On May 28th, the domestically produced large passenger aircraft C919 took off from Shanghai Hongqiao International Airport and landed safely at Beijing Capital International Airport, marking the successful completion of the first commercial flight of the domestically produced large aircraft C919. The reporter learned from the Fourth Academy of Aerospace Science and Technology of China that there is a group of "inspection robots" constantly shuttling in the assembly plant of the domestically produced large aircraft C919 at Shanghai Aircraft Manufacturing Co., Ltd., undertaking automated and intelligent tooling inspection work. According to the research and development team, this robot is developed for the inventory of aircraft manufacturing factory fixtures. It can conduct automatic inspections, accurate inventory, and mark abnormalities according to instructions issued by the fixture control system, thus achieving automation and digital management of large-scale aircraft manufacturing factory fixtures, greatly improving management efficiency. In the field of industrial intelligent manufacturing, the Jinling Intelligent Manufacturing Research Institute of the Fourth Academy of Aerospace Science and Technology of China has rich experience in robot development. However, compared to other projects, this project presents characteristics such as large factory area, high accuracy requirements, frequent scene changes, and few recognition features, which pose certain technical difficulties. In March 2021, Jinling Intelligent Manufacturing Research Institute officially launched the intelligent unmanned inspection robot project. The project is a new exploration, with limited experience to learn from and many uncertain factors to face, some even unprecedented problems. Researchers have made it difficult for robots to achieve extremely high positioning accuracy indicators. Faced with repeated experimental failures, some team members are somewhat confused. If there are problems, they must be solved, and they must not be left behind. "Team leader Yan Binwen actively organized the team to tackle technical difficulties and doubts. Temporary seminars are often held for several hours at a time. In the conference room and at the experimental site, everyone often revolves around a seemingly insignificant problem for a long time, brainstorming together, contributing experience, evaluating risks, and ultimately forming a landing plan. The team members are well aware that solving the technical problem of "neck sticking" is difficult to achieve overnight, and often requires accumulating small victories to achieve big victories. They draw nourishment from professional books and achievements, seek inspiration, accumulate data through a large number of experiments, and explore specific technical paths. Faced with the characteristics of large cruising range, single natural features, and numerous large obstacles in COMAC's factory building, as well as the high accuracy, reliability, and flexibility of on-site inspection, a "small omnidirectional motion chassis" was targeted to improve the inspection range of the inspection robot. A combination of on-site natural features and artificial markers was used to establish a reliable navigation environment, which opened up the "last mile" of achieving the goal. The project ultimately broke through multiple key technologies such as large-scale and high-precision laser SLAM navigation and positioning. It is these small improvements, optimizations, and breakthroughs that converge into true innovation, transforming into key technological breakthroughs. In order to maximize the practical testing technology and shorten the deployment and debugging time, the team built a simulation scenario experimental platform based on the characteristics of the "one big, one high, one more, and one less" project, planned the work content in advance, scientifically arranged the work time, and gradually adjusted the navigation and identification strategies during the testing process, optimized the design parameters, and achieved stable cruising and inspection effects. Second half of 2022