A component docking method, device, apparatus and storage medium

Abstract

The application discloses a component docking method and device, equipment and a storage medium. The method comprises the following steps: constructing a three-dimensional model of a first component; selecting a preset measurement number of docking measurement points on a first gap of the first component, and determining corresponding docking comparison points on a second gap of a second component; obtaining the positions of the docking measurement points at two projection measurement times, combining the three-dimensional model, and projecting a first gap image of the first gap onto the second gap, wherein the two projection measurement times are the two measurement times with the shortest time interval from the current time; and adjusting the docking direction of the first component according to the comparison results of the docking measurement points and the corresponding docking comparison points on the second gap, so as to realize the docking operation of the first component and the second component. The application visualizes the gap measurement data on the surface of the docking components, reduces the labor intensity, and improves the assembly efficiency.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automated machinery technology, and in particular to a component docking method, apparatus, device and storage medium. Background Technology

[0002] Wing-fuselage docking is the most crucial step in the assembly of major aircraft components, and the distribution of clearances in the wing-fuselage assembly largely determines its fatigue life and reliability. Currently, wing-fuselage docking typically involves operators crawling into the docking area through the fuel tank cap and using feeler gauges to determine the final shim allowance. The docking process often requires multiple adjustments and measurements, necessitating process engineers to shuttle between workstations and product locations for confirmation. Furthermore, the wing-fuselage docking clearance measurement area is long and narrow, with limited operating space, placing specific requirements on the operator's height and build. This time-consuming and labor-intensive docking operation severely impacts product assembly efficiency, becoming a technical bottleneck for accelerating mass production of wing-fuselage docking. Summary of the Invention

[0003] This invention provides a component docking method, apparatus, equipment, and storage medium to achieve precise docking of large components such as wings and fuselages.

[0004] In a first aspect, embodiments of the present invention provide a component docking method, including: Construct a three-dimensional model of the first component; A preset number of docking measurement points are selected on the first gap of the first component, and corresponding docking comparison points are determined on the second gap of the second component; The measurement point positions of the docking measurement points at two projection measurement times are obtained. Combined with the three-dimensional model, the first gap image of the first gap is projected onto the second gap. The two projection measurement times are the two measurement times with the shortest time interval from the current time. Based on the comparison results of the docking measurement points and corresponding docking comparison points on the second gap, the docking direction of the first component is adjusted to realize the docking operation between the first component and the second component.

[0005] Optionally, constructing the three-dimensional model of the first component includes: Select a preset number of coding points on the first component; The first component is photographed from different shooting angles to obtain at least three images of the first component; Based on the location of the encoded points on each of the first component images, a three-dimensional model is created for the first component to obtain a three-dimensional solid model.

[0006] Optionally, selecting a preset number of docking measurement points on the first gap of the first component and determining corresponding docking comparison points on the second gap of the second component includes: According to the preset docking effect, the contact surfaces of the first component and the second component are respectively defined as the first gap and the second gap; A preset number of docking measurement points are selected on the first gap; For each docking measurement point, a corresponding docking comparison point is determined on the second gap of the second component, and the docking measurement point and the corresponding docking comparison point coincide in the preset docking effect.

[0007] Optionally, obtaining the measurement point positions of the docking measurement points at each of the two projection measurement times, and combining the three-dimensional model to project the first gap image of the first gap onto the second gap, includes: The measurement time with the shortest time interval from the current time is determined as the second projection measurement time, and the measurement time before the second projection measurement time is determined as the first projection measurement time. Obtain the first measurement point position of each docking measurement point at the first projection measurement time and the second measurement point position of each docking measurement point at the second projection measurement time, and determine the first spatial position and the second spatial position of the first gap based on the first measurement point position and the second measurement point position respectively; Based on the first spatial position and the second spatial position, determine the current docking trajectory of the first component and the docking end position where the first component docks with the second component based on the current docking trajectory; The first gap image of the first gap is projected onto the docking end position based on the three-dimensional model.

[0008] Secondly, embodiments of the present invention also provide a component docking device, the device comprising: The 3D model building module is used to build a 3D solid model of the first component; The docking key point determination module is used to select a preset number of docking measurement points on the first gap of the first component, and determine the corresponding docking comparison points on the second gap of the second component; The real-time docking projection module is used to obtain the measurement point positions of the docking measurement points at two projection measurement times, and combine them with the three-dimensional model to project the first gap image of the first gap onto the second gap. The two projection measurement times are the two measurement times with the shortest time interval from the current time. The docking direction adjustment module is used to adjust the docking direction of the first component based on the comparison results of each docking measurement point and the corresponding docking comparison point on the second gap, so as to realize the docking operation between the first component and the second component.

[0009] Optionally, the 3D model construction module is specifically used for: Select a preset number of coding points on the first component; The first component is photographed from different shooting angles to obtain at least three images of the first component; Based on the location of the encoded points on each of the first component images, a three-dimensional model is created for the first component to obtain a three-dimensional solid model.

[0010] Optionally, the docking key point determination module is specifically used for: According to the preset docking effect, the contact surfaces of the first component and the second component are respectively defined as the first gap and the second gap; A preset number of docking measurement points are selected on the first gap; For each docking measurement point, a corresponding docking comparison point is determined on the second gap of the second component, and the docking measurement point and the corresponding docking comparison point coincide in the preset docking effect.

[0011] Optionally, the real-time docking projection module is specifically used for: The measurement time with the shortest time interval from the current time is determined as the second projection measurement time, and the measurement time before the second projection measurement time is determined as the first projection measurement time. Obtain the first measurement point position of each docking measurement point at the first projection measurement time and the second measurement point position of each docking measurement point at the second projection measurement time, and determine the first spatial position and the second spatial position of the first gap based on the first measurement point position and the second measurement point position respectively; Based on the first spatial position and the second spatial position, determine the current docking trajectory of the first component and the docking end position where the first component docks with the second component based on the current docking trajectory; The first gap image of the first gap is projected onto the docking end position based on the three-dimensional model.

[0012] Thirdly, embodiments of the present invention also provide a component docking device, the device comprising: One or more processors; Memory, used to store one or more programs; A camera is used to capture images; A projector is used to project images. A docking assembly device used to fix and move parts; When the one or more programs are executed by the one or more processors, the one or more processors implement the component docking method as described in any embodiment of the present invention.

[0013] Fourthly, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the component docking method as described in any embodiment of the present invention.

[0014] This invention constructs a three-dimensional model of a first component, selects a predetermined number of docking measurement points on the first gap of the first component, and determines corresponding docking comparison points on the second gap of the second component. It obtains the measurement point positions of each docking measurement point at two projection measurement times. Combining the three-dimensional model, it projects the first gap image of the first gap onto the second gap. The two projection measurement times are the two measurement times with the shortest time interval from the current time. Based on the comparison results of each docking measurement point and the corresponding docking comparison point on the second gap, the docking direction of the first component is adjusted to achieve the docking operation of the first and second components. This invention dynamically visualizes the gap measurement data as an image on the surface of the docking components, facilitating real-time adjustment of the component docking direction by operators, reducing manual labor intensity, and improving assembly efficiency. Attached Figure Description

[0015] Figure 1 This is a flowchart of a component docking method provided in Embodiment 1 of the present invention; Figure 2 This is a structural block diagram of a component docking device provided in Embodiment 2 of the present invention; Figure 3 This is a structural block diagram of a component docking device provided in Embodiment 3 of the present invention. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the drawings, not all structures. Moreover, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0017] Example 1 Figure 1 This is a flowchart of a component docking method provided in Embodiment 1 of the present invention. This embodiment is applicable to the docking of large components such as wings and fuselages. The method can be executed by a component docking device, which can be implemented by software and / or hardware.

[0018] like Figure 1 As shown, the method specifically includes the following steps: Step 110: Construct a three-dimensional model of the first component.

[0019] The component docking method provided in this embodiment can be mainly applied to the docking operation of large components. Of course, it can also be used for the docking of small components. This embodiment mainly takes the docking of the fuselage and wings of an aircraft as an example for explanation.

[0020] In practical applications, two components need to be precisely connected, allowing one component to be controlled to move towards the other to complete the docking operation. In this embodiment, the component that needs to be moved can be referred to as the first component, and the other component as the second component. For example, when docking the fuselage and wing, the fuselage can remain stationary while the wing moves towards the fuselage to complete the docking operation. In this case, the wing can be considered the first component, and the fuselage the second component.

[0021] Specifically, photographic devices such as cameras can be used to capture images of the first component, and a three-dimensional model of the first component can be constructed based on the key points in the images. Alternatively, design drawings and other relevant data of the first component can be obtained to create a three-dimensional model of the first component.

[0022] Optionally, step 110 can be implemented through the following steps: S1101. Select a preset number of coding points on the first component.

[0023] Specifically, several key points can be selected at different locations of the first component, and each key point can be encoded to obtain a preset number of encoded points.

[0024] S1102. Take pictures of the first component from different shooting angles to obtain at least three images of the first component.

[0025] Specifically, the first component can be photographed from at least three different shooting angles, and all the coding points on the first component should be captured as much as possible. The captured images are then used as the images of the first component.

[0026] S1103. Based on the location of the coding points on each first component image, perform three-dimensional modeling on the first component to obtain a three-dimensional solid model.

[0027] Specifically, a spatial coordinate system can be established using 3D modeling software, all images of the first component can be input, and a 3D model of the first component can be established based on the positions of the coded points on each first component image.

[0028] Step 120: Select a preset number of docking measurement points on the first gap of the first component, and determine the corresponding docking comparison points on the second gap of the second component.

[0029] Specifically, to achieve precise docking, reference points need to be selected on both the first and second components. These points are then observed and compared during the docking process to adjust the docking direction. Therefore, a certain number of docking measurement points need to be selected on the first gap of the first component, and corresponding docking comparison points need to be determined on the second gap of the second component.

[0030] Optionally, step 120 can be implemented through the following steps: S1201. According to the preset docking effect, the contact surfaces of the first component and the second component are respectively determined as the first gap and the second gap.

[0031] When the first component and the second component are docked, the mating surfaces of the first component and the second component can be called the docking gap. In this embodiment, the docking gap on the first component can be called the first gap, and the docking gap on the second component can be called the second gap.

[0032] S1202. Select a preset number of docking measurement points on the first gap.

[0033] In this embodiment, multiple key points on the first gap can be selected as docking measurement points, such as points at the edge corners of the gap or the midpoint of the gap.

[0034] S1203. For each docking measurement point, determine the corresponding docking comparison point on the second gap of the second component.

[0035] In this process, the docking measurement points and the corresponding docking comparison points coincide in the preset docking effect.

[0036] In this embodiment, the preset docking effect can refer to the state when the first component and the second component complete precise docking. At this time, the first gap of the first component and the second gap of the second component are completely coincident. Therefore, for each docking measurement point on the first gap, there is a point on the second gap that coincides with it. This point can be determined as the docking comparison point.

[0037] Step 130: Obtain the measurement point positions of each docking measurement point at the two projection measurement times, and combine the three-dimensional model to project the first gap image of the first gap onto the second gap.

[0038] Among them, the two projection measurement times can be the two measurement times with the shortest time interval from the current time.

[0039] During the docking process, a measurement time interval can be determined, and the spatial position of each docking measurement point can be measured periodically. The time of each measurement can be called the measurement moment. When realizing real-time projection, the two measurement moments with the shortest time interval from the current moment can be selected as the projection measurement moments. Based on the position movement of each docking measurement point at the two projection measurement moments, the position of the first gap when the first component and the second component collide is predicted based on the constructed three-dimensional model, and the first gap is projected onto that position.

[0040] Optionally, step 130 can be implemented through the following steps: S1301. The measurement time with the shortest time interval from the current time is determined as the second projection measurement time, and the measurement time before the second projection measurement time is determined as the first projection measurement time.

[0041] S1302. Obtain the first measurement point position of each docking measurement point at the first projection measurement time and the second measurement point position of each docking measurement point at the second projection measurement time, and determine the first spatial position and the second spatial position of the first gap based on the first measurement point position and the second measurement point position, respectively.

[0042] S1303. Based on the first spatial position and the second spatial position, determine the current docking trajectory of the first component and the docking end position where the first component docks with the second component based on the current docking trajectory.

[0043] In this embodiment, the current movement direction of the first component, i.e. the current docking trajectory of the first component, can be determined based on the distribution from the first spatial position to the second spatial position. If the first component continues to move towards the second component according to the current docking trajectory, the first component will stop moving when any point on the first component intersects with any point on the second component. The position of the first gap when the first component stops moving can be determined as the docking end position.

[0044] S1304. Project the first gap image of the first gap onto the docking end position based on the three-dimensional model.

[0045] Specifically, a projector or similar device can be used to project the first gap image, which matches the predicted first gap projection angle, onto the docking end position, making it convenient for technicians to check the current docking status.

[0046] Step 140: Based on the comparison results of each docking measurement point and the corresponding docking comparison point on the second gap, adjust the docking direction of the first component to realize the docking operation of the first component and the second component.

[0047] Specifically, if the docking is completed accurately, the docking measurement points and the corresponding docking comparison points must coincide one by one. Therefore, during the docking process, the positional relationship between the docking measurement points and the corresponding docking comparison points can be compared to determine whether the movement direction of the first component is correct. If the docking measurement points and the corresponding docking comparison points do not coincide completely, the docking direction of the first component must be adjusted to achieve accurate docking of the first component and the second component.

[0048] The technical solution of this embodiment involves constructing a three-dimensional model of the first component, selecting a preset number of docking measurement points on the first gap of the first component, and determining corresponding docking comparison points on the second gap of the second component. The measurement point positions of each docking measurement point are obtained at two projection measurement times. Combined with the three-dimensional model, the first gap image of the first gap is projected onto the second gap. The two projection measurement times are the two measurement times with the shortest time interval from the current time. Based on the comparison results of each docking measurement point and the corresponding docking comparison point on the second gap, the docking direction of the first component is adjusted to achieve the docking operation of the first and second components. This invention dynamically visualizes the gap measurement data as an image on the surface of the docking components, facilitating real-time adjustment of the component docking direction by operators, reducing manual labor intensity, and improving assembly efficiency.

[0049] Example 2 The component docking device provided in the embodiments of the present invention can execute the component docking method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution. Figure 2 This is a structural block diagram of a component docking device provided in Embodiment 2 of the present invention, as shown below. Figure 2 As shown, the device includes: a 3D model construction module 210, a docking key point determination module 220, a real-time docking projection module 230, and a docking direction adjustment module 240.

[0050] The 3D model building module 210 is used to build a 3D solid model of the first component; The docking key point determination module 220 is used to select a preset number of docking measurement points on the first gap of the first component, and determine the corresponding docking comparison points on the second gap of the second component; The real-time docking projection module 230 is used to obtain the measurement point positions of each docking measurement point at two projection measurement times, and combine the three-dimensional model to project the first gap image of the first gap onto the second gap. The two projection measurement times are the two measurement times with the shortest time interval from the current time. The docking direction adjustment module 240 is used to adjust the docking direction of the first component according to the comparison results of each docking measurement point and the corresponding docking comparison point on the second gap, so as to realize the docking operation between the first component and the second component.

[0051] The technical solution of this embodiment involves constructing a three-dimensional model of the first component, selecting a preset number of docking measurement points on the first gap of the first component, and determining corresponding docking comparison points on the second gap of the second component. The measurement point positions of each docking measurement point are obtained at two projection measurement times. Combined with the three-dimensional model, the first gap image of the first gap is projected onto the second gap. The two projection measurement times are the two measurement times with the shortest time interval from the current time. Based on the comparison results of each docking measurement point and the corresponding docking comparison point on the second gap, the docking direction of the first component is adjusted to achieve the docking operation of the first and second components. This invention dynamically visualizes the gap measurement data as an image on the surface of the docking components, facilitating real-time adjustment of the component docking direction by operators, reducing manual labor intensity, and improving assembly efficiency.

[0052] Optionally, the three-dimensional model construction module 210 is specifically used for: Select a preset number of coding points on the first component; The first component is photographed from different shooting angles to obtain at least three images of the first component; Based on the location of the encoded points on each of the first component images, a three-dimensional model is created for the first component to obtain a three-dimensional solid model.

[0053] Optionally, the docking key point determination module 220 is specifically used for: According to the preset docking effect, the contact surfaces of the first component and the second component are respectively defined as the first gap and the second gap; A preset number of docking measurement points are selected on the first gap; For each docking measurement point, a corresponding docking comparison point is determined on the second gap of the second component, and the docking measurement point and the corresponding docking comparison point coincide in the preset docking effect.

[0054] Optionally, the real-time docking projection module 230 is specifically used for: The measurement time with the shortest time interval from the current time is determined as the second projection measurement time, and the measurement time before the second projection measurement time is determined as the first projection measurement time. Obtain the first measurement point position of each docking measurement point at the first projection measurement time and the second measurement point position of each docking measurement point at the second projection measurement time, and determine the first spatial position and the second spatial position of the first gap based on the first measurement point position and the second measurement point position respectively; Based on the first spatial position and the second spatial position, determine the current docking trajectory of the first component and the docking end position where the first component docks with the second component based on the current docking trajectory; The first gap image of the first gap is projected onto the docking end position based on the three-dimensional model.

[0055] Example 3 Figure 3 This is a structural block diagram of a component docking device provided in Embodiment 3 of the present invention, as shown below. Figure 3 As shown, the component docking device includes a processor 310, a memory 320, a camera 330, a projector 340, and a docking assembly device 350; the number of processors 310 in the component docking device can be one or more. Figure 3 Taking a processor 310 as an example; the processor 310, memory 320, camera 330, projector 340, and docking assembly device 350 in the component docking equipment can be connected via bus or other means. Figure 3 Taking the example of a connection between China and Israel via a bus.

[0056] The memory 320, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the component docking method in this embodiment of the invention (e.g., the three-dimensional model construction module 210, the docking key point determination module 220, the real-time docking projection module 230, and the docking direction adjustment module 240 in the component docking device). The processor 310 executes various functional applications and data processing of the component docking device by running the software programs, instructions, and modules stored in the memory 320, thereby realizing the aforementioned component docking method.

[0057] The memory 320 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 320 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 320 may further include memory remotely located relative to the processor 310, which can be connected to a component docking device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0058] Camera 330 can be used to acquire images. Projector 340 can be used to project images. Docking and assembly device 350 can be used to grip, fix, and move parts to achieve docking operations.

[0059] Example 4 Embodiment 4 of the present invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a component docking method, the method comprising: Construct a three-dimensional model of the first component; A preset number of docking measurement points are selected on the first gap of the first component, and corresponding docking comparison points are determined on the second gap of the second component; The measurement point positions of the docking measurement points at two projection measurement times are obtained. Combined with the three-dimensional model, the first gap image of the first gap is projected onto the second gap. The two projection measurement times are the two measurement times with the shortest time interval from the current time. Based on the comparison results of the docking measurement points and corresponding docking comparison points on the second gap, the docking direction of the first component is adjusted to realize the docking operation between the first component and the second component.

[0060] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the component docking method provided in any embodiment of the present invention.

[0061] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0062] It is worth noting that in the embodiments of the above-mentioned component docking device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0063] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for component docking, characterized in that, include: Construct a three-dimensional model of the first component; A preset number of docking measurement points are selected on the first gap of the first component, and corresponding docking comparison points are determined on the second gap of the second component; The measurement point positions of the docking measurement points at two projection measurement times are obtained. Combined with the three-dimensional model, the first gap image of the first gap is projected onto the second gap. The two projection measurement times are the two measurement times with the shortest time interval from the current time. Based on the comparison results of each docking measurement point and corresponding docking comparison point on the second gap, the docking direction of the first component is adjusted to realize the docking operation between the first component and the second component; The step of obtaining the measurement point positions of the docking measurement points at the two projection measurement times, and projecting the first gap image of the first gap onto the second gap using the three-dimensional model, includes: The measurement time with the shortest time interval from the current time is determined as the second projection measurement time, and the measurement time before the second projection measurement time is determined as the first projection measurement time. Obtain the first measurement point position of each docking measurement point at the first projection measurement time and the second measurement point position of each docking measurement point at the second projection measurement time, and determine the first spatial position and the second spatial position of the first gap based on the first measurement point position and the second measurement point position respectively; Based on the first spatial position and the second spatial position, determine the current docking trajectory of the first component and the docking end position where the first component docks with the second component based on the current docking trajectory; The first gap image of the first gap is projected onto the docking end position based on the three-dimensional model.

2. The component docking method according to claim 1, characterized in that, The construction of the three-dimensional model of the first component includes: Select a preset number of coding points on the first component; The first component is photographed from different shooting angles to obtain at least three images of the first component; Based on the location of the coded points on each of the first component images, a three-dimensional model is created for the first component to obtain a three-dimensional solid model.

3. The component docking method according to claim 1, characterized in that, The step of selecting a preset number of docking measurement points on the first gap of the first component and determining corresponding docking comparison points on the second gap of the second component includes: According to the preset docking effect, the contact surfaces of the first component and the second component are respectively defined as the first gap and the second gap; A preset number of docking measurement points are selected on the first gap; For each docking measurement point, a corresponding docking comparison point is determined on the second gap of the second component, and the docking measurement point and the corresponding docking comparison point coincide in the preset docking effect.

4. A component docking device, characterized in that, include: The 3D model building module is used to build a 3D solid model of the first component; The docking key point determination module is used to select a preset number of docking measurement points on the first gap of the first component, and determine the corresponding docking comparison points on the second gap of the second component; The real-time docking projection module is used to obtain the measurement point positions of the docking measurement points at two projection measurement times, and combine them with the three-dimensional model to project the first gap image of the first gap onto the second gap. The two projection measurement times are the two measurement times with the shortest time interval from the current time. The docking direction adjustment module is used to adjust the docking direction of the first component based on the comparison results of each docking measurement point and the corresponding docking comparison point on the second gap, so as to realize the docking operation between the first component and the second component; The real-time docking projection module is specifically used for: The measurement time with the shortest time interval from the current time is determined as the second projection measurement time, and the measurement time before the second projection measurement time is determined as the first projection measurement time. Obtain the first measurement point position of each docking measurement point at the first projection measurement time and the second measurement point position of each docking measurement point at the second projection measurement time, and determine the first spatial position and the second spatial position of the first gap based on the first measurement point position and the second measurement point position respectively; Based on the first spatial position and the second spatial position, determine the current docking trajectory of the first component and the docking end position where the first component docks with the second component based on the current docking trajectory; The first gap image of the first gap is projected onto the docking end position based on the three-dimensional model.

5. The component docking device according to claim 4, characterized in that, The 3D model construction module is specifically used for: Select a preset number of coding points on the first component; The first component is photographed from different shooting angles to obtain at least three images of the first component; Based on the location of the encoded points on each of the first component images, a three-dimensional model is created for the first component to obtain a three-dimensional solid model.

6. The component docking device according to claim 4, characterized in that, The docking key point determination module is specifically used for: According to the preset docking effect, the contact surfaces of the first component and the second component are respectively defined as the first gap and the second gap; A preset number of docking measurement points are selected on the first gap; For each docking measurement point, a corresponding docking comparison point is determined on the second gap of the second component, and the docking measurement point and the corresponding docking comparison point coincide in the preset docking effect.

7. A component docking device, characterized in that, The device includes: One or more processors; Memory, used to store one or more programs; A camera is used to capture images; A projector is used to project images. A docking assembly device used to fix and move parts; When the one or more programs are executed by the one or more processors, the one or more processors implement the component docking method as described in any one of claims 1-3.

8. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the component docking method as described in any one of claims 1-3.

Images