A fork and joint docking control method and device, medium and electronic equipment

Abstract

Embodiments of the present application disclose a fork lug and joint docking control method and device, a medium and an electronic device, and relate to the technical field of aviation assembly. The present application aims to solve the problem of poor docking effect caused by narrow docking space in the prior art. The present application first adjusts the pose of the wing and the fuselage corresponding to the fork lug and the joint, and then uses the deviation measuring device installed on the joint to feedback the deviation between the matching surfaces of the fork lug and the joint during the feeding docking process of the fork lug and the joint. The present application can adapt to the use of narrow space, avoid measuring and modeling the absolute position of the fork lug and the joint, and finally generate a reference neutral surface according to the actual size of the fork lug and the joint and the virtual matching surface to guide the continuous feeding of the fork lug and the joint, so that the hole of the fork lug is aligned with the hole of the joint, and the docking control of the fork lug and the joint is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aviation assembly, in particular to a fork lug and joint butt joint control method and device, medium and electronic equipment. BACKGROUND

[0002] The aircraft wing and fuselage are generally connected through a fork lug-joint structure. The two sides of the inner surface of the fork lug end and the two sides of the outer surface of the joint end are mating surfaces, which have high machining precision. When implementing the assembly of the wing, the fork lug structure and the joint structure need to be aligned first, and then the assembly feed is implemented. Since the mating gap of the fork lug and the joint is very small, the alignment precision requirement is high, and since the space at this position is very narrow, the conventional measurement means is difficult to use.

[0003] At present, when using a numerical control positioner to implement the installation of the wing, for the butt joint requirement of the wing end fork lug and the fuselage end joint, there are mainly two measurement methods of laser tracker and contact probe. The laser tracker measurement method sets up a third party measurement station on the installation site, and models the fork lug and the joint structure by laser dotting. However, since the space at the butt joint position is narrow, light blocking problem is easy to occur, which brings difficulties to the application of this technology. The contact probe measurement method uses a gem probe to measure and model the spatial position of the fork lug and the joint. Similarly, since the space at the fork lug and the joint is narrow, there is a problem of difficulty in designing the measurement device. SUMMARY

[0004] The main purpose of the present application is to provide a fork lug and joint butt joint control method, device, medium and electronic equipment, which aims to solve the problem of poor butt joint effect caused by narrow butt joint space in the prior art.

[0005] To achieve the above purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0006] In a first aspect, the embodiments of the present application provide a fork lug and joint butt joint control method, comprising the following steps:

[0007] Adjusting the pose of the wing to keep the mating surface of the fork lug in a first state with the target plane of the original coordinate system;

[0008] Adjusting the pose of the fuselage to keep the mating surface of the joint in a second state;

[0009] Controlling the fork lug to feed, so that the mating surface of the fork lug and the mating surface of the joint are aligned, and a virtual mating surface is obtained by using a deviation measuring device; wherein the deviation measuring device is installed on the joint and is used to extend to the inside of the fork lug and contact with the mating surface thereof;

[0010] Generating a reference neutral surface according to the virtual mating surface, the size of the fork lug and the size of the joint;

[0011] The fork ear is fed along the reference neutral plane so that the hole of the fork ear is aligned with the hole of the joint.

[0012] In a possible implementation manner of the first aspect, the fork ear is controlled to be fed so that the mating surface of the fork ear and the mating surface of the joint are aligned, and a virtual mating surface is obtained by using the deviation measurement device, comprising:

[0013] The fork ear is controlled to be fed, and a motion trajectory is kept on the initial virtual mating surface;

[0014] Linear encoder data of a starting point and an ending point of the motion trajectory in the feeding process is fed back by using the deviation measurement device;

[0015] The virtual mating surface is obtained in a case where the linear encoder data meets a condition.

[0016] In a possible implementation manner of the first aspect, before the fork ear is controlled to be fed and the motion trajectory is kept on the initial virtual mating surface, the method further comprises:

[0017] The initial virtual mating surface is generated according to a requirement of keeping coplanar with a target plane of an original coordinate system.

[0018] In a possible implementation manner of the first aspect, after the linear encoder data of the starting point and the ending point of the motion trajectory in the feeding process is fed back by using the deviation measurement device, the method further comprises:

[0019] In a case where the linear encoder data does not meet the condition, a virtual mating surface adjustment amount is obtained;

[0020] According to the virtual mating surface adjustment amount, the fork ear is adjusted to be fed and the initial virtual mating surface is updated until the linear encoder data meets the condition.

[0021] In a possible implementation manner of the first aspect, the virtual mating surface is characterized based on a virtual point and a virtual normal vector, and according to the virtual mating surface adjustment amount, the fork ear is adjusted to be fed and the initial virtual mating surface is updated, comprising:

[0022] The adjustment amount of the virtual point and the virtual normal vector is generated according to an optimization model;

[0023] The fork ear is adjusted to be fed according to the adjustment amount, and the initial virtual mating surface is updated.

[0024] In a possible implementation manner of the first aspect, the reference neutral plane is generated according to the virtual mating surface, a size of the fork ear, and a size of the joint, comprising:

[0025] A translation amount is obtained according to the size of the fork ear and the size of the joint;

[0026] According to the translation amount, the virtual point is translated along the virtual normal vector direction to generate a reference neutral surface.

[0027] In a possible implementation of the first aspect, before the pose of the wing is adjusted so that the mating surface of the fork lug keeps the first state with the target plane of the original coordinate system, the method further includes:

[0028] An original coordinate system of the pose adjustment support mechanism is constructed, and a YOZ plane of the original coordinate system is determined as the target plane, where the X direction is perpendicular to the mating surface of the fork lug, the Y direction is toward the fuselage, and the Z direction is vertically upward.

[0029] In the second aspect, an embodiment of the present application provides a docking control device for a fork lug and a joint, including:

[0030] The first adjustment module is configured to adjust the pose of the wing so that the mating surface of the fork lug keeps the first state with the target plane of the original coordinate system.

[0031] The second adjustment module is configured to adjust the pose of the fuselage so that the mating surface of the joint keeps the second state.

[0032] The control module is configured to control the fork lug to feed so that the mating surface of the fork lug and the mating surface of the joint are aligned, and obtain a virtual mating surface by using a deviation measuring device, where the deviation measuring device is installed on the joint and is configured to extend to the inside of the fork lug and contact the mating surface.

[0033] The generation module is configured to generate a reference neutral surface according to the virtual mating surface, the size of the fork lug, and the size of the joint.

[0034] The docking module is configured to feed the fork lug along the reference neutral surface so that the hole of the fork lug and the hole of the joint are aligned.

[0035] In the third aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is loaded and executed by a processor to implement the docking control method for the fork lug and the joint provided in any one of the first aspect.

[0036] In the fourth aspect, an embodiment of the present application provides an electronic device including a processor and a memory.

[0037] The memory is configured to store a computer program.

[0038] The processor is configured to load and execute the computer program, so that the electronic device performs the docking control method for the fork lug and the joint provided in any one of the first aspect.

[0039] Compared with the prior art, the present application has the following beneficial effects:

[0040] The fork ear and joint butt joint control method, device, medium and electronic equipment provided by the embodiment of the application, the method comprises the following steps: adjusting the pose of the wing, so that the matching surface of the fork ear and the target plane of the original coordinate system remain in a first state; adjusting the pose of the fuselage, so that the matching surface of the joint remains in a second state; controlling the fork ear to feed, so that the matching surface of the fork ear and the matching surface of the joint are aligned, and a virtual matching surface is obtained by using a deviation measuring device; wherein the deviation measuring device is installed on the joint and is used to extend to the inside of the fork ear and contact the matching surface; a reference neutral surface is generated according to the virtual matching surface, the size of the fork ear and the size of the joint; the fork ear is fed along the reference neutral surface, so that the hole of the fork ear and the hole of the joint are aligned. The application first adjusts the poses of the wing and the fuselage corresponding to the fork ear and the joint, then feeds back the deviation between the matching surfaces of the fork ear and the joint by using the deviation measuring device installed on the joint during the butt joint of the fork ear and the joint, can adapt to the use of narrow space, avoid measuring and modeling the absolute position of the fork ear and the joint, finally generate a reference neutral surface according to the actual size of the fork ear and the joint and the virtual matching surface to guide the continuous feeding of the fork ear and the joint, so that the hole of the fork ear and the hole of the joint are aligned, and the butt joint control of the fork ear and the joint is realized. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 The electronic device structure schematic diagram of the hardware running environment related to the embodiment of the application;

[0042] Figure 2 The flowchart of the butt joint control method of the fork ear and the joint provided by the embodiment of the application;

[0043] Figure 3 The structure schematic diagram of the fork ear in the butt joint control method of the fork ear and the joint provided by the embodiment of the application;

[0044] Figure 4 The structure schematic diagram of the joint in the butt joint control method of the fork ear and the joint provided by the embodiment of the application;

[0045] Figure 5 The installation schematic diagram of the deviation measuring device in the butt joint control method of the fork ear and the joint provided by the embodiment of the application;

[0046] Figure 6 The structure schematic diagram of the deviation measuring device in the butt joint control method of the fork ear and the joint provided by the embodiment of the application;

[0047] Figure 7 The side view structure schematic diagram of the deviation measuring device in the butt joint control method of the fork ear and the joint provided by the embodiment of the application;

[0048] Figure 8 The module schematic diagram of the control system in the butt joint control method of the fork ear and the joint provided by the embodiment of the application;

[0049] Figure 9 The flowchart of the docking control method of the fork and the joint provided by the embodiment of the application in an implementation manner is shown in the figure.

[0050] Figure 10 The module schematic diagram of the docking control device of the fork and the joint provided by the embodiment of the application is shown in the figure.

[0051] The figure is marked: 101-processor, 102-communication bus, 103-network interface, 104-user interface, 105-memory, 1-fork, 2-joint, 3-deviation measuring device, 301-connection end structure, 302-transmission structure, 303-limiting structure, 304-contact, 4-fuselage, 5-wing. DETAILED DESCRIPTION

[0052] It should be understood that the specific embodiments described herein are merely intended to explain the application and are not intended to limit the application.

[0053] Refer to the accompanying Figure 1 , the accompanying Figure 1 The electronic device structure schematic diagram of the hardware running environment involved in the embodiment scheme of the application can include: a processor 101, for example, a central processing unit (CPU), a communication bus 102, a user interface 104, a network interface 103, and a memory 105. The communication bus 102 is used to realize the connection communication between the components. The user interface 104 can include a display and an input unit such as a keyboard. The optional user interface 104 can further include a standard wired interface and a wireless interface. The network interface 103 can optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 105 can be a storage device independent of the aforementioned processor 101. The memory 105 can be a high-speed random access memory (RAM) memory or a stable non-volatile memory (NVM), for example, at least one disk memory. The processor 101 can be a general-purpose processor, including a central processing unit, a network processor, etc. The processor 101 can also be a digital signal processor, an application-specific integrated circuit, a field programmable gate array, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0054] Those skilled in the art can understand that the accompanying Figure 1The structure shown in the figure does not constitute a limitation on the electronic device, and can include more or fewer components than shown, or combine certain components, or different component arrangements.

[0055] As shown in the accompanying Figure 1 , the memory 105 as a storage medium can include an operating system, a network communication module, a user interface module, and a fork and joint docking control device.

[0056] In the electronic device shown in the accompanying Figure 1 , the network interface 103 is mainly used for data communication with the network server; the user interface 104 is mainly used for data interaction with the user; the processor 101 and the memory 105 in the present application can be arranged in the electronic device, and the electronic device calls the fork and joint docking control device stored in the memory 105 through the processor 101, and executes the fork and joint docking control method provided by the present application.

[0057] Referring to the accompanying Figure 2 , based on the hardware device of the foregoing embodiment, the embodiment of the present application provides a fork and joint docking control method, comprising the following steps:

[0058] S10: Adjust the pose of the wing so that the mating surface of the fork thereof and the target plane of the original coordinate system remain in a first state.

[0059] In the specific implementation process, the fork structure is as shown in the accompanying Figure 3 , the fork is mounted on the wing, as shown in the accompanying Figure 5 , the wing can be placed on the pose adjustment support mechanism and fixed. In order to achieve better results, the pose of the wing should be adjusted so that the mating surface of the fork thereof and the target plane of the original coordinate system remain in a first state, that is, as parallel as possible. For example, assuming that the X direction of the original coordinate system of the pose adjustment support mechanism is perpendicular to the direction of the mating surface of the fork, the Y direction is toward the fuselage direction, and the Z direction is vertically upward, then the target plane is determined as the YOZ plane of the original coordinate system, that is, before adjusting the pose of the wing so that the mating surface of the fork thereof and the target plane of the original coordinate system remain in a first state, the method further comprises:

[0060] The original coordinate system of the pose adjustment support mechanism is constructed with the direction perpendicular to the mating surface of the fork as the X direction, the direction toward the fuselage as the Y direction, and vertically upward as the Z direction, and the YOZ plane of the original coordinate system is determined as the target plane.

[0061] S20: Adjust the pose of the fuselage so that the mating surface of the joint thereof remains in a second state.

[0062] In the specific implementation process, the joint structure is as shown in the accompanying Figure 4 , the joint is mounted on the fuselage, as shown in the accompanyingFigure 5 As shown, the body adjustment can be achieved by controlling the motion of the attitude adjustment platform, which is a platform based on a three-coordinate numerical controller, so that the mating surfaces of the joint and the fork are aligned as much as possible under visual conditions, i.e., the second state is maintained.

[0063] S30: controlling the fork to feed so that the mating surface of the fork and the mating surface of the joint are aligned, and obtaining a virtual mating surface by using a deviation measuring device; wherein the deviation measuring device is installed on the joint and is used to contact the mating surface of the fork.

[0064] In the specific implementation process, after the body and wing pose adjustment is completed, the deviation measuring device is installed on the joint, as shown in the attached Figure 5 As shown, the control of the fork is implemented to feed, and according to the feedback of the degree of feeding of the deviation measuring device, the mating surface of the fork and the joint is continuously adjusted to be aligned, and the virtual matching surface is obtained through the feedback data thereof.

[0065] The structure of the deviation measuring device 3 can be as shown in the attached Figure 6 , and the attached Figure 7 As shown, the deviation measuring device 3 includes a connecting end structure 301, a transmission structure 302, a limiting structure 303, a contact 304, a spring, and a linear encoder, wherein the connecting end structure 301 is installed on the joint 2 structure of the body 4, the fork 1 is connected with the wing 5, and a bolt-nut compression is used, the transmission structure 302 is fixedly connected to the connecting end structure 301, the limiting structure 303 is fixedly connected to the end of the transmission structure 302, the contact 304 is installed on the transmission structure 302, which provides a guiding action for the movement of the contact 304, the spring connects the contact 304 and the limiting structure 303, and the linear encoder is fixedly connected to the transmission structure 302 and is used to measure the offset of the contact 304.

[0066] In one embodiment, the control of the fork to feed so that the mating surface of the fork and the mating surface of the joint are aligned, and the virtual mating surface is obtained by using the deviation measuring device, includes:

[0067] controlling the fork to feed and keeping the motion trajectory on the initial virtual mating surface;

[0068] using the linear encoder data of the deviation measuring device to feedback the starting point and the ending point of the motion trajectory in the feeding process;

[0069] in the case where the linear encoder data meets the condition, obtaining the virtual mating surface.

[0070] In the implementation process, the fork feeding is controlled, the segmented motion instruction is generated, and the motion trajectory is on the virtual mating surface, the motion of the pose adjustment support mechanism is controlled according to the segmented motion instruction to make the fork move, and the data fed back by the deviation measuring device is used to collect the linear encoder data of the starting point and the ending point of the motion trajectory, and the criterion condition is set to judge the linear encoder data. If the condition is met, the dynamic optimization is terminated, and the final virtual mating surface is obtained. If the condition is not met, the virtual mating surface adjustment amount is generated and adjusted to update the initial virtual mating surface, until the linear encoder data of the starting point and the ending point of the motion trajectory in the feeding process is fed back by the deviation measuring device, and the method further comprises:

[0071] In the case where the linear encoder data does not meet the condition, the virtual mating surface adjustment amount is obtained;

[0072] According to the virtual mating surface adjustment amount, the fork feeding is adjusted and the initial virtual mating surface is updated until the linear encoder data meets the condition.

[0073] In an embodiment, the virtual mating surface is characterized based on a virtual point and a virtual normal vector, and according to the virtual mating surface adjustment amount, the fork feeding is adjusted and the initial virtual mating surface is updated, comprising:

[0074] According to the optimization model, the adjustment amount of the virtual point and the virtual normal vector is generated;

[0075] According to the adjustment amount, the fork feeding is adjusted, and the initial virtual mating surface is updated.

[0076] In the implementation process, the virtual mating surface is characterized by a virtual point and a virtual normal vector, i.e. point (0, 0, 0) and vector (1, 0, 0), and the optimization model is: assuming that the values of a contact at the starting point and the ending point are x 11 and x 12 , and the values of another contact at the starting point and the ending point are x 21 and x 22 , and P1 is (x 11 +x 12 +x 21 +x 22 ), and P2 is (|x 11 -x 12 |+|x 21 -x 22 |), then the criterion condition (or objective function) is: a. P1 < (a certain value 1), b. P2 < (a certain value 2). The optimization variable is the virtual point and the virtual normal vector, and further, the multi-island genetic algorithm can be used to solve the optimization model.

[0077] In an embodiment, the fork feeding is controlled, and before the motion trajectory is kept on the initial virtual mating surface, the method further comprises:

[0078] According to the requirement of keeping the target plane of the original coordinate system coplanar, an initial virtual mating surface is generated.

[0079] In the implementation process, an initial virtual mating surface is generated, which keeps coplanar with the target plane of the original coordinate system, that is, the YOZ plane determined in the foregoing embodiment.

[0080] S40: According to the virtual mating surface, the size of the fork and the size of the joint, a reference neutral surface is generated.

[0081] In the implementation process, the sizes of the fork and the joint are measured and input into the control system, and the control system generates a reference neutral surface according to the virtual mating surface. On the basis of the alignment of the mating surfaces of the fork and the joint, the offset of the fork is calculated according to the size data of the joint and the fork, and then the position of the fork is translated along the normal vector of the final virtual mating surface, so as to realize the alignment of the neutral surfaces of the fork and the joint. Specifically:

[0082] According to the virtual mating surface, the size of the fork and the size of the joint, a reference neutral surface is generated, including:

[0083] According to the size of the fork and the size of the joint, a translation amount is obtained.

[0084] According to the translation amount, the virtual point is translated along the virtual normal vector direction to generate a reference neutral surface.

[0085] In the implementation process, it is assumed that the size of the joint is l1, the size of the fork is l2, and the translation amount is (l1+l2) / 2. Therefore, the virtual point is randomly translated along the virtual normal vector direction by (l1+l2) / 2.

[0086] S50: According to the feeding of the fork along the reference neutral surface, the hole of the fork is aligned with the hole of the joint.

[0087] In the implementation process, after the reference neutral surface is obtained, the fork is controlled to feed along the reference neutral surface, so that the hole of the fork is aligned with the hole of the joint, and the connection is completed. The control system provided by the embodiment of the application is shown in FIG. 8. The upper computer includes a data acquisition module, a controller communication module, a pose data solving module and a graphical user interface module. The data acquisition module acquires the data of the linear encoder, the controller communication module communicates with the controller to send motion control instructions and acquire motion data, the pose data solving module processes the encoder data and the pose motion data to generate the motion control instructions. Figure 8

[0088] ​In the embodiment, first, the pose of the wing and the fuselage corresponding to the fork ear and the joint is adjusted, then the deviation between the fork ear and the joint mating surface is fed back in the fork ear and the joint feeding butt joint process by using the deviation measuring device installed on the joint, the use of narrow space is adapted, the measurement modeling of the absolute position of the fork ear and the joint is avoided, finally the reference neutral surface is generated according to the actual size of the fork ear and the joint and the virtual mating surface to guide the continuous feeding of the fork ear and the joint, the hole of the fork ear is aligned with the hole of the joint, and the butt joint control of the fork ear and the joint is realized.

[0089] Reference is made to the accompanying drawings Figure 9 , in the accompanying drawings Figure 9 , the application is further illustrated in the following embodiments:

[0090] First, the fuselage and the wing are adjusted to realize coarse alignment, and visual alignment is maintained as much as possible, then the deviation measuring device is installed on the joint, the virtual point and the virtual normal vector are generated to represent the virtual mating surface, then the segmented motion instruction feeding of the fork ear is started, the feeding of the fork ear is continuously adjusted through the motion instruction and the response of the motion, the displacement of the contact is collected, that is, the displacement of the contact corresponding to the initial point and the terminal point, then it is judged whether it meets the criterion condition, if not, the virtual point and the virtual normal vector adjustment amount are settled, a new virtual mating surface is generated, and then the corresponding motion instruction is generated to guide the feeding of the fork ear, if the condition is met, the final virtual point and the virtual normal vector are obtained, that is, the final virtual mating surface, and then the virtual point data is corrected in combination with the actual size of the fork ear and the joint, the alignment of the fork ear and the neutral surface of the joint is controlled, that is, the reference neutral surface is obtained, which is used to guide the feeding of the fork ear along the neutral surface to realize the alignment with the joint.

[0091] Reference is made to the accompanying drawings Figure 10 , based on the same inventive concept as in the foregoing embodiments, the application further provides a butt joint control device of a fork ear and a joint, comprising:

[0092] A first adjustment module, the first adjustment module is used to adjust the pose of the wing, so that the mating surface of the fork ear thereof keeps a first state with the target plane of the original coordinate system;

[0093] A second adjustment module, the second adjustment module is used to adjust the pose of the fuselage, so that the mating surface of the joint thereof keeps a second state;

[0094] A control module, the control module is used to control the feeding of the fork ear, so that the mating surface of the fork ear and the mating surface of the joint are aligned, and a virtual mating surface is obtained by using a deviation measuring device; wherein the deviation measuring device is installed on the joint and is used to extend to the inside of the fork ear and contact the mating surface thereof;

[0095] A generation module, the generation module is used to generate a reference neutral surface according to the virtual mating surface, the size of the fork ear and the size of the joint;

[0096] a docking module, the docking module being configured to align the hole of the forked ear with the hole of the joint according to the feeding of the forked ear along the reference neutral plane.

[0097] Those skilled in the art should understand that the division of various modules in the embodiments is only a logical division of functions, and in actual applications, all or part of the modules can be integrated onto one or more actual carriers, and the modules can all be implemented in the form of software invoked by the processing unit, or all be implemented in the form of hardware, or be implemented in the form of software and hardware combination. It should be noted that the modules in the forked ear and joint docking control device in the embodiments are one-to-one corresponding to the steps in the forked ear and joint docking control method in the foregoing embodiments, and therefore, the specific embodiments of the present embodiment can refer to the implementation of the forked ear and joint docking control method, which will not be described here again.

[0098] Based on the same inventive concept as in the foregoing embodiments, the embodiments of the present application also provide a computer-readable storage medium storing a computer program, which, when loaded and executed by a processor, implements the forked ear and joint docking control method provided by the embodiments of the present application.

[0099] Based on the same inventive concept as in the foregoing embodiments, the embodiments of the present application also provide an electronic device including a processor and a memory, wherein,

[0100] the memory is configured to store a computer program;

[0101] the processor is configured to load and execute the computer program, so that the electronic device performs the forked ear and joint docking control method provided by the embodiments of the present application.

[0102] In some embodiments, the computer-readable storage medium can be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disc, or CD-ROM; or various devices including one or any combination of the above memories. The computer can be various computing devices including smart terminals and servers.

[0103] In some embodiments, the executable instructions can be in the form of programs, software, software modules, scripts or codes, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and can be deployed in any form, including being deployed as independent programs or being deployed as modules, components, subroutines or other units suitable for use in computing environments.

[0104] By way of example, executable instructions can correspond to a file in a file system, can be stored in a portion of a file that holds other programs or data, e.g., one or more scripts stored in a markup language document, in a single file dedicated to the program in question, or in multiple coordinated files, e.g., files that store one or more modules, subprograms, or portions of code.

[0105] By way of example, executable instructions can be deployed to be executed on one computer, or on multiple computers of a system of computers in one location, or distributed among many locations and computers.

[0106] It should be noted that, as used in this document, the terms "includes" and / or "containing", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that includes the recited element.

[0107] The above-mentioned sequence numbers of the embodiments of the present application are only for description, and do not represent advantages or disadvantages of the embodiments.

[0108] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software and necessary general hardware platforms, and of course can also be implemented by hardware, but in many cases the former is a better implementation. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a plurality of instructions for causing a multimedia terminal device (which can be a mobile phone, a computer, a television receiver, or a network device, etc.) to execute the methods described in the various embodiments of the present application.

[0109] To sum up, the application provides a docking control method and device for a fork and a joint, a medium and an electronic device. The method comprises: adjusting the pose of a wing so that the mating surface of the fork remains in a first state with a target plane of an original coordinate system; adjusting the pose of a fuselage so that the mating surface of the joint remains in a second state; controlling the fork to feed so that the mating surface of the fork and the mating surface of the joint are aligned, and a virtual mating surface is obtained by using a deviation measuring device; wherein the deviation measuring device is installed on the joint and is used to extend to the inside of the fork and contact the mating surface; a reference neutral surface is generated according to the virtual mating surface, the size of the fork and the size of the joint; the fork is fed along the reference neutral surface so that the hole of the fork and the hole of the joint are aligned. The application first adjusts the poses of the wing and the fuselage corresponding to the fork and the joint, and then uses the deviation measuring device installed on the joint to feedback the deviation between the mating surfaces of the fork and the joint during the feeding and docking of the fork and the joint, which can adapt to the use of a narrow space, avoid measuring and modeling the absolute positions of the fork and the joint, and finally generate a reference neutral surface according to the actual size of the fork and the joint and the virtual mating surface to guide the continuous feeding of the fork and the joint, so that the hole of the fork and the hole of the joint are aligned, and the docking control of the fork and the joint is realized.

[0110] The above description is only the preferred embodiment of the application and is not intended to limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A method for controlling the docking of a fork and a joint, characterized in that, The method comprises the following steps: adjusting the pose of the wing to keep the mating surface of the fork ear in a first state with the target plane of the original coordinate system; wherein the first state is that the mating surface of the fork ear is as parallel as possible to the target plane of the original coordinate system; adjusting the pose of the fuselage to keep the mating surface of the joint in a second state; wherein the second state is that the mating surfaces of the joint and the fork ear are as aligned as possible under visual conditions; controlling the fork ear to feed so that the mating surface of the fork ear and the mating surface of the joint are aligned, and obtaining a virtual mating surface by using a deviation measuring device; wherein the deviation measuring device is installed on the joint and is used to extend to the inside of the fork ear and contact the mating surface thereof; the controlling the fork ear to feed so that the mating surface of the fork ear and the mating surface of the joint are aligned, and obtaining a virtual mating surface by using a deviation measuring device comprises: controlling the fork ear to feed and keeping the movement track on the initial virtual mating surface; before the controlling the fork ear to feed and keeping the movement track on the initial virtual mating surface, the method further comprises: generating the initial virtual mating surface according to the requirement of keeping coplanar with the target plane of the original coordinate system; feeding back the linear encoder data of the start point and the end point of the movement track in the feeding process by using the deviation measuring device; after the feeding back the linear encoder data of the start point and the end point of the movement track in the feeding process by using the deviation measuring device, the method further comprises: obtaining a virtual mating surface adjustment amount in the case that the linear encoder data does not meet the condition; adjusting the fork ear to feed and updating the initial virtual mating surface according to the virtual mating surface adjustment amount until the linear encoder data meets the condition; the virtual mating surface is characterized by a virtual point and a virtual normal vector, and the adjusting the fork ear to feed and updating the initial virtual mating surface according to the virtual mating surface adjustment amount comprises: generating the adjustment amount of the virtual point and the virtual normal vector according to an optimization model; adjusting the fork ear to feed according to the adjustment amount and updating the initial virtual mating surface; obtaining a virtual mating surface in the case that the linear encoder data meets the condition; generating a reference neutral surface according to the virtual mating surface, the size of the fork ear and the size of the joint; the generating a reference neutral surface according to the virtual mating surface, the size of the fork ear and the size of the joint comprises: obtaining a translation amount according to the size of the fork ear and the size of the joint; generating a reference neutral surface by translating the virtual point along the virtual normal vector according to the translation amount; feeding the fork ear along the reference neutral surface so that the hole of the fork ear is aligned with the hole of the joint.

2. The fork and joint docking control method according to claim 1, wherein before the adjusting the pose of the wing to keep the mating surface of the fork ear in a first state with the target plane of the original coordinate system, the method further comprises: constructing the original coordinate system of the pose adjustment support mechanism and determining the YOZ plane of the original coordinate system as the target plane, with the direction perpendicular to the mating surface of the fork ear as the X direction, the direction towards the fuselage as the Y direction and the vertical upward as the Z direction.

3. A fork and adapter interfacing control device, characterized by, comprises: The first adjustment module is configured to adjust the pose of the wing so that the fitting surface of the fork ear keeps a first state with the target plane of the original coordinate system; wherein the first state is that the fitting surface of the fork ear is as parallel as possible to the target plane of the original coordinate system; The second adjustment module is configured to adjust the pose of the fuselage so that the fitting surface of the joint keeps a second state; wherein the second state is that the fitting surfaces of the joint and the fork ear are as aligned as possible under visual conditions; The control module is configured to control the fork ear feeding so that the fitting surface of the fork ear and the fitting surface of the joint are aligned, and a virtual fitting surface is obtained by using a deviation measuring device; wherein the deviation measuring device is installed on the joint and is configured to extend to the inside of the fork ear and contact the fitting surface thereof; the control of the fork ear feeding so that the fitting surface of the fork ear and the fitting surface of the joint are aligned, and the virtual fitting surface is obtained by using the deviation measuring device, comprises: controlling the fork ear feeding and keeping the motion trajectory on the initial virtual fitting surface; before the controlling of the fork ear feeding and keeping the motion trajectory on the initial virtual fitting surface, further comprising: generating the initial virtual fitting surface according to the requirement of keeping coplanar with the target plane of the original coordinate system; feeding back the linear encoder data of the start point and the end point of the motion trajectory in the feeding process by using the deviation measuring device; after the feeding back of the linear encoder data of the start point and the end point of the motion trajectory in the feeding process by using the deviation measuring device, further comprising: in the case that the linear encoder data does not meet the condition, obtaining a virtual fitting surface adjustment amount; adjusting the fork ear feeding and updating the initial virtual fitting surface according to the virtual fitting surface adjustment amount until the linear encoder data meets the condition; the virtual fitting surface is characterized by a virtual point and a virtual normal vector, and the adjusting of the fork ear feeding and the updating of the initial virtual fitting surface according to the virtual fitting surface adjustment amount comprises: generating the adjustment amount of the virtual point and the virtual normal vector according to an optimization model; adjusting the fork ear feeding according to the adjustment amount and updating the initial virtual fitting surface; in the case that the linear encoder data meets the condition, obtaining a virtual fitting surface; The generating module is configured to generate a reference neutral surface according to the virtual fitting surface, the size of the fork ear and the size of the joint; the generating of the reference neutral surface according to the virtual fitting surface, the size of the fork ear and the size of the joint comprises: obtaining a translation amount according to the size of the fork ear and the size of the joint; generating a reference neutral surface by translating the virtual point along the virtual normal vector according to the translation amount; The docking module is configured to feed the fork ear along the reference neutral surface so that the hole of the fork ear is aligned with the hole of the joint.

4. A computer readable storage medium storing a computer program, characterized in that, The computer program is loaded and executed by the processor to realize the docking control method of the fork ear and the joint according to any one of claims 1-2.

5. An electronic device, comprising: The computer program is loaded and executed by the processor to realize the docking control method of the fork ear and the joint according to any one of claims 1-2. The computer program is loaded and executed by the processor to realize the docking control method of the fork ear and the joint according to any one of claims 1-2. The processor is configured to load and execute the computer program to enable the electronic device to perform the docking control method of the fork and the joint according to any one of claims 1-2.

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