阅读说明：本技术 一种检测系统和控制方法 (Detection system and control method ) 是由 王飞亚 陈智超 左正新 邢亚蒙 相泽 于 2020-12-30 设计创作，主要内容包括：本发明公开了一种检测系统和控制方法,包括：移动模块、升降模块、检测模块、控制模块和动力模块,移动模块与升降模块的一端固定连接,检测模块与升降模块的另一端滑动连接；其中,移动模块用于移动检测系统、以及承载升降模块和检测模块；升降模块用于移动检测模块；检测模块用于检测待检测目标,得到检测数据；控制模块用于控制移动模块、升降模块和检测模块运行；动力模块用于为检测系统供电。上述技术方案,通过移动模块移动检测系统,进而通过移动升降模块和检测模块的位置,将检测模块移动至待检测目标的预设检测位置之后,检测模块按照预设路径对待检测目标进行检测,实现了飞机表面和表面零件位置信息的智能化检测。(The invention discloses a detection system and a control method, comprising the following steps: the device comprises a moving module, a lifting module, a detection module, a control module and a power module, wherein the moving module is fixedly connected with one end of the lifting module, and the detection module is connected with the other end of the lifting module in a sliding manner; the mobile module is used for moving the detection system, and carrying the lifting module and the detection module; the lifting module is used for moving the detection module; the detection module is used for detecting the target to be detected to obtain detection data; the control module is used for controlling the movement module, the lifting module and the detection module to operate; the power module is used for supplying power for the detection system. According to the technical scheme, the detection system is moved through the movable module, then the position of the lifting module and the detection module is moved to the preset detection position of the target to be detected, the detection module detects the target to be detected according to the preset path, and the intelligent detection of the position information of the surface and the surface part of the airplane is realized.)

1. A detection system, comprising: the device comprises a moving module, a lifting module, a detection module, a control module and a power module, wherein the moving module is fixedly connected with one end of the lifting module, and the detection module is connected with the other end of the lifting module in a sliding manner;

the moving module is used for moving the detection system and bearing the lifting module and the detection module; the lifting module is used for moving the detection module; the detection module is used for detecting a target to be detected to obtain detection data; the control module is used for controlling the movement module, the lifting module and the detection module to operate; the power module is used for supplying power for the detection system.

2. The detection system of claim 1, wherein the movement module comprises: an AGV for a full-automatic transfer robot and a main structure, wherein,

the AGV is used for moving the detection system;

the main body structure is used for bearing the lifting module and the detection module.

3. The detection system of claim 1, wherein the lifting module comprises: stand structure, slide rail, lead screw and saddle base, the slide rail with stand structure fixed connection, detection module passes through the lead screw with the saddle base with stand structure sliding connection.

4. The detection system according to claim 1, wherein the detection module comprises a robotic arm, a quick-change unit, an execution unit, and a position compensation unit, wherein,

one end of the mechanical arm is connected with the lifting module in a sliding mode, and the other end of the mechanical arm is connected with the quick-change module in a rotating mode;

the quick change unit is used for replacing the execution module;

the execution unit is used for detecting the target to be detected to obtain detection data;

the position compensation unit is used for receiving first position information of the mobile module and second position information of the detection module, moving the mobile module according to the first position information, and moving the detection module according to the second position information.

5. The detection system according to claim 4, wherein the execution unit comprises: the device comprises a surface detection unit and a position detection unit, wherein the surface detection unit is used for detecting surface characteristic data of the target to be detected, and the position detection unit is used for detecting position data of a surface part of the target to be detected.

6. The detection system according to claim 4, wherein the position compensation unit is specifically configured to:

receiving first position information of the mobile module and second position information of the detection module;

calculating a first difference value between the first position information and first preset detection position information and a second difference value between the second position information and second preset detection position information;

moving the moving module based on the first difference value, and moving the detecting module based on the second difference value;

and the first preset detection position information and the second preset detection position information both correspond to the target to be detected.

7. The detection system of claim 1, wherein the control module comprises: a first control unit, a second control unit and a general control unit, wherein,

the first control unit is used for moving the mobile module according to the target to be detected;

the second control unit is used for planning a path of the detection module;

the master control unit is connected with the first control module and the second control module and is used for controlling the detection system.

8. The detection system of claim 1, further comprising: the server is provided with a plurality of servers,

and the server processes the detection data and uploads the detection data to a cloud.

9. The detection system of claim 2, wherein said AGV comprises: mecanum wheels and universal wheels, wherein,

the Mecanum wheel is used for moving the AGV;

the universal wheels are used for supporting the AGV.

10. A control method of a detection system, comprising:

the moving module moves the detection system to a preset position, the distance between the preset position and the target to be detected is smaller than a preset distance, and the preset distance is smaller than the detection range of the detection system;

moving the moving module until the first position information of the moving module is consistent with the first preset detection position information of the target to be detected;

after the moving module is fixed, the detection module is moved until second position information of the detection module is consistent with second preset detection position information of the target to be detected;

and the detection module detects the target to be detected according to a preset detection path.

Technical Field

The embodiment of the invention relates to a surface detection technology, in particular to a detection system and a control method.

Background

With the rapid development of the aircraft manufacturing industry in China, defects such as wrong and neglected installation of fasteners, surface scratches, collision, paint falling, corrosion, cracks and the like are inevitably generated on the surfaces of all parts of an aircraft during production, manufacturing and subsequent flight, and great hidden dangers are generated on the navigation safety of the aircraft, so that various defects need to be detected in the assembly process of production and manufacturing and routine inspection after delivery and flight.

In the prior art, the surface quality detection of the aircraft component is mainly detected in a manual visual mode, however, the manual visual detection has great limitations, for example, the following defects exist: the method has the advantages of low detection efficiency, difficulty in detecting huge areas and special positions of the surface of the airplane, strong subjectivity and difficulty in quantitatively describing defects.

In order to overcome the defects of the traditional manual visual detection and meet the intelligent requirements of on-line measurement and real-time control in the modern aircraft assembly industry and realize the industrial intelligent detection of the surface quality of the aircraft, a high-precision, high-speed and high-flexibility surface defect detection system is urgently needed to realize the intelligent detection of the position information of the surface and the surface parts of the aircraft.

Disclosure of Invention

The invention provides a detection system and a control method, which are used for realizing the intelligent detection of the position information of the surface and surface parts of an airplane.

In a first aspect, an embodiment of the present invention provides a detection system, including: the device comprises a moving module, a lifting module, a detection module, a control module and a power module, wherein the moving module is fixedly connected with one end of the lifting module, and the detection module is connected with the other end of the lifting module in a sliding manner;

the moving module is used for moving the detection system and bearing the lifting module and the detection module; the lifting module is used for moving the detection module; the detection module is used for detecting a target to be detected to obtain detection data; the control module is used for controlling the movement module, the lifting module and the detection module to operate; the power module is used for supplying power for the detection system.

Further, the moving module includes: an AGV for a full-automatic transfer robot and a main structure, wherein,

the AGV is used for moving the detection system;

the main body structure is used for bearing the lifting module and the detection module.

Further, the lifting module comprises: stand structure, slide rail, lead screw and saddle base, the slide rail with stand structure fixed connection, detection module passes through the lead screw with the saddle base with stand structure sliding connection.

Further, the detection module comprises a mechanical arm, a quick change unit, an execution unit and a position compensation unit, wherein,

one end of the mechanical arm is connected with the lifting module in a sliding mode, and the other end of the mechanical arm is connected with the quick-change module in a rotating mode;

the quick change unit is used for replacing the execution module;

the execution unit is used for detecting the target to be detected to obtain detection data;

the position compensation unit is used for receiving first position information of the mobile module and second position information of the detection module, moving the mobile module according to the first position information, and moving the detection module according to the second position information.

Further, the execution unit includes: the device comprises a surface detection unit and a position detection unit, wherein the surface detection unit is used for detecting surface characteristic data of the target to be detected, and the position detection unit is used for detecting position data of a surface part of the target to be detected.

Further, the position compensation unit is specifically configured to:

receiving first position information of the mobile module and second position information of the detection module;

calculating a first difference value between the first position information and first preset detection position information and a second difference value between the second position information and second preset detection position information;

moving the moving module based on the first difference value, and moving the detecting module based on the second difference value;

and the first preset detection position information and the second preset detection position information both correspond to the target to be detected.

Further, the control module includes: a first control unit, a second control unit and a general control unit, wherein,

the first control unit is used for moving the mobile module according to the target to be detected;

the second control unit is used for planning a path of the detection module;

the master control unit is connected with the first control module and the second control module and is used for controlling the detection system.

Further, the detection system further comprises: the server is provided with a plurality of servers,

and the server processes the detection data and uploads the detection data to a cloud.

Further, the AGV includes: mecanum wheels and universal wheels, wherein,

the Mecanum wheel is used for moving the AGV;

the universal wheels are used for supporting the AGV.

In a second aspect, an embodiment of the present invention further provides a method for controlling a detection system, including:

the moving module moves the detection system to a preset position, the distance between the preset position and the target to be detected is smaller than a preset distance, and the preset distance is smaller than the detection range of the detection system;

moving the moving module until the first position information of the moving module is consistent with the first preset detection position information of the target to be detected;

after the moving module is fixed, the detection module is moved until second position information of the detection module is consistent with second preset detection position information of the target to be detected;

and the detection module detects the target to be detected according to a preset detection path.

The invention provides a detection system, comprising: the device comprises a moving module, a lifting module, a detection module, a control module and a power module, wherein the moving module is fixedly connected with one end of the lifting module, and the detection module is connected with the other end of the lifting module in a sliding manner; the moving module is used for moving the detection system and bearing the lifting module and the detection module; the lifting module is used for moving the detection module; the detection module is used for detecting a target to be detected to obtain detection data; the control module is used for controlling the movement module, the lifting module and the detection module to operate; the power module is used for supplying power for the detection system. According to the detection system provided by the technology, the moving module carries out coarse positioning on the detection system, the lifting module and the detection module carry out fine positioning on the detection module of the detection system, and the detection module is moved to the preset detection position of the target to be detected, so that the detection system can realize intelligent detection of the position information of the surface and the surface part of the airplane.

Drawings

Fig. 1 is a schematic structural diagram of a detection system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a detection system according to a second embodiment of the present invention;

fig. 3 is a flowchart of a control method of a detection system according to a third embodiment of the present invention.

Reference numerals: 100-detection system, 110-moving module, 120-lifting module, 130-detection module, 140-power module, 200-laser tracker and 300-server.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.

Example one

Fig. 1 is a schematic structural diagram of a detection system according to a first embodiment of the present invention, where the present embodiment is applicable to a situation of detecting surface information of a device, the system includes: the device comprises a moving module 110, a lifting module 120, a detection module 130, a control module and a power module 140, wherein the moving module 110 is fixedly connected with one end of the lifting module 120, and the detection module 130 is connected with the other end of the lifting module 120 in a sliding manner;

wherein the moving module 110 is used for moving the detection system 100 and carrying the lifting module 120 and the detection module 130; the lifting module 120 is used for moving the detection module 130; the detection module 130 is configured to detect a target to be detected, and obtain detection data; the control module is used for controlling the movement module 110, the lifting module 120 and the detection module 130 to operate; the power module 140 is used to power the detection system 100.

Wherein, the moving module 110 may be located at the bottom of the detection system 100, and is used for supporting the lifting module 120, the detection module 130, the control module and the power module 140; the lifting module 120 may move the detection module 130 in a vertical direction; one end of the detection module 130 is connected to the lifting module 120, and the other end thereof can be connected to an execution unit, which can detect the target to be detected. In this embodiment, the target to be detected may include an aircraft surface or other large equipment surface.

The power module 140 may include a battery, an inverter, an air pump, and an air tank. The inverter may convert the direct current of the on-vehicle battery into three-phase alternating current and 220v alternating current for use by the moving module 110, the lifting module 120, the detecting module 130, and the control module. The air pump and the air tank are used for producing and storing compressed air to provide air for the lifting and detecting module 130 of the lifting module 120 to replace the execution unit.

Specifically, the current scene may be an aircraft surface detection scene, and in the current scene, the power module 140 may supply power to the moving module 110, the lifting module 120, the detection module 130, and the control module; the control module controls the moving module 110 to move to a first preset detection position according to first preset detection position information of the airplane, and controls the moving module 110 to adjust the position according to first airplane surface data acquired by the laser tracker 200, so that the detection system 100 can more accurately detect detection data of the airplane; the control system can then control the mobile module 110 to fix the detection system 100 on the ground by lowering the vehicle body; the control system controls the lifting module 120 to move the detection module 130 to a second preset detection position according to the second aircraft surface data acquired by the laser tracker, and further acquires the detection data of the aircraft according to a preset path.

In addition, the laser tracker may be additionally disposed beside the detection system 100, and is configured to obtain first position information of the moving module 110 and second position information of the detection module 130, compare the first position information with a first preset detection position, and send a first deviation obtained by the comparison to the control module, where the control module may control a moving distance of the moving module 110 according to the first deviation, and move the moving module 110 to a position suitable for surface detection; and comparing the second position information with a second preset detection position, and sending a second deviation obtained by comparison to the control module, wherein the control module can control the moving distance of the lifting module 120 to the detection module 130 according to the second deviation, and move the detection module 130 to a position suitable for surface detection, so that the detection of the surface of the airplane is realized.

It is understood that the moving module 110 can navigate based on laser synchronized positioning and mapping (SLAM) to move the detection system 100 to the first predetermined detection position.

In the technical solution of this embodiment, a detection system is provided, which includes: the device comprises a moving module, a lifting module, a detection module, a control module and a power module, wherein the moving module is fixedly connected with one end of the lifting module, and the detection module is connected with the other end of the lifting module in a sliding manner; the moving module is used for moving the detection system and bearing the lifting module and the detection module; the lifting module is used for moving the detection module; the detection module is used for detecting a target to be detected to obtain detection data; the control module is used for controlling the movement module, the lifting module and the detection module to operate; the power module is used for supplying power for the detection system. According to the detection system provided by the technology, the moving module carries out coarse positioning on the detection system, the lifting module and the detection module carry out fine positioning on the detection module of the detection system, and the detection module is moved to the preset detection position of the target to be detected, so that the detection system can realize intelligent detection of the position information of the surface and the surface part of the airplane.

Example two

Fig. 2 is a schematic structural diagram of a detection system according to a second embodiment of the present invention, which is embodied on the basis of the second embodiment. In this embodiment, the system may further include: the mobile terminal comprises a mobile module 110, a lifting module 120, a detection module 130, a control module, a power module 140 and a server 300, wherein the mobile module 110 is fixedly connected with one end of the lifting module 120, and the detection module 130 is connected with the other end of the lifting module 120 in a sliding manner;

wherein the moving module 110 is used for moving the detection system 100 and carrying the lifting module 120 and the detection module 130; the lifting module 120 is used for moving the detection module 130; the detection module 130 is configured to detect a target to be detected, and obtain detection data; the control module is used for controlling the movement module 110, the lifting module 120 and the detection module 130 to operate; the power module 140 is used for supplying power to the detection system 100; the server 300 processes the detection data and uploads the detection data to the cloud.

The server 300 may include a computing unit, a storage unit, a gateway unit, and a switching unit, among others. The calculation unit may perform preprocessing and compression on the detection data acquired by the detection module 130, so as to reduce bandwidth waste caused by transmission of the detection data. The storage unit can temporarily store the detection data, and when the data volume of the obtained detection data is larger than the maximum data volume which can be borne by the current bandwidth, the detection data can be temporarily stored in the storage unit; when the data amount of the detection data which needs to be compressed or needs to be preprocessed is larger than the maximum data amount which can be calculated by the current calculating unit, the detection data can be temporarily stored in the storage unit. The gateway unit may comprise a 5G industrial gateway, also known as an internetwork connector, a protocol converter. The gateway realizes network interconnection above a network layer, is a complex network interconnection device and is only used for interconnection of two networks with different high-level protocols. The gateway can be used for interconnection of both wide area networks and local area networks. A gateway is a computer system or device that acts as a switch-operative. The gateway is a translator used between two systems that differ in communication protocol, data format or language, or even in an entirely different architecture. Instead of the bridge simply communicating the information, the gateway repackages the received information to accommodate the needs of the destination system.

In one embodiment, the moving module 110 includes: an AGV for a full-automatic transfer robot and a main structure, wherein,

the AGV is used to move the detection system 100; the main structure is used for carrying the lifting module 120 and the detection module 130.

It will be appreciated that the lift module 120 may be mounted on the AGV by lifting.

The AGV can move to the vicinity of the target to be detected through SLAM navigation.

The body structure may also include a service location that may accommodate a worker standing for servicing of the detection system 100 or for precision commissioning of the detection system 100.

Additionally, the AGV may also include at least one wheel that may support the AGV and the body structure, and the wheel may also be used to move the motion module 110.

In one embodiment, the lift module 120 includes: stand structure, slide rail, lead screw and saddle base, the slide rail with stand structure fixed connection, detection module 130 passes through the lead screw with the saddle base with stand structure sliding connection.

One end of the lifting module 120 can be slidably connected to the detection module 130, so that the base of the detection module 130 can move up and down, the detection range of the detection module 130 is expanded, and all surfaces of the target to be detected can be covered.

The lead screw can be connected with the base of the lifting module 120, and can also be connected with the saddle base to drive the saddle to move, and further be connected to the slide rail to slide on the slide rail, so as to drive the lifting module 120 to slide up and down.

In one embodiment, the detection module 130 includes a mechanical arm, a quick-change unit, an execution unit, and a position compensation unit, wherein one end of the mechanical arm is slidably connected to the lifting module 120, and the other end of the mechanical arm is rotatably connected to the quick-change module; the quick change unit is used for replacing the execution module; the execution unit is used for detecting the target to be detected to obtain detection data; the position compensation unit is configured to receive first position information of the moving module 110 and second position information of the detecting module 130, move the moving module 110 according to the first position information, and move the detecting module 130 according to the second position information.

Wherein, the arm can include six industrial robot, and six bearings can mutually support, the angle of adjustment arm. The actuator may include a variety of end-detection actuators for performing different detection functions.

In addition, the detection module 130 may further include a pipeline package, and the pipeline package may be electrically connected to the detection module 130, the control module, and the power supply module to control and supply power to the detection module 130.

The detection module 130 can adjust the detection position according to the angle of the mechanical arm; the detection position can be adjusted according to the up-down position of the detection module 130, so as to realize the omnibearing detection of the target to be detected. The quick-change unit can be matched with the execution unit to change the detection items, so that the detection system 100 can be used for various detection items.

In one embodiment, the execution unit includes: the device comprises a surface detection unit and a position detection unit, wherein the surface detection unit is used for detecting surface characteristic data of the target to be detected, and the position detection unit is used for detecting position data of a surface part of the target to be detected.

Specifically, when the execution unit comprises the surface detection unit, the execution unit can acquire surface characteristic data of the target to be detected, and further judge the surface abrasion or loss condition of the target to be detected; when the execution unit comprises the position detection unit, the execution unit can acquire the position data of the surface part of the target to be detected, and further judge the missing condition and the abrasion condition of the surface part of the target to be detected.

In addition, the execution unit may include an end-detection executor.

It should be noted that, in practical applications, the execution unit may further include other types of detection units to achieve acquisition of different types of detection data.

In one embodiment, the position compensation unit is specifically configured to:

acquiring first position information of the mobile module 110 and second position information of the detection module 130; calculating a first difference value between the first position information and first preset detection position information and a second difference value between the second position information and second preset detection position information; moving the moving module 110 based on the first difference value, moving the detecting module 130 based on the second difference value; and the first preset detection position information and the second preset detection position information both correspond to the target to be detected.

Specifically, the laser tracker may acquire first position information and second position information of the moving module 110 and transmit the first position information and the second position information to the position compensation unit, and the position compensation unit may move the AGV or the detection module 130 according to the first position information, the second position information, and first preset detection position information and second preset detection position information acquired from the server 300.

The surface information of different targets to be detected is different, so that the corresponding first preset detection position information and the corresponding second preset detection position information are also different. Before the detection starts, the corresponding first preset detection position information and second preset detection position information may be acquired from the server 300 according to the type of the target to be detected.

In addition, the AGV may be moved according to the first difference, and the detection module 130 may be moved according to the second difference, and after the movement is completed, the first position information and the first preset detection position information may be compared with the second position information and the second preset detection position information until the detection system 100 may detect all the detection data of the target to be detected.

In one embodiment, the control module includes: the mobile module comprises a first control unit, a second control unit and a master control unit, wherein the first control unit is used for moving the mobile module 110 according to the target to be detected; the second control unit is configured to perform path planning on the detection module 130; the total control unit is connected to the first control unit and the second control unit, and is configured to control the detection system 100.

Wherein the second control unit may further comprise an execution control unit for controlling the movement of the actuator.

Specifically, the overall control unit may control the first control unit and the second control unit, respectively, to control the moving module 110 and the detecting module 130.

Of course, the general control unit may also control the power module 140 to provide electrical support for operation of the detection system 100.

In one embodiment, the AGV comprises: mecanum wheels and universal wheels, wherein the Mecanum wheels are used to move the AGV; the universal wheels are used for supporting the AGV.

Specifically, the AGV may include two sets of universal wheels, which may be located at a bottom middle position of the AGV, for supporting the AGV; the AGV can include four sets of Mecanum wheels, and four sets of Mecanum wheels can be located AGV bottom both sides respectively for realize the omni-directional movement AGV.

In a technical solution of this embodiment, a detection system is provided, which includes: the system comprises a moving module, a lifting module, a detection module, a control module, a power module and a server, wherein the moving module is fixedly connected with one end of the lifting module, and the detection module is connected with the other end of the lifting module in a sliding manner; the moving module is used for moving the detection system and bearing the lifting module and the detection module; the lifting module is used for moving the detection module; the detection module is used for detecting a target to be detected to obtain detection data; the control module is used for controlling the movement module, the lifting module and the detection module to operate; the power module is used for supplying power to the detection system; and the server processes the detection data and uploads the detection data to a cloud. According to the detection system provided by the technology, the moving module carries out coarse positioning on the detection system, the lifting module and the detection module carry out fine positioning on the detection module of the detection system, and the detection module is moved to the preset detection position of the target to be detected, so that the detection system can realize intelligent detection of the position information of the surface and the surface part of the airplane.

Further, the execution unit including multiple end-point detection actuators may replace the end-point detection actuators according to actual requirements to achieve different detection requirements, so that the detection system 100 may be applicable to multiple different working conditions.

EXAMPLE III

Fig. 3 is a flowchart of a control method of a detection system according to a third embodiment of the present invention, where the method can control operation of the detection system to improve detection efficiency. The method comprises the following steps:

and 310, moving the detection system to a preset position by the moving module, wherein the distance between the preset position and the target to be detected is smaller than a preset distance, and the preset distance is smaller than the detection range of the detection system.

Specifically, the moving module can realize coarse positioning of the detection system, and move the detection system to the vicinity of the target to be detected according to the SLAM navigation system.

In addition, the content included in the mobile module and the specific execution steps have been described in detail in the first embodiment, and are not described herein again.

And 320, moving the moving module until the first position information of the moving module is consistent with the first preset detection position information of the target to be detected.

Specifically, after the first position information is consistent with the first preset detection position information, the detection system can be enabled to detect all detection data of the target surface to be detected. In practical application, the mobile module can be fixed after the difference value between the first position information and the first preset detection position information is smaller than a first preset value.

And step 330, after the moving module is fixed, moving the detection module until the second position information of the detection module is consistent with the second preset detection position information of the target to be detected.

Specifically, after the second position information is consistent with the second preset detection position information, the detection range of the detection module can cover all surfaces of the target to be detected, so that the obtained detection data are more comprehensive, the cognition of the surface condition of the target to be detected is more comprehensive, and the target to be detected is convenient to repair or maintain.

In practical application, after the difference between the second position information and the second preset detection position information is smaller than the second preset value, the detection can be started.

And 340, detecting the target to be detected by the detection module according to a preset detection path.

The preset detection path can also be obtained from the server according to the type of the target to be detected.

Specifically, after the second control unit receives the preset detection path, the second control unit controls the detection unit, further controls the execution unit through the execution control unit, moves the position of the execution unit, detects all surfaces of the target to be detected, and acquires complete detection data.

According to the technical scheme of the embodiment, the moving module moves the detection system to a preset position, and the distance between the preset position and the target to be detected is smaller than a preset distance, wherein the preset distance is smaller than the detection range of the detection system; moving the moving module until the first position information of the moving module is consistent with the first preset detection position information of the target to be detected; after the moving module is fixed, the detection module is moved until second position information of the detection module is consistent with second preset detection position information of the target to be detected; and the detection module detects the target to be detected according to a preset detection path. According to the technical scheme, the detection system is roughly positioned by the mobile module, and the detection system is precisely positioned by the mobile module and the detection module, so that the detection system is suitable for acquiring all surface detection data of the target to be detected, and the detection system can further realize intelligent detection of the position information of the surface and the surface part of the airplane.

From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.

It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.