Wing assembly method, system and equipment and storage medium

Abstract

The invention relates to the technical field of aviation component assembly, and discloses a wing assembly method, system and equipment and a storage medium. The method comprises the following steps: acquiring position information of wings, a fuselage and a carrying trolley; according to the position information of the wings, the fuselage and the carrying trolleys, the multiple carrying trolleys are controlled to carry the wings to target positions corresponding to the fuselage; after the target position is reached, obtaining pose information of the wings and the fuselage; and according to the pose information of the wings and the fuselage, the multiple carrying trolleys are controlled to adjust the postures of the wings, and the wings and the fuselage are in butt joint after the postures are adjusted. According to the embodiment of the invention, the wing assembly efficiency and flexibility can be improved.

Description

Technical Field

[0001] This application relates to the technical field of aviation component assembly, and in particular to a wing assembly method, system, device, and storage medium. Background Art

[0002] In the related art, in the aerospace manufacturing industry, component assembly is mainly achieved by manual hoisting or rail-guided vehicle handling and installation, such as the assembly between a wing and a fuselage. However, the above technical solutions all have corresponding defects. Manual hoisting has defects such as low efficiency, a large amount of repetitive work, and poor safety, while the tracks of rail-guided vehicles are fixed on the ground, resulting in poor transfer flexibility. Summary of the Invention

[0003] The purpose of this application is to provide a wing assembly method, system, device, and storage medium, aiming to improve the efficiency and flexibility of wing assembly based on the collaborative handling of an automated guided vehicle for the wing.

[0004] An embodiment of this application provides a wing assembly method, including: Obtaining the position information of the wing, fuselage, and handling trolley; Controlling a plurality of the handling trolleys to transport the wing to a target position corresponding to the fuselage according to the position information of the wing, the fuselage, and the handling trolley; After reaching the target position, obtaining the pose information of the wing and the fuselage; Controlling a plurality of the handling trolleys to adjust the pose of the wing according to the pose information of the wing and the fuselage, and docking the wing and the fuselage after the adjustment.

[0005] In some embodiments, the obtaining the position information of the wing, fuselage, and handling trolley includes: Determining the position information of the handling trolley according to a first map coordinate system; the first map coordinate system is obtained by fusing the radar coordinate information and / or visual coordinate information of each of the handling trolleys; Determining the position information of the wing and the fuselage from a second map coordinate system; the second map coordinate system is constructed from the visual coordinate information of the assembly scene.

[0006] In some embodiments, the controlling a plurality of the handling trolleys to transport the wing to a target position corresponding to the fuselage according to the position information of the wing, the fuselage, and the handling trolley includes: Controlling a plurality of the handling trolleys to move to the lifting point of the wing and lift it according to the position information of the wing and the handling trolley; Control a plurality of the handling carts to carry the wing to the target position according to the position information of both the wing and the fuselage.

[0007] In some embodiments, the controlling a plurality of the handling carts to move to the lifting point of the wing and perform lifting according to the position information of both the wing and the handling carts includes: Determine the reference position information of both the wing and the cluster formed by the plurality of the handling carts to obtain first reference position information and second reference position information; Construct a first navigation path according to the first reference position information and the second reference position information; Control a plurality of the handling carts to move along the first navigation path to the lifting point of the wing, and control the handling carts to perform lifting when the distance between the first reference points is not greater than a first threshold distance; the distance between the first reference points is the distance difference between the reference position corresponding to the first reference position information and the reference position corresponding to the second reference position information.

[0008] In some embodiments, the obtaining the pose information of both the wing and the fuselage includes: Obtain a pose detection image obtained by photographing the wing and the fuselage; Detect the positions of a plurality of pose detection points on both the wing and the fuselage in the pose detection image to obtain the detection point position information of the pose detection points; Determine the pose information of both the wing and the fuselage according to the detection point position information.

[0009] In some embodiments, the controlling a plurality of the handling carts to adjust the pose of the wing according to the pose information of both the wing and the fuselage, and docking the wing and the fuselage after the adjustment includes: Determine target pose information according to the pose information of both the wing and the fuselage; Map the target pose information to the pose adjustment working condition information of the handling carts; Control a plurality of the handling carts to perform a pose adjustment operation on the wing according to the pose adjustment working condition information to align the poses of the wing and the fuselage; Control a plurality of the handling carts to dock the wing and the fuselage with aligned poses.

[0010] In some embodiments, the controlling a plurality of the handling carts to dock the wing and the fuselage with aligned poses includes: Determine the reference position information of both the fuselage and the wing after pose adjustment to obtain third reference position information and fourth reference position information; Construct a second navigation path according to the third reference position information and the fourth reference position information; Control a plurality of the handling trolleys to move along the second navigation path towards the fuselage until the distance between the second reference points is not greater than a second threshold distance; the distance between the second reference points is the distance difference between the reference position corresponding to the third reference position information and the reference position corresponding to the fourth reference position information.

[0011] An embodiment of the present application further provides a wing assembly system, including: A plurality of handling trolleys, equipped with attitude adjustment mechanisms; A first position acquisition module for acquiring the position information of the handling trolleys; A second position acquisition module for acquiring the position information and pose information of both the wing and the fuselage; A control module for obtaining the position information of the wing, the fuselage, and the handling trolleys, controlling a plurality of the handling trolleys to carry the wing to a target position corresponding to the fuselage according to the position information of the wing, the fuselage, and the handling trolleys, after reaching the target position, obtaining the pose information of both the wing and the fuselage, controlling a plurality of the handling trolleys to perform attitude adjustment operations on the wing according to the pose information of both the wing and the fuselage, aligning the poses of the wing and the fuselage, and controlling a plurality of the handling trolleys to dock the wing and the fuselage with aligned poses.

[0012] An embodiment of the present application further provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the above-mentioned wing assembly method is implemented.

[0013] An embodiment of the present application further provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned wing assembly method is implemented.

[0014] The beneficial effects of the present application: It is not necessary to use manual hoisting or rail-guided vehicles to achieve the assembly between the wing and the fuselage. Instead, based on the position information of the wing, the fuselage, and the handling trolleys, a plurality of handling trolleys are scheduled to carry the wing. When the wing is carried to the target position, the pose information of both the wing and the fuselage is used to schedule a plurality of handling trolleys to perform attitude adjustment on the wing and then dock the wing and the fuselage after attitude adjustment, which can effectively improve the handling efficiency of the handling trolleys in wing assembly and improve the efficiency and flexibility of wing assembly. Description of the Drawings

[0015] Figure 1 It is an application environment diagram of the wing assembly method provided by an embodiment of the present application.

[0016] Figure 2 It is a flowchart of the wing assembly method provided by an embodiment of the present application.

[0017] Figure 3 It is a schematic structural diagram of the wing assembly system provided by an embodiment of the present application.

[0018] Figure 4 It is a schematic hardware structure diagram of the electronic device provided by an embodiment of the present application.

[0019] Figure 5 It is an implementation environment diagram for controlling multiple handling carts to move to the lifting points of the wing and perform lifting.

[0020] Figure 6 It is an implementation environment diagram for controlling multiple handling carts to dock the wing and the fuselage after aligning their poses. Detailed implementation manners

[0021] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0022] It should be noted that although functional module division is performed in the device schematic diagram and the logical sequence is shown in the flowchart, in some cases, the steps shown can be executed in a different module division in the device or a different sequence in the flowchart. Terms such as "first" and "second" in the description, claims and drawings are used to distinguish similar objects and are not used to describe a specific order or sequence.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0024] Figure 1 It is an application environment diagram of the wing assembly method provided by an embodiment of the present application. Refer to Figure 1, This wing assembly method is applied to a wing assembly device. The wing assembly device includes a terminal 110 and a server 120. The terminal 110 and the server 120 are connected through a network. The terminal 110 can specifically be a desktop terminal or a mobile terminal, and the mobile terminal can specifically be at least one of a mobile phone, a tablet computer, a laptop computer, etc. The server 120 can be implemented by an independent server or a server cluster composed of multiple servers. The terminal 110 is used to upload the position information of the wing, the fuselage, and the handling cart to the server 120. The server 120 is used to obtain the position information of the wing, the fuselage, and the handling cart, control multiple handling carts to transport the wing to the target position corresponding to the fuselage according to the position information of the wing, the fuselage, and the handling cart. After reaching the target position, obtain the pose information of the wing and the fuselage, control multiple handling carts to adjust the pose of the wing according to the pose information of the wing and the fuselage, and dock the wing and the fuselage after the adjustment.

[0025] In another embodiment, the above wing assembly method can be directly applied to the terminal 110. The terminal 110 is used to obtain the position information of the wing, the fuselage, and the handling cart, control multiple handling carts to transport the wing to the target position corresponding to the fuselage according to the position information of the wing, the fuselage, and the handling cart. After reaching the target position, obtain the pose information of the wing and the fuselage, control multiple handling carts to adjust the pose of the wing according to the pose information of the wing and the fuselage, and dock the wing and the fuselage after the adjustment.

[0026] Refer to Figure 2 , In one embodiment, a wing assembly method is provided. This method can be applied to both the terminal and the server. In this embodiment, taking the application to the terminal as an example. This wing assembly method includes but is not limited to steps S201 to S204.

[0027] Step S201, obtain the position information of the wing, the fuselage, and the handling cart.

[0028] Step S202, control multiple handling carts to transport the wing to the target position corresponding to the fuselage according to the position information of the wing, the fuselage, and the handling cart.

[0029] Step S203, after reaching the target position, obtain the pose information of the wing and the fuselage.

[0030] Step S204, control multiple handling carts to adjust the pose of the wing according to the pose information of the wing and the fuselage, and dock the wing and the fuselage after the adjustment.

[0031] The wing assembly method provided by the embodiments of the present application does not require manual hoisting or a rail-guided vehicle to achieve the assembly between the wing and the fuselage. Instead, based on the position information of the wing, the fuselage, and the handling cart, multiple handling carts are scheduled to carry the wing. When the wing is carried to the target position, the pose information of the wing and the fuselage is used to schedule multiple handling carts to adjust the pose of the wing and then dock the wing and the fuselage, which can effectively improve the handling efficiency of the handling carts in wing assembly and enhance the efficiency and flexibility of wing assembly.

[0032] In one embodiment, obtaining the position information of the wing, the fuselage, and the handling cart includes: determining the position information of the handling cart according to the first map coordinate system, and determining the position information of the wing and the fuselage from the second map coordinate system. The first map coordinate system is obtained by fusing the radar coordinate information and / or visual coordinate information of each handling cart, and the second map coordinate system is constructed from the visual coordinate information of the assembly scene.

[0033] The wing, the fuselage, and the handling cart are all in the same assembly scene, and the position information of the wing, the fuselage, and the handling cart is detected by corresponding position information detection devices. For example, one or more sensing devices (such as cameras, radio frequency scanners, etc.) are arranged at appropriate positions in the handling scene. The terminal can extract data such as the dimensions and textures of the wing, the fuselage, and the handling cart through image recognition technology, and based on these data, the position information of the wing, the fuselage, and the handling cart can be recognized.

[0034] In this embodiment, a lidar and a vehicle-mounted camera are carried on the handling cart. The first map coordinate system is obtained by acquiring and fusing the radar coordinate information and / or visual coordinate information obtained by scanning the environment near the handling cart by the lidar and the vehicle-mounted camera, and then the position information of the handling cart is obtained from the first map coordinate system. A global camera is configured in the assembly scene, and the second map coordinate system is constructed from the visual coordinate information obtained by scanning the environment near the wing and the fuselage by the global camera, and then the position information of the wing and the fuselage is obtained from the second map coordinate system. After the terminal obtains the position information of the wing, the fuselage, and the handling cart, by constructing a corresponding position information mapping relationship, the position information of the wing, the fuselage, and the handling cart is mapped to the same map coordinate system for representation.

[0035] In one embodiment, controlling multiple handling carts to carry the wing to the target position corresponding to the fuselage according to the position information of the wing, the fuselage, and the handling cart includes: controlling multiple handling carts to move to the lifting point of the wing and lift it according to the position information of the wing and the handling cart; controlling multiple handling carts to carry the wing to the target position according to the position information of the wing and the fuselage.

[0036] In this embodiment, first, path planning is performed based on the position information of both the wing and the handling cart, so as to control multiple handling carts to move along the planned path to the lifting points of the wing and perform lifting. Then, path planning is performed based on the position information of both the wing and the fuselage, so as to control multiple handling carts to carry the wing to the target position along the planned path. In the specific implementation, based on the position information of both the wing and the handling cart, with the position of the wing as the end point and the position of the handling cart as the starting point, the navigation path of the handling cart is planned and each handling cart is controlled to move along the navigation path to the position of the wing. After each handling cart moves to each lifting point of the wing, lifting is performed. Based on the position information of both the wing and the fuselage, with the position of the target position as the end point and the position of the wing as the starting point, the navigation path of the handling cart is planned and each handling cart is controlled to move along the navigation path and carry the wing to the target position.

[0037] In one embodiment, controlling multiple handling carts to move to the lifting points of the wing and perform lifting according to the position information of both the wing and the handling cart includes: determining the reference position information of both the wing and the cluster formed by multiple handling carts to obtain the first reference position information and the second reference position information; constructing a first navigation path according to the first reference position information and the second reference position information; controlling multiple handling carts to move along the first navigation path to the lifting points of the wing, and controlling the handling cart to perform lifting when the distance of the first reference point is not greater than the first threshold distance. The distance of the first reference point is the distance difference between the reference position corresponding to the first reference position information and the reference position corresponding to the second reference position information.

[0038] In this embodiment, first, a reference position of both the wing and the cluster formed by multiple handling carts is respectively selected, and then path planning is performed according to the reference position information of the two selected reference positions, and multiple handling carts are controlled to move to the lifting points of the wing while maintaining the cluster formation according to the planned path. In the specific implementation, refer to Figure 5 , determine the reference positions of both the wing and the cluster formed by multiple handling carts, determine the reference position information of the reference position of the cluster formed by the handling carts according to the first map coordinate system to obtain the first reference position information, determine the reference position information of the reference position of the wing according to the second map coordinate system to obtain the second reference position information, construct a first navigation path with the current position of the reference position of the wing as the end point and the current position of the reference position of the cluster formed by the handling carts as the starting point according to the first reference position information and the second reference position information, control multiple handling carts to move along the first navigation path to the lifting points of the wing, compare the distance of the first reference point and the first threshold distance during the movement of the handling cart, and control the handling cart to stop moving and perform lifting when the distance of the first reference point is not greater than the first threshold distance.

[0039] In one embodiment, obtaining the pose information of both the wing and the fuselage includes: obtaining the pose detection images captured of the wing and the fuselage; detecting the positions of a plurality of pose detection points on both the wing and the fuselage in the pose detection images to obtain the detection point position information of the pose detection points; and determining the pose information of both the wing and the fuselage according to the detection point position information.

[0040] In this embodiment, a global camera is configured in the assembly scenario. A second map coordinate system is constructed by obtaining the visual coordinate information obtained by scanning the environment near the wing and the fuselage by the global camera. Further, the positions of a plurality of pose detection points on both the wing and the fuselage in the pose detection images are obtained from the second map coordinate system to obtain the detection point position information of the pose detection points. Then, the respective detection point position information of both the wing and the fuselage is spliced to obtain the pose information of both the wing and the fuselage.

[0041] In one embodiment, controlling a plurality of handling carts to adjust the pose of the wing according to the pose information of both the wing and the fuselage and docking the wing and the fuselage after the adjustment includes: determining the target pose information according to the pose information of both the wing and the fuselage; mapping the target pose information to the pose adjustment working condition information of the handling carts; controlling a plurality of handling carts to perform a pose adjustment operation on the wing according to the pose adjustment working condition information to align the poses of the wing and the fuselage; and controlling a plurality of handling carts to dock the wing and the fuselage with aligned poses.

[0042] In this embodiment, the target pose of the wing is determined according to the pose information of both the wing and the fuselage, so as to determine the corresponding target pose information. The target pose information is decomposed into the displacement amounts and lifting height amounts corresponding to each handling cart. The displacement amounts and lifting height amounts corresponding to the handling carts are mapped to the pose adjustment working condition information of the handling carts. Further, a plurality of handling carts are controlled to perform a pose adjustment operation on the wing according to the pose adjustment working condition information to implement the displacement amounts and lifting height amounts corresponding to the pose adjustment working condition information, so as to align the poses of the wing and the fuselage. After the alignment, a plurality of handling carts are controlled to dock the wing and the fuselage with aligned poses. Specifically in the implementation, first, the target pose of the wing at the docking time is determined according to the pose information of the fuselage. The attitude adjustment amount to be adjusted by the wing is determined according to the target pose and the pose information of the fuselage to obtain the target pose information. Then, the target pose information is decomposed into the displacement amounts and lifting height amounts corresponding to each handling cart. The displacement amounts and lifting height amounts corresponding to the handling carts are mapped to the pose adjustment working condition information of the handling carts. During the pose adjustment and alignment process, the target pose information is compared with the threshold pose information. When the target pose information is not greater than the threshold pose information, the poses of the wing and the fuselage are aligned. After the alignment, a plurality of handling carts are controlled to dock the wing and the fuselage with aligned poses.

[0043] In one embodiment, controlling multiple transfer carts to dock the wing and fuselage after aligning their poses includes: determining the reference position information of both the fuselage and the wing after pose adjustment to obtain third reference position information and fourth reference position information; constructing a second navigation path based on the third reference position information and the fourth reference position information; and controlling the multiple transfer carts to move along the second navigation path towards the fuselage until the distance between the second reference points is not greater than the second threshold distance. The distance between the second reference points is the difference in distance between the reference positions corresponding to the third reference position information and the reference positions corresponding to the fourth reference position information.

[0044] In this embodiment, first, a reference position of both the fuselage and the wing after pose adjustment is selected respectively, and then path planning is performed based on the reference position information of the two selected reference positions, and multiple transfer carts are controlled to move in a cluster formation to the fuselage according to the planned path. In a specific implementation, refer to Figure 6 , determine the reference positions of both the fuselage and the wing after pose adjustment, determine the reference position information of the reference positions of both the wing and the fuselage according to the second map coordinate system to obtain third reference position information and fourth reference position information, construct a second navigation path with the current position of the reference position of the fuselage as the end point and the current position of the reference position of the wing as the starting point based on the third reference position information and the fourth reference position information, control the multiple transfer carts to move along the second navigation path towards the fuselage, compare the distance between the second reference points and the second threshold distance during the movement of the transfer carts, and control the transfer carts to stop moving when the distance between the second reference points is not greater than the second threshold distance.

[0045] Refer to Figure 3 , the embodiment of the present application further provides a wing assembly system that can implement the above wing assembly method. The device system: Multiple transfer carts 310, equipped with a pose adjustment mechanism; A first position acquisition module 320, used to acquire the position information of the transfer carts; A second position acquisition module 330, used to acquire the position information and pose information of both the wing and the fuselage; A control module 340, used to obtain the position information of the wing, the fuselage, and the transfer carts 310, control the multiple transfer carts 310 to carry the wing to the target position corresponding to the fuselage according to the position information of the wing, the fuselage, and the transfer carts 310, after reaching the target position, obtain the pose information of both the wing and the fuselage, control the multiple transfer carts 310 to perform a pose adjustment operation on the wing according to the pose information of both the wing and the fuselage to align the poses of the wing and the fuselage, and control the multiple transfer carts 310 to dock the wing and the fuselage after the poses are aligned.

[0046] The specific implementation manner of this wing assembly system is basically the same as the specific embodiment of the above wing assembly method, and will not be elaborated here.

[0047] Referring to Figure 4 , an embodiment of the present application also discloses an electronic device, including: a memory storing executable program code; a processor coupled to the memory; the processor invoking the executable program code stored in the memory to execute the wing assembly method as described in the foregoing embodiment.

[0048] An embodiment of the present application also discloses a computer storage medium, on which a computer program is stored, and when the computer program is run by a processor, it executes the wing assembly method as described in the foregoing embodiment.

[0049] The processor in the electronic device of the embodiment of the present application can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) or the computer program loaded from the memory into the random access memory (RAM). In the RAM, various programs and data required for memory operations can also be stored. The processor, ROM, and RAM are connected to each other through a bus. The input / output (I / O) interface is also connected to the bus.

[0050] Multiple components in the electronic device are connected to the I / O interface, including: an input unit, such as a keyboard, a mouse, etc.; an output unit, such as various types of displays, speakers, etc.; a storage unit, such as a magnetic disk, an optical disc, etc.; and a communication unit, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit allows the device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0051] The processor can be various general and / or special processing components with processing and computing capabilities. Some examples of the processor include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor executes the various methods and processes described above, such as the coping perception method. For example, in some embodiments, the coping perception method can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a memory. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device via the ROM and / or the communication unit. When the computer program is loaded into the RAM and executed by the processor, one or more steps of the coping perception method described above can be executed. Alternatively, in other embodiments, the processor can be configured to execute the coping perception method in any other appropriate manner (for example, by means of firmware).

[0052] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0053] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0054] In the context of the present disclosure, a machine-readable medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0055] To provide for interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0056] The systems and techniques described herein can be implemented in a computing system including a backend component (e.g., as a data server), or a computing system including a middleware component (e.g., an application server), or a computing system including a frontend component (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend, middleware, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), and the Internet.

[0057] The above specific embodiments do not constitute a limitation on the scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub - combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present disclosure should be included within the scope of the present disclosure.

Claims

1. An aircraft wing assembly method, characterized in that, Including: Obtaining the position information of the wing, fuselage, and handling cart; Controlling a plurality of the handling carts to transport the wing to a target position corresponding to the fuselage according to the position information of the wing, the fuselage, and the handling carts; After reaching the target position, obtaining the pose information of the wing and the fuselage; Controlling a plurality of the handling carts to adjust the pose of the wing according to the pose information of the wing and the fuselage, and docking the wing and the fuselage after the pose adjustment.

2. The wing assembly method according to claim 1, wherein The obtaining the position information of the wing, fuselage, and handling carts includes: Determining the position information of the handling cart according to a first map coordinate system; the first map coordinate system is obtained by fusing the radar coordinate information and / or visual coordinate information of each of the handling carts; Determining the position information of the wing and the fuselage from a second map coordinate system; the second map coordinate system is constructed from the visual coordinate information of the assembly scene.

3. The wing assembly method according to claim 1, characterized in that, The controlling a plurality of the handling carts to transport the wing to a target position corresponding to the fuselage according to the position information of the wing, the fuselage, and the handling carts includes: Controlling a plurality of the handling carts to move to the lifting point of the wing and perform lifting according to the position information of the wing and the handling carts; Controlling a plurality of the handling carts to transport the wing to the target position according to the position information of the wing and the fuselage.

4. The wing assembly method according to claim 3, characterized in that The controlling a plurality of the handling carts to move to the lifting point of the wing and perform lifting according to the position information of the wing and the handling carts includes: Determining the reference position information of the cluster formed by the wing and a plurality of the handling carts to obtain first reference position information and second reference position information; Constructing a first navigation path according to the first reference position information and the second reference position information; Controlling a plurality of the handling carts to move along the first navigation path to the lifting point of the wing, and controlling the handling cart to perform lifting when the distance difference between the first reference points is not greater than a first threshold distance; the distance between the first reference points is the distance difference between the reference positions corresponding to the first reference position information and the reference positions corresponding to the second reference position information.

5. The wing assembly method according to claim 1, wherein, The obtaining the pose information of the wing and the fuselage includes: Obtaining a pose detection image of the wing and the fuselage; Detecting the positions of a plurality of pose detection points on the wing and the fuselage in the pose detection image to obtain the detection point position information of the pose detection points; Determining the pose information of the wing and the fuselage according to the detection point position information.

6. The wing assembly method according to claim 1, characterized in that The controlling a plurality of the handling carts to adjust the pose of the wing according to the pose information of the wing and the fuselage, and docking the wing and the fuselage after the pose adjustment includes: Determining target pose information according to the pose information of the wing and the fuselage; Mapping the target pose information to the pose adjustment working condition information of the handling cart; Controlling a plurality of the handling trolleys to perform a posture adjustment operation on the wing according to the posture adjustment working condition information, so that the postures of the wing and the fuselage are aligned; Controlling a plurality of the handling trolleys to dock the wing and the fuselage after the postures are aligned.

7. The wing assembly method according to claim 6, characterized in that, The controlling a plurality of the handling trolleys to dock the wing and the fuselage after the postures are aligned includes: Determining the reference position information of both the fuselage and the wing after posture adjustment to obtain third reference position information and fourth reference position information; Constructing a second navigation path according to the third reference position information and the fourth reference position information; Controlling a plurality of the handling trolleys to move towards the fuselage along the second navigation path until the distance between the second reference points is not greater than the second threshold distance; the distance between the second reference points is the distance difference between the reference position corresponding to the third reference position information and the reference position corresponding to the fourth reference position information.

8. An aircraft wing assembly system, characterized in that, Including: A plurality of handling trolleys equipped with a posture adjustment mechanism; A first position acquisition module for acquiring the position information of the handling trolley; A second position acquisition module for acquiring the position information and the posture information of both the wing and the fuselage; A control module for acquiring the position information of the wing, the fuselage and the handling trolley, controlling a plurality of the handling trolleys to transport the wing to a target position corresponding to the fuselage according to the position information of the wing, the fuselage and the handling trolley, after reaching the target position, acquiring the posture information of the wing and the fuselage, controlling a plurality of the handling trolleys to perform a posture adjustment operation on the wing according to the posture information of the wing and the fuselage, so that the postures of the wing and the fuselage are aligned, and controlling a plurality of the handling trolleys to dock the wing and the fuselage after the postures are aligned.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the wing assembly method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that, The computer program implements the wing assembly method according to any one of claims 1 to 7 when executed by the processor.

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