Method for integrated alignment of aircraft system tubing

Abstract

The aircraft system pipeline comprehensive installation and adjustment method comprises the following steps: firstly, a model of the space where the system pipeline is located is constructed by using an aircraft narrow space environment modeling method; before the system pipeline is formally installed and fixed, the pipeline is grabbed from the area to be installed and transported to the area to be installed on the aircraft by using an aircraft system pipeline automatic grabbing and transporting method; before the system pipeline is formally installed and fixed, the pipeline is further calibrated according to the actual situation by using an aircraft system pipeline secondary bending and calibration method; when the installation quality of the system pipeline is ensured and no liquid gas leakage is determined, the dynamic gap of the system pipeline is detected by using an aircraft system pipeline dynamic gap measurement method; when the system pipeline normally works, the working temperature of the pipeline is controlled and adjusted in real time by using an aircraft system pipeline working temperature control method; in addition to normal work, an emergency release system is set, and when the system is debugged, harmful oil gas is treated by using an aircraft emergency release system harmful oil gas control method.

Description

Technical Field

[0001] This invention belongs to the field of integrated assembly and adjustment of aircraft system piping, testing and condition control, and relates to a method for integrated assembly and adjustment of aircraft system piping. Background Technology

[0002] The confined space inside an aircraft and the compact layout of various system components within each compartment severely restrict the assembly and debugging of these components, especially the installation and adjustment of system piping. This often results in the inability to complete the installation and adjustment of system piping or extremely low efficiency, making it impossible to guarantee installation quality. A review of relevant technical documents also reveals the absence of mature aircraft system piping installation and adjustment technology, making it a blank area.

[0003] The assembly and commissioning process of the system piping includes conduit installation, installation quality inspection, clearance inspection, performance inspection, and emergency venting function inspection. The above assembly and commissioning process has the following difficulties:

[0004] (1) Difficulties in catheter installation

[0005] Due to the confined space inside the aircraft and the compact layout of various systems and components within each compartment, the assembly and debugging of these components often result in obstructed views and insufficient lighting, preventing operators from gaining a comprehensive view of the installation space and compromising installation quality. Current solutions involve placing a small flashlight or other lighting device at the bottom or side of the installation space to illuminate the area, allowing operators to perform assembly and debugging work on system piping and other components based on this limited light. However, this method suffers from insufficient lighting, failing to illuminate every area of ​​the entire compartment. Furthermore, when operators reach into the confined space, they cannot observe the interior, resulting in blind installation followed by post-installation inspection, which compromises installation quality. Additionally, duct fixing requires shaping the ducts according to the actual aircraft conditions; this secondary bending and shaping involves further bending and deformation of the already formed duct. Because the tubes formed by bending have a complex spatial structure, it is impossible to fill them with the rigid support that was filled during the manufacturing process of straight tubes. As a result, the current secondary bending and straightening of tubes can only rely on coreless bending forming technology. Its forming performance is worse than that of cored bending forming technology, and it is prone to forming defects such as tube wall displacement, wall thickness deviation, instability and collapse, and cracking.

[0006] (2) Challenges in catheter transportation

[0007] The main reason why artificial intelligence and automation technologies have not been used in the system piping installation section of the aircraft manufacturing industry is the limited actual operating space on board. Furthermore, the large number of system piping components to be installed makes it impossible for existing robotic arms to transport and install piping through simple programming. In addition, the aircraft manufacturing industry has stricter regulations regarding system piping information and installation locations than the automotive industry. Currently, the method for transporting aircraft system piping still involves operators visually selecting the appropriate piping according to drawings and piping information and manually transporting it to the installation area. This method suffers from low work efficiency, the risk of errors in manual identification, and high workload for operators.

[0008] (3) Difficulties in gap inspection

[0009] System pipeline clearance checks are divided into static and dynamic checks. Static clearance checks are relatively convenient, but dynamic clearance checks have the following problems: First, manually controlling the movement of moving parts can only be achieved by controlling the aircraft's operating pressure. Since the hydraulic pressure buildup is non-linear, the control process cannot be linear either, affecting the clearance measurement results. Second, when manually dividing the dynamic clearance into several static clearance positions, it is impossible to accurately determine which dividing point is the minimum clearance point, meaning the measurement results are inaccurate and only approximate values ​​can be obtained. Finally, the measurement area is the dynamic system pipeline movement area. After manually controlling the pressure to stop it, if the system malfunctions or the pressure control fails, causing the dynamic system pipeline to move, safety accidents such as injury to the inspector may occur.

[0010] (4) Difficulties in performance inspection

[0011] Aircraft design incorporates numerous system pipelines for its power and fuel systems. When these pipelines operate for extended periods, the temperatures of working fluids such as hydraulic oil and fuel rise. Temperature, a physical quantity measuring the degree of hotness or coldness of an object, is a crucial thermal parameter. Temperature measurement and control directly impact aircraft safety and flight performance. Currently, temperature checks utilize traditional contact thermometers, which suffer from limitations. The thermometer must remain in constant contact with the pipeline under test for heat exchange, and a certain time is required to reach thermal equilibrium and obtain a temperature value. Furthermore, only a single point of temperature can be measured at a time. Due to material uniformity and manufacturing variations, temperature consistency is impossible across different parts of the same pipeline, making single-point temperature measurements inaccurate and failing to represent the highest temperature of the entire pipeline. In addition, this method only allows for temperature measurement; if the measured temperature exceeds the allowable value, manual adjustment of the pressure test bench or modification of relevant aircraft parameters is necessary before manual temperature measurement can resume. This process is cumbersome, time-consuming, and labor-intensive, resulting in extremely low efficiency.

[0012] (5) Difficulties in checking emergency exhaust function

[0013] The aircraft emergency landing gear deployment system is a crucial backup system for aircraft. It's used to deploy the landing gear in case it fails to deploy normally, preventing significant damage from a hard landing on the fuselage. Therefore, the reliable configuration and commissioning of the landing gear emergency deployment system are critical. Generally, emergency deployment systems use high-pressure nitrogen cylinders as a power source, replacing the hydraulic pump used in normal operation, to drive the actuator cylinder to extend and achieve the deployment function. During final assembly and commissioning, emergency deployment function simulation tests are conducted in the factory. During these tests, a large amount of oil-gas mixture is released through the oil chamber due to the high-pressure nitrogen, spreading throughout the factory and posing safety hazards such as explosions. It also harms the lungs of operators, hindering the implementation of green processes and improvements in operational efficiency. Summary of the Invention

[0014] To address the aforementioned difficulties in the assembly and adjustment of aircraft system piping, this invention provides a comprehensive assembly and adjustment method for aircraft system piping. This method automates the assembly and debugging of aircraft system management, thereby improving product quality and significantly reducing operator workload during the assembly and adjustment process. Ultimately, it achieves the goal of completing aircraft system piping assembly and adjustment work with high efficiency and high precision.

[0015] The technical solution of the present invention is as follows:

[0016] The integrated assembly and commissioning method for aircraft system piping consists of six parts, as detailed below:

[0017] This invention provides a method for configuring an environmental model in a confined space of an aircraft. The method includes an environmental model configuration system for confined spaces of an aircraft and a system self-detection and judgment program. It is applied to the configuration of an environmental model in a confined space of an aircraft, and collects information such as images, temperature, and gas content of system components in the space. The collected data is transmitted to a central processing computer for analysis and processing. At the same time, it can realize the continuous configuration of the environmental model, providing visual image information for operators to carry out relevant assembly and adjustment work in confined spaces, and solving the problem of difficult duct installation.

[0018] This invention provides a method for secondary bending and straightening of aircraft system pipelines, including a method for secondary bending and straightening of aircraft system pipelines based on gas expansion technology. This method enables core-driven bending during secondary bending and straightening of pipelines, significantly improves the forming performance of secondary bending of pipelines, reduces the probability of forming defects such as pipe wall misalignment, wall thickness deviation, instability and collapse, and rupture, and solves the problem of difficult pipeline installation.

[0019] This invention provides an automatic grasping and transport method for aircraft system piping, which includes intelligent image recognition technology, image enhancement technology, and a multi-degree-of-freedom omnidirectional mechanical gripper. It is applied to aircraft system piping installation projects. Through a vision system, the system piping to be installed is identified, and the piping is automatically grasped and transported to the installation position for the operator's use. This can greatly improve work efficiency, reduce error rate, and reduce the labor intensity of the operator, and solve the problem of difficult pipe transportation.

[0020] This invention provides a method for measuring dynamic clearances in aircraft system piping, comprising a dynamic clearance measurement method for aircraft system piping, a visual analysis module and algorithm for dynamic system piping, and a dynamic clearance measurement system for aircraft system piping. It can realize visual analysis and calculation of dynamic system piping, and by setting allowable range values, the system can automatically determine whether the simulation of each dynamic system piping of the aircraft meets the requirements within the allowable tolerance range. It can realize real-time measurement of dynamic system piping, significantly reduce measurement time, improve work efficiency, and solve the problem of difficult clearance inspection.

[0021] This invention provides a method for controlling the operating temperature of aircraft system piping. The method utilizes the measured value of the system management operating temperature detected by infrared thermal imaging technology. By setting parameters for the pressure test bench or aircraft system, preset the allowable temperature range, and implement an automatic adjustment system, the method achieves real-time temperature comparison and automatic adjustment, ensuring that the system piping temperature is within the allowable temperature range in real time. This ensures the safety and flight performance of the aircraft and solves the problem of difficult performance inspection.

[0022] This invention provides a method for controlling hazardous oil and gas in an aircraft emergency venting system, comprising an apparatus and method for controlling hazardous oil and gas in an emergency venting system. By utilizing the design of an ultrasonic subsystem, a vacuum subsystem, and a mechanical subsystem, it achieves physical adsorption and chemical absorption of more than 80% of hazardous oil and gas, greatly reducing the emission of hazardous oil and gas, improving production safety, personnel operating efficiency, reducing the psychological anxiety of employees when facing hazardous oil and gas, and solving the problem of difficulty in checking emergency venting functions.

[0023] The beneficial effects of this invention are:

[0024] (1) The confined space environment model configuration method in this invention realizes environmental monitoring of the aircraft system pipeline installation area through the construction of the entire environment model configuration system. Through the coordinated use of the central processing computer and various inspection components, the control signals and feedback information are linked together, and the entire system is monitored and controlled to the greatest extent. At the same time, through the design of the system emergency stop component in the central processing computer, the system can automatically stop working when any indicator exceeds the preset allowable range value, thereby improving safety.

[0025] (2) The automatic grasping and transportation method for aircraft system pipelines in this invention adopts intelligent image recognition technology, namely optical character recognition technology. It uses optical technology and computer technology to read the pipeline information engraved on the surface of the system pipeline, realizes automatic matching and recognition of part numbers of system pipelines, automatic calculation of position and automatic detection of defects, and can realize accurate identification of conduits, change the original manual selection process, improve work efficiency. Based on the intelligent and automated technology foundation in the industrial manufacturing industry, it adapts to the actual production needs of system pipelines in the military aircraft manufacturing industry, and can effectively solve pain points and difficulties, and achieve quality improvement and efficiency enhancement.

[0026] (3) The secondary bending and straightening method of the system pipeline in this invention realizes the leap from coreless bending to core bending in the secondary bending and straightening process of the conduit. It avoids the dilemma that the traditional rigid mandrel cannot be sent into the already bent conduit, and also avoids the situation that the traditional filler quartz sand can only be simply piled up and filled, cannot achieve high pressure, and is very easy to cause quartz sand to scatter and form excess material pollution. It improves the quality of secondary bending and straightening of the conduit and reduces the probability of forming defects such as pipe wall deviation, wall thickness deviation, instability and collapse, and cracking. The conduit angle and the angle difference of the predetermined position provided by this invention are continuously compared during the conduit bending and straightening process to get as close as possible to the theoretical pipe shape state and achieve accurate bending and straightening.

[0027] (4) The system pipeline dynamic clearance measurement method in this invention has a unique formula algorithm, which can realize the visual analysis and calculation of dynamic system pipelines. By setting the allowable range value, the system can automatically determine whether the simulation of each dynamic system pipeline of the aircraft meets the requirements within the allowable tolerance range. The design is unique and innovative. The design of the model for simultaneous analysis and judgment of multiple dynamic system pipeline information can realize the real-time measurement of dynamic system pipelines, greatly reduce the measurement time, and improve work efficiency.

[0028] (5) The system pipeline working temperature control method in this invention adopts a unique design concept. It uses a working temperature detection method and a working temperature regulation system to work together to realize real-time temperature detection, judgment and adjustment, realize adaptive regulation of working temperature, form closed-loop control, and adopt infrared thermal imaging technology to directly observe the temperature distribution on the surface of the system pipeline. It has the advantages of vivid, intuitive and highly accurate display, and can obtain the actual temperature of the system pipeline in real time. The aircraft system pipeline working temperature regulation system provided by this invention realizes autonomous judgment by setting a preset working temperature upper limit and a judgment algorithm model of the measured temperature, and preset parameter range. It no longer requires manual operation of the operator, so as to automatically and accurately control the working temperature of the system pipeline within the working range and realize adaptive temperature regulation.

[0029] (6) The emergency release system for controlling harmful oil and gas in this invention enhances the discharge rate of liquid coolant gas through the coupling effect of three fields: vacuum field, ultrasonic field, and mechanical field. This significantly improves the discharge capacity compared to current systems relying solely on the liquid cooling system itself. Rapid discharge is achieved primarily through the reduction of gas solubility in the vacuum field, the cavitation effect of the ultrasonic field, and the agitation and acceleration of molecular motion by the mechanical field, thereby increasing the gas escape rate. The time required for the liquid coolant to reach its ideal state after discharge is reduced from 6 hours to 1 hour, a reduction of over 80%, improving aircraft availability, reducing maintenance costs, and thus achieving higher economic benefits.

[0030] (7) This invention addresses the difficulties and pain points in the entire process of aircraft system piping assembly and adjustment, and proposes technical solutions by applying innovative methods and advanced technologies. It can significantly reduce the workload of operators and realize most of the automated and intelligent detection, processing, analysis, and judgment work. Due to the great reduction of human intervention, the detection results are more intelligent and accurate. At the same time, it solves the key problems in the assembly and adjustment of aircraft system piping in a highly efficient and high-quality manner. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall invention.

[0032] Figure 2 Architecture diagram of a model configuration system for a confined space environment of an aircraft; Figure 3 A diagram showing the composition of the central processing computer in a model configuration system for a confined space environment of an aircraft. Figure 4 A detailed system composition diagram for a model configuration system in a confined space environment of an aircraft.

[0033] Figure 5 This is a schematic diagram of an automated grasping and transport device for aircraft system pipelines. The diagram shows: 1. Industrial camera; 2. Adjustable support rod; 3. Load-bearing support; 4. Mechanical turntable; 5. Base; 6. Buffer torsion spring; 7. Mechanical turntable angle adjustment component; 8. Drive motor; 9. Pull rod fixing component; 10. Motor fixing base; 11. Primary transmission pull rod; 12. Transmission system transition support; 13. Steel cable wheel; 14. Control steel cable; 15. Secondary transmission pull rod; 16. Robotic arm; 17. Robotic arm fixing support.

[0034] Figure 6 Axonometric drawing of a secondary bending correction device for aircraft system piping; Figure 7This is a diagram of the pneumatic system for a secondary bending and straightening device for aircraft system piping; in the diagram: 18 Air compressor, 19 Air tank, 20 Oil separator, 21 Air dryer, 22 Filter, 23 Electric pump, 24 Check valve, 25 Safety valve, 26 Silencer, 27 One-way speed control valve, 28 Pressure gauge, 29 Two-position two-way solenoid directional valve, 30 Pressure sensor, 31 Vent valve, 32 Rubber hose, 33 Device body, 34 Inflation port, 35 Exhaust port.

[0035] Figure 8 This is a schematic diagram of an aircraft system piping dynamic clearance measurement system. Figure 9 This is a schematic diagram of the method for measuring dynamic clearances in aircraft system piping.

[0036] Figure 10 This is a schematic diagram of the hazardous oil and gas control device of an aircraft emergency release system. In the diagram: 1. Coupler head, 2. Amplitude bar, 3. Ultrasonic generator, 4. Transducer, 5. Vacuum pipe, 6. Vacuum pump, 7. Electronic vacuum gauge, 8. Coolant inlet, 9. Motor, 10. Stirring shaft, 11. Filling port cover, 12. Tank structure, 13. Stirring blades, 14. Coolant outlet.

[0037] 36 Coupler head, 37 Amplitude bar, 38 Ultrasonic generator, 39 Transducer, 40 Vacuum pipe, 41 Vacuum pump, 42 Electronic vacuum gauge, 43 Liquid coolant inlet, 44 Motor, 45 Stirring shaft, 46 Filling port cover, 47 Tank structure, 48 Stirring blades, 49 Liquid coolant outlet. Detailed Implementation

[0038] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and technical solutions.

[0039] like Figure 1 As shown, the aircraft system piping integrated assembly and adjustment method of the present invention comprises six parts, as detailed below:

[0040] (1) The installation and commissioning of the system piping first adopts the aircraft confined space environment model configuration method to construct the model of the space where the system piping is located.

[0041] The model is constructed using a confined space environment modeling system for aircraft, such as... Figure 2-4 As shown, the aircraft confined space environment model configuration system includes a detachable fast-charging power supply, a central processing computer, a camera device, a thermal imaging acquisition device, a gas content detection device, an information display device, a storage component, and an information output device.

[0042] The detachable fast-charging power supply is connected to the central processing computer to provide power. The central processing computer is connected to the camera device, thermal imaging acquisition device, gas content detection device, information display device, and storage component. It provides power to each component, acquires and analyzes information such as external images, heat, and gas content detected by the camera device, thermal imaging acquisition device, and gas content detection device, transmits the processed information to the information display device, receives operating instructions from the information display device, and sends the acquired and analyzed data to the storage component for storage. The storage component is connected to the information display device and the information output device for retrieving stored data and outputting data. The specific functions of each component are as follows:

[0043] The detachable fast charging power supply is connected to the central processing computer and is used to supply current and voltage to the power conversion components in the central processing computer. The detachable fast charging power supply has fast charging and detachable functions. It can be connected to an external power source for real-time power supply, or it can use its own power reserve for power supply. It can also be removed from the device and replaced with a backup power source to provide power supply when there is no external power source and it has no power of its own.

[0044] The central processing computer includes a power conversion unit, a control module, a data receiving unit, a data processor, a data transmission unit, and a system emergency stop unit. The power conversion unit supplies power to the control module. The control module receives electrical signals processed by the data processor and determines whether various indicators are qualified based on the signals. It also feeds back the results to the data processor. If a pre-set serious problem affecting system safety or product quality is discovered during the determination process, the control module directly controls the system emergency stop unit to halt all system operations. The data receiving unit receives data collected by the camera device, thermal imaging acquisition device, and gas content detection device, and transmits the data to the data processor. The data processed by the data processor is then transmitted to the data transmission unit, and finally to the storage unit.

[0045] The camera device includes a recording device and an image information transmission component. The recording device is used to collect image information of the installation area and can record the environment of the installation area in the form of video recording or photography. The image information transmission component is connected to the recording device and transmits the image information captured by the recording device to the central processing computer for analysis and processing of the image information data.

[0046] The thermal imaging acquisition device includes a thermal imaging device and a heat information transmission component. The thermal imaging device is used to collect heat information of the installation area, mainly collecting heat from system pipelines and related finished products. The heat information transmission component is connected to the thermal imaging device and transmits the heat information collected by the thermal imaging device to the central processing computer for analysis and processing of the heat data.

[0047] The gas content detection device includes a gas detection device and a gas content information transmission component. The gas detection device is used to collect gas content information in the installation area, mainly collecting nitrogen content, helium content and gas humidity in the installation area. The gas content information transmission component is connected to the gas detection device and transmits the gas content information collected by the gas detection device to the central processing computer for analysis and processing of the gas content data.

[0048] The information display device includes a display screen and an information parsing device. The information parsing device receives electrical signals output from the central processing computer, classifies and processes these signals, receives data packets, and decodes them into HDMI and AV format image signals, displaying the corresponding images on the display screen. It comprises three main modules: the first module is an installation area environment display module located on the left side of the display screen, which displays the spatial environment in real time; the second module is an environmental status module, which displays the temperature, humidity, nitrogen content, and helium content of the installation area in real time; and the third module is a system status module, which displays the system's real-time voltage and current. A system self-test function button is also provided, which, when clicked, initiates a self-test. After the self-test, the result is output as "qualified" or "unqualified." Simultaneously, operation commands can be executed by clicking operation buttons on the display screen, processed by the information parsing device, and transmitted to the central processing computer to enable the system to perform relevant operations.

[0049] The storage component is used to store all the information received and processed by the central processing computer, and is connected to the information display device and information output device to realize the retrieval, display and output of the stored information.

[0050] The information output device includes a data integration device and a file output device. The data integration device converts the data stored in the storage component into digital signals and text signals, which are then printed out by the file output device for analysis and use by debugging personnel and for product quality documentation by inspection personnel.

[0051] The central processing unit (CPU) includes a system self-test program. The specific method is as follows: The system self-test involves all components within the system. Each component has the same electrical connection principle and is equipped with sensors for transmitting electrical signals. During the self-test, the determination is based on the sensor's own attribute parameters and the actual current. The specific formula is as follows:

[0052]

[0053] Among them, W mn K represents an analog electrical signal; g I is the sensor fixed coefficient; q This is the actual current value; R gV represents the sensor resistance value. g This is the sensor correction voltage value.

[0054] After the information is transmitted to the central processing computer, the total amount of data collected by the central processing computer from the multi-channel transmission is modeled as follows:

[0055] X = X1 + X2 + ... + X n-1 +X n

[0056] Where X represents the total amount of data processed by the central processing unit, X1, X2…X n-1 X n These represent the data volume for different channels.

[0057] The amount of data in a channel depends on the amount of data per individual line and the total number of lines. The model is as follows:

[0058]

[0059] Where X is the channel data volume; S a N represents the data volume of a single line in the channel; N represents the total number of lines in the channel.

[0060]

[0061] Among them, K a For channel fixed parameter coefficients; S t S represents the amount of data on a single channel at time t. t W is an analog electrical signal. mn The accumulation is modeled as follows:

[0062]

[0063] Among them, W mn,t Let K be the analog electrical signal quantity corresponding to the channel at time t. gt I is the sensor fixed coefficient corresponding to the channel at time t; qt R represents the actual sensor current value corresponding to the channel at time t. gt V represents the sensor resistance value of the channel at time t. gt Let t be the sensor correction voltage value corresponding to the channel at time t.

[0064] Based on the above derived model formulas, the corresponding model formulas for channel data volume, actual current volume, and sensor can be obtained:

[0065]

[0066] Therefore, the total amount of data collected by the central processing computer from multi-channel transmission can be modeled as follows:

[0067]

[0068] Among them, K a1 K a2 …K an-1 K an These are fixed parameter coefficients for n channels, N1, N2…N n-1 N n These represent the total number of lines in the n channels; These are the sensor fixation coefficients for the n channels at time t; These are the actual sensor current values ​​for the n channels at time t; These are the sensor resistance values ​​for the n channels at time t; These are the sensor correction voltage values ​​for the n channels at time t.

[0069] The following is a system self-test determination procedure using a six-channel system as an example. The specific method is as follows: The system self-test involves all components within the system. Each component has the same electrical connection principle and is equipped with sensors for transmitting electrical signals. During the self-test, the determination is made based on the attribute parameters of each sensor and the actual current. The specific formula is as follows:

[0070]

[0071] Among them, W mn K represents an analog electrical signal; g I is the sensor fixed coefficient; q R represents the actual current value of the sensor. g V represents the sensor resistance value. g This is the sensor correction voltage value.

[0072] After the information is transmitted to the central processing computer, the total amount of data collected by the central processing computer from the multi-channel transmission is modeled as follows:

[0073] X = X1 + X2 + X3 + X4 + X5 + X6

[0074] Where X represents the total amount of data in the central processing computer, and X1 to X6 represent the data volume of the six channels, respectively.

[0075] Taking the first channel as an example, its data volume depends on the data volume of its single line and the total number of lines. The model is as follows:

[0076]

[0077] Where X1 is the data volume of the first channel; is the data volume of a single line in the first channel, i.e., the information receiving device; n is the total number of lines in the first channel.

[0078]

[0079] Among them, K a Fixed parameter coefficients for the information receiving device; This represents the amount of data on a single line of the first channel at time t. Analog electrical signal The accumulation is modeled as follows:

[0080]

[0081] Based on the above derived model formula, the corresponding model formulas for the first channel data volume, actual current volume, and sensor can be obtained:

[0082]

[0083] Therefore, the total amount of data transmitted through the six channels collected by the central processing computer can be modeled as follows:

[0084]

[0085] The central processing unit (CPU) receives information simultaneously from six channels of the system. In this situation, it is crucial for the CPU to accurately determine the source of the received information. Failure to do so can lead to poor information transmission and inability to execute instructions. Therefore, a determination model is established within the CPU, with different numerical ranges for the data volume of a single line corresponding to different devices. The CPU determines the data channel source based on the collected data volume of a single line. The model is as follows:

[0086] Channel 1: The range is (0,1);

[0087] Channel 2: The range is (2,8);

[0088] Channel 3: The range is (9, 64);

[0089] Channel 4: The range is (65, 256);

[0090] Channel 5: The range is (257, 1024);

[0091] Channel 6: The range is (1025, 4096).

[0092] Taking a confined space environment model configuration of a certain type of aircraft as an example, if the value collected by channel 1 is 0.5; the value collected by channel 2 is 6; the value collected by channel 3 is 63; and the value collected by channel 4 is 270, the system will alarm and prompt the operator to stop working.

[0093] Taking a confined space environment model configuration of a certain type of aircraft as an example, the data collected by channel 1 is 0.5; the data collected by channel 2 is 6; the data collected by channel 3 is 63; the data collected by channel 4 is 230; the data collected by channel 5 is 800; and the data collected by channel 6 is 2520. All the detected values ​​are normal and the aircraft can work normally without alarming.

[0094] The specific steps are as follows:

[0095] (1) Install the camera device, thermal imaging acquisition device, and gas content detection device into the system pipeline installation work area, and connect the above components to the central processing computer;

[0096] (2) Check if the detachable fast charging power supply is installed in the system, turn on the power and make the system work;

[0097] (3) After the system is powered on, click the “Self-test” button on the display screen to perform a system self-test. If the result output is “qualified” after the test is completed, proceed to the next step. If the result output is “unqualified” after the test is completed, power off the system and troubleshoot the fault. Power on the system again after the fault is completed and perform a self-test until the test result output is “qualified”.

[0098] (4) When the operator is performing installation work, he / she uses the installation area environment display module located on the left side of the display screen to observe the spatial environment in real time and cooperate with the assembly work of the system pipeline.

[0099] (5) By viewing the environmental status module on the display screen, the inspector can read the temperature, humidity, nitrogen content and helium content of the installation area, detect the installation environment information in real time, and determine whether it meets the necessary environmental requirements for assembly operations.

[0100] (6) Equipment maintenance personnel can view the system status through the system status module on the display screen, including the internal voltage and current of the system. They can monitor the system's working status based on the real-time monitoring values ​​and deal with any problems in a timely manner.

[0101] (7) If the debugging personnel have analytical needs or the inspection personnel have product quality filing needs, the data will be output through the information output device.

[0102] (8) After the system is finished, power off the system. You can either remove the detachable fast charging power supply to charge it, or connect the detachable fast charging power supply with the power cord without removing it to charge it.

[0103] (2) Before the system piping is officially installed and fixed, the aircraft system piping automatic grabbing and transportation method is used to automatically grab the conduit from the area to be installed and transport it to the installation area on the aircraft.

[0104] The aircraft system pipeline automated grasping and transport device is used for grasping and transporting, such as... Figure 5 As shown, the automatic gripping and transport device for aircraft system pipelines is a multi-degree-of-freedom omnidirectional mechanical gripper with a symmetrical left-right structure. It includes an industrial camera 1, an adjustable support rod 2, a load-bearing support 3, a mechanical turntable 4, a base 5, a buffer torsion spring 6, a mechanical turntable angle adjustment component 7, a drive motor 8, a pull rod fixing component 9, a motor fixing base 10, a primary transmission pull rod 11, a transmission system transition support 12, a steel cable wheel 13, a control steel cable 14, a secondary transmission pull rod 15, a robotic arm 16, and a robotic arm fixing support 17.

[0105] The load-bearing support 3 has a T-shaped structure, with its bottom end mounted on the base 5. The upper part of the load-bearing support 3 is hollow, housing a motor that drives the mechanical turntable 4 to rotate. The adjustable support rod 2 is mounted on the upper surface of the load-bearing support 3, and the industrial camera 1 is mounted on the top of the adjustable support rod 2 for image acquisition of the system piping and aircraft position. There are two mechanical turntables 4, symmetrically mounted on both sides of the load-bearing support 3. Each mechanical turntable 4 includes a base, a rotating shaft, and a turntable. The base has a through hole in its center, through which the rotating shaft passes, and its bottom end is connected to the output shaft of the motor inside the load-bearing support 3. The base is mounted on its top end. The lower surface of the turntable 4 is connected to the upper side of the support 3 via a mechanical turntable angle adjustment component 7, which allows adjustment of the angle of the mechanical turntable 4. The lower surface of the chassis is connected to the lower side of the support 3 via two connecting shafts and a buffer torsion spring 6. One end of each connecting shaft is connected to the lower surface of the chassis and the lower side of the support 3, respectively, while the other end is connected via the buffer torsion spring 6, which is used to reduce the reaction force generated during the operation of the robotic arm. Each mechanical turntable 4 has a motor mounting base 10, on which two upright plates are symmetrically mounted. A cable reel 13 is installed between two upright plates. Two drive motors 8 are mounted on motor mounting bases 10 on the outer sides of the two upright plates. The output shafts of the drive motors 8 are connected to the cable reel 13's winding and unwinding device, driving the winding and unwinding of the control cable 14, thereby driving the movement of the primary transmission rod 11 and the secondary transmission rod 15. A rod fixing component 9 is installed on the side of each of the two upright plates. Two rod fixing components 9 and a through hole for the control cable 14 to pass through are installed at each end of the transmission system transition support 12. Two rod fixing components 9 and a through hole for the control cable 14 to pass through are installed at one end of the robot arm fixing support 17. Through holes; one end of the primary transmission pull rod 11 is connected to the pull rod fixing component 9 on the two upright plates, and the other end is connected to the pull rod fixing component 9 at one end of the transmission system transition support 12; one end of the secondary transmission pull rod 15 is connected to the pull rod fixing component 9 at the other end of the transmission system transition support 12, and the other end is connected to the pull rod fixing component 9 on the robot arm fixing support 17; the operating steel cable 14 on the steel cable wheel 13 passes through the through holes on the transmission system transition support 12 and the robot arm fixing support 17 in sequence, and is connected to the robot arm 16, which is installed at the front end of the robot arm fixing support 17 and is controlled by the operating steel cable 14.

[0106] The specific grabbing and transportation process is as follows:

[0107] Step 1. Image Recognition

[0108] Using an industrial camera 1 mounted on a multi-degree-of-freedom omnidirectional mechanical gripper, real-time images of the piping system to be assembled are taken at the assembly site. The acquired image information is transmitted to a computer system, where vision processing software processes the images, identifies characters in the images, and uses optical and computer technologies to read the piping information etched on the surface of the system piping. After obtaining the information from the images, the information is compared with a pre-entered equipment information database to analyze and determine the position of the conduit to be assembled, thus achieving automatic matching and identification of part numbers and automatic position calculation for the system piping.

[0109] Step 2. Image Enhancement

[0110] In image recognition, image enhancement is performed to equalize the image's grayscale histogram. The key to this equalization lies in expansion, which involves increasing the histogram range of the original image. Simultaneously, to maintain image quality consistency, the entire image needs to be expanded. The specific process of histogram correction, i.e., image enhancement, is as follows:

[0111]

[0112] Among them, W m To expand and equalize the range of the histogram, W l The range of the histogram before expansion is given by k, which is the enhancement coefficient and is usually a fixed value. The denominator on the right side of the formula is the probability density function of the image following a normal distribution when the image has n points, where n is the total number of points in the image, σ is the standard deviation, μ is the mean, and e is the base of the natural logarithm.

[0113] Step 3. Confirm the capture location

[0114] After industrial camera 1 identifies the target pipeline, it performs image recognition on the pipeline's shape. Simultaneously, industrial camera 1 has a built-in judgment module that pre-stores the theoretical digital model of the target pipeline. The theoretical digital model contains basic information such as pipeline size, weight, material, and theoretical center of gravity (center point of the grasping conduit). Industrial camera 1 compares the identified image with the theoretical digital model to obtain the deviation between the actual image and the theoretical image of the target pipeline. The actual center of gravity position of the target is obtained, which is the coordinate of the actual center point of the grasping conduit. The multi-degree-of-freedom omnidirectional mechanical gripper will grasp and transport the pipeline according to the coordinate of the center point of the conduit.

[0115] Step 4. Automated grasping and transportation

[0116] When the multi-degree-of-freedom omnidirectional mechanical gripper is working, the mechanical turntable 4 rotates to adjust the mechanical gripper 16 to the approximate working position, and the drive motor 8 works to output power. The power is transmitted to the mechanical gripper 16 through the control cable 14, the first-stage transmission rod 11, the transmission system transition support 12, the second-stage transmission rod 15, and the mechanical gripper fixed support 17. At the same time, the control cable 14 precisely adjusts the position and posture of the mechanical gripper 16 to achieve the gripping of the conduit. The working principle is the same in the transportation process, thereby realizing the automatic gripping and transportation of the system pipeline.

[0117] (3) Before the system piping is officially installed and fixed, the aircraft system piping secondary bending and shaping method is adopted, and the pipe type is calibrated according to the actual situation.

[0118] Secondary bending and straightening is performed using an aircraft system piping secondary bending and straightening device, such as... Figure 6 and Figure 7 As shown, the secondary bending and straightening device for the aircraft system pipeline includes an air compressor 18, an air tank 19, an oil separator 20, an air dryer 21, a filter 22, an electric pump 23, a one-way valve 24, a safety valve 25, a muffler 26, a one-way speed control valve 27, a pressure gauge 28, a two-position two-way solenoid directional valve 29, a pressure sensor 30, a vent valve 31, a rubber hose 32, and a device body 33.

[0119] The device body 33 is a steel box structure. The upper operating table is equipped with a safety valve 25, a one-way speed control valve 27, a vent valve 31, and start / stop buttons for the air compressor 18 and the electric pump 23. The side is equipped with the exhaust port 35 of the vent valve 31 and the inflation interface 34 of the rubber hose 32.

[0120] The gas storage tank 19 has its inlet connected to the air compressor 18, which provides the gas source. Its outlet is connected to the inlet of the oil separator 20, which filters oil from the gas. The air dryer 21 filters moisture from the gas; its inlet is connected to the outlet of the oil separator 20, and its outlet is connected to the inlet of the filter 22, which filters large mechanical impurities from the gas. The electric pump 23 has its inlet connected to the outlet of the filter 22, and its outlet connected to a one-way valve 24. The airflow is divided into two branches by the one-way valve 24; one branch connects to the safety valve 25, and then to the silencer 26. The safety valve 25 is equipped with a pressure gauge 28 at its front end to measure the inlet pressure of the safety valve 25. Another branch is connected to the one-way speed control valve 27. After passing through the one-way speed control valve 27, the airflow is divided into two branches. One branch is connected to the vent valve 31 and then to the silencer 26. When the operation ends, the pressure of the gas system is released through the vent valve 31. The other branch is connected to the two-position two-way solenoid valve 29 and then to the rubber hose 32. The two-position two-way solenoid valve 29 is equipped with a pressure sensor 30 to measure the pressure of the two-position two-way solenoid valve 29. A pressure gauge 28 is provided between the two-position two-way solenoid valve 29 and the one-way speed control valve 27 to measure the inflation pressure of the rubber hose 32.

[0121] The two-position two-way solenoid directional valve 29 is used to control the opening and closing of the air passage of the rubber hose 32. The working positions include 1YA in the neutral position and 2YA in the open position. When 1YA is energized, the air passage interface is closed, and gas cannot flow from the one-way speed regulating valve 27 to the rubber hose 32. When 2YA is energized, the air passage interface is open, and gas flows from the one-way speed regulating valve 27 to the rubber hose 32.

[0122] The method for secondary bending correction of aircraft system piping, using the aforementioned device, involves the following specific steps:

[0123] S1, adjust the position of the vent valve 31 to vent; adjust the position of the two-position two-way solenoid directional valve 29 to connect 2YA; adjust the positions of the safety valve 25 and the one-way speed control valve 27 to their default parameter positions.

[0124] S2, turn on the switch for air compressor 18 and electric pump 23.

[0125] S3, place the cleaning cloth at the air outlet of the vent valve 31, preferably for 30 seconds, and then check that there are no obvious contaminants on the surface of the cleaning cloth. If obvious contaminants are found, replace the oil remover 20, air dryer 21, and filter 22, and repeat steps S1, S2, and S3 until there are no obvious contaminants on the surface of the cleaning cloth.

[0126] S4, turn off the switches of air compressor 18 and electric pump 23. Adjust the position of vent valve 31 to the closed state; adjust the position of two-position two-way solenoid directional valve 29 to the neutral position 1YA.

[0127] S5, connect the rubber hose 32 to the inflation port 34 on the side of the device body 33, and insert the rubber hose 32 into the conduit that needs to be bent and shaped twice. At the same time, adjust the rubber hose 32 so that there is no twisting or knotting.

[0128] S6, adjust the position of the two-position two-way solenoid directional valve 29 to the 2YA connected state; adjust the position of the one-way speed control valve 27 to the low speed position.

[0129] S7, turn on the switch for air compressor 18 and electric pump 23.

[0130] S8. After confirming that the rubber hose 32 has expanded in volume, adjust the position of the one-way speed control valve 27 to a higher speed position to meet the requirements of rapid expansion until the rubber hose 32 completely and tightly fits the inner wall of the conduit that needs to be bent and shaped twice.

[0131] S9, the operator secures the conduit that needs to be bent and shaped twice using fasteners on the aircraft according to the predetermined position and angle, and then bends the conduit that needs to be bent and shaped twice at a certain speed.

[0132] To monitor the strength of the conduit, the stress should be calculated before performing a secondary bending correction. The stress must not exceed the material's allowable stress limit. The triaxial strain formula for the conduit under secondary bending correction is as follows:

[0133]

[0134]

[0135]

[0136] Where, ε θ For tangential strain; ε α For circumferential strain; ε t R is the radial strain; R is the radius of the secondary bending correction; t and r are the thickness and radius of the catheter before the secondary bending correction; t0 and r0 are the thickness and radius of the catheter after the secondary bending correction. To improve work efficiency, an empirical formula should be established before performing a large number of secondary bending corrections of catheters to estimate the parameters required for the target angle and to guide subsequent operations. The formula is as follows:

[0137]

[0138] Where y is the target angle; n = 6, where x1 is the maximum thinning rate, x2 is the maximum thickening rate, x3 is the wrinkle degree, x4 is the ellipticity, x5 is the springback angle, and x6 is the springback radius; different β values ​​are revision coefficients, and ε0 is the compensation angle.

[0139] S10, check the difference between the angle of the conduit that needs to be bent and corrected twice and the angle of the predetermined position. When the angle difference is large, preferably greater than 10°, repeat step S9 until the angle difference meets the required position.

[0140] S11, turn off the switches of air compressor 18 and electric pump 23. Adjust the position of vent valve 31 to open it.

[0141] (4) When the installation quality of the system piping is guaranteed and it is determined that there is no liquid or gas leakage, the dynamic clearance of the system piping is detected by the aircraft system piping dynamic clearance measurement method.

[0142] Measurements were taken using a dynamic clearance measuring device for aircraft system piping, such as... Figure 8As shown, the aircraft system piping dynamic clearance measurement device includes a processor, a data storage module, a dynamic system piping visual analysis module, a dynamic system piping information feedback module, and a monitoring terminal. The processor is communicatively connected to the data storage module, the dynamic system piping visual analysis module, and the dynamic system piping information feedback module. The processor is also communicatively connected to the visual inspection devices corresponding to each group of dynamic system piping and surrounding system components, and to the monitoring terminal. The corresponding visual inspection devices measure the area where the dynamic system piping is located, and send the image information of the dynamic system piping and surrounding system components to the dynamic system piping visual analysis module via the processor. The dynamic system piping visual analysis module performs visual analysis of the dynamic system piping, determines the motion state of each dynamic system piping (i.e., whether the system piping is in motion or stationary), determines the minimum clearance value during motion, compares it against a pre-set standard range to determine if it meets the requirements, and marks the corresponding dynamic system piping as... The processor identifies qualified or unqualified dynamic system piping and sends the piping marking information to the processor. Upon receiving the piping marking information, the processor generates corresponding control commands and sends them to the corresponding vision inspection device. The vision inspection device displays the measurement results on the monitor, providing the operator with unqualified information. The operator then troubleshoots the problem on the machine based on the unqualified information and performs another measurement. After the measurement of the corresponding dynamic system piping on the corresponding vision inspection device is completed, the processor generates an information feedback analysis signal and sends it to the dynamic system piping information feedback module. Upon receiving the dynamic system piping information feedback signal, the dynamic system piping information feedback module performs information feedback analysis on the corresponding dynamic system piping on the corresponding vision inspection device. Through information feedback analysis, it marks the corresponding dynamic system piping on the corresponding vision inspection device as qualified or unqualified and sends the relevant information to the processor. The data storage module stores the data in the processor.

[0143] The specific operation process of the dynamic system pipeline visual analysis module is as follows: It acquires and determines the image measurement information of the dynamic system pipeline and surrounding system components in the detection area, and calculates the gap values ​​at all times, based on the following calculation principles:

[0144] 1) Define the spatial location model S of the pipeline in the dynamic system under test. α for:

[0145] S α ={(x,y,z)}

[0146] Where x is the horizontal coordinate of the pipeline in the dynamic system under test; y is the vertical coordinate of the pipeline in the dynamic system under test; z = h(x,y) represents the height of the pipeline in the dynamic system under test.

[0147] 2) Similarly, the spatial location model S′ of the components of the surrounding system under test α for:

[0148] S′ α ={(x′,y′,z′)}

[0149] Where x′ is the horizontal coordinate of the peripheral system component; y′ is the vertical coordinate of the peripheral system component; z′=h(x′,y′) represents the height of the peripheral system component.

[0150] 3) For the pipeline of the dynamic system under test, it can be represented by a six-degree-of-freedom vector in the test space as follows:

[0151] S(t)=[S x (t)S y (t)S z (t)S γ (t)S β (t)S θ (t)]

[0152] Among them, S x (t), S y (t), S z (t) represents the position coordinates of the measurement point in the pipeline of the dynamic system under test at time t; S γ (t), S β (t), S θ (t) represents the inclination angle of the pipeline of the dynamic system under test relative to the spatial coordinate axes x, y, and z at time t.

[0153] 4) The trajectory is the integral over time [0, t]. Let the rate function per second of the tested dynamic system pipeline be f. sa [S(t),x,y,z], then the motion trajectory f of the pipeline in the tested dynamic system. sa for:

[0154]

[0155] 5) Similarly, for peripheral system components, they can be represented by a six-degree-of-freedom vector in the measured space as follows:

[0156] S(t)′=[S x (t)′S y (t)′S z (t)′S γ (t)′S β (t)′S θ (t)′]

[0157] Among them, S x (t)′、S y (t)′、S z(t)′ represents the position coordinates of the measurement points of the surrounding system components at time t; S γ (t)′、S β (t)′、S θ (t)′ represents the inclination angles relative to the spatial coordinate axes x, y, and z at time t.

[0158] 6) The trajectory is the integral over time [0, t]. Let the rate function per second of the surrounding system components be f. s ′ a [S(t)′,x′,y′,z′], then the motion trajectory f of the surrounding system components s ′ a for:

[0159]

[0160] 7) The difference f between the motion trajectory of the pipeline in the tested dynamic system and the motion trajectory of the surrounding system components. V The gap between the two:

[0161]

[0162] 8) Based on different gap value requirements, different allowable ranges are set, and the dynamic system pipeline visual analysis module automatically determines whether the simulation meets the requirements within the allowable tolerance range.

[0163] The analysis and determination of gap values ​​between dynamic system pipelines and multiple peripheral system components under simultaneous measurement shall be carried out according to the following principles:

[0164] 1) The dynamic system pipeline visual analysis module is designed to simultaneously determine the gap values ​​of multiple measured peripheral system components, and simultaneously receive or send information. The information is actually an analog signal value, which is determined based on the attribute parameters of each sensor and the actual current. The specific formula is as follows:

[0165] W q =K g (I q R g +V g )

[0166] Among them, W q K represents the analog signal value. g I is the sensor fixed coefficient; q R represents the actual current value of the sensor. g V represents the sensor resistance value. g This is the sensor correction voltage value.

[0167] 2) The total data transmission volume model for multiple tested peripheral system components is as follows:

[0168] X = X1 + X2 + ... + Xn-1 +X n

[0169] Where X is the total amount of data, X1 to X n These represent the data volume of n peripheral system components being tested.

[0170] 3) The data volume of the tested peripheral system components depends on the data volume of each individual line and the total number of lines. The data volume model is as follows:

[0171]

[0172] Where X represents the amount of data from the tested peripheral system components; S a N represents the data volume of a single line of the peripheral system component under test; N represents the total number of lines of the peripheral system component under test.

[0173]

[0174] Among them, K a Fixed parameter coefficients for the components of the peripheral system under test; S t S represents the amount of data on a single line of the peripheral system component under test at time t. t For analog signal value W q The accumulation is modeled as follows:

[0175]

[0176] Among them, K gt I represents the sensor fixation coefficient corresponding to the measured peripheral system component at time t; qt R represents the actual sensor current value corresponding to the measured peripheral system component at time t; gt V represents the sensor resistance value corresponding to the measured peripheral system component at time t. gt Let t be the sensor correction voltage value corresponding to the measured peripheral system component at time t.

[0177] 4) Combining the above derived model formulas, the corresponding model formulas for the data volume of the measured peripheral system components, actual current values, and sensors are obtained:

[0178]

[0179] 5) Therefore, the model for the total amount of data transmitted by multiple tested peripheral system components collected by the dynamic system pipeline visual analysis module is as follows:

[0180]

[0181] Among them, K a1 K a2 …K an-1 K anLet N1, N2, ..., N be the fixed parameter coefficients of n components of the tested peripheral system. n-1 N n Each represents the total number of circuits for n tested peripheral system components; These are the sensor fixation coefficients corresponding to the n measured peripheral system components at time t; These are the actual sensor current values ​​corresponding to the n measured peripheral system components at time t; These are the sensor resistance values ​​corresponding to the n measured peripheral system components at time t; These are the sensor correction voltage values ​​corresponding to the n measured peripheral system components at time t.

[0182] The dynamic system pipeline visual analysis module receives information simultaneously from multiple tested peripheral system components. In this case, it is crucial for the dynamic system pipeline visual analysis module to determine and analyze the source of the received information. If it cannot accurately analyze and determine the source, it may be impossible to determine the minimum gap value or the determination may be inaccurate. Therefore, the total data volume model is specified to take the minimum value of the data volume of multiple tested peripheral system components to determine the location of the minimum gap value and output the minimum gap value.

[0183] like Figure 9 As shown, the specific measurement steps are as follows:

[0184] S1. Use visual inspection equipment to measure and image the moving area of ​​the dynamic system pipeline, and send the image information of the dynamic system pipeline and surrounding system components to the dynamic system pipeline visual analysis module via the processor.

[0185] S2. The dynamic system pipeline visual analysis module performs visual analysis of the dynamic system pipeline, determines the motion state of each dynamic system pipeline, that is, determines whether the system pipeline is in motion or stationary state, determines the minimum gap value during the motion process, compares it with the pre-set standard range, determines whether it meets the requirements, and marks the corresponding dynamic system pipeline as qualified or unqualified dynamic system pipeline, and sends the dynamic system pipeline marking information to the processor.

[0186] S3. After receiving the dynamic system pipeline marking information, the processor sends the corresponding control command to the corresponding vision inspection device. The vision inspection device displays the measurement results on the display and provides the operator with non-compliance information.

[0187] S4. The operator can troubleshoot the problem on the machine based on the non-conforming information, and then measure again;

[0188] S5. After all measurements are completed, the processor will send the received dynamic system pipeline measured gap value information to the monitoring terminal for viewing, storage and output of the measurement technical report.

[0189] The following explanation uses the analysis and judgment of the gap values ​​of a dynamic system pipeline and five peripheral system components under test simultaneously as an example, and is carried out according to the following principles:

[0190] 1) The dynamic system pipeline visual analysis module is designed to simultaneously determine the gap value of multiple measured peripheral system components. Taking five measured peripheral system components as an example, information is received or sent simultaneously. The information is actually an analog signal value, which is determined based on the attribute parameters of each sensor and the actual current. The specific formula is as follows:

[0191] W q =K g (I q R g +V g )

[0192] Among them, W q K represents the analog signal value. g For sensor fixation coefficients, in this embodiment, the value is (1, 5); I q This is the actual current value; R g V represents the sensor resistance value. g This is the sensor correction voltage value.

[0193] 2) The total data transmission model for the five tested peripheral system components is as follows:

[0194] X = X1 + X2 + X3 + X4 + X5

[0195] Where X represents the total amount of data, and X1 to X5 represent the data amounts of the five tested peripheral system components, respectively.

[0196] 3) Taking the first tested peripheral system component information receiving device as an example, its data volume depends on the data volume of its single line and the total number of lines. The data volume model is as follows:

[0197]

[0198] Where X1 represents the data volume of the first tested peripheral system component; N represents the data volume of a single line of the first tested peripheral system component; N represents the total number of lines of the first tested peripheral system component.

[0199]

[0200] Among them, K a1 The fixed parameter coefficients are those for the first tested peripheral system component. This represents the amount of data on a single line of the first tested peripheral system component at time t. Analog signal value The accumulation is modeled as follows:

[0201]

[0202] 4) Combining the above derived model formulas, the corresponding model formulas for the data quantity of the first measured peripheral system component, the actual current quantity, and the sensor can be obtained:

[0203]

[0204] 5) Therefore, the total data volume model of the five tested peripheral system components collected by the dynamic system pipeline visual analysis module can be processed as follows:

[0205]

[0206] In this embodiment, the specific analysis process of the dynamic system pipeline visual analysis is as follows:

[0207] Step S1: Obtain the dynamic system pipeline number of the vision inspection equipment, and obtain the dynamic system pipeline measurement information obtained by the vision inspection equipment through measurement. The dynamic system pipeline measurement information includes the dynamic system pipeline outline, length, outer diameter, outer nut shape, etc. The above measurement information is marked as TC1, TC2, TC3, and TC4 respectively.

[0208] Step S2: Using the dynamic gap value determination formula of the dynamic system pipeline visual analysis module, for example, by analyzing and calculating the outline TC1 of the system pipeline, the difference f between the motion trajectory of the tested dynamic system pipeline and the motion trajectory of the surrounding system components is obtained. V :

[0209]

[0210] The component requirements in this embodiment should ensure f V The product must satisfy the range [5, +∞). If it does not satisfy this range, mark the position as unqualified. The determination of whether a product is qualified is based on the calculation result. For example, if the result is "5", then for f... V If the system meets the requirement of being within the range of [5, +∞), the dynamic clearance of the piping is deemed acceptable; if the result is "2", then for f V Based on the principle of satisfying the range [5, +∞), the dynamic clearance of the pipeline in this system is deemed unqualified.

[0211] Step S3: If the test result is "2", it proves that there is a defective pipeline. Therefore, according to the system pipeline information displayed on the display, the pipeline is corrected by disassembling and reassembling the pipeline and bending it off the machine. After correction, it is reinstalled on the machine and checked again.

[0212] Step S4: The dynamic system pipeline visual analysis module will receive information simultaneously sent by five tested peripheral system components. In this case, it is particularly important for the dynamic system pipeline visual analysis module to determine and analyze the source of the received information. If it cannot accurately analyze and determine, it will be impossible to determine the minimum gap value or the determination will be inaccurate. Therefore, it is stipulated that the total data model takes the minimum value of the data volume of multiple tested peripheral system components to determine the position of the minimum gap value and output the minimum gap value. For example, the minimum gap value after calibration is "6".

[0213] Step S5: After all measurements are completed, the processor will send the received dynamic system pipeline measurement information to the monitoring terminal for viewing / storage and output of the measurement technical report.

[0214] (5) When the system piping is in normal working condition, the working temperature of the piping is controlled and adjusted in real time using the aircraft system piping working temperature control method.

[0215] The specific steps are as follows:

[0216] S1. Aircraft system piping operating temperature detection method

[0217] During the manufacturing stage of aircraft system piping, three layers of paint are applied to the surface of the ducts for protection and to distinguish their uses. The first layer is a colorless primer, the second layer is a colored topcoat, and the third layer is a colorless clear varnish. The three paint layers are independent of each other. Different types of paint have different degrees of radiation response to heat or brightness. At the same time, the heat or brightness will gradually decrease as it passes through the three paint layers. Therefore, infrared thermal imaging must be performed on all three paint layers simultaneously.

[0218] Using a mature infrared imaging device, the radiance of the primer layer, the radiance of the topcoat layer, and the radiance of the clear varnish layer are received respectively. The system pipeline is calibrated based on the radiance of the primer, the topcoat, and the clear varnish. The calibration includes the actual temperature of the system pipeline, the luminance and refractive index of the paint layer on the surface of the system pipeline, and the equivalent luminance of the ambient radiation on the surface.

[0219] The above-mentioned aircraft system piping operating temperature detection method is based on the analysis of the brightness and refractive index of the paint layer on the surface of the aircraft system piping and the influence of external radiation sources. The above-mentioned temperature detection method is used to calibrate the influence of the actual temperature, refractive index and equivalent brightness of the ambient radiation on the surface of the system piping on the system piping, so as to achieve high-precision measurement of temperature distribution.

[0220] The model for constructing the radiance of the paint layer is as follows:

[0221]

[0222] Among them, L D L represents the radiance of the paint layer. a (T n (T) represents temperature T n The actual collected radiance at that time, K α β is the propagation coefficient in air. θ L is the refractive index of the paint layer. b It represents the equivalent radiance of environmental radiation on the surface of the system pipeline.

[0223] The radiance of the three paint layers is as follows: radiance L of the primer. Dd Topcoat radiance L Dm Radiance of varnish (L) Dq The construction models for the three are as follows:

[0224]

[0225]

[0226]

[0227] Among them, L ad (T n L am (T n ) and L aq (T n (T) represent temperatures T n The actual collected radiance of the primer, topcoat and clear coat at that time, β θd β θm and β θq The refractive indices of the primer, topcoat, and clear coat, respectively, in L. bd L bm and L bq These represent the equivalent radiance of ambient radiation on the surfaces of the primer, topcoat, and clear coat layers, respectively.

[0228] By establishing a model based on the radiance of the paint layer, the collected infrared information can be used to construct a model that can be used for data analysis and subsequent problem adjustment.

[0229] S2, Aircraft System Piping Operating Temperature Control System

[0230] During the operation of aircraft system piping, excessively high temperatures often occur due to prolonged operation, necessitating accurate temperature control. This paper presents an aircraft system piping operating temperature regulation system for precise temperature control by collecting real-time operating temperatures using the S1 aircraft system piping operating temperature detection method and establishing a paint layer radiation brightness model.

[0231] The aircraft system piping operating temperature regulation system mainly involves, after obtaining the real-time radiance data acquired by the aircraft system piping operating temperature detection method, processing the output, and then superimposing it onto the system input. This process is continuously repeated and compared to achieve system control behavior. The measured temperature W within the system at time Tn is... sc With the preset operating temperature W max The ratio of the upper limit values ​​is used to determine the model U(Tn):

[0232]

[0233] Where U(Tn) is the system operation judgment model at time Tn, W sc W is the measured temperature at time Tn. max (Tn) represents the preset upper limit of the operating temperature at time Tn, ε is the conversion coefficient of radiance to temperature, and L D This is a model for the radiance of the paint layer.

[0234] When U(Tn) is within the range of [0, 1], the system stops temperature adjustment; when the value of U(Tn) exceeds 1, the system automatically runs temperature adjustment until the range of [0, 1] is met, and then stops temperature adjustment, thereby accurately controlling the working temperature of the system pipeline within the working range and realizing adaptive temperature regulation.

[0235] The specific process of temperature regulation is as follows:

[0236] When the value of U(Tn) exceeds 1, the system automatically adjusts the hydraulic pump of the hydraulic oil pump truck, reducing its speed and the flow rate of the driving fluid, thereby reducing the thermal power of the hydraulic oil and lowering the operating temperature. When the value of U(Tn) is less than 1, the system stops adjusting, and the hydraulic pump of the hydraulic oil pump truck returns to its original working intensity.

[0237] (6) In addition to normal operation, the system pipeline is equipped with an emergency release system. When the system is being debugged, the harmful oil and gas control method of the aircraft emergency release system is used to treat the harmful oil and gas.

[0238] The system employs hazardous oil and gas control devices from the aircraft's emergency release system for control, such as... Figure 10As shown, the aircraft emergency release system's hazardous oil and gas control device includes an ultrasonic subsystem, a vacuum subsystem, and a mechanical subsystem. The ultrasonic subsystem includes an ultrasonic generator 38, a transducer 39, an amplitude transformer 37, and a coupling head 36. The ultrasonic subsystem utilizes the cavitation effect of ultrasound to release gas from the coolant. The vacuum subsystem includes a vacuum tube 40, a vacuum pump 41, and an electronic vacuum gauge 42. The vacuum subsystem provides a stable vacuum level, which is controlled by the electronic vacuum gauge 42 in conjunction with the vacuum pump 41 to achieve negative pressure feedback control. By controlling the start and stop of the vacuum pump 41, the negative pressure is stabilized within a set negative pressure range. The mechanical subsystem includes a motor 44, stirring blades 48, a stirring shaft 45, a tank structure 47, a coolant inlet 43, a coolant outlet 49, and a filling cap 46. The mechanical subsystem provides coolant storage and stirring, promotes coolant flow, and ensures that the ultrasonic subsystem can fully contact each liquid molecule.

[0239] The tank structure 47 has a coolant outlet 49 at the bottom and a filling cap 46 and a coolant inlet 43 at the top. The stirring shaft 45 is located inside the tank structure 47, and the stirring blades 48 are installed in the lower middle part of the stirring shaft 45. The stirring shaft 45 is driven by a motor 44, which drives the stirring blades 48 to stir the coolant inside the tank structure 47. The vacuum pipe 40 is located inside the upper part of the tank structure 47 and is connected to a vacuum pump 41 located outside the tank structure 47. An electronic vacuum gauge 42 is connected to the vacuum pump 41. The transducer 39 is installed in a through hole on the side of the tank structure 47. An ultrasonic generator 38 is connected to the transducer 39 and is located outside the tank structure 47. The coupling head 36 is connected to the transducer 39 through an amplitude transformer 37 and is located inside the tank structure 47. The coupling head 36 is located in the coolant and transmits the sound waves emitted by the ultrasonic generator 38 into the coolant.

[0240] The specific steps are as follows:

[0241] S1. Connect the coolant inlet 43 and coolant outlet 49 to the outlet and inlet of the aircraft's liquid cooling system, respectively, and connect the aircraft's emergency release system's hazardous oil and gas control device in series with the aircraft's liquid cooling system. Simultaneously, to observe the device's operating status, mark the connection points with an oil-based marker after each connection. Observe the position of the marked lines during device operation; if the marked lines are found to be off-center, operation should be stopped immediately.

[0242] S2, liquid coolant is added to the tank structure 47 through the filling port cover 46, and the liquid is added until it can submerge all the stirring blades 48.

[0243] S3: Activate the aircraft's liquid cooling system, enabling the system to circulate using its own pump.

[0244] S4, start the motor 44 of the mechanical subsystem, use the motor 44 to drive the stirring shaft 45, the stirring shaft 45 to drive the stirring blades 48, and the stirring blades 48 to stir the liquid coolant.

[0245] S5, start the vacuum pump 41 to draw gas from the tank structure 47 through the vacuum pipe 40 to form a stable vacuum. The vacuum is controlled by the electronic vacuum gauge 42 in conjunction with the vacuum pump 41 to achieve negative pressure feedback control. By controlling the start and stop of the vacuum pump 41, the negative pressure is stabilized within the set negative pressure range.

[0246] S6, start the ultrasonic generator 38, and transmit the ultrasonic waves to the liquid coolant through the transducer 39, amplitude transformer 37 and coupling head 36.

[0247] S7. Once the pressure and maximum liquid level of the aircraft liquid cooling system are stable, shut down the motor 44, vacuum pump 41, and ultrasonic generator 38 of the mechanical subsystem, and disconnect the liquid coolant inlet 43 and liquid coolant outlet 49 from the outlet and inlet of the aircraft liquid cooling system, respectively.

Claims

1. A method for integrated assembly and adjustment of aircraft system piping, characterized in that, Specifically as follows: (1) The installation and commissioning of the system piping first adopts the aircraft confined space environment model configuration method to construct the model of the space where the system piping is located; The model is constructed using an aircraft confined space environment model configuration system, which includes a detachable fast-charging power supply, a central processing computer, a camera device, a thermal imaging acquisition device, a gas content detection device, an information display device, a storage component, and an information output device. The detachable fast-charging power supply is connected to the central processing computer to provide power. The central processing computer is connected to the camera device, thermal imaging acquisition device, gas content detection device, information display device, and storage component. It provides power to each component, acquires and analyzes external images, heat, and gas content information detected by the camera device, thermal imaging acquisition device, and gas content detection device, transmits the processed information to the information display device, receives operating instructions from the information display device, and sends the acquired and analyzed data to the storage component for storage. The storage component is connected to the information display device and the information output device for retrieving stored data and outputting data. The specific functions of each component are as follows: The detachable fast charging power supply is connected to the central processing computer and is used to supply current and voltage to the power conversion components in the central processing computer. The detachable fast charging power supply has fast charging and detachable functions. It can be connected to an external power source to provide power in real time, use its own power reserves to provide power, or, in the case of no external power source and no power of its own, be removed from the device and replaced with a backup power source to provide power. The central processing computer includes a power conversion unit, a control module, a data receiving unit, a data processor, a data transmission unit, and a system emergency stop unit. The power conversion unit supplies power to the control module. The control module receives electrical signals processed by the data processor and determines whether various indicators are qualified based on the electrical signals. It also feeds back the results to the data processor. If a pre-set serious problem affecting system safety or product quality is found during the determination process, the control module directly controls the system emergency stop unit to stop all operations of the entire system. The data receiving unit receives data collected by the camera device, thermal imaging acquisition device, and gas content detection device, and transmits the data to the data processor. The data processed by the data processor is then transmitted to the data transmission unit, and finally to the storage unit. The camera device includes a recording device and an image information transmission component. The recording device is used to collect image information of the installation area and can record the environment of the installation area in the form of video recording or photography. The image information transmission component is connected to the recording device and transmits the image information captured by the recording device to the central processing computer for analysis and processing of the image information data. The thermal imaging acquisition device includes a thermal imaging device and a heat information transmission component. The thermal imaging device is used to collect heat information of the installation area, mainly collecting the heat of the system pipelines and related finished products. The heat information transmission component is connected to the thermal imaging device and transmits the heat information collected by the thermal imaging device to the central processing computer for analysis and processing of the heat data. The gas content detection device includes a gas detection device and a gas content information transmission component. The gas detection device is used to collect gas content information in the installation area, mainly collecting nitrogen content, helium content and gas humidity in the installation area. The gas content information transmission component is connected to the gas detection device and transmits the gas content information collected by the gas detection device to the central processing computer for analysis and processing of the gas content data. The information display device includes a display screen and an information parsing device. The information parsing device receives electrical signals output from the central processing computer, classifies and processes the electrical signals, receives data packets, and decodes them into HDMI and AV format image signals, displaying the corresponding images on the display screen. It comprises three main modules: the first module is an installation area environment display module, located on the left side of the display screen, which displays the spatial environment in real time; the second module is an environment status module, which displays the temperature, humidity, nitrogen content, and helium content of the installation area in real time; the third module is a system status module, which displays the real-time voltage and current of the system; it also provides a system self-test function button, which, when clicked, initiates a self-test, outputting "qualified" or "unqualified" results after the self-test is completed; additionally, operation commands can be executed by clicking operation buttons on the display screen, processed by the information parsing device, and transmitted to the central processing computer to enable the system to perform related tasks. The storage component is used to store all the information received and processed by the central processing computer, and is connected to the information display device and information output device to realize the retrieval, display and output of the stored information; The information output device includes a data integration device and a file output device. The data integration device converts the data stored in the storage component into digital signals and text signals, which are then printed out by the file output device for analysis and use by debugging personnel and for product quality documentation by inspection personnel. The central processing unit (CPU) includes a system self-test program. The specific method is as follows: The system self-test involves all components within the system. Each component has the same electrical connection principle and is equipped with sensors for transmitting electrical signals. During the self-test, the determination is based on the sensor's own attribute parameters and the actual current. The specific formula is as follows: in, Represents analog electrical signals; For sensor fixed coefficients; This is the actual current value; This is the sensor resistance value; This refers to the sensor's correction voltage value. After the information is transmitted to the central processing computer, the total amount of data collected by the central processing computer from the multi-channel transmission is modeled as follows: Where X represents the total amount of data processed by the central processing computer. , These represent the data volume for different channels; The amount of data in a channel depends on the amount of data per individual line and the total number of lines. The model is as follows: in, This refers to the amount of data in the channel. N represents the data volume of a single line in the channel; N is the total number of lines in the channel. in, Fixed parameter coefficients for the channel; This represents the amount of data on a single line of the channel at time t. Analog electrical signal The accumulation is modeled as follows: in, Let be the analog electrical signal quantity corresponding to the channel at time t. The sensor fixed coefficient corresponding to the channel at time t; Let t be the actual sensor current value corresponding to the channel at time t; Let be the sensor resistance value corresponding to the channel at time t; Let be the sensor correction voltage value corresponding to the channel at time t; Based on the above derived model formulas, the corresponding model formulas for channel data volume, actual current volume, and sensor are obtained: Therefore, the model for the total amount of data collected by the central processing computer from multi-channel transmission is as follows: in, These are the fixed parameter coefficients for n channels. These represent the total number of lines in the n channels; These are the sensor fixation coefficients for the n channels at time t; These are the actual sensor current values ​​for the n channels at time t; These are the sensor resistance values ​​for the n channels at time t; These are the sensor correction voltage values ​​for the n channels at time t; (2) Before the system piping is officially installed and fixed, the aircraft system piping automatic grabbing and transportation method is used to automatically grab the conduit from the area to be installed and transport it to the installation area on the aircraft; The automatic gripping and transport device for aircraft system pipelines is used for gripping and transporting. The automatic gripping and transport device for aircraft system pipelines is a multi-degree-of-freedom omnidirectional mechanical gripper with a left-right symmetrical structure. It includes an industrial camera (1), an adjustable support rod (2), a load-bearing support (3), a mechanical turntable (4), a base (5), a buffer torsion spring (6), a mechanical turntable angle adjustment component (7), a drive motor (8), a pull rod fixing component (9), a motor fixing base (10), a primary transmission pull rod (11), a transmission system transition support (12), a steel cable wheel (13), a control steel cable (14), a secondary transmission pull rod (15), a manipulator (16), and a manipulator fixing support (17). The load-bearing support (3) is a T-shaped structure, with its bottom end mounted on the base (5). The upper part of the load-bearing support (3) is a hollow structure, with a motor inside that drives the mechanical turntable (4) to rotate. The adjustable support rod (2) is mounted on the upper surface of the load-bearing support (3), and the industrial camera (1) is mounted on the top of the adjustable support rod (2) for image acquisition of the system pipeline and aircraft position. There are two mechanical turntables (4), which are symmetrically mounted on both sides of the load-bearing support (3). The mechanical turntable (4) includes a chassis, a rotating shaft, and a turntable. The chassis has a through hole in the center, and the rotating shaft passes through the through hole. Its bottom end is connected to the motor output shaft inside the load-bearing support (3), and the chassis is mounted on its top end. The lower surface of the chassis... The surface of the chassis is connected to the upper side of the support (3) via a mechanical turntable angle adjustment component (7), which can adjust the angle of the mechanical turntable (4). The lower surface of the chassis is connected to the lower side of the support (3) via two connecting shafts and a buffer torsion spring (6). One end of each connecting shaft is connected to the lower surface of the chassis and the lower side of the support (3), respectively, and the other end is connected via the buffer torsion spring (6). The buffer torsion spring (6) is used to reduce the reaction force generated during the operation of the robot. Each mechanical turntable (4) has a motor mounting base (10) installed on its turntable. Two upright plates are symmetrically installed on the motor mounting base (10), and a steel cable wheel (13) is also installed on it. Installed between two upright plates, two drive motors (8) are mounted on motor mounting bases (10). On the outer side of the two upright plates, the output shaft of the drive motors (8) is connected to the cable retraction and extension device of the cable wheel (13) to drive the retraction and extension of the control cable (14), thereby driving the movement of the first-stage transmission rod (11) and the second-stage transmission rod (15). A rod fixing component (9) is installed on the side of each of the two upright plates. Two rod fixing components (9) and through holes for the control cable (14) are installed at each end of the transmission system transition support (12). Two rod fixing components (9) and through holes for the control cable (14) are installed at one end of the robot arm fixing support (17). The first-stage transmission rod (11) is mounted on the two upright plates. One end of the movable pull rod (11) is connected to the pull rod fixing component (9) on the two upright plates, and the other end is connected to the pull rod fixing component (9) at one end of the transmission system transition support (12); one end of the secondary transmission pull rod (15) is connected to the pull rod fixing component (9) at the other end of the transmission system transition support (12), and the other end is connected to the pull rod fixing component (9) on the robot arm fixed support (17); the operating steel cable (14) on the steel cable wheel (13) passes through the through holes on the transmission system transition support (12) and the robot arm fixed support (17) in sequence, and is connected to the robot arm (16). The robot arm (16) is installed at the front end of the robot arm fixed support (17) and is controlled by the operating steel cable (14). (3) Before the system piping is officially installed and fixed, the aircraft system piping secondary bending and shaping method is adopted, and the pipe type is calibrated according to the actual situation. The secondary bending and straightening device for aircraft system pipelines is used for secondary bending and straightening. The secondary bending and straightening device for aircraft system pipelines includes an air compressor (18), an air tank (19), an oil separator (20), an air dryer (21), a filter (22), an electric pump (23), a one-way valve (24), a safety valve (25), a muffler (26), a one-way speed control valve (27), a pressure gauge (28), a two-position two-way solenoid reversing valve (29), a pressure sensor (30), a vent valve (31), a rubber hose (32), and a device body (33). The device body (33) is a steel box structure. The upper operating table is equipped with a safety valve (25), a one-way speed regulating valve (27), a vent valve (31), and start / stop buttons for an air compressor (18) and an electric pump (23). The side is equipped with an exhaust port 35 of the vent valve (31) and an inflation port 34 of the rubber hose (32). The gas storage tank (19) has its inlet end connected to the air compressor (18), which provides the gas source to the gas storage tank (19). Its outlet end is connected to the inlet end of the oil separator (20), which is used to filter oil in the gas. The air dryer (21) is used to filter moisture in the gas. Its inlet end is connected to the outlet end of the oil separator (20), and its outlet end is connected to the inlet end of the filter (22), which is used to filter large mechanical impurities in the gas. The electric pump (23) has its inlet end connected to the outlet end of the filter (22), and its outlet end is connected to the one-way valve (24). The airflow is divided into two branches by the one-way valve (24). One branch is connected to the safety valve (25), and then to the silencer (26). A pressure gauge (28) is provided at the front end of the safety valve (25) to measure the inlet pressure of the safety valve (25). Another branch is connected to the one-way speed control valve (27). After the airflow passes through the one-way speed control valve (27), it is divided into two branches. One branch is connected to the vent valve (31) and then to the silencer (26). When the operation ends, the pressure of the gas system is discharged through the vent valve (31). The other branch is connected to the two-position two-way solenoid valve (29) and then to the rubber hose (32). The two-position two-way solenoid valve (29) is provided with a pressure sensor (30) to measure the pressure of the two-position two-way solenoid valve (29). A pressure gauge (28) is provided between the two-position two-way solenoid valve (29) and the one-way speed control valve (27) to measure the inflation pressure of the rubber hose (32). The two-position two-way solenoid reversing valve (29) is used to control the opening and closing of the air passage of the rubber hose (32). The working positions include 1YA in the neutral position and 2YA in the open position. When 1YA is energized, the air passage interface is closed, and gas cannot flow from the one-way speed control valve (27) to the rubber hose (32). When 2YA is energized, the air passage interface is open, and gas flows from the one-way speed control valve (27) to the rubber hose (32). (4) When the installation quality of the system piping is guaranteed and it is determined that there is no liquid or gas leakage, the dynamic clearance of the system piping shall be detected by the dynamic clearance measurement method of the aircraft system piping; The measurement is performed using a dynamic clearance measuring device for aircraft system piping. This device includes a processor, a data storage module, a dynamic system piping visual analysis module, a dynamic system piping information feedback module, and a monitoring terminal. The processor is communicatively connected to the data storage module, the dynamic system piping visual analysis module, and the dynamic system piping information feedback module. The processor is also communicatively connected to the visual inspection equipment corresponding to each group of dynamic system piping and surrounding system components, and to the monitoring terminal. The corresponding visual inspection equipment measures the area where the dynamic system piping is located and sends the image information of the dynamic system piping and surrounding system components to the dynamic system piping visual analysis module via the processor. The dynamic system piping visual analysis module performs visual analysis of the dynamic system piping, determining the motion state of each dynamic system piping (i.e., whether the system piping is in motion or stationary). During motion, it determines the minimum clearance value and compares it against a pre-set standard range to determine if it meets the requirements. The dynamic system piping is marked as either qualified or unqualified, and this marking information is then sent to the processor. Upon receiving the marking information, the processor generates corresponding control commands and sends them to the corresponding vision inspection device. The vision inspection device displays the measurement results on a monitor, providing the operator with unqualified information. The operator then troubleshoots the problem on the machine based on this information and performs another measurement. After the measurement of the corresponding dynamic system piping on the vision inspection device is completed, the processor generates an information feedback analysis signal and sends it to the dynamic system piping information feedback module. Upon receiving the feedback signal, the module performs information feedback analysis on the corresponding dynamic system piping on the vision inspection device, marking it as either qualified or unqualified and sending the relevant information to the processor. The data storage module stores the data in the processor. The specific operation process of the dynamic system pipeline visual analysis module is as follows: It acquires and determines the image measurement information of the dynamic system pipeline and surrounding system components in the detection area, and calculates the gap values ​​at all times, based on the following calculation principles: 1) Define the spatial location model of the pipeline in the dynamic system under test. for: in, The horizontal coordinates of the pipeline in the dynamic system under test; The longitudinal coordinates of the pipeline in the dynamic system under test; , indicating the height of the pipeline in the dynamic system being tested; 2) Similarly, the spatial location model of the components of the surrounding system being measured. for: in, For the horizontal coordinates of the surrounding system components; For the longitudinal coordinates of the surrounding system components; This indicates the height of the surrounding system components; 3) For the pipeline of the dynamic system under test, it can be represented by a six-degree-of-freedom vector in the test space as follows: in, , , The coordinates of the measurement point at time t in the pipeline of the dynamic system under test; , , These are the inclination angles of the pipeline of the dynamic system under test at time t relative to the spatial coordinate axes x, y, and z. 4) The trajectory of motion is within a time period Let the integral of the measured dynamic system pipeline be the rate function per second. The trajectory of the pipeline in the dynamic system under test for: 5) Similarly, for peripheral system components, the six-degree-of-freedom vector in the measured space is represented as: in, , , Let t be the position coordinates of the measurement points of the surrounding system components; , , , respectively, are the inclination angles relative to the spatial coordinate axes x, y, and z at time t; 6) The trajectory of motion is within a time period Let the integral be the rate function per second of the peripheral system components. The movement trajectory of the surrounding system components for: = 7) The difference between the motion trajectory of the pipeline in the tested dynamic system and the motion trajectory of the surrounding system components. The gap between the two: 8) Based on different gap value requirements, different allowable ranges are set, and the dynamic system pipeline visual analysis module automatically determines whether the simulation meets the requirements within the allowable tolerance range; The analysis and determination of gap values ​​between dynamic system pipelines and multiple peripheral system components under simultaneous measurement shall be carried out according to the following principles: 1) The dynamic system pipeline visual analysis module is designed to simultaneously determine the gap values ​​of multiple measured peripheral system components, and simultaneously receive or send information. The information is actually an analog signal value, which is determined based on the attribute parameters of each sensor and the actual current. The specific formula is as follows: in, Represents the value of an analog signal; For sensor fixed coefficients; This is the actual current value of the sensor; This is the sensor resistance value; This refers to the sensor's correction voltage value. 2) The total data transmission model for multiple tested peripheral system components is as follows: Where X represents the total amount of data. to These represent the data volume of n tested peripheral system components; 3) The data volume of the tested peripheral system components depends on the data volume of each individual line and the total number of lines. The data volume model is as follows: in, The amount of data for the components of the surrounding system under test; N represents the data volume of a single line of the peripheral system component under test; N represents the total number of lines of the peripheral system component under test. in, Fixed parameter coefficients for the components of the surrounding system under test; The amount of data on a single line of the peripheral system component under test at time t. Analog signal value The accumulation is modeled as follows: in, is the sensor fixation coefficient corresponding to the measured peripheral system component at time t; Let t be the actual sensor current value corresponding to the measured peripheral system component at time t; Let t be the sensor resistance value corresponding to the measured peripheral system component at time t; Let t be the sensor correction voltage value corresponding to the measured peripheral system component at time t; 4) Combining the above derived model formulas, the corresponding model formulas for the data volume of the measured peripheral system components, actual current values, and sensors are obtained: 5) Therefore, the model for the total amount of data transmitted by multiple tested peripheral system components collected by the dynamic system pipeline visual analysis module is as follows: in, These are the fixed parameter coefficients for n components of the surrounding system under test. Each represents the total number of circuits for n tested peripheral system components; These are the sensor fixation coefficients corresponding to the n measured peripheral system components at time t; These are the actual sensor current values ​​corresponding to the n measured peripheral system components at time t; These are the sensor resistance values ​​corresponding to the n measured peripheral system components at time t; These are the sensor correction voltage values ​​corresponding to the n measured peripheral system components at time t; The dynamic system pipeline visual analysis module receives information simultaneously from multiple tested peripheral system components. In this case, it is particularly important for the dynamic system pipeline visual analysis module to determine and analyze the source of the received information. If it cannot accurately analyze and determine the source, it will be impossible to determine the minimum gap value or the determination will be inaccurate. Therefore, the total data volume model is specified to take the minimum value of the data volume of multiple tested peripheral system components to determine the position of the minimum gap value and output the minimum gap value. (5) When the system piping is in normal working condition, the working temperature of the piping is controlled and adjusted in real time using the aircraft system piping working temperature control method; The specific steps are as follows: S1. Aircraft system piping operating temperature detection method During the manufacturing stage of aircraft system piping, three layers of paint are applied to the surface of the ducts for protection and to distinguish their uses. The first layer is a colorless primer, the second layer is a colored topcoat, and the third layer is a colorless clear varnish. The three paint layers are independent of each other. Different types of paint have different degrees of radiation response to heat or brightness. At the same time, the heat or brightness will gradually decrease as it passes through the three paint layers. Therefore, infrared thermal imaging must be performed on all three paint layers at the same time. Using a mature infrared imaging device, the radiance of the primer layer, the radiance of the topcoat layer, and the radiance of the clear varnish layer are received respectively. The system pipeline is calibrated based on the radiance of the primer, the topcoat, and the clear varnish. The calibration includes the actual temperature of the system pipeline, the luminance and refractive index of the paint layer on the surface of the system pipeline, and the equivalent luminance of the ambient radiation on the surface. The above-mentioned aircraft system piping operating temperature detection method is based on the analysis of the brightness and refractive index of the paint layer on the surface of the aircraft system piping and the influence of external radiation sources. The above-mentioned temperature detection method is used to calibrate the influence of the actual temperature, refractive index and equivalent brightness of the ambient radiation on the surface of the system piping on the system piping, so as to achieve high-precision measurement of temperature distribution. The model for constructing the radiance of the paint layer is as follows: Among them, L D L represents the radiance of the paint layer. a (T n (T) represents temperature T n The actual collected radiance at that time, K α β is the propagation coefficient in air. θ L is the refractive index of the paint layer. b The equivalent radiance of environmental radiation on the surface of the system piping; The radiance of the three paint layers is as follows: radiance L of the primer. Dd Topcoat radiance L Dm Radiance of varnish (L) Dq The construction models for the three are as follows: Among them, L ad (T n L am (T n ) and L aq (T n (T) represent temperatures T n The actual collected radiance of the primer, topcoat and clear coat at that time, β θd β θm and β θq The refractive indices of the primer, topcoat, and clear coat, respectively, in L. bd L bm and L bq These are the equivalent radiance of ambient radiation on the surfaces of the primer, topcoat, and clear coat layers, respectively. By establishing a model based on the radiance of the paint layer, the collected infrared information can be used to construct a model that can be used for data analysis and subsequent problem adjustment. S2, Aircraft System Piping Operating Temperature Control System During the operation of aircraft system piping, the temperature often becomes too high due to prolonged operation, requiring accurate temperature control. After collecting the real-time operating temperature using the S1 aircraft system piping operating temperature detection method and establishing a paint layer radiation brightness model, an aircraft system piping operating temperature regulation system is provided for precise temperature control. The aircraft system piping operating temperature regulation system mainly involves, after obtaining the real-time radiance data acquired by the aircraft system piping operating temperature detection method, processing the output, and then superimposing it onto the system input. This process is continuously repeated and compared to achieve system control behavior. The measured temperature W within the system at time Tn is... sc With the preset operating temperature W max The ratio of the upper limit values ​​is used to judge the model. : in, For the system operation judgment model at time Tn, W sc W is the measured temperature at time Tn. max (Tn) represents the preset upper limit of the operating temperature at time Tn, ε is the conversion coefficient of radiance to temperature, and L D A model for the radiance of the paint layer; The system stops temperature adjustment when the temperature is within the range of [0, 1]. When the value exceeds 1, the system automatically runs temperature adjustment until it meets the range of [0, 1], then stops temperature adjustment, thereby accurately controlling the system pipeline working temperature within the working range and realizing adaptive temperature regulation; The specific process of temperature regulation is as follows: when When the value exceeds 1, the system automatically adjusts the hydraulic pump of the hydraulic oil pump truck, reducing its speed and driving fluid flow, thereby reducing the thermal power of the hydraulic oil and lowering the operating temperature; When the value is less than 1, the system stops adjusting, and the hydraulic pump of the hydraulic oil pump truck resumes its original working intensity; (6) In addition to normal operation, the system pipeline is equipped with an emergency release system. When the system is being debugged, the harmful oil and gas control method of the aircraft emergency release system is used to treat the harmful oil and gas. The system employs a hazardous oil and gas control device for the aircraft emergency release system. This device comprises an ultrasonic subsystem, a vacuum subsystem, and a mechanical subsystem. The ultrasonic subsystem includes an ultrasonic generator (38), a transducer (39), an amplitude transformer (37), and a coupling head (36). The ultrasonic subsystem utilizes the cavitation effect of ultrasonic waves to release gas from the coolant. The vacuum subsystem includes a vacuum tube (40), a vacuum pump (41), and an electronic vacuum gauge (42). The vacuum subsystem provides a stable vacuum. The vacuum level is controlled by an electronic vacuum gauge (42) in conjunction with a vacuum pump (41) to achieve negative pressure feedback control. By controlling the start and stop of the vacuum pump (41), the negative pressure is stabilized within the set negative pressure range. The mechanical subsystem includes a motor (44), stirring blades (48), stirring shaft (45), tank structure (47), liquid coolant inlet (43), liquid coolant outlet (49), and filling cap (46). The mechanical subsystem provides storage and stirring of liquid coolant, promotes the flow of liquid coolant, and ensures that the ultrasonic subsystem can fully contact each liquid molecule. The tank structure (47) has a coolant outlet (49) at the bottom and a filling cap (46) and a coolant inlet (43) at the top. The stirring shaft (45) is located inside the tank structure (47), and the stirring blades (48) are installed in the lower middle part of the stirring shaft (45). The stirring shaft (45) is driven by a motor (44), and the stirring shaft (45) drives the stirring blades (48), which stir the coolant inside the tank structure (47). The vacuum pipe (40) is located inside the upper part of the tank structure (47). And connected to the vacuum pump (41) located outside the tank structure (47), and the electronic vacuum gauge (42) connected to the vacuum pump (41); the transducer (39) is installed in the through hole on the side of the tank structure (47), the ultrasonic generator (38) is connected to the transducer (39) and located outside the tank structure (47), the coupling head (36) is connected to the transducer (39) through the amplitude transformer (37) and located inside the tank structure (47), the coupling head (36) is located in the liquid coolant, and transmits the sound waves emitted by the ultrasonic generator (38) to the liquid coolant.

2. The integrated assembly and adjustment method for aircraft system piping according to claim 1, characterized in that, The assembly and commissioning of the system piping first employs the aircraft confined space environment modeling method to construct a model of the space in which the system piping is located. The specific operation steps are as follows: (1) Install the camera device, thermal imaging acquisition device, and gas content detection device into the system pipeline installation work area, and connect the above components to the central processing computer; (2) Check whether the detachable fast charging power supply is installed in the system, turn on the power supply, and make the system work; (3) After the system is powered on, click the "Self-test" button on the display screen to perform a system self-test. If the result output is "qualified" after the test is completed, proceed to the next step. If the result output is "unqualified" after the test is completed, power off the system and troubleshoot the fault. Power on the system again after the fault is completed and perform a self-test until the test result output is "qualified". (4) When the operator is performing installation work, he / she uses the installation area environment display module located on the left side of the display screen to observe the spatial environment in real time and cooperate with the assembly work of the system pipeline; (5) The inspectors read the temperature, humidity, nitrogen content and helium content of the installation area through the environmental status module of the display screen, and monitor the installation environment in real time to determine whether it meets the necessary environmental requirements for the assembly operation. (6) Equipment maintenance personnel can view the system status through the system status module of the display screen, including the internal voltage and current of the system. They can monitor the working status of the system based on the real-time monitoring values ​​and deal with any problems in a timely manner. (7) If the debugging personnel have analytical needs or the inspection personnel have product quality filing needs, the data will be output through the information output device; (8) After the system is finished, power off the system and remove the detachable fast charging power supply for charging, or without removing it, use the power cord to connect the detachable fast charging power supply for charging.

3. The integrated assembly and adjustment method for aircraft system piping according to claim 1, characterized in that, Before the system piping is officially installed and fixed, the aircraft system piping automatic grabbing and transportation method is used to automatically grab the conduits from the installation area and transport them to the installation area on the aircraft. The specific grabbing and transportation process is as follows: Step 1. Image Recognition Using an industrial camera (1) on a multi-degree-of-freedom omnidirectional mechanical gripper, real-time photos of the pipeline system to be installed are taken at the assembly site. The image information is transmitted to the computer system, and then the image is processed by vision processing software to identify the characters in the image. The pipeline information engraved on the surface of the pipeline system is read out using optical and computer technologies. After obtaining the information in the image, the information is compared with the pre-input equipment information database to analyze and determine the position of the conduit to be installed, thereby realizing automatic matching and identification of the part number of the pipeline system and automatic calculation of the position. Step 2. Image Enhancement In image recognition, image enhancement is performed to equalize the image's grayscale histogram. The key to grayscale histogram equalization lies in expansion, which involves increasing the histogram range of the original image to achieve the expansion goal. Simultaneously, to ensure consistent image quality, the entire image needs to be expanded. The specific process of histogram correction, i.e., image enhancement, is as follows: Among them, W m To expand and equalize the range of the histogram, W l The range of the histogram before expansion is given by k, which is the enhancement coefficient and is usually a fixed value. The denominator on the right side of the formula is the probability density function of the image following a normal distribution when the image has n points, where n is the total number of points in the image, σ is the standard deviation, μ is the mean, and e is the base of the natural logarithm. Step 3. Confirm the capture location After the industrial camera (1) identifies the target pipeline, it performs image recognition on the shape of the target pipeline. At the same time, the industrial camera (1) has a built-in judgment module that stores the theoretical digital model of the target pipeline in advance. The theoretical digital model has basic information such as pipeline size, weight, material, and theoretical center of gravity. The industrial camera (1) compares the identified image with the theoretical digital model to obtain the deviation between the actual image and the theoretical image of the target pipeline. The actual center of gravity position of the target is obtained, which is the actual center point coordinate of the grasping conduit. The multi-degree-of-freedom omnidirectional mechanical gripper will grasp and transport the conduit according to the center point coordinate of the conduit. Step 4. Automated grasping and transportation When the multi-degree-of-freedom omnidirectional mechanical gripper is working, the mechanical turntable (4) rotates to adjust the manipulator (16) to the approximate working position, and the drive motor (8) outputs power. The power is transmitted to the manipulator (16) through the control cable (14), the first-level transmission rod (11), the transmission system transition support (12), the second-level transmission rod (15), and the manipulator fixed support (17). At the same time, the control cable (14) precisely adjusts the position and posture of the manipulator (16) to achieve the gripping of the conduit. The working principle of the transportation process is the same, thereby realizing the automatic gripping and transportation of the system pipeline.

4. The integrated assembly and adjustment method for aircraft system piping according to claim 1, characterized in that, Before the system piping is officially installed and fixed, the aircraft system piping secondary bending and shaping method is used to continue pipe type calibration according to the actual situation. The specific steps are as follows: S1, adjust the position of the vent valve (31) to vent; adjust the position of the two-position two-way solenoid valve (29) to connect 2YA; adjust the positions of the safety valve (25) and the one-way speed control valve (27) to the default parameter positions. S2, turn on the switches of the air compressor (18) and the electric pump (23); S3, place the cleaning cloth at the outlet of the vent valve (31) for 30 seconds, and then check that there are no obvious contaminants on the surface of the cleaning cloth. If obvious contaminants are found, replace the oil remover (20), air dryer (21), and filter (22), and repeat steps S1, S2, and S3 until there are no obvious contaminants on the surface of the cleaning cloth. S4, turn off the air compressor (18) and electric pump (23); adjust the position of the vent valve (31) to make it closed; adjust the position of the two-position two-way solenoid valve (29) to make it in the middle position 1YA state; S5, connect the rubber hose (32) to the inflation port 34 on the side of the device body (33), and send the rubber hose (32) into the conduit that needs to be bent and shaped twice. At the same time, adjust the rubber hose (32) so that there is no twisting or knotting. S6, adjust the position of the two-position two-way solenoid directional valve (29) to make it in the 2YA connected state; adjust the position of the one-way speed control valve (27) to make it in the low speed position; S7, turn on the switches of the air compressor (18) and the electric pump (23); S8. After confirming that the rubber hose (32) has a volume expansion phenomenon, adjust the position of the one-way speed control valve (27) to a higher speed position to meet the rapid expansion requirements until the rubber hose (32) is completely and tightly attached to the inner wall of the conduit that needs to be bent and shaped twice. S9, the operator fixes the duct that needs to be bent and shaped twice with fasteners on the aircraft according to the predetermined position and angle, and then bends the duct that needs to be bent and shaped twice at a certain speed. To monitor the strength of the conduit, the stress should be calculated before performing a secondary bending correction. The stress must not exceed the material's allowable stress limit. The triaxial strain formula for the conduit under secondary bending correction is as follows: in, For tangential strain; For circumferential strain; Radial strain; The radius of the second bending correction. The thickness and radius of the conduit before the second bending correction. The thickness and radius of the catheter after secondary bending and straightening are given. To improve work efficiency, an empirical formula should be established before performing a large number of secondary bending and straightening operations on catheters. This formula estimates the parameters required for the target angle and guides subsequent operations. The formula is as follows: in, The target angle; n=6, where, To achieve the maximum thinning rate, To achieve the maximum thickness increase, For wrinkle degree, For ellipticity, For the rebound angle, Where β is the rebound radius; different β values ​​are revision factors. To compensate for the angle; S10, check the difference between the angle of the conduit that needs to be bent and corrected twice and the angle of the predetermined position. If the angle difference is greater than 10°, repeat step S9 until the angle difference meets the required position. S11, turn off the air compressor (18) and electric pump (23); adjust the position of the vent valve (31) to make it open.

5. The integrated assembly and adjustment method for aircraft system piping according to claim 1, characterized in that, Assuming the system piping installation quality is guaranteed and no liquid or gas leaks are confirmed, the dynamic clearance of the system piping is detected using the aircraft system piping dynamic clearance measurement method. The specific measurement steps are as follows: S1. Use visual inspection equipment to measure and image the moving area of ​​the dynamic system pipeline, and send the image information of the dynamic system pipeline and surrounding system components to the dynamic system pipeline visual analysis module via the processor. S2. The dynamic system pipeline visual analysis module performs visual analysis of the dynamic system pipeline, determines the motion state of each dynamic system pipeline, that is, determines whether the system pipeline is in motion or stationary state, determines the minimum gap value during the motion process, compares it with the pre-set standard range, determines whether it meets the requirements, and marks the corresponding dynamic system pipeline as qualified or unqualified dynamic system pipeline, and sends the dynamic system pipeline marking information to the processor. S3. After receiving the dynamic system pipeline marking information, the processor sends the corresponding control command to the corresponding vision inspection device. The vision inspection device displays the measurement results on the display and provides the operator with non-compliance information. S4. The operator checks the machine for faults based on the non-conforming information, and then measures again; S5. After all measurements are completed, the processor will send the received dynamic system pipeline measured gap value information to the monitoring terminal for viewing, storage and output of the measurement technical report.

6. The integrated assembly and adjustment method for aircraft system piping according to claim 1, characterized in that, In addition to normal operation, the system piping is equipped with an emergency release system. During system commissioning, the hazardous oil and gas control methods of the aircraft emergency release system are used to treat the hazardous oil and gas. The specific steps are as follows: S1, connect the liquid coolant inlet (43) and liquid coolant outlet (49) to the outlet and inlet of the aircraft liquid cooling system respectively, and connect the aircraft emergency release system hazardous oil and gas control device in series to the aircraft liquid cooling system; at the same time, in order to observe the operating status of the device, use an oil-based marker to mark the connection position after each connection, observe the position of the marked line during the operation of the device, and stop the operation immediately if the position of the marked line is found to be off. S2, add coolant into the tank structure (47) through the filling port cover (46), and fill the liquid until it can submerge all the stirring blades (48). S3: Activate the aircraft's liquid cooling system, enabling the liquid cooling system to circulate using its own pump source; S4, start the motor (44) of the mechanical subsystem, use the motor (44) to drive the stirring shaft (45), the stirring shaft (45) drives the stirring blades (48), and the stirring blades (48) stir the liquid coolant; S5, start the vacuum pump (41) to draw gas from the tank structure (47) through the vacuum tube (40) to form a stable vacuum. The vacuum is controlled by the electronic vacuum gauge (42) in conjunction with the vacuum pump (41) to achieve negative pressure feedback control. By controlling the start and stop of the vacuum pump (41), the negative pressure is stabilized in the set negative pressure range. S6, start the ultrasonic generator (38), and transmit the ultrasonic waves to the liquid coolant through the transducer (39), amplitude transformer (37), and coupling head (36); S7. Once the pressure of the aircraft liquid cooling system is stable and the highest liquid level is stable, shut down the motor (44), vacuum pump (41), and ultrasonic generator (38) of the mechanical subsystem, and disconnect the liquid coolant inlet (43) and liquid coolant outlet (49) from the outlet and inlet of the aircraft liquid cooling system, respectively.

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