Helicopter transmission shaft coaxiality measuring and adjusting method, device, equipment and medium

Abstract

The invention relates to the technical field of intelligent manufacturing, in particular to a helicopter transmission shaft coaxiality measuring and adjusting method and device, equipment and a medium, and the method comprises the steps: constructing a virtual operation environment of a helicopter tail transmission shaft; a joint driver is configured in the virtual operation environment, and the joint driver is used for simulating the adjustment of increasing or decreasing gaskets of the helicopter tail transmission shaft; obtaining measurement data of the helicopter tail transmission shaft in a real operation environment, and mapping the measurement data to the virtual operation environment based on a virtual-real mapping relation between the virtual operation environment and the real operation environment; and acquiring an attitude adjustment mathematical model in the virtual environment, determining a target adjustment amount of increasing and decreasing gaskets of the helicopter tail transmission shaft according to the model, and further determining the target adjustment amount in a real scene through a virtual-real mapping relation to adjust the coaxiality of the helicopter tail transmission shaft. Therefore, the problems of low efficiency and the like due to the fact that gaskets are added and reduced to achieve the required coaxiality by repeatedly disassembling and assembling the tool in the related technology are solved.

Description

Technical Field

[0001] The present application relates to the field of intelligent manufacturing technology, and in particular to a method, device, equipment and medium for measuring and adjusting the coaxiality of a helicopter transmission shaft. Background Art

[0002] In the aviation manufacturing industry, the coaxiality adjustment of helicopter transmission systems is one of the key steps to ensure flight safety and performance. The traditional solution uses a manual observation collimator telescope combined with manual trial shims to complete the coaxiality inspection and compensation, which can avoid the introduction of additional measuring instruments, avoid the problem of engine firewalls and other components being blocked, and can make full use of the visibility of the axis. However, in actual production, in order to adjust to the target state, it is usually necessary to add and subtract shims multiple times, which is difficult and time-consuming.

[0003] With the development of digital and intelligent technology, many improvement plans have been proposed in the industry. For example, in related technologies, a sighting mirror with crosshairs and scales is used to observe the target mirror installed on the power output shaft, and the support fixing tool is manually adjusted to make the crosshairs in the sighting mirror coincide with the center mark of the target mirror or reach the corresponding distance requirement, and the adjustment is completed. Although it can solve the problem of coaxiality adjustment, the manual installation and adjustment workload is large and the problem is difficult to trace back. Summary of the invention

[0004] The present application provides a method, device, equipment and medium for measuring and adjusting the coaxiality of a helicopter transmission shaft, so as to solve the problem of low efficiency in the related art of repeatedly disassembling and assembling tooling to add and subtract shims to achieve the required coaxiality.

[0005] A first aspect of the present application provides a method for measuring and adjusting the coaxiality of a helicopter drive shaft, comprising the following steps: constructing a virtual operating environment for a helicopter tail drive shaft; configuring a joint driver in the virtual operating environment, wherein the joint driver is used to simulate the adjustment of increasing or decreasing shims of the helicopter tail drive shaft; obtaining measurement data of the helicopter tail drive shaft in a real operating environment, and mapping the measurement data in the real operating environment to the virtual operating environment based on a virtual-to-real mapping relationship between the virtual operating environment and the real operating environment; obtaining an attitude adjustment mathematical model in the virtual operating environment, determining a target adjustment amount for increasing or decreasing shims of the helicopter tail drive shaft according to the attitude adjustment mathematical model, and adjusting the coaxiality of the helicopter tail drive shaft in the real operating environment based on the target adjustment amount and the virtual-to-real mapping relationship.

[0006] Optionally, before mapping the measurement data in the real operating environment to the virtual operating environment based on the virtual-to-real mapping relationship between the virtual operating environment and the real operating environment, the method includes: collecting the actual position coordinates of the target in the real operating environment, wherein the target is a specific position mark on the main reducer and the tail reducer of the helicopter tail drive shaft; simulating the change of the actual position coordinates of the target in the virtual operating environment according to the attitude adjustment mathematical model to obtain the virtual position coordinates of the target in the virtual operating environment; aligning the actual position coordinates with the virtual position coordinates to determine the virtual-to-real mapping matrix, and determining the virtual-to-real mapping relationship between the virtual operating environment and the real operating environment according to the virtual-to-real mapping matrix.

[0007] Optionally, the posture adjustment mathematical model represents the mathematical relationship between the padding amount of the center reduction support and the target movement amount, and the posture adjustment mathematical model is obtained in a virtual working environment, including: in the virtual working environment, establishing a first linear change relationship between the position coordinates of the target in the front and rear collimating mirror image coordinate systems and the change in degrees of freedom, and a second linear change relationship between the padding amount of the center reduction support and the change in degrees of freedom; establishing a mathematical relationship between the padding amount of the center reduction support and the target movement amount based on the first linear change relationship and the second linear change relationship.

[0008] Optionally, the change in degree of freedom is a displacement or angle change caused by at least one of lifting motion, pitching motion and rolling motion during the process of adding or removing gaskets.

[0009] Optionally, a target adjustment amount for adding or removing shims of the helicopter tail drive shaft is determined according to the attitude adjustment mathematical model, including: simulating and adjusting the joint driver based on the attitude adjustment mathematical model, and determining multiple actual position coordinates of the target in the helicopter tail drive shaft in a virtual working environment according to the adjustment results; calculating deviation values ​​between the multiple actual position coordinates and the expected position coordinates; and determining the target adjustment amount for adding or removing shims of the helicopter tail drive shaft according to the deviation values.

[0010] Optionally, constructing a virtual operating environment for the tail drive shaft of the helicopter includes: constructing a geometric model of the tail drive shaft of the helicopter; configuring a connecting rod coordinate system of the geometric model in the virtual operating environment, the connecting rod coordinate system including: a first camera connecting rod coordinate system, a second camera connecting rod coordinate system, a tail reduction connecting rod coordinate system, and a main reduction connecting rod coordinate system, wherein a camera sensor is respectively fixed in the first camera connecting rod coordinate system and the second camera connecting rod coordinate system, a first circular target is fixed at the origin of the tail reduction connecting rod coordinate system, and a second circular target is fixed at the origin of the main reduction connecting rod coordinate system.

[0011] A second aspect of the present application provides a device for measuring and adjusting the coaxiality of a helicopter drive shaft, comprising: a construction module for constructing a virtual operating environment for a helicopter tail drive shaft; a configuration module for configuring a joint driver in the virtual operating environment, wherein the joint driver is used to simulate the adjustment of increasing or decreasing gaskets of the helicopter tail drive shaft; a mapping module for obtaining measurement data of the helicopter tail drive shaft in a real operating environment, and mapping the measurement data in the real operating environment to the virtual operating environment based on the virtual-to-real mapping relationship between the virtual operating environment and the real operating environment; an adjustment module for obtaining a posture adjustment mathematical model in the virtual operating environment, determining a target adjustment amount for increasing or decreasing gaskets of the helicopter tail drive shaft according to the posture adjustment mathematical model, and adjusting the coaxiality of the helicopter tail drive shaft in the real operating environment based on the target adjustment amount and the virtual-to-real mapping relationship.

[0012] Optionally, the helicopter transmission shaft coaxiality measurement and adjustment device also includes: an acquisition module, which is used to acquire the actual position coordinates of the target in the real operating environment before mapping the measurement data in the real operating environment to the virtual operating environment based on the virtual-to-real mapping relationship between the virtual operating environment and the real operating environment, wherein the target is a specific position mark on the main reducer and tail reducer of the helicopter tail transmission shaft; a simulation module, which is used to simulate the change of the actual position coordinates of the target in the virtual operating environment according to the attitude adjustment mathematical model to obtain the virtual position coordinates of the target in the virtual operating environment; a determination module, which is used to align the actual position coordinates with the virtual position coordinates to determine the virtual-to-real mapping matrix, and determine the virtual-to-real mapping relationship between the virtual operating environment and the real operating environment according to the virtual-to-real mapping matrix.

[0013] Optionally, the posture adjustment mathematical model represents the mathematical relationship between the padding amount of the center reduction support and the target movement amount, and the adjustment module is further used to establish a first linear change relationship between the position coordinates of the target in the front and rear collimator image coordinate systems and the change in degrees of freedom, as well as a second linear change relationship between the padding amount of the center reduction support and the change in degrees of freedom in a virtual working environment; and establish a mathematical relationship between the padding amount of the center reduction support and the target movement amount based on the first linear change relationship and the second linear change relationship.

[0014] Optionally, the change in degree of freedom is a displacement or angle change caused by at least one of lifting motion, pitching motion and rolling motion during the process of adding or removing gaskets.

[0015] Optionally, the adjustment module is further used to simulate and adjust the joint driver based on the attitude adjustment mathematical model, determine multiple actual position coordinates of the target in the helicopter tail drive shaft in the virtual working environment according to the adjustment results; calculate the deviation values ​​of the multiple actual position coordinates and the expected position coordinates; and determine the target adjustment amount of increasing or decreasing the gasket of the helicopter tail drive shaft according to the deviation value.

[0016] Optionally, the construction module is further used to construct a geometric model of the tail drive shaft of the helicopter; configure a connecting rod coordinate system of the geometric model in a virtual working environment, the connecting rod coordinate system including: a first camera connecting rod coordinate system, a second camera connecting rod coordinate system, a tail reduction connecting rod coordinate system, and a main reduction connecting rod coordinate system, wherein a camera sensor is fixedly connected in the first camera connecting rod coordinate system and the second camera connecting rod coordinate system, respectively, a first circular target is fixedly connected at the origin of the tail reduction connecting rod coordinate system, and a second circular target is fixedly connected at the origin of the main reduction connecting rod coordinate system.

[0017] The third aspect of the present application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a method for measuring and adjusting the coaxiality of a helicopter transmission shaft as described in the above embodiment.

[0018] The fourth aspect of the present application provides a computer-readable storage medium having a computer program or instruction stored thereon. When the computer program or instruction is executed, it is used to implement the helicopter transmission shaft coaxiality measurement and adjustment method as described in the above embodiment.

[0019] Therefore, this application has at least the following beneficial effects:

[0020] The embodiment of the present application constructs a virtual working environment for adjusting the coaxiality of a helicopter tail drive shaft, and configures a joint driver in the virtual working environment to simulate the adjustment of adding or removing shims of the helicopter tail drive shaft, so that the adjustment process is more standardized and automated, and the consistency and reliability of assembly are improved. Based on the virtual-to-real mapping relationship between the virtual working environment and the real working environment, the measurement data in the real working environment is mapped to the virtual working environment, and a posture adjustment mathematical model is obtained in the virtual environment. According to the model, the target adjustment amount of adding or removing shims of the helicopter tail drive shaft is determined, so that the installation and adjustment task can be completed with one adjustment, and simulation calculations, problem backtracking and other operations can be performed in the virtual working environment, which greatly simplifies the actual installation and adjustment work, avoids the traditional manual method that requires frequent disassembly of tooling for adding shims, weakens the dependence on workers' experience, and greatly reduces work intensity.

[0021] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0023] Figure 1 This is a flow chart of a method for measuring and adjusting the coaxiality of a helicopter transmission shaft provided according to an embodiment of the present application;

[0024] Figure 2 A schematic diagram of the position of an intermediate reducer support provided according to an embodiment of the present application;

[0025] Figure 3 This is an example diagram of linear target transformation under virtual and real fields of view when adjusting tool lifting according to one embodiment of the present application;

[0026] Figure 4 This is an example diagram of linear target transformation under virtual and real fields of view when adjusting the pitch of tooling according to an embodiment of the present application;

[0027] Figure 5 This is an example diagram of the linear target transformation under the virtual and real fields of view when adjusting the tooling roll according to an embodiment of the present application;

[0028] Figure 6 A schematic diagram of the transformation relationship between virtual and real image coordinate systems provided according to an embodiment of the present application;

[0029] Figure 7 A block diagram of a helicopter transmission shaft coaxiality measuring and adjusting device provided according to an embodiment of the present application;

[0030] Figure 8 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0032] The following describes the helicopter transmission shaft coaxiality measurement and adjustment method, device, electronic device and storage medium of the embodiment of the present application with reference to the accompanying drawings. In view of the problems mentioned in the above background technology, the present application provides a helicopter transmission shaft coaxiality measurement and adjustment method, in which a virtual operating environment for adjusting the coaxiality of the helicopter tail transmission shaft is constructed, and a joint driver is configured in the virtual operating environment to simulate the adjustment of the increase and decrease of the shims of the helicopter tail transmission shaft, so that the adjustment process is more standardized and automated, and the consistency and reliability of the assembly are improved. Based on the virtual-real mapping relationship between the virtual operating environment and the real operating environment, the measurement data in the real operating environment is mapped to the virtual operating environment, and the posture adjustment mathematical model is obtained in the virtual environment. According to the model, the target adjustment amount of the increase and decrease of the shims of the helicopter tail transmission shaft is determined, and the adjustment task can be completed by one adjustment, and simulation calculation, problem backtracking and other operations can be performed in the virtual operating environment, which greatly simplifies the actual adjustment work, avoids the traditional manual method that requires frequent disassembly and assembly of tooling for padding, weakens the dependence on workers' experience, and greatly reduces the work intensity.

[0033] Specifically, Figure 1 A schematic flow chart of a method for measuring and adjusting the coaxiality of a helicopter transmission shaft provided in an embodiment of the present application.

[0034] like Figure 1 As shown, the helicopter transmission shaft coaxiality measurement and adjustment method includes the following steps:

[0035] In step S101, a virtual operating environment of a helicopter tail drive shaft is constructed.

[0036] It can be understood that the virtual-reality fusion technology achieves the operation goal of controlling the real with the virtual by establishing a mapping relationship between each target physical quantity between the real scene and the simulated scene. It is often used in various scenarios where real operations are difficult to complete directly. The embodiment of the present application uses advanced virtual-reality fusion technology and the concept of digital twins to achieve precise adjustment of the coaxiality of the helicopter's transmission shaft, that is, the main reducer output shaft (main reducer output shaft), the input shaft (intermediate reducer input shaft) and output shaft (intermediate reducer output shaft) of the intermediate reducer, and the input shaft (tail reducer input shaft) of the tail reducer are adjusted to be coaxial, and the angle between the two axes is 145°.

[0037] In the embodiment of the present application, constructing a virtual operating environment for the helicopter tail drive shaft is a key link, which can truly reproduce the actual operation process of adjusting the coaxiality of the helicopter tail drive shaft, and provide a basis for all subsequent virtual-reality fusion operations. Specifically, constructing a virtual operating environment for the helicopter tail drive shaft, that is, constructing a digital twin model for the coaxiality adjustment of the helicopter tail drive shaft, includes: constructing a geometric model of the helicopter tail drive shaft; configuring a connecting rod coordinate system of the geometric model in the virtual operating environment, the connecting rod coordinate system includes: a first camera connecting rod coordinate system, a second camera connecting rod coordinate system, a tail reduction connecting rod coordinate system, and a main reduction connecting rod coordinate system, wherein camera sensors are respectively fixed in the first camera connecting rod coordinate system and the second camera connecting rod coordinate system, a first circular target is fixed at the origin of the tail reduction connecting rod coordinate system, and a second circular target is fixed at the origin of the main reduction connecting rod coordinate system.

[0038] Specifically, the embodiment of the present application completes the construction of the geometric model of the tail drive shaft of the fuselage in the three-dimensional modeling software, that is, the shaft is output from the main reducer at the top of the middle section of the fuselage, and extends to the digital twin model of the fuselage tail beam and the tail diagonal beam. The three intermediate reducer supports are configured with translational joints through the corresponding plug-in and exported as a URDF file. Among them, the support can perform lifting, pitching and rolling movements along the fixed coordinate system to adjust the relative position of the reducer during the process of adding and removing gaskets. In order to solve the defect that the STL format model embedded in the URDF file only describes the surface geometry of the three-dimensional object without color and material attributes, the embodiment of the present application can also import the model file into the Blender rendering engine for material, color and other attribute mapping, and modify the newly generated DAE format model and the corresponding mapping into the URDF file.

[0039] Furthermore, the embodiment of the present application can import the modified URDF robot format file into a simulation platform, such as the Gazebo robot simulation engine; further configure the first camera link coordinate system telescope1_link, the second camera link coordinate system telescope2_link, the tail reduction link coordinate system tail_center_link, and the main reduction link coordinate system head_center_link in the tail boom assembly model; fix a 2D camera sensor telescope1 in the first camera link coordinate system, fix a 2D camera sensor telescope2 in the second camera link coordinate system, fix a first circular target at the origin of the tail reduction link coordinate system, and fix a second circular target at the origin of the main reduction link coordinate system to complete the system static model configuration, so as to simulate the observation conditions in the actual scene.

[0040] In step S102, a joint driver is configured in a virtual operating environment, wherein the joint driver is used to simulate the adjustment of adding or removing shims of a helicopter tail drive shaft.

[0041] It is understandable that the embodiment of the present application can configure the joint driver for the twin model to simulate the adjustment effect of adding or removing gaskets, so that the static model has the motion adjustment capability corresponding to the real scene. Specifically, the upper limit of the joint position, lower limit of the position, upper limit of the force and upper limit of the speed of the moving joints joint_z, joint_y and joint_x in the tail beam assembly are set in the URDF file respectively, and then the PID controller yaml file is written, and the P, I and D parameters are adjusted by simulation parameter adjustment to ensure that the twin can track the step signal quickly without overshoot. Finally, the adjusted controller yaml file is imported into the Gazebo simulation engine and the model is run synchronously.

[0042] In step S103, the measurement data of the tail drive shaft of the lift in the real working environment is obtained, and based on the virtual-real mapping relationship between the virtual working environment and the real working environment, the measurement data in the real working environment is mapped to the virtual working environment.

[0043] It is understandable that the embodiment of the present application can use high-precision measurement tools (such as collimating telescopes, line laser sensors, etc.) in a real working environment to measure the key feature points of the helicopter tail drive shaft (such as the target center position), and map the real measurement results to the virtual environment based on the pre-established mapping relationship between the real working environment and the virtual working environment.

[0044] In one embodiment of the present application, before mapping the measurement data in the real operating environment to the virtual operating environment based on the virtual-to-real mapping relationship between the virtual operating environment and the real operating environment, the method includes: collecting the actual position coordinates of the target in the real operating environment, wherein the target is a specific position mark on the main reducer and the tail reducer of the helicopter tail drive shaft; obtaining the mathematical relationship between the padding amount of the center reduction support and the target movement amount, simulating the change of the actual position coordinates of the target in the virtual operating environment according to the mathematical relationship to obtain the virtual position coordinates of the target in the virtual operating environment; aligning the actual position coordinates with the virtual position coordinates to determine the virtual-to-real mapping matrix, and determining the virtual-to-real mapping relationship between the virtual operating environment and the real operating environment according to the virtual-to-real mapping matrix.

[0045] The embodiment of the present application can use an electronically modified collimating telescope (equipped with an optical CCD instead of a traditional eyepiece) to obtain images of the actual targets on the main reducer and the tail reducer in real time. Among them, the actual targets located on the main reducer and the tail reducer and the target model bull's eye in the twin are all provided with a circular ring that is different from the surrounding color. Secondly, the embodiment of the present application can use the Canny edge detection algorithm to perform edge detection on the bull's eye position, and screen and fit the contour, respectively give the identified bull's eye coordinates and draw the elliptical contour boundary on the human-computer interaction interface. In the actual execution process, the embodiment of the present application can manually select the region of interest ROI in the human-computer interaction interface, and the execution algorithm after cropping is only executed in a limited area, which improves the efficiency of image processing. The interface displays the key binarization execution steps, contour extraction information, and draws the processing results and coordinate information in the original image. The coordinate information is displayed in real time, and the relevant parameters allow manual modification through the drag bar to obtain better processing results.

[0046] Furthermore, the posture adjustment mathematical model represents the mathematical relationship between the padding amount of the center reduction support and the target movement amount. Obtaining the posture adjustment mathematical model in a virtual working environment includes: in the virtual working environment, establishing a first linear change relationship between the position coordinates of the target in the front and rear collimating mirror image coordinate systems and the change in degrees of freedom, and a second linear change relationship between the padding amount of the center reduction support and the change in degrees of freedom; establishing a mathematical relationship between the padding amount of the center reduction support and the target movement amount based on the first linear change relationship and the second linear change relationship.

[0047] It can be understood that the collimator in the real working environment and the virtual working environment has three degrees of freedom: lifting, pitching and rolling. The position coordinates of the target in the image coordinate system and the padding amount of each support axis of the intermediate reducer have a unique mapping relationship with the change in degree of freedom, that is, through the intermediate amount of freedom, the mapping relationship between the two can be established. Among them, the change in degree of freedom is the displacement or angle change caused by at least one of the lifting, pitching and rolling movements in the process of adding or removing pads.

[0048] Specifically, the relationship between the change in the small degree of freedom and the displacement of the field of view target is simplified to a first linear change relationship, which can be linearly expressed as U = M x + d, where U is the coordinate of the target in the image coordinate system U = [uv] T , x is the displacement corresponding to the three degrees of freedom of the center reduction fixture x = [L pr] T , L is the lifting motion, p is the pitch motion angle, r is the roll motion angle, d is the constant term, and M is the Jacobi matrix of the image to be determined.

[0049] Secondly, the embodiment of the present application can simplify the variation of the small degree of freedom and the amount of padding added to the middle reduction support into a second linear variation relationship, which can be linearly expressed as s=M ex, where s is the amount of padding for the three supports s = [s1 s2 s3] T , M e The Jacobi matrix of the mechanical structure is determined by the position relationship of the three center-reduced support axes when the degree of freedom changes slightly. The position relationship is as follows: Figure 2 As shown, M e It can be expressed as:

[0050]

[0051] Based on the above linear relationship, the overall linear relationship between the image space and the amount of support padding can be established as follows:

[0052] U f =M f ·M e -1 s+d f

[0053] U r =M r ·M e -1 s+d r

[0054] The embodiment of the present application can also use the image processing algorithm to calibrate the transfer matrices Mf and Mr of the front and rear collimators in the twin. Specifically, the height of the twin model support is adjusted so that the front and rear targets are located in the middle of the image coordinate system as the initial position, and the changes in different center-reduced support axes are adjusted to obtain different sampling data values, including the support change, the position coordinates of the front and rear targets, and other data. At least 6 groups of sampling data values ​​can be obtained to calculate the optimal solution of the above-mentioned overall linear relationship equation group, and the image Jacobi arrays Mf and Mr of the front and rear collimators are calibrated.

[0055] Furthermore, the embodiments of the present application can obtain the virtual position coordinates of the target in the virtual working environment by simulating the change of the actual position coordinates of the target in the virtual working environment according to the mathematical relationship; the actual position coordinates are aligned with the virtual position coordinates to determine the virtual-to-real mapping matrix, and the virtual-to-real mapping relationship between the virtual working environment and the real working environment is determined according to the virtual-to-real mapping matrix.

[0056] Specifically, the embodiment of the present application can obtain the required virtual-real mapping relationship by aligning the observation data with the twin model parameters. On the basis of the above embodiment, the embodiment of the present application can obtain the image Jacobi arrays Mf and Mr of the front and rear collimators of the twin body, determine the mapping relationship between the actual and the twin body through sampling data, and obtain the Jacobi array in the actual system through gain amplification and rotation change of the Jacobi array of the twin model. The transformation relationship between the two is:

[0057] M real =kRM virtual

[0058] Among them, M real is the actual Jacobi matrix, M virtual is the Jacobi matrix in the digital twin scene, k and R are the gain coefficient and the rotation transformation matrix of the two spaces respectively.

[0059] Furthermore, if Figure 3-5 The following are simple schematic diagrams of the linear change law of the intermediate deceleration target during the lifting, pitching and rolling movements of the tooling. The same type of observation data can be obtained in the virtual environment and the real scene. For example, when performing the same lifting and lowering operations of a specific scale, the target observations of the virtual camera and the real camera will be different. This can be achieved by recording several groups of observation values:

[0060]

[0061] Among them, S i For the padding amount determined simultaneously in the real scene and the twin, the transformation matrix between the two image coordinate systems can be obtained through at least three sets of collected data, and then the Jacobi matrix of the actual system can be obtained.

[0062] For multiple sets of sampled data values, multiple sets of different mapping relationships can be given. The schematic diagram of the transformation relationship between the two coordinate systems is as follows: Figure 6 As shown in the figure, the transformation relationship is mainly the deflection angle of the image coordinate axis and the gain coefficient. The deflection angle is mainly related to the actual collimator installation position, and the gain coefficient is mainly related to the actual collimator resolution and the camera sensor resolution in the twin. When there are more than 3 groups of sampled calibration data, multiple transformation relationship results can be obtained. Due to the measurement errors caused by factors such as noise, there are certain differences in the calibration results of different groups. In the manual interaction interface, select the group with similar deflection angle and gain value, and use the best fitting method to calculate the transformation matrix R, which obtains the best deflection angle θ avg And gain value K avg The expression is:

[0063]

[0064] In step S104, a posture adjustment mathematical model is obtained in a virtual working environment, a target adjustment amount for increasing or decreasing shims of the helicopter tail drive shaft is determined according to the posture adjustment mathematical model, and the coaxiality of the helicopter tail drive shaft is adjusted in a real working environment based on the target adjustment amount and the virtual-real mapping relationship.

[0065] In the embodiment of the present application, the posture adjustment mathematical model represents the mathematical relationship between the amount of padding added to the center reduction support and the amount of target movement. The specific description can refer to the above embodiment.

[0066] In one embodiment of the present application, a target adjustment amount for adding or removing shims of a helicopter tail drive shaft is determined based on a posture adjustment mathematical model, including: simulating and adjusting a joint driver based on the posture adjustment mathematical model, and determining a plurality of actual position coordinates of a target in the helicopter tail drive shaft in a virtual working environment based on the adjustment results; calculating deviation values ​​between the plurality of actual position coordinates and the expected position coordinates; and determining a target adjustment amount for adding or removing shims of the helicopter tail drive shaft based on the deviation values.

[0067] It can be understood that the embodiment of the present application can use the actual sampling data to perform virtual-real registration, and then the actual model and the twin model are mapped through a known transfer matrix. At the same time, the actual sampling data can be used to determine the position coordinates of the front and rear targets in the actual collimator and the virtual twin in the image coordinate system.

[0068] As the nearly linear relationship between the padding amount and the displacement in the target image coordinate system established in the above embodiment, the padding adjustment amount is:

[0069]

[0070] Among them [M f ·M e -1 ] -1 Not a square matrix, but M f ·M e -1 The goal of the adjustment calculation is to adjust the two targets to the center of the field of view at the same time, that is, Where Wf and Wr are the resolutions of the two collimator images, respectively. s is the position where the object in the two image planes reaches the target point with the minimum error. It is the optimization result. The padding amount group value with the minimum sum of the squares of the deviations between the target observation value and the expected observation value calculated by the optimization simulation algorithm is used to make the two targets finally closest to the target point.

[0071] In the embodiment of the present application, for different fine-tuning angles of two collimating mirrors, the optimization simulation algorithm gives different padding values, and the fine-tuning amount can be selected according to the actual collimating mirror angle value. The actual collimating mirror angle can be adjusted by adjusting the installation fine-tuning top screw at the bottom of the front collimating mirror to keep it within the angle accuracy range, that is, 145°±2′.

[0072] In summary, the embodiment of the present application first establishes a digital twin model of the actual scene, and obtains the mathematical model of the twin model's posture adjustment (expressing the approximate linear relationship between the padding amount and the target motion amount), and then uses a collimating telescope to collect observation data of the target in the real scene, and aligns it with the corresponding parameters obtained through the physical engine in the twin model, and calculates the virtual-to-real mapping matrix required for virtual-to-real fusion, realizes virtual-to-real fusion and controls the real with the virtual, and can accurately calculate the required padding amount before posture adjustment, thereby achieving the purpose of improving production efficiency.

[0073] It should be noted that the method of the embodiment of the present application can optimize the existing coaxiality measurement tooling and realize complete automated transmission shaft adjustment. It can also be used as a technical reference for coaxiality measurement and adjustment problems of other special large workpieces, and is not limited to helicopter transmission shafts.

[0074] According to the helicopter drive shaft coaxiality measurement and adjustment method proposed in the embodiment of the present application, a virtual operating environment for adjusting the coaxiality of the helicopter tail drive shaft is constructed, and a joint driver is configured in the virtual operating environment to simulate the adjustment of adding or removing gaskets of the helicopter tail drive shaft, so that the adjustment process is more standardized and automated, and the consistency and reliability of assembly are improved. Based on the virtual-real mapping relationship between the virtual operating environment and the real operating environment, the measurement data in the real operating environment is mapped to the virtual operating environment, and the posture adjustment mathematical model is obtained in the virtual environment. According to the model, the target adjustment amount of adding or removing gaskets of the helicopter tail drive shaft is determined, so that the installation and adjustment task can be completed with one adjustment, and simulation calculations, problem backtracing and other operations can be performed in the virtual operating environment, which greatly simplifies the actual installation and adjustment work, avoids the traditional manual method that requires frequent disassembly and assembly of tooling for adding gaskets, weakens the dependence on workers' experience, and greatly reduces work intensity.

[0075] Next, the helicopter transmission shaft coaxiality measuring and adjusting device proposed in accordance with the embodiment of the present application will be described with reference to the accompanying drawings.

[0076] Figure 7 It is a block diagram of a helicopter transmission shaft coaxiality measuring and adjusting device according to an embodiment of the present application.

[0077] like Figure 7 As shown, the helicopter transmission shaft coaxiality measuring and adjusting device 10 includes: a construction module 100, a configuration module 200, a mapping module 300 and an adjustment module 400.

[0078] Among them, the construction module 100 is used to construct a virtual operating environment for the tail drive shaft of the helicopter; the configuration module 200 is used to configure the joint driver in the virtual operating environment, wherein the joint driver is used to simulate the adjustment of the increase or decrease of the gaskets of the tail drive shaft of the helicopter; the mapping module 300 is used to obtain the measurement data of the tail drive shaft of the helicopter in the real operating environment, and based on the virtual-to-real mapping relationship between the virtual operating environment and the real operating environment, map the measurement data in the real operating environment to the virtual operating environment; the adjustment module 400 is used to obtain the attitude adjustment mathematical model in the virtual operating environment, determine the target adjustment amount of the increase or decrease of the gaskets of the tail drive shaft of the helicopter according to the attitude adjustment mathematical model, and adjust the coaxiality of the tail drive shaft of the helicopter in the real operating environment based on the target adjustment amount and the virtual-to-real mapping relationship.

[0079] Optionally, the helicopter transmission shaft coaxiality measurement and adjustment device also includes: an acquisition module, which is used to acquire the actual position coordinates of the target in the real operating environment before mapping the measurement data in the real operating environment to the virtual operating environment based on the virtual-to-real mapping relationship between the virtual operating environment and the real operating environment, wherein the target is a specific position mark on the main reducer and tail reducer of the helicopter tail transmission shaft; a simulation module, which is used to simulate the change of the actual position coordinates of the target in the virtual operating environment according to the attitude adjustment mathematical model to obtain the virtual position coordinates of the target in the virtual operating environment; a determination module, which is used to align the actual position coordinates with the virtual position coordinates to determine the virtual-to-real mapping matrix, and determine the virtual-to-real mapping relationship between the virtual operating environment and the real operating environment according to the virtual-to-real mapping matrix.

[0080] Optionally, the posture adjustment mathematical model represents the mathematical relationship between the padding amount of the center reduction support and the target movement amount, and the adjustment module is further used to establish a first linear change relationship between the position coordinates of the target in the front and rear collimator image coordinate systems and the change in degrees of freedom, as well as a second linear change relationship between the padding amount of the center reduction support and the change in degrees of freedom in a virtual working environment; and establish a mathematical relationship between the padding amount of the center reduction support and the target movement amount based on the first linear change relationship and the second linear change relationship.

[0081] Optionally, the change in degree of freedom is a displacement or angle change caused by at least one of lifting motion, pitching motion and rolling motion during the process of adding or removing gaskets.

[0082] Optionally, the adjustment module is further used to simulate and adjust the joint driver based on the attitude adjustment mathematical model, determine multiple actual position coordinates of the target in the helicopter tail drive shaft in the virtual working environment according to the adjustment results; calculate the deviation values ​​of the multiple actual position coordinates and the expected position coordinates; and determine the target adjustment amount of increasing or decreasing the gasket of the helicopter tail drive shaft according to the deviation value.

[0083] Optionally, the construction module is further used to construct a geometric model of the tail drive shaft of the helicopter; configure a connecting rod coordinate system of the geometric model in a virtual working environment, the connecting rod coordinate system including: a first camera connecting rod coordinate system, a second camera connecting rod coordinate system, a tail reduction connecting rod coordinate system, and a main reduction connecting rod coordinate system, wherein a camera sensor is fixedly connected in the first camera connecting rod coordinate system and the second camera connecting rod coordinate system, respectively, a first circular target is fixedly connected at the origin of the tail reduction connecting rod coordinate system, and a second circular target is fixedly connected at the origin of the main reduction connecting rod coordinate system.

[0084] It should be noted that the above explanation of the embodiment of the helicopter transmission shaft coaxiality measurement and adjustment method is also applicable to the helicopter transmission shaft coaxiality measurement and adjustment device of this embodiment, which will not be repeated here.

[0085] According to the helicopter drive shaft coaxiality measurement and adjustment device proposed in the embodiment of the present application, a virtual working environment for adjusting the coaxiality of the helicopter tail drive shaft is constructed, and a joint driver is configured in the virtual working environment to simulate the adjustment of adding or removing gaskets of the helicopter tail drive shaft, so that the adjustment process is more standardized and automated, and the consistency and reliability of assembly are improved. Based on the virtual-real mapping relationship between the virtual working environment and the real working environment, the measurement data in the real working environment is mapped to the virtual working environment, and the posture adjustment mathematical model is obtained in the virtual environment. According to the model, the target adjustment amount of adding or removing gaskets of the helicopter tail drive shaft is determined, so that the installation and adjustment task can be completed with one adjustment, and simulation calculations, problem backtracing and other operations can be performed in the virtual working environment, which greatly simplifies the actual installation and adjustment work, avoids the traditional manual method that requires frequent disassembly and assembly of tooling for adding gaskets, weakens the dependence on workers' experience, and greatly reduces work intensity.

[0086] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0087] A memory 801 , a processor 802 , and a computer program stored in the memory 801 and executable on the processor 802 .

[0088] When the processor 802 executes the program, the helicopter transmission shaft coaxiality measurement and adjustment method provided in the above embodiment is implemented.

[0089] Furthermore, the electronic device further comprises:

[0090] The communication interface 803 is used for communication between the memory 801 and the processor 802 .

[0091] The memory 801 is used to store computer programs that can be executed on the processor 802 .

[0092] The memory 801 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0093] If the memory 801, the processor 802 and the communication interface 803 are implemented independently, the communication interface 803, the memory 801 and the processor 802 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0094] Optionally, in a specific implementation, if the memory 801, the processor 802 and the communication interface 803 are integrated on a chip, the memory 801, the processor 802 and the communication interface 803 can communicate with each other through an internal interface.

[0095] The processor 802 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0096] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for measuring and adjusting the coaxiality of a helicopter transmission shaft.

[0097] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0098] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0099] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0100] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0101] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0102] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for measuring and adjusting the coaxiality of a helicopter transmission shaft, characterized in that: The following steps are involved: Construct a virtual operating environment for the helicopter tail drive shaft; configuring a joint driver in the virtual operating environment, wherein the joint driver is used to simulate the adjustment of adding or removing shims of the helicopter tail drive shaft; Acquire measurement data of the helicopter tail drive shaft in a real operating environment, and map the measurement data in the real operating environment to the virtual operating environment based on a virtual-to-real mapping relationship between the virtual operating environment and the real operating environment; A posture adjustment mathematical model is obtained in the virtual working environment, a target adjustment amount of adding or removing gaskets of the helicopter tail drive shaft is determined according to the posture adjustment mathematical model, and the coaxiality of the helicopter tail drive shaft is adjusted in the real working environment based on the target adjustment amount and the virtual-real mapping relationship.

2. The helicopter transmission shaft coaxiality measurement and adjustment method according to claim 1 is characterized in that: The posture adjustment mathematical model represents the mathematical relationship between the amount of padding added to the center reduction support and the amount of target movement. The posture adjustment mathematical model is obtained in the virtual working environment, including: In the virtual operation environment, a first linear change relationship between the position coordinates of the target in the front and rear collimator image coordinate systems and the change in degree of freedom, and a second linear change relationship between the amount of padding added to the center reduction support and the change in degree of freedom are established; A mathematical relationship between the padding amount of the center reduction support and the target movement amount is established based on the first linear change relationship and the second linear change relationship.

3. The helicopter transmission shaft coaxiality measurement and adjustment method according to claim 2 is characterized in that: Before mapping the measurement data in the real working environment to the virtual working environment based on the virtual-to-real mapping relationship between the virtual working environment and the real working environment, the method includes: Collecting the actual position coordinates of the target in the real working environment, wherein the target is a specific position mark on the main reducer and the tail reducer of the helicopter tail transmission shaft; Simulating the change of the actual position coordinates of the target in the virtual working environment according to the posture adjustment mathematical model to obtain the virtual position coordinates of the target in the virtual working environment; The actual position coordinates and the virtual position coordinates are aligned to determine a virtual-real mapping matrix, and a virtual-real mapping relationship between the virtual working environment and the real working environment is determined according to the virtual-real mapping matrix.

4. The helicopter transmission shaft coaxiality measurement and adjustment method according to claim 2 is characterized in that: The change in degree of freedom is the displacement or angle change caused by at least one of the lifting motion, pitching motion and rolling motion in the process of adding or removing the gasket.

5. The method for measuring and adjusting the coaxiality of a helicopter transmission shaft according to claim 1, characterized in that: Determining a target adjustment amount of adding or removing gaskets of the helicopter tail transmission shaft according to the attitude adjustment mathematical model includes: Simulating and adjusting the joint driver based on the attitude adjustment mathematical model, and determining a plurality of actual position coordinates of the target in the tail drive shaft of the helicopter in the virtual working environment according to the adjustment result; Calculating deviation values ​​between the multiple actual position coordinates and the expected position coordinates; The target adjustment amount of adding or removing gaskets of the helicopter tail transmission shaft is determined according to the deviation value.

6. The helicopter transmission shaft coaxiality measurement and adjustment method according to claim 1 is characterized in that: The virtual operating environment for constructing the helicopter tail drive shaft includes: Construct the geometric model of the helicopter tail drive shaft; A link coordinate system is configured for the geometric model in the virtual working environment, wherein the link coordinate system includes: a first camera link coordinate system, a second camera link coordinate system, a tail reduction link coordinate system, and a main reduction link coordinate system, wherein camera sensors are respectively fixed to the first camera link coordinate system and the second camera link coordinate system, a first circular target is fixed to the origin of the tail reduction link coordinate system, and a second circular target is fixed to the origin of the main reduction link coordinate system.

7. A helicopter transmission shaft coaxiality measuring and adjusting device, characterized in that: include: A construction module for constructing a virtual operating environment for a helicopter tail drive shaft; A configuration module, used to configure a joint driver in the virtual operating environment, wherein the joint driver is used to simulate the adjustment of adding or removing shims of the helicopter tail drive shaft; A mapping module, used to obtain measurement data of the helicopter tail drive shaft in a real operating environment, and map the measurement data in the real operating environment to the virtual operating environment based on a virtual-real mapping relationship between the virtual operating environment and the real operating environment; The adjustment module is used to obtain the attitude adjustment mathematical model in the virtual working environment, determine the target adjustment amount of adding or removing gaskets of the helicopter tail drive shaft according to the attitude adjustment mathematical model, and adjust the coaxiality of the helicopter tail drive shaft in the real working environment based on the target adjustment amount and the virtual-real mapping relationship.

8. The helicopter transmission shaft coaxiality measuring and adjusting device according to claim 7 is characterized in that: Also includes: A collection module, used for collecting the actual position coordinates of the target in the real working environment before mapping the measurement data in the real working environment to the virtual working environment based on the virtual-real mapping relationship between the virtual working environment and the real working environment, wherein the target is a specific position mark on the main reducer and the tail reducer of the tail transmission shaft of the helicopter; A simulation module, used for simulating the change of the actual position coordinates of the target in the virtual working environment according to the posture adjustment mathematical model to obtain the virtual position coordinates of the target in the virtual working environment; The determination module is used to align the actual position coordinates with the virtual position coordinates to determine a change matrix, and determine the virtual-real mapping relationship between the virtual working environment and the real working environment according to the change matrix.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the helicopter transmission shaft coaxiality measurement and adjustment method as described in any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed, the helicopter transmission shaft coaxiality measurement and adjustment method described in any one of claims 1-6 is implemented.

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