A human-machine collaboration-oriented satellite production line station control system

Abstract

The present invention discloses a satellite production line site control system for human-machine collaboration, characterized by including a communication and message management module, a process management module, a process information display module, an equipment control module, and an inspection control module. In the present invention, the management and control system and the site control system adopt a decentralized message publishing / subscribing mode for communication, realizing the interconnection and intercommunication between the equipment at each site and the management and control system, solving the problems of information isolation, poor real-time performance, and slow interactive response in the traditional centralized management mode, and improving the level of refined management and control of the satellite pulse production line; the production line site control system is designed to connect to the management and control system upward and to the machines and personnel within the site downward, taking into account the information display of manual operations and the control function of automatic execution of machines, solving the problem of the lack of effective interaction between personnel, machines, and systems in the existing manufacturing execution system, and realizing the organic integration of operators and machines and equipment.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of satellite production line assembly manufacturing, and in particular to a satellite production line station control system for human-machine cooperation. BACKGROUND

[0002] With the vigorous development of commercial aerospace, various types of medium and low orbit constellations, from tens of satellites to tens of thousands of satellites, gradually enter the public's field of vision. The huge production capacity demand poses a severe challenge to the current satellite manufacturing industry. The traditional "developing satellites" mode cannot meet the requirements of low cost, short cycle, high efficiency and high quality manufacturing. Large-scale manufacturing is the only way for future constellation construction. However, due to factors such as production capacity, supply chain supporting capacity and assembly process methods, satellite manufacturing is difficult to achieve the level of automation of the automobile and home appliance industries. The pulsating production line is the best way to realize satellite large-scale manufacturing.

[0003] The satellite pulsating production line is a production mode between continuous movement and fixed station, composed of several assembly, detection, test, electrical measurement and other stations. Each station is equipped with special tooling and automation equipment to solve the bottleneck in the satellite AIT process in a machine-assisted manner, and to improve production efficiency and product quality stability. The control system is the control center of the entire production line, which needs to collect and monitor various information such as field progress, quality, equipment, personnel and logistics in real time, analyze and make decisions, and schedule the production process to ensure efficient and orderly operation of each station.

[0004] However, the existing control system is mainly for the traditional fixed station development mode, and the information is displayed to the operator in the form of workshop board and signed by the operator. The automatic equipment exists in the form of information island, lacks effective human-computer interaction means, and is difficult to meet the production requirements of data timeliness, interactive convenience and control refinement under fast rhythm pulsation. The document "CN112381412A Chinese invention patent for application publication number" discloses a digital twin satellite pulsating assembly distributed control system, which includes an assembly digital twin model library, an assembly information network system, a station control subsystem and an assembly control total system, solves the problem of interaction between station assembly personnel and control system, but does not involve the technical content of instruction transmission, data acquisition and control logic in the human-machine cooperation process. The document "CN110516368A Chinese invention patent for application publication number" discloses a spacecraft three-dimensional process display and production data acquisition system based on a portable terminal, which includes a manufacturing execution system module, an offline processing module and a real digital mockup, realizes convenient access to spacecraft assembly site models and process files, and still faces the traditional manual assembly operation scene, without involving the control of automatic equipment and the human-computer interaction mode.

[0005] Therefore, the application proposes a satellite production line station control system facing human-machine cooperation. SUMMARY

[0006] The application aims at solving the above problems and proposes a satellite production line station control system facing human-machine cooperation.

[0007] In order to achieve the above-mentioned purpose, the application adopts the following technical solutions:

[0008] A satellite production line station control system facing human-machine cooperation comprises a communication and message management module, a process management module, a process information display module, a device control module and an inspection control module.

[0009] The communication and message management module is used to establish a communication connection with a production line management and control system and a station device, to listen to task messages published by the management and control system in real time, to filter and process the task messages according to station numbers, to receive process tasks corresponding to the station, and to distribute the process tasks to the process management module, the process information display module, the device control module and the inspection control module.

[0010] Preferably, the communication connection is established based on a Kafka message transceiving mechanism, the management and control system, the station control system and the machine device define different message topics, and act as message producers and consumers to perform bidirectional data transmission.

[0011] Preferably, the task messages contain station numbers, message topics and message types, which are used as the basis for message filtering and processing.

[0012] The process management module is used to analyze process data packets issued by the management and control system, and to publish corresponding contents to the process information display module, the device control module and the inspection control module according to a process flow.

[0013] Preferably, the process data packets contain a process flow, a process procedure, a work step schematic diagram, a process model, an inlay list, an execution record card and a device execution program, which are used to guide workers to complete station assembly work, the process flow refers to the order of process execution, the process procedure refers to a textual instruction followed during process execution, including operation precautions and operation instructions, the work step schematic diagram refers to a matching schematic diagram for reference by workers, including a two-dimensional drawing and a three-dimensional model screenshot, the process model is a three-dimensional model used to display the assembly relationship of a product, the execution record card is a satellite assembly result record card corresponding to the process procedure, including a screw tightening torque, a grounding / insulation resistance, an installation state and photo information, and the device execution program refers to a trajectory sequence of a control device motion pre-taught.

[0014] The process information display module comprises an information display submodule and a human-computer interaction submodule, which are used to display material information, process content, equipment state and other information required for process task execution to an operator, issue manual control instructions to the equipment control module, and control the equipment to start, end, pause or interrupt process task execution.

[0015] Preferably, the information display submodule is used to display a process flow, a process procedure, a process step schematic diagram, a process model and an installed part list, and display corresponding content according to process step execution progress, and the human-computer interaction submodule is used to activate the equipment control module and the inspection control module, and support the operator to issue start, end, pause or termination instructions to the machine equipment.

[0016] The equipment control module is used to parse a machine equipment execution program issued by the process management module, drive the machine equipment to automatically execute the corresponding program according to process step timing, collect program execution progress, running pose and fault code information from a machine equipment controller, drive the process information display module to display the machine equipment state, automatically collect execution data of a satellite assembly process such as tightening torque, grounding resistance and contact force of a docking surface, and drive the inspection control module to construct a satellite implementation data package.

[0017] The inspection control module is used to parse an inspection data package issued by the process management module, collect satellite assembly process data according to process step requirements, construct a satellite implementation data package, and submit it to the management and control system.

[0018] Preferably, the inspection data package is used to record an actual execution process of a process, including execution data, an inspector, completion time and an inspection conclusion.

[0019] As described above, the present application has the following advantages:

[0020] 1. In the present application, the management and control system and the site control system use a decentralized message publishing / subscription mode for communication, realizing interconnection and intercommunication between the site equipment and the management and control system, solving the problems of information isolation, poor real-time performance and slow interactive response in the traditional centralized management mode, and improving the fine management and control level of the satellite pulsating production line.

[0021] 2. In the present application, the production line site control system is designed to be connected to the management and control system upwardly and to machine equipment and personnel within the site downwardly, taking into account the information display of human operation and the control function of machine automatic execution, solving the problem of lack of effective interaction among personnel, machine and system in the existing manufacturing execution system, and realizing the organic integration of the operator and the machine equipment.

[0022] 3. In the present application, the production line site control system is deployed by taking a portable terminal as a carrier, greatly improving the convenience of information acquisition, production control and data collection of the production site operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Shown is a system composition diagram provided according to an embodiment of the present invention;

[0024] Figure 2 It shows a schematic diagram of communication connection of production line sites according to an embodiment of the present invention;

[0025] Figure 3 A schematic diagram of a task message provided according to an embodiment of the present invention is shown;

[0026] Among them, 1 is the site number in the Kafka message, which can be recorded as Z1, Z2, Z3, etc.; 2 is the message type, which is a data collection message in the figure; 3 is the message topic, which is a message published by the site control system in the figure;

[0027] Figure 4 The flowchart of the site control system operation provided by the embodiment of the present invention is shown. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0029] See also Figures 1-4 , the present invention provides a technical solution:

[0030] A satellite production line site control system for human-machine collaboration, including a communication and message management module, a process management module, a process information display module, an equipment control module, and an inspection control module;

[0031] The communication and message management module is used to establish communication connections with the production line control system and site equipment, monitor task messages issued by the control system in real time, filter and process task messages according to the site number, receive process tasks corresponding to the site, and distribute them to the process management module, process information display module, equipment control module, and inspection control module;

[0032] Specifically, such as Figure 2 As shown in the figure, the communication connection is established based on the Kafka message sending and receiving mechanism. The management and control system, site control system, and machine equipment define different message topics and act as message producers and consumers for two-way data transmission.

[0033] Specifically, such as Figure 3As shown, the task message contains site number, message subject and message type as the basis for message screening and processing;

[0034] The process management module is used to parse the process data package issued by the management and control system, and to publish the corresponding content to the process information display module, the equipment control module and the inspection control module according to the process flow;

[0035] Specifically, the process data package contains process flow, process procedure, process step schematic diagram, process model, list of installed parts, execution record card, and equipment execution program, which are used to guide workers to complete site assembly work. The process flow refers to the order of process execution. The process procedure refers to the textual instructions followed during process execution, including operation precautions and operation instructions. The process step schematic diagram refers to the supporting schematic diagram for reference by workers, including two-dimensional drawings and three-dimensional model screenshots. The process model is a three-dimensional model that displays the assembly relationship of the product. The execution record card is a satellite assembly result record card corresponding to the process procedure, including screw tightening torque, grounding / insulation resistance, installation state and photo information. The equipment execution program refers to the trajectory sequence of the control equipment motion taught in advance;

[0036] The process information display module includes an information display submodule and a human-computer interaction submodule, which are used to display material information, process content, equipment state and other information required for process task execution to the operator, and to issue manual control instructions to the equipment control module to control the equipment to start, end, pause or interrupt process task execution.

[0037] Specifically, the information display submodule is used to display the process flow, process procedure, process step schematic diagram, process model and list of installed parts, and to display the corresponding content according to the process step execution progress. The human-computer interaction submodule is used to activate the equipment control module and the inspection control module, and to support manual issuance of start, end, pause and termination instructions to the machine equipment.

[0038] The equipment control module is used to parse the machine equipment execution program issued by the process management module, to drive the machine equipment to automatically execute the corresponding program according to the process step timing, to collect program execution progress, running pose and fault code information from the machine equipment controller, to drive the process information display module to display the machine equipment state, to automatically collect execution data of the satellite assembly process such as tightening torque, grounding resistance and contact force of the docking surface, and to drive the inspection control module to build a satellite implementation data package.

[0039] The inspection control module is used to parse the inspection data package issued by the process management module, to collect satellite assembly process data according to the process step requirements, to build a satellite implementation data package, and to submit it to the management and control system.

[0040] Specifically, the inspection data package is used to record the actual execution process of the process, including execution data, inspection personnel, completion time and inspection conclusion.

[0041] Figure 4 The human-machine cooperation-oriented satellite production line station control system operation flowchart of an embodiment is shown, including steps S01 system startup, step S02 process task execution, step S03 data collection, such as Figure 4 The specific implementation steps are as follows:

[0042] Step S01, the satellite production line station control system is started and enters the assembly operation state, specifically including:

[0043] ①The production line management and control system software and hardware is started, and the station assembly robots, vertical docking systems, attitude adjustment turntables and other machine devices and PAD terminals are powered on and connected to the production line network;

[0044] ②The production line station control system deployed on the PAD terminal is started, and the operator logs into the system;

[0045] ③Select the operation station according to production needs, and only a single station can be selected each time;

[0046] ④According to the selected station number, all messages published by the management and control system on Kafka are filtered, that is, the messages with the topic of MES are synchronized to the messages belonging to the station and not consumed;

[0047] ⑤Check the material set, tool configuration, and auxiliary material status of the station;

[0048] ⑥Determine whether the station production preparation is ready, if not, return to the previous step and continue waiting, if yes, enter the assembly operation state;

[0049] Step S02, satellite assembly operation based on the production line station control system, specifically including:

[0050] ①Select the process task and create the directory belonging to the process task locally;

[0051] ②Pull the process data package issued by the management and control system from Kafka and store it in the form of a Json file under the process task directory;

[0052] ③According to the process data package structure form, extract the process flow, process procedure, and execution record card, download the corresponding process model and machine device program from the specified location of the management and control system server, and display the process flow on the station control system interface;

[0053] ④Select the process to be executed, load the corresponding process data of the process, and distribute it to the process information display module, machine device execution module, and inspection monitoring module;

[0054] (5) judge whether the current process is automatically executed, if yes, activate the equipment control module, jump to step (7); otherwise, activate the process information display module;

[0055] (6) display the process plan, process model, component list, system operation log and other contents in the corresponding position to the operator;

[0056] (7) the operator performs manual assembly operation according to the process plan;

[0057] (8) for the process task of automatic execution, select the corresponding program task, and load the program of automatic operation of the machine equipment;

[0058] (9) check whether the assembly path has interference in the virtual simulation environment;

[0059] (10) after confirming that there is no error, publish the program to the machine equipment controller to drive its action;

[0060] The machine equipment automatically executes the assembly task;

[0061] In the assembly process, the machine equipment controller feeds back the collected information to the site control system, and also uses Kafka message for data transmission, and the site control system fills the data into the corresponding position of the execution record card;

[0062] After the machine equipment assembly is completed, the completion message is sent to the site control system, and the machine equipment returns to the initial pose;

[0063] After the assembly operation is completed, the execution record card is filled in, including the tightening torque of the fastener, the grounding resistance value, the insulation resistance value, the installation state and other data;

[0064] The system automatically judges the data according to the design requirements, mainly checks the data completeness and correctness, and automatically fills the judgment result into the inspection result position of the execution record card;

[0065] The site control system assembles the execution record card, the on-site photo, the machine equipment state and other data into a real data package, and submits it to the management and control system;

[0066] The management and control system audits the data, and issues a transfer message to the site control system after the audit is passed; Judge whether the current process task is completed, if not, start the next process task execution, otherwise, end the work.

[0067] The hardware and software operation of the system includes:

[0068] The production line station control system runs on a PAD terminal and can be connected to the production line network through a wireless network;

[0069] The production line management and control system runs on a workshop server and is connected to the production line network;

[0070] Each station machine device of the production line can be connected to the production line network.

[0071] In summary, the satellite production line station control system provided in the embodiment is connected to the production line management and control system upwardly, receives the production tasks and process data packets issued by the production line management and control system, and is connected to the operators and automated devices downwardly, distributes the process information and operation instructions in turn according to the process flow, makes the machines and personnel execute the assembly tasks alternately, collects the product production quality data and equipment operation state information online, guarantees the efficient, safe and reliable operation of the man-machine cooperation station, realizes the low-cost and high-quality mass production of satellites, takes the portable terminal as the carrier, meets the online signing demand of the process information display and execution record of the manual assembly operation, takes into account the control function of the automated execution of the machine devices, solves the problem of the lack of effective interaction among the personnel, machines and systems in the existing manufacturing execution system, realizes the organic integration of the operators and the machine devices, and improves the fine management and control level of the production line.

[0072] The above description of the embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will accord with the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A satellite production line site control system for human-machine collaboration, characterized in that: Including communication and message management module, process management module, process information display module, equipment control module, inspection control module; The communication and message management module is used to establish communication connections with the production line management and control system and site equipment, monitor task messages issued by the management and control system in real time, filter and process task messages according to the site number, receive process tasks corresponding to the site, and distribute them to the process management module, process information display module, equipment control module, and inspection control module; The process management module is used to parse the process data packets issued by the management and control system, and publish the corresponding content to the process information display module, equipment control module and inspection control module according to the process flow; The process information display module includes an information display submodule and a human-computer interaction submodule, which is used to display the material information, process content and equipment status required for the execution of the process task to the operator, and issue manual control instructions to the equipment control module to control the equipment to start, end, pause and interrupt the execution of the process task; The equipment control module is used to parse the machine equipment execution program issued by the process management module, drive the machine equipment to automatically execute the corresponding program according to the work step sequence, collect program execution progress, operation posture, and fault code information from the machine equipment controller, drive the process information display module to display the machine equipment status, automatically collect the execution data of the satellite assembly process such as tightening torque, ground resistance and contact force of the docking surface, and drive the inspection control module to build a satellite implementation data package; The inspection control module is used to parse the inspection data package issued by the process management module, collect satellite assembly process data according to the work step requirements, construct a satellite implementation data package, and submit it to the management and control system.

2. The satellite production line site control system for human-machine collaboration according to claim 1, characterized in that: The communication connection is established based on the Kafka message sending and receiving mechanism. The management and control system, site control system, and machine equipment define different message topics and act as message producers and consumers to carry out two-way data transmission.

3. The satellite production line site control system for human-machine collaboration according to claim 1, characterized in that: The task message includes a site number, a message subject, and a message type, which serve as a basis for message screening and processing.

4. The satellite production line site control system for human-machine collaboration according to claim 1, characterized in that: The process data package includes process flow, process procedures, work step schematics, process models, loading parts lists, execution record cards, and equipment execution procedures, which are used to guide workers to complete site assembly operations. The process flow refers to the order in which the processes are executed. The process procedures refer to the textual instructions based on which the processes are executed, including operating precautions and operating instructions. The work step schematics refer to the supporting schematics for workers to refer to, including two-dimensional drawings and three-dimensional model screenshots. The process model displays the assembly relationship of the product in the form of a three-dimensional model. The execution record card is a satellite assembly result record card corresponding to the process procedure, including screw tightening torque, grounding / insulation resistance, installation status, and photo information. The equipment execution program refers to the trajectory sequence of the control equipment movement taught in advance.

5. The satellite production line site control system for human-machine collaboration according to claim 1, characterized in that: The information display submodule is used to display the process flow, process procedures, work step schematics, process models, and loading parts lists, and displays the corresponding content according to the work step execution progress. The human-computer interaction submodule is used to activate the equipment control module and the inspection control module, and supports manual issuance of start, end, pause, and termination instructions to machine equipment.

6. The satellite production line site control system for human-machine collaboration according to claim 1, characterized in that: The inspection data package is used to record the actual execution process of the process, including execution data, inspection personnel, completion time, and inspection conclusion.

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