Fig. 1. Multi-spindle robotic drilling system for nacelle acoustic liners and its visual detection system

Fig. 2. Schematic diagram of installation of hardware part of system

Fig. 3. Schematic diagram of installation principle of visual detection device

Fig. 4. Workfolw of composite acoustic hole visual detection system

Fig. 5. Structure of imporved UniMatch

Fig. 6. Segmentation process of composite acoustic holes

Fig. 7. Flow of detection of acoustic reference hole

Fig. 8. Detection interface for acoustic hole porosity

Fig. 9. Verification of reference hole detection accuracy

Fig. 10. Detection interface for acoustic reference hole