CN113405443B - Soft intelligent hole detection device and method applied to aero-engine - Google Patents
Soft intelligent hole detection device and method applied to aero-engine Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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- G—PHYSICS
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- G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
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Abstract
The invention discloses a soft intelligent hole detection device and method applied to an aeroengine. The invention sets several elastic cavities in the guiding structure, matches with the hydraulic pump connected with different electromagnetic valves to adjust the bending degree, uses the liquid metal to drive the elastic cavities of the circumferential annular array, controls the pressure intensity to control the guiding, the working principle is simple and convenient, sets several measuring electrodes to obtain the working pose of the camera, is convenient for the engineer to control and position the hole detecting target in real time by the digital model of the camera.
Description
Technical Field
The invention relates to the technical field of aviation science workers, in particular to a soft intelligent hole detection device and method applied to an aero-engine.
Background
Damage to the internal structure of an aircraft engine occasionally occurs, and a relatively serious damage to the internal structure can cause the engine to stop in the air. At present, an airline company mainly observes an engine by using a hole detector through hole detection holes designed on different structural positions of the engine when the engine is stopped on the ground, evaluates an observation result by combining an engine maintenance manual, and adjusts maintenance intervals or immediately maintains the engine after evaluation.
The hole detection technology is characterized in that hole detection equipment is used as a hardware basis to visually inspect structural damage inside an engine, hole detection images or videos are used as a basis to analyze, feature extraction or an intelligent method is used to analyze image features, and then maintenance decisions related to the engine are made.
In the aspect of hole detection equipment, since the invention of medical endoscopes by german in 1806, the subsequent development goes through three stages of a hard rod type endoscope, a hose type optical fiber scope and a hose type electronic scope. Currently, the hole probing devices commonly used by airlines are mainly mature products such as OLYMPUS (OLYMPUS, japan) and EverestVIT (virin, usa). The existing product can be bent, and the detection visual field is larger; the optical signal can be converted into a digital signal; the related video display and processing system is provided; has the functions of measuring and extracting the injury.
With the development of robotics and 3D printing technologies, soft robots are gradually developed. The soft robot has the characteristic of softness, and has good flexibility and safety with the surrounding environment in the movement process.
In summary, the present disclosure relates to both (1) a hole probing apparatus and (2) a software robot.
1 relates to a hole probing device and method
1.1 patent "apparatus and method for borescope inspection for jet engines" invented an apparatus for borescope inspection of turbine blades of a first stage high pressure turbine stage of a jet engine. The invention may correspond the serial number to the installed first stage high pressure turbine blade.
1.2 patent "rotating machinery rotational speed signal synchronous detection system based on hole is visited hole" provides a rotating machinery rotational speed signal synchronous detection system based on hole is visited hole, and it includes: a light-reflecting feature; a light-hole-probing coupling mechanism focusing system; a transmission fiber optic assembly; a fiber laser; an optical fiber signal processing system. In use, the reflective marker reflects incident laser once per rotation of the rotating shaft, thereby causing the light intensity of the optical fiber signal processing system to change.
The 1.3 patent "apparatus and method for borescope inspection for jet engines" invented an apparatus for borescope inspection of turbine blades of a first high pressure turbine stage of a jet engine. Unambiguous correspondence of the serial number to the first stage turbine blades of the high pressure turbine stage of the installed jet engine can be achieved.
2 relates to a soft robot
2.1 patent "a pneumatic earthworm-imitating soft robot" invents a pneumatic earthworm-imitating soft robot, which comprises at least three sections of single-section structures, wherein each section of single-section structure is connected by an adhesive. The robot is pneumatically driven, so that not only can plane crawling be realized, but also crawling in narrow spaces such as pipelines can be realized, and when the robot crawls on the plane, the crawling mode of the soft robot is more stable than that of bending crawling, and the movement efficiency is higher; when crawling in pipeline and narrow and small space, can realize crawling of various slope environment.
2.2 patent "a soft robot based on two side acting as go-between" invented a soft robot based on two side acting as go-between, the robot body includes plastic film pipeline and plastic long membrane, the head end of two acting as go-between is fixed connection at two ends of two acting as go-between cavity insides respectively. The problem of control pneumatic robot's free motion is difficult among the prior art is solved, the function of freely walking under complicated topography has been realized.
2.3 patent "a natural gas small-bore pipeline detects and uses software robot" invented a natural gas small-bore pipeline detects and uses software robot, overcome the large unable small-bore pipeline of detection of current rigid pipeline robot volume, and the defect of easy wearing and tearing pipeline, can detect small-bore pipeline, and can avoid the condition of pipeline wearing and tearing that leads to rubbing between the pipeline wall.
2.4 patent "a flexible intelligent pipeline defect detection device" invented a flexible intelligent pipeline defect detection device, which is composed of a driving robot, a system controller, a power supply, a multi-signal collector, a data processor, a position tracker, a connection structure, an infrared distance sensor and an equipment peripheral structure. The invention has the advantages of high measurement precision, small volume, intelligent detection realization, strong adaptability to complex pipelines and the like.
2.5 patent "a flexible pipeline inspection robot" invents a robot, including camera module, preceding support module, flexible module and the back support module that turns to. The robot can work in pipelines with severe environment and variable pipe diameters, is greatly improved in flexibility, flexibility and environmental adaptability compared with the traditional rigid pipeline detection robot, and has a very wide prospect.
In summary, the common structures of the current well probing devices include: the camera, the guide joint and the insertion tube. The guide is realized by four steel wires or tungsten wires arranged in the probe, and the rotation of the end part of the probe to different positions can be controlled by adjusting the tightness of the four wires. The insertion tube has a physical connection function, is a transmission channel for various signals, data, instructions and the like, and mainly has a guide channel (inside is a guide steel wire/tungsten wire and graphite with a lubricating effect), an illumination optical fiber bundle and a video signal cable.
The positioning and measurement of parts and internal damage based on the hole detection device and various inspection methods are difficult: (1) the patents of the hole detection devices only can position a few marked parts, and the positioning of other parts and damages is difficult to realize; (2) the existing hole detection equipment needs to realize three-dimensional measurement, and a double-light-path design is needed to be realized structurally, so that the problem of the assembly process of submillimeter-level parts (including optical parts) is caused under the limit of about 10mm of the diameter of a camera; (3) the size of the hole detection equipment causes that the base line distance of the double lenses in the binocular light path design is too small, and the measurement depth has large errors due to the small base line distance.
The development of the soft robot brings a new idea for the development of the hole detection equipment. The hole detection equipment generally measures the distance to be about 1.5m, is generally driven manually during operation, and does not need a driving module in a general software robot. Therefore, the present invention only needs to solve the design problem in software and does not need to solve the driving problem. From the above-mentioned patents on soft robots follows: (1) most of the existing soft robots are driven by air pressure, the air pressure is generally lower, and other parts or equipment (such as internal in-situ grinding, capturing and falling fragments) are difficult to drive; (2) the self posture of the soft robot cannot be monitored in real time. Therefore, a need exists for a soft body intelligent hole probing apparatus and method for use in an aircraft engine to solve the above problems.
Disclosure of Invention
The invention aims to: the invention aims to overcome the defects of the hole detection device and the soft robot, combine the advantages of the hole detection device and the soft robot and solve the following technical problems: (1) by designing a certain soft body structure scheme, the probe is guided by using liquid metal, and the flexible robot has larger driving force and stronger application range than a common pneumatic scheme of a soft body robot; (2) three-dimensional measurement under the condition of a monocular optical path is realized through a certain algorithm, the scheme has larger baseline distance, the depth estimation error is reduced, and the method is also suitable for the three-dimensional measurement of the binocular optical path; (3) by means of the sensitivity of resistance change caused by the volume change of the liquid metal, an embedded liquid metal measuring network is established, the real-time monitoring of the posture of a software structure is realized, and the posture-fixing positioning of a measuring object is realized.
8. The technical scheme is as follows: the invention relates to a soft intelligent hole detection device and method applied to an aeroengine, which comprises a camera, a guide structure, an extension structure and a control and drive unit, wherein the camera is arranged on the guide structure;
the two ends of the guide structure are respectively communicated with the camera and the extension structure, the guide structure comprises a plurality of elastic cavities, the elastic cavities are all communicated with the control and drive unit, hydraulic media are arranged in the elastic cavities, a tubular soft structure layer is sleeved outside the elastic cavities, a plurality of measuring electrodes and a temperature sensor are axially arranged on the inner wall of the soft structure layer, and the measuring electrodes can directly contact the hydraulic media in the elastic cavities;
the extension structure is used for extending and protecting a cable connected with the camera and supporting and assisting the movement of the guide structure, the extension structure is a tubular structure, the rigidity of the extension structure is greater than that of the guide structure, the active-drive-free structure is used for steering and moving, and two ends of the tubular structure are respectively connected to the control and drive unit and the guide structure;
the control and drive unit includes a plurality of pipelines, pipeline one end communicates in the hydraulic medium in the elastic cavity, the other end is connected with the hydraulic pump through the solenoid valve, the hydraulic pump is connected with control system, and pipeline and solenoid valve junction install pressure sensor and temperature controller, pressure sensor is used for monitoring the hydraulic pump and supplies pressure at solenoid valve exit pressure, and supply pressure by control system adjustment hydraulic pump in good time and drive guide structure towards each direction motion according to the pressure monitoring result, temperature sensor output monitoring data is as control system's input signal with drive temperature controller, temperature controller is used for realizing that the pipeline cools down or heaies up in order to guarantee that liquid medium work is in suitable temperature range, install resistance wire and air-cooled flabellum that heat up and cool down respectively to hydraulic medium in it.
As an improvement of the invention, the camera is a 5.2mm camera structure, four LED lamps are integrally installed in the camera, the camera is connected with a 2m long cable, and the cable penetrates through the guide structure and the extension structure.
As an improvement of the invention, a plurality of elastic cavities are annularly arrayed in the soft structural layer, and adjacent elastic cavities are not fixedly connected.
As an improvement of the invention, the hydraulic medium is liquid metal, and the posture of the camera can be reversely deduced by acquiring the resistance value of the liquid metal between any two measuring electrodes and based on the change of the distance between the measuring electrodes and the distribution of the liquid metal after the deformation of the soft body structure, so as to obtain the posture of the camera.
As an improvement of the invention, the guide structure further comprises a wear-resistant braided layer which is wrapped on the outer surface of the soft structural layer.
As an improvement of the invention, the temperature sensor is of a thermal resistance structure, the thermal resistance structure is connected with a sensor lead, and the sensor lead and the thermal resistance structure are both pre-embedded in a soft structural layer.
As an improvement of the invention, the extended structure adopts the silica gel No. A and B of Ecoflex00-50 to obtain higher controllability and operability compared with common silica gel.
Has the advantages that: the invention has the advantages of multiple degrees of freedom by arranging a plurality of elastic cavities in the guide structure and matching with hydraulic pumps connected with different electromagnetic valves to adjust the bending degree, uses liquid metal as a medium for controlling the guide, can bear and transmit higher pressure, enables a control system to drive heavier self weight, larger cameras or more complex inspection and repair tools, simultaneously has stronger and more durable working capability due to the fact that the liquid metal has stronger heat conduction than common liquid, can be more suitable for the internal waste heat environment of an aeroengine after being stopped, controls the pressure by driving the elastic cavities of the circumferential annular array by the liquid metal, has simple and convenient working principle, is provided with a plurality of measuring electrodes to obtain the pose of the cameras when the cameras work, is convenient for engineers to control and position the hole detection target in real time by means of a digital model of the cameras, the invention can also be used for the use scenes of other industrial endoscopes and the work of exploring the interior of a human body, has wider application range, and can be used for the hardware basis and the information source of the digital twin technology of an aircraft engine or an aircraft.
Drawings
FIG. 1 is a schematic diagram of the software architecture, electrode distribution and sensor operation of the present invention;
FIG. 2 is a schematic diagram of the principal structure of the present invention;
FIG. 3 is a measurement schematic of a measurement electrode;
fig. 4 is a process diagram for measuring the position and posture of the hole detecting device.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example 1: a soft intelligent hole detection device and method applied to an aeroengine are disclosed, as shown in figure 1, based on data of a pressure sensor, a temperature sensor and a temperature controller, the data is used as input data of a control system to timely adjust the pressure supply of a hydraulic pump to drive a guide structure to move towards each direction, and the pose of a camera is dynamically adjusted;
the liquid metal is used as a hydraulic medium to drive the guide structure to deform for guiding, and meanwhile, the liquid metal resistance value between any two measuring electrodes is used, and the distance between the measuring electrodes is changed and the distribution of the liquid metal is also changed after the soft structure layer is deformed differently.
In this embodiment, there is liquid metal between any two measuring electrodes, so by measuring the resistance value between any two measuring electrodes, the position change between the two measuring electrodes can be indirectly obtained, for example, there are 3 measuring electrodes in fig. 3, and the electrodes are connected by liquid metal. When guide structure takes place the deformation, the distance between the electrode also changes, and the resistance between the electrode receives liquid metal resistivity, the liquid metal sectional area size between two electrodes, liquid metal length between two electrodes etc. factor influence, originally apart from being a between measuring electrode #1 and the measuring electrode #2, the distance becomes a 'after the deformation for resistance value between becomes R' by R, so this embodiment is based on the change of measuring electrode matrix to the camera gesture of reverse thrust, in order to obtain the position appearance of camera.
The liquid metal pipeline and the elastic cavity are internally provided with N embedded measuring electrodes, theoretically, a resistance value exists between every two electrodes, and the resistance value can be influenced by the deformation of a soft body structure. Assuming that the measured resistance value is R (R is an N × N matrix), there is a relationship between R and the spatial position Q of the measurement electrode (Q is a 3 × N matrix):
R＝S*Q
wherein S (S is an Nx 3 matrix) is a transformation matrix characterizing the effect of the measurement electrode spatial position matrix on the resistance matrix.
If the S matrix can be obtained through a design experiment, the R matrix is obtained through measurement during the hole probing, and the Q matrix, that is, the spatial position of the electrode, that is, the position and posture of each part of the hole probing device, can be obtained.
a) Hole detection device pose solving method based on Tikhonov regularization method
A plurality of devices such as laser trackers or electromagnetic position trackers are arranged to measure the positions and postures of the measuring electrodes in different states for a plurality of times, and a Q matrix is obtained. Since the Q matrix has countless possibilities in practice, only dozens of schemes can be measured during the design experiment, and each possibility cannot be exhausted. Therefore, the inverse matrix of Q does not exist, and the S matrix cannot be directly obtained by the following equation.
S＝RQ-1
Therefore, in this embodiment, a Tikhonov regularization method is adopted to solve the S matrix, so as to obtain:
S＝argmin[(R-SQ)T(R-SQ)]
＝(QTQ+αI)-1QTR
where is an alpha regularization factor.
After the estimated value of S is obtained, the three-dimensional coordinates of each measuring electrode can be obtained through the following formula, and the position and the posture of the hole detecting device are obtained.
Q＝S-1R
b) Hole detection device pose solution based on generalized regression neural network
In the embodiment, a (GRNN) generalized regression neural network is adopted to reconstruct the pose of the hole detection device. Compared with the generalized regression neural network, the generalized regression neural network has stronger nonlinear mapping capability, high fault tolerance and robustness.
The GRNN is divided into four layers, respectively: input layer (dimension n), mode layer, summation layer, output layer.
The input of the network is a resistance value matrix R, the output is the pose of a measuring electrode of the hole detection device, and a large number of sample sets are needed in the training process. After the training is finished, the network after the training can be used for estimating the position and the posture of the hole detecting device in the using process.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A soft intelligent hole detection method applied to an aeroengine is characterized by comprising the following steps: the device comprises a camera, a guide structure, an extension structure and a control and drive unit;
the two ends of the guide structure are respectively communicated with the camera and the extension structure, the guide structure comprises a plurality of elastic cavities, the elastic cavities are all communicated with the control and drive unit, hydraulic media are arranged in the elastic cavities, a tubular soft structure layer is sleeved outside the elastic cavities, a plurality of measuring electrodes and a temperature sensor are axially arranged on the inner wall of the soft structure layer, and the measuring electrodes can directly contact the hydraulic media in the elastic cavities;
the extension structure is used for extending and protecting a cable connected with the camera and supporting and assisting the movement of the guide structure, the extension structure is a tubular structure, the rigidity of the extension structure is greater than that of the guide structure, the active-drive-free structure is used for steering and moving, and two ends of the tubular structure are respectively connected to the control and drive unit and the guide structure;
the control and drive unit includes a plurality of pipelines, pipeline one end communicates in the hydraulic medium in the elastic cavity, the other end is connected with the hydraulic pump through the solenoid valve, the hydraulic pump is connected with control system, and pipeline and solenoid valve junction install pressure sensor and temperature controller, pressure sensor is used for monitoring the hydraulic pump and supplies pressure at solenoid valve exit pressure, and supply pressure by control system adjustment hydraulic pump in good time and drive guide structure towards each direction motion according to the pressure monitoring result, temperature sensor output monitoring data is as control system's input signal with drive temperature controller, temperature controller is used for realizing that the pipeline cools down or heaies up in order to guarantee that liquid medium work is in suitable temperature range, install resistance wire and air-cooled flabellum that heat up and cool down respectively to hydraulic medium in it.
2. The method of claim 1, wherein the camera is a 5.2mm camera structure with four LED lights integrated therein, and the camera is connected with a 2m long cable, the cable passing through the guiding structure and the extending structure.
3. The method of claim 1, wherein the plurality of elastic cavities are annularly arrayed in a soft structural layer, and no fixed connection exists between adjacent elastic cavities.
4. The method of claim 1, wherein the hydraulic medium is liquid metal, and the pose of the camera is obtained by obtaining the resistance value of the liquid metal between any two measuring electrodes and based on the change of the distance between the measuring electrodes and the distribution of the liquid metal caused by the deformation of the soft structure, and the pose of the camera can be deduced reversely.
5. The method of claim 1, wherein the guide structure further comprises a wear-resistant woven layer wrapped around the outer surface of the soft structural layer.
6. The method of claim 1, wherein the temperature sensor is a thermal resistor structure, the thermal resistor structure is connected with a sensor wire, and the sensor wire and the thermal resistor structure are both embedded in a soft structural layer.
7. The method of claim 1, wherein the extended structure is silica gel A and B of Ecoflex00-50 to obtain higher controllability and operability compared to common silica gel.
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| CN114905284B (en) * | 2022-05-17 | 2024-06-18 | 南京航空航天大学 | Maintenance device for in-situ maintenance of blade and operation method |
| CN116728392B (en) * | 2023-08-01 | 2024-03-29 | 哈尔滨工业大学 | Variable-rigidity flexible soft continuum robot based on liquid metal |
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| CN101949680A (en) * | 2010-09-27 | 2011-01-19 | 沈阳黎明航空发动机(集团)有限责任公司 | Method for designing blade standard component for profile measurement |
| CN103091189A (en) * | 2013-01-10 | 2013-05-08 | 湘潭大学 | Tester for simulating service environment of thermal barrier coating and detecting failure of thermal barrier coating in real time |
| CN104227160A (en) * | 2014-09-18 | 2014-12-24 | 南京航空航天大学 | Constant-flow tube electrode electrolytic machining method |
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