.

[0036] After receiving the inspection instruction, the aircraft inspection robot will inspect the aircraft after it lands and obtain the inspection results for this inspection.

[0037] The inspection robot's operation and control system transmits the results of the aircraft's current inspection to the airline's maintenance control system;

[0038] The airline's maintenance control system determines whether the aircraft can be released based on the results of the current inspection. If the aircraft cannot be released, a dispatch instruction is issued to allow manual intervention by the dispatcher, and the current inspection results of the aircraft are updated and saved.

[0039] According to the specific embodiments provided in this application, this application has the following technical effects:

[0040] This application provides a walk-around inspection robot, control system, and control method, including a robot body and a vision camera, a lidar sensor, and a processor installed on the robot body. The robot body moves along a preset walk-around inspection path. The vision camera continuously captures images of the aircraft based on a preset walk-around inspection plan to inspect for defects on the aircraft and obtain captured images. The lidar sensor scans the aircraft for defects that failed to be matched in a previous comparison based on their location and obtains three-dimensional point cloud data. The processor performs a three-level comparison based on the captured images and three-dimensional point cloud data with the aircraft's previous inspection results, the aircraft's initialization data, and the aircraft's maintenance manual to obtain the current inspection result of the aircraft, which is subsequently used to determine whether the aircraft can be released. This application can automatically complete the aircraft walk-around inspection to determine whether the aircraft can be released without human intervention. Therefore, it does not require high skill and qualification requirements for aircraft maintenance line engineers, and solves the problem of high costs associated with the training, development, and salaries of aircraft maintenance line engineers. It avoids the influence of human factors, improves release accuracy, and improves release efficiency through automatic inspection and automatic three-level comparison. It is suitable for application scenarios where aircraft are inspected during short stops / transit periods (generally only 1-2 hours). Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the stringers provided in Embodiment 1 of this application.

[0043] Figure 2 This is a schematic diagram of the station location provided in Embodiment 1 of this application.

[0044] Figure 3 This is a schematic diagram of the control system based on a machine inspection robot, which is provided in Embodiment 2 of this application.

[0045] Figure 4 This is a flowchart illustrating a control method based on a machine inspection robot provided in Embodiment 3 of this application. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] Example 1

[0048] This embodiment provides a robot for inspecting a machine, including: a robot body and a vision camera, a lidar sensor and a processor installed on the robot body. The robot body, the vision camera and the lidar sensor are all communicatively connected to the processor.

[0049] The robot body is used to move along a preset inspection path around the aircraft. Specifically, the processor issues drive commands based on the preset inspection path, and the robot body works according to the drive commands to move along the preset inspection path. The inspection path is a path that circles the aircraft, and it is generally the same as the inspection path when a person performs an inspection around the aircraft manually.

[0050] The vision camera is used to continuously photograph the aircraft based on a preset walk-around inspection plan during the robot's movement to inspect for defects and obtain captured images. Specifically, the processor issues shooting commands based on the preset walk-around inspection plan, and the vision camera operates according to these commands to continuously photograph the aircraft based on the preset walk-around inspection plan during the robot's movement to inspect for defects and obtain captured images. It should be noted that multiple images will be captured during the entire robot's movement. Adjacent images may or may not overlap, but all captured images must cover all inspection objects (i.e., the parts to be inspected) on the aircraft. Inspection objects can be any inspection items specified in the manual and work order, including but not limited to the aircraft's outer surface, oil leaks, wheels, brakes, engine air intakes, fan blades, tail nozzles, landing gear, etc., which can be specifically determined according to user requirements. The pre-set aircraft inspection plan includes the inspection objects and the inspection requirements for the inspection objects. For inspection objects such as the aircraft's outer surface, wheels, brakes, engine air intakes, fan blades, tail nozzles, and landing gear, the defects of the inspection objects may be dents, scratches, etc., and the inspection requirement is to take a picture of the inspection object once. For inspection objects such as oil leaks, the defects of the inspection objects may be the oil leak rate, and the inspection requirement is to take multiple pictures of the inspection object to determine the oil leak rate of the oil leak point.

[0051] Each time a captured image is received, the processor compares the captured image with the previous inspection result of the aircraft based on the current position of the robot body. If the comparison fails, the processor determines the location of the defect that failed to be matched based on the captured image and sends a scanning command and the location of the defect that failed to be matched to the lidar sensor.

[0052] The lidar sensor is used to scan for a defect on the aircraft that failed to match once, based on the location of the defect that failed to match once, and obtain three-dimensional point cloud data when a scanning command is received.

[0053] The processor is used to process the 3D point cloud data, determine the defect information of the defects that failed the first comparison, and compare the defect information of the defects that failed the first comparison with the aircraft's initialization data. If the comparison fails, the defect information of the defects that failed the second comparison is compared with the aircraft's maintenance manual to obtain the comparison result of the defects that failed the second comparison.

[0054] The processor is used to store all captured images, the corresponding positions of the robot body, and the comparison results of defects that failed the second comparison after the robot body has finished moving as the current inspection result of the aircraft. The current inspection result of the aircraft is used to determine whether the aircraft can be released.

[0055] Specifically, when comparing the captured images with the aircraft's previous inspection results, comparing the defect information of a defect that failed to match once with the aircraft's initialization data, and comparing the defect information of a defect that failed to match twice with the aircraft's maintenance manual, a failed comparison means that a new defect has been added or the defect information has changed. The defect is a defect that occurs on the inspection objects involved in the agreed inspection items. The inspection objects include the aircraft's outer surface, oil leak points (usually located in the engine), wheels, brakes, engine air intakes, fan blades, tail nozzles, and landing gear. If the defect occurs on the aircraft's outer surface, wheels, brakes, engine air intakes, fan blades, tail nozzles, or landing gear, the defect information includes the shape, size, and location of the defect. If the defect occurs at an oil leak point, the defect information includes the oil leak rate.

[0056] This embodiment uses visual methods and laser 3D modeling methods to inspect and measure defects on an aircraft. Specifically, a visual camera is used to inspect defects on the aircraft, and a laser radar sensor is used to measure them. After the visual camera captures an image, it is compared in real-time with the aircraft's previous inspection results. Based on the most recent inspection results, a judgment is made to determine if there are any differences (i.e., new defects added this time compared to the previous inspection, or changes in the defect information of a certain defect at the same location compared to the previous inspection). If there are no differences, the process ends, and the next image is compared. If there are differences, the location of the defect that failed to match (i.e., the defect that differs from the previous inspection result) is determined (this can be done through image recognition of the captured images). The laser radar sensor then scans the defect that failed to match. After obtaining the 3D point cloud data, the defect information of the first unsuccessful comparison is identified based on the 3D point cloud data. This information is then compared with the aircraft's initialization data. By querying the initialization data, a judgment is made to determine if there is a difference. If there is no difference, the process ends, and the next captured image is compared. If there is a difference, the next captured image is compared. Simultaneously, the second unsuccessful comparison defect (i.e., the first unsuccessful comparison defect that differs from the aircraft's initialization data) is identified. This information is then compared with the aircraft's maintenance manual. By querying the relevant standards in the aircraft's maintenance manual, a judgment is made to determine if there is a difference. If there is no difference, the comparison result of the second unsuccessful comparison defect is determined to be successful. If there is a difference, the comparison result of the second unsuccessful comparison defect is determined to be unsuccessful, and further reporting is required, requesting manual intervention.

[0057] It should be noted that, for oil leak points, after acquiring multiple images, the oil leak rate can be calculated based on the number of oil droplets on the ground in the images and the shooting time. Similarly, after acquiring multiple 3D point cloud data, the oil leak rate can be calculated based on the number of oil droplets on the ground in the 3D point cloud data and the scanning time. After identifying defects that failed the second comparison, and before comparing the defect information of the defects that failed the second comparison with the aircraft's maintenance manual, the aircraft's maintenance manual can be consulted to determine the measurement standard for the oil leak rate. The oil leak rate of the oil leak point is measured according to the measurement standard, and the measurement result is compared with the standard in the aircraft's maintenance manual to determine whether it is qualified. The comparison result of the defects that failed the second comparison is obtained. If it exceeds the standard, the comparison result is unsuccessful; otherwise, the comparison result is successful.

[0058] If the two unsuccessful comparisons in the current inspection of the aircraft are both successful, the aircraft can be released.

[0059] This embodiment employs a three-level comparison: the first level compares the results with the aircraft's previous inspection; the second level compares the results with the aircraft's initialization data; and the third level compares the results with the aircraft's maintenance manual. This design aims to improve comparison efficiency and further enhance release efficiency. The reason for this improved efficiency is that the aircraft's previous inspection results are from the previous walk-around inspection, the initialization data is from a comprehensive inspection, and the maintenance manual is the original manufacturer's manual. Since the aircraft's initialization data is... The results of a comprehensive aircraft inspection, which takes longer than a previous walk-around inspection, are more accurate and contain more data than the previous inspection. Furthermore, the aircraft maintenance manual is more accurate and contains more data than the initialization data. Therefore, by comparing the results first with the previous inspection, then with the initialization data, and finally with the maintenance manual, comparison efficiency can be improved, significantly increasing the efficiency of the walk-around inspection and thus improving release efficiency.

[0060] When locating the robot body, GPS, Beidou, and differential positioning methods based on the airport's dedicated 5G network can be used. By locating the robot body, its position can be obtained. Subsequently, the captured image can be compared with the image captured at the robot body's position taken from the previous inspection results of the aircraft.

[0061] Considering the features of an aircraft, such as stringers and positions, stringers are horizontal lines on the aircraft, and there are multiple stringers from top to bottom, such as... Figure 1As shown, this is a cross-sectional view of the aircraft as seen from the nose. "S" represents a stringer, and the number following "S" indicates the stringer number. "L" represents the left side, and "R" represents the right side. For example, S-2L represents stringer number 2 on the left side. The positions are vertical lines on the aircraft, and there are multiple positions from left to right. Figure 2 As shown, STA represents a station position, and the number after STA represents the station number. For example, STA130 represents stringer number 130. Stringers and stations can be used to divide the aircraft into multiple grids, which helps determine the position and altitude of various components. Based on this, to improve the positioning accuracy of defects on the aircraft's outer surface, this embodiment designs a defect positioning method based on stringers and stations. The vision camera is used when the robot moves to the shooting position specified in the shooting command. The shooting position is the position between two adjacent stations on the aircraft. It takes pictures of the area between two adjacent stations from top to bottom, obtaining multiple sub-images. Each sub-image corresponds to a group of areas between two adjacent stringers. Each sub-image contains both a station and a stringer. The number of sub-images is equal to the difference between the number of stringers and 1. All sub-images form a captured image, and the number of captured images is equal to the difference between the number of stations and 1. At this time, the processor uses the captured image... To pinpoint the location of a defect that failed to be matched, the process involves: for a sub-image within a captured image, locating the defect that failed to be matched based on the position and stringers within the sub-image. The location of the defect that failed to be matched is described using stringers and positions. For example, the defect that failed to be matched is located 10cm above a particular stringer or 5cm to the left of a particular position. By using the calibrated positions of the stringers and positions on the aircraft fuselage and wings, precise location information of the defect can be obtained with an error margin down to the centimeter level. This facilitates subsequent comparison with defect information at the same location in the aircraft's initialization data.

[0062] In this embodiment, the initialization data can be data obtained from a comprehensive inspection of the aircraft during its first use or after completing repairs that affect the condition of the aircraft's external surface. Repairs that affect the condition of the aircraft's external surface include periodic maintenance, structural repairs, painting, coating, and external configuration modifications. The initialization data includes the aircraft's MSN (Manufacturer Serial Number, a unique serial number assigned to each aircraft by the aircraft manufacturer during the production process to identify and track the aircraft's production, maintenance, and repair status), as well as defect information, handling plans, and release criteria for defects identified during the comprehensive inspection. The handling plan is the repair plan used to repair the defects identified during the comprehensive inspection, and the release criteria are the permissible values ​​for defects identified during the comprehensive inspection based on the aircraft's maintenance manual at the time of the comprehensive inspection.

[0063] Specifically, before the aircraft inspection robot in this embodiment is put into use (i.e., during its first use), the airline's maintenance control system issues instructions to the relevant departments of the airline to perform a comprehensive scan of each aircraft and obtain the aircraft's initialization data. The initialization data includes: the aircraft MSN number, defect information, handling plan, and release basis, etc. This initialization data can be stored in the airline's maintenance control system as part of the aircraft's individual file. The aircraft's individual file generally refers to the summary of the aircraft's usage and maintenance information since it left the factory. For each aircraft, there is an independent aircraft individual file. The operator's responsibility is to establish its own aircraft individual file for each aircraft. Its main purpose is for the operator and the regulatory authority to regularly evaluate and understand the airworthiness status of the aircraft. In this embodiment, the aircraft's configuration (overall design and structural layout) and maintenance / inspection records (specifically including the aircraft's initialization data and the results of the aircraft's last inspection) can be obtained from the aircraft individual file.

[0064] After completing routine maintenance, structural repairs, painting, coating, and external configuration modifications that may affect the aircraft's external surface condition, a comprehensive scan of the aircraft should be performed again to update the initialization data. When comparing the aircraft's initialization data, the latest aircraft initialization data must be used.

[0065] The aircraft maintenance manual in this embodiment can be the original manufacturer's manual standard. Since different aircraft models and customers are different, the original manufacturer's manual standard may be adjusted based on user needs. In this case, the aircraft maintenance manual can be the adjusted original manufacturer's manual standard. Therefore, the aircraft maintenance manual can also be called the aircraft's personalized maintenance manual.

[0066] The inspection robot in this embodiment has the function of completing various inspections according to the prescribed route. The path is completely correct, and there will be no missed or incorrect inspections. It can automatically avoid obstacles and will not interfere with other workers or machinery in the same area or at the same time when working according to the prescribed time and path.

[0067] This embodiment utilizes a ground-based inspection robot to perform external feature checks on the aircraft. It inspects for defects such as aircraft appearance and oil leaks, and completes the inspection through a three-level comparison with the aircraft's original manufacturer's manual standards and individual aircraft records. Based on this inspection result, it determines whether the aircraft can be released. No human intervention is required, thus eliminating the need for highly skilled and qualified aircraft maintenance line engineers. This solves the problem of high costs associated with training, development, and salaries for aircraft maintenance line engineers, avoids the influence of human factors, and improves release accuracy. Through automated inspection and automatic three-level comparison, release efficiency is improved, making it suitable for applications involving aircraft inspections during short stops / transit points.

[0068] Example 2

[0069] This embodiment provides a control system based on a machine inspection robot, such as... Figure 3 As shown, it includes: airport operation control system, airline maintenance control system, inspection robot operation control system and aircraft inspection robot, the aircraft inspection robot being the aircraft inspection robot described in Example 1.

[0070] The airport operations control system sends first information to the inspection robot operations control system. The first information includes the airport parking position number where the aircraft is about to land and the robot number of the task to be performed. The airport parking position number is a unique identifier assigned by the airport to each parking position. The airport parking position number is used to identify the aircraft's parking position. Each aircraft inspection robot has a robot number, and different aircraft inspection robots have different robot numbers. The robot number is used to identify the aircraft inspection robot that is performing the aircraft inspection.

[0071] The airline's maintenance control system is used to send second information to the inspection robot's operation control system. The second information includes the aircraft's MSN number, the airport information where the aircraft is to land, the aircraft's landing information, the results of the aircraft's last inspection, the aircraft's initialization data, and the aircraft's maintenance manual. The airport information where the aircraft is to land includes the airport name, and the aircraft's landing information includes the time the aircraft landed at the airport.

[0072] The inspection robot operation and control system is used to generate a walk-around inspection path and a walk-around inspection plan based on the first information and the second information. Specifically, it calculates the walk-around inspection path based on the parking position information (including the shape and size of the parking position, which is determined by the airport parking position number in the first information), the airport map (determined by the airport name in the second information), the aircraft model appearance data of the aircraft to be inspected, the nose (e.g., B737-800 parking position SAT130), and other information (determined by the aircraft's MSN number in the second information, which is obtained from the aircraft's individual aircraft file based on the aircraft's MSN number). The walk-around inspection path can be the same as the walk-around inspection path when performed manually. The walk-around inspection plan can be set according to requirements. The system then sends the first information, the second information, the walk-around inspection path, the walk-around inspection plan, and the inspection instructions to the walk-around inspection robot with the corresponding robot number to be executed.

[0073] The aircraft inspection robot is used to move to the initial position of the aircraft inspection path after receiving the inspection instruction and after the aircraft lands (determined based on the landing information in the second information) and start inspecting the aircraft to obtain the inspection results of the current inspection.

[0074] In this embodiment, the robot for inspection can also determine whether the robot number in the received first information is the same as its own robot number. If they are the same, it starts working; if they are different, it sends an error message to the inspection robot operation control system.

[0075] The inspection robot control system is used to transmit the results of the current aircraft inspection to the airline's maintenance control system.

[0076] The airline's maintenance control system is used to determine whether an aircraft can be released based on the results of the current inspection.

[0077] The control system in this embodiment consists of an airport operations control system, an airline maintenance control system, an inspection robot operations control system, and an aircraft inspection robot that executes commands. These components can communicate via a 5G network. The airport operations control system primarily transmits first information to the inspection robot operations control system. The airline maintenance control system primarily transmits second information to the inspection robot operations control system and receives inspection result information (i.e., the aircraft's current inspection result) from the inspection robot operations control system to determine whether the aircraft can be released. The inspection robot operations control system includes a command module and a path planning module. The command module generates inspection commands and issues the first information. The system receives the first information, the second information, the aircraft inspection path, the aircraft inspection plan, and the inspection instructions, and sends them to the aircraft inspection robot. The path planning module is used to determine the aircraft inspection path. The aircraft inspection robot includes a communication module, an image acquisition module, an information comparison module, a position calibration module, and a laser measurement module. The communication module is used to receive the first information, the second information, the aircraft inspection path, the aircraft inspection plan, and the inspection instructions, and sends the current inspection results of the aircraft to the inspection robot's operation and control system. The image acquisition module uses a vision camera, the information comparison module is used to perform three-level comparisons, the position calibration module uses a vision camera, and the laser measurement module uses a lidar sensor.

[0078] The airport operations control system and the airline maintenance control system provide relevant data to the inspection robot operations control system based on the aircraft's operational tasks. The airport operations control system sends the first piece of information to the inspection robot operations control system, and the airline maintenance control system sends the second piece of information. The inspection robot operations control system then sends the first and second pieces of information to the corresponding aircraft-around inspection robot. Simultaneously, it sends the aircraft-around inspection path, inspection plan, and inspection instructions to the corresponding aircraft-around inspection robot. After the aircraft approaches (i.e., lands), the inspection robot operations control system dispatches the aircraft-around inspection robot to the designated location. The aircraft-around inspection robot performs its inspection according to the prescribed path and, based on the prescribed inspection plan, uses vision and laser technology... The system measures and obtains current defect information, and simultaneously locates the defect using stringers and station positions. A three-level data comparison is performed to obtain the aircraft's inspection result for this inspection. This result is then forwarded to the airline's maintenance control system via the inspection robot's operational control system. If the result is satisfactory, a clearance message is issued, and the aircraft maintenance control system (which can be the maintenance management system of the operating airline) records the aircraft's inspection result. If the result is unsatisfactory, a clearance denial message is issued, and the aircraft maintenance control system dispatches airport maintenance personnel to intervene and handle the defect. After manual handling, a clearance message is issued, and the aircraft's inspection result is manually updated. The aircraft maintenance control system then records the aircraft's inspection result for this inspection.

[0079] In addition, the results of this aircraft inspection also include the basis information, which refers to the content on which the result of successful or unsuccessful comparison in the three-level comparison is based.

[0080] In this embodiment, the airline maintenance control system issues a release command when both of the defects that failed to match in the current inspection of the aircraft are successfully matched, and the aircraft can be released; otherwise, it issues a manual intervention command, and the aircraft cannot be released.

[0081] The aircraft inspection robot in this embodiment has functions such as real-time scanning, positioning, communication, storage, and network processing. It can detect defects through scanning and locate the position and stringer information of the aircraft fuselage and wings through positioning. It can also perform defect inspection and measurement on the aircraft through visual methods and laser 3D modeling methods. It can also communicate with the inspection robot operation control system. Through the cooperation of the aircraft inspection robot, airport operation control system, airline maintenance control system, and inspection robot operation control system, the release accuracy and efficiency can be improved, and the airline cost and the impact of human factors can be reduced. Specifically, it has the following advantages: (1) The aircraft inspection robot has higher working efficiency, longer continuous working time, and lower cost; (2) The saved human resources can be used for more technically demanding tasks such as troubleshooting; (3) Improved accuracy and reliability.

[0082] Example 3

[0083] This embodiment provides a control method based on a machine inspection robot, which operates based on the control system of the machine inspection robot described in Embodiment 2, such as... Figure 4 As shown, it includes:

[0084] S1: The airport operations control system sends the first information to the inspection robot operations control system. The first information includes the airport parking position number where the aircraft is to land and the robot number to perform the task.

[0085] S2: The airline's maintenance control system sends a second message to the inspection robot's operation control system. The second message includes the aircraft's MSN number, the airport information where the aircraft is to land, the aircraft's landing information, the results of the aircraft's last inspection, the aircraft's initialization data, and the aircraft's maintenance manual.

[0086] S3: The inspection robot operation and control system generates a machine-around inspection path and a machine-around inspection plan based on the first information and the second information, and sends the first information, the second information, the machine-around inspection path, the machine-around inspection plan and the inspection command to the machine-around inspection robot with the corresponding robot number to be executed.

[0087] S4: After receiving the inspection instruction, the aircraft inspection robot will inspect the aircraft after it lands and obtain the inspection results for this inspection.

[0088] S5: The inspection robot operation and control system transmits the results of the current inspection of the aircraft to the airline's maintenance control system.

[0089] S6: The airline's maintenance control system determines whether the aircraft can be released based on the results of the current inspection. If the aircraft cannot be released, a dispatch instruction is issued to allow manual intervention by the dispatcher, and the results of the current inspection are updated and saved.

[0090] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0091] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A robot for inspecting and circling machines, characterized in that, include: The robot body, a vision camera, a lidar sensor, and a processor are mounted on the robot body, and the robot body, the vision camera, and the lidar sensor are all communicatively connected to the processor; The robot body is used to move along a preset inspection path around the machine; The vision camera is used to continuously photograph the aircraft based on a preset inspection plan during the movement of the robot body, so as to inspect the defects on the aircraft and obtain the photographed images. The processor is used to compare the captured image with the previous inspection result of the aircraft based on the current position of the robot body each time it receives the captured image. If the comparison fails, the processor determines the location of the defect that failed to be compared based on the captured image and sends a scanning command and the location of the defect that failed to be compared to the laser radar sensor. The lidar sensor is used to scan the aircraft for a defect that failed to match once, based on the location of the defect that failed to match once, and obtain three-dimensional point cloud data when the scanning command is received. The processor is used to process the three-dimensional point cloud data, determine the defect information of the defect that failed the first comparison, and compare the defect information of the defect that failed the first comparison with the aircraft's initialization data. If the comparison fails, the defect information of the defect that failed the second comparison is compared with the aircraft's maintenance manual to obtain the comparison result of the defect that failed the second comparison. The initialization data is the inspection result obtained from a comprehensive inspection of the aircraft. The processor is used to store all the captured images, the positions of the robot bodies corresponding to the captured images, and the comparison results of the defects that failed the second comparison as the current inspection result of the aircraft after the robot body has finished moving. The current inspection result of the aircraft is used to determine whether the aircraft can be released.

2. The inspection robot for machine winding according to claim 1, characterized in that, The processor is used to issue drive commands based on a preset inspection path around the aircraft, and the robot body is used to work based on the drive commands to move along the preset inspection path around the aircraft; wherein, the inspection path around the aircraft is a path that moves around the aircraft once. The processor is used to issue shooting commands based on a preset machine inspection plan, and the vision camera is used to operate based on the shooting commands, so as to continuously shoot the aircraft based on the preset machine inspection plan during the movement of the robot body, so as to inspect the defects on the aircraft and obtain the captured images.

3. The inspection robot for machine winding according to claim 2, characterized in that, The vision camera is used to capture images of the area between two adjacent stations on the aircraft when the robot moves to the shooting position in the shooting command. The shooting position is the position between two adjacent stations from top to bottom, and multiple sub-images are obtained. Each sub-image corresponds to a group of two adjacent stringers. Each sub-image contains a station and a stringer. The number of sub-images is equal to the difference between the number of stringers and 1. All the sub-images constitute the captured image. Determining the location of a defect that failed to match based on the captured image specifically includes: for a sub-image in the captured image, locating the defect that failed to match in the sub-image based on the position and stringer in the sub-image, thereby obtaining the location of the defect that failed to match.

4. The inspection robot for machine winding according to claim 1, characterized in that, If the comparison fails, it indicates a new defect or a change in the defect information. The defect is one that occurs on the inspection objects involved in the agreed inspection items. The inspection objects include the aircraft's outer surface, oil leak points, wheels, brakes, engine air intakes, fan blades, tail nozzles, and landing gear. If the defect occurs on the aircraft's outer surface, wheels, brakes, engine air intakes, fan blades, tail nozzles, and landing gear, the defect information includes the shape, size, and location of the defect. If the defect occurs on an oil leak point, the defect information includes the oil leak rate.

5. The inspection robot for winding machines according to claim 1, characterized in that, If the two unsuccessful comparisons in the current inspection of the aircraft are both successful, the aircraft can be released.

6. The machine inspection robot according to claim 1, characterized in that, The initialization data is obtained during the first use of the aircraft or after completing repairs that affect the condition of the aircraft's exterior surface. Repairs that affect the condition of the aircraft's exterior surface include periodic maintenance, structural repairs, painting, coating, and external configuration modifications. The initialization data includes the aircraft's MSN number and the defect information, handling plan, and release basis for the defects identified during the comprehensive inspection. The handling plan is the repair plan used to repair the defects identified during the comprehensive inspection, and the release basis is the allowable value of the defects identified during the comprehensive inspection as determined by the aircraft's maintenance manual.

7. The inspection robot for machine winding according to claim 1, characterized in that, The maintenance manual is the standard original equipment manufacturer (OEM) manual for the aircraft.

8. A control system based on a machine inspection robot, characterized in that, include: Airport operation control system, airline maintenance control system, inspection robot operation control system and aircraft inspection robot, wherein the aircraft inspection robot is the aircraft inspection robot as described in claim 1; The airport operation control system is used to send first information to the inspection robot operation control system. The first information includes the airport parking position number where the aircraft is to land and the robot number to perform the task. The airline maintenance control system is used to send second information to the inspection robot operation control system. The second information includes the aircraft's MSN number, the airport information where the aircraft is to land, the aircraft's landing information, the results of the aircraft's last inspection, the aircraft's initialization data, and the aircraft's maintenance manual. The inspection robot operation and control system is used to generate a machine-around inspection path and a machine-around inspection plan based on the first information and the second information, and send the first information, the second information, the machine-around inspection path, the machine-around inspection plan and the inspection instructions to the machine-around inspection robot with the corresponding robot number to be executed. The aircraft inspection robot is used to inspect the aircraft after it lands, upon receiving the inspection instruction, and to obtain the inspection results for this inspection. The inspection robot operation and control system is used to transmit the inspection results of the aircraft to the airline's maintenance control system. The airline's maintenance control system is used to determine whether an aircraft can be released based on the results of the current inspection.

9. The control system based on the machine inspection robot according to claim 8, characterized in that, The airport information for which the aircraft is to land includes the airport name, and the landing information includes the time the aircraft lands at the airport. The airline maintenance control system is used to issue a release command when the comparison results of the two unsuccessful defects in the current inspection results of the aircraft are both successful, and the aircraft can be released.

10. A control method based on a machine inspection robot, operating based on the control system of the machine inspection robot as described in claim 8, characterized in that, include: The airport operations control system sends the first information to the inspection robot operations control system. The first information includes the airport parking position number where the aircraft is about to land and the robot number to perform the task. The airline's maintenance control system sends a second message to the inspection robot's operation control system. The second message includes the aircraft's MSN number, the airport information where the aircraft is to land, the aircraft's landing information, the results of the aircraft's last inspection, the aircraft's initialization data, and the aircraft's maintenance manual. The inspection robot operation and control system generates a machine-around inspection path and a machine-around inspection plan based on the first information and the second information, and sends the first information, the second information, the machine-around inspection path, the machine-around inspection plan and the inspection command to the machine-around inspection robot with the corresponding robot number to be executed. After receiving the inspection instruction, the aircraft inspection robot will inspect the aircraft after it lands and obtain the inspection results for this inspection. The inspection robot's operation and control system transmits the results of the aircraft's current inspection to the airline's maintenance control system; The airline's maintenance control system determines whether the aircraft can be released based on the results of the current inspection. If the aircraft cannot be released, a dispatch instruction is issued to allow manual intervention by the dispatcher, and the current inspection results of the aircraft are updated and saved.

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