An aircraft component docking pose solving method, device, medium and equipment

Abstract

This application discloses a method, apparatus, medium, and equipment for solving the docking pose of aircraft components, relating to the field of aircraft assembly technology. This application unifies the position and attitude information of aircraft components into a global coordinate system using measured three-dimensional coordinates. Then, coordinate transformation is performed through the transformation relationship between measured and theoretical coordinates. Finally, the optimal docking pose is solved by optimizing the objective function. Because the objective function integrates constraints from multiple coordinate systems, complex data transformation and coordinate system matching processes are avoided, making the calculation process simpler and more direct. This not only reduces the computational load but also improves the ease of operation and practicality. By integrating information from multiple coordinate systems, it not only covers the overall pose relationship of the components but also considers the assembly quality of the local docking area, ensuring that the final solved pose meets both overall pose control requirements and local assembly quality requirements, effectively improving the level of aircraft component docking pose solving.

Description

Technical Field

[0001] This application relates to the field of aircraft assembly technology, specifically to a method, apparatus, medium, and equipment for solving the docking pose of aircraft components. Background Technology

[0002] Aircraft assembly is a crucial step in aircraft manufacturing. Ensuring coordination between parts, between parts and tooling, and between tooling components to guarantee assembly accuracy is a key characteristic of aircraft manufacturing. A critical aspect of aircraft assembly is determining the attitude of aircraft components. Existing methods for determining the attitude of aircraft components establish evaluation functions in a single coordinate system to describe the relative position and attitude errors between components. However, evaluation functions established in a single coordinate system only reflect the characteristics of the assembled section and cannot comprehensively reflect the assembly process requirements of the components. This results in a low level of solution capability and certain limitations in the solution results. Summary of the Invention

[0003] The main objective of this application is to provide a method, apparatus, medium, and equipment for solving the docking pose of aircraft components, aiming to solve the problem of the low level of solution for docking pose of aircraft components in the prior art.

[0004] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0005] In a first aspect, embodiments of this application provide a method for solving the docking pose of aircraft components, comprising the following steps:

[0006] Obtain the measured 3D coordinates of feature points on the first and second components in the global coordinate system;

[0007] Based on the transformation relationship between measured 3D coordinates and theoretical 3D coordinates, the first initial pose of the first component and the second initial pose of the second component are obtained respectively.

[0008] Using the first initial pose and the second initial pose as initial values, and the optimization objective function as the optimization objective, the pose of the component is solved. The optimization objective function is obtained based on the first constraint function and the second constraint function. The first constraint function is the constraint function in the global coordinate system, and the second constraint function is the constraint function in the local coordinate system of the docking part.

[0009] In one possible implementation of the first aspect, before solving for the part pose using a first initial pose and a second initial pose as initial values ​​and an optimization objective function as the optimization objective, the method further includes:

[0010] The objective function is obtained based on the first constraint function and the second constraint function.

[0011] In one possible implementation of the first aspect, before obtaining the optimization objective function based on the first constraint function and the second constraint function, the method further includes:

[0012] A first constraint function is obtained based on the first feature point set of the first component and the second component; wherein, the first feature point in the first feature point set is a feature point that characterizes the overall pose of the first component and the second component.

[0013] In one possible implementation of the first aspect, a first constraint function is obtained based on a first set of feature points of the first component and the second component, including:

[0014] The first constraint function is obtained based on the deviation of the attitude adjustment three-dimensional coordinates and theoretical three-dimensional coordinates of the first feature points in the first feature point set of the first component and the second component in the coordinate axis direction, and the maximum allowable deviation of the first feature points in the first feature point set of the first component and the second component in the coordinate axis direction.

[0015] In one possible implementation of the first aspect, before obtaining the optimization objective function based on the first constraint function and the second constraint function, the method further includes:

[0016] A second constraint function is obtained based on the second feature point set of the first component and the second component; wherein, the second feature point in the second feature point set is a feature point that characterizes the local pose of the docking part of the first component and the second component.

[0017] In one possible implementation of the first aspect, a second constraint function is obtained based on a second set of feature points of the first component and the second component, including:

[0018] Based on the second feature point set of the first and second components, establish a local coordinate system for the docking area;

[0019] The theoretical three-dimensional coordinates of the second feature points in the second feature point sets of the first component and the second component in the local coordinate system are obtained respectively, as well as the three-dimensional coordinates of the second feature points in the second feature point sets of the first component and the second component in the local coordinate system after pose adjustment.

[0020] The second constraint function is obtained based on the deviation between the three-dimensional coordinates of the second feature points in the second feature point set of the first and second components after pose adjustment in the local coordinate system and the theoretical three-dimensional coordinates of the second feature points in the second feature point set of the first and second components in the local coordinate system, as well as the maximum allowable deviation of the second feature points in the second feature point set of the first and second components in the local coordinate system.

[0021] In one possible implementation of the first aspect, the component pose is solved using a first initial pose and a second initial pose as initial values ​​and an optimization objective function as the optimization objective, including:

[0022] Using the first and second initial poses as initial values ​​and the optimization objective function as the optimization objective, the poses of the first and second components to be solved are fused into a single particle, and the particle swarm optimization algorithm is used to solve the component poses.

[0023] Secondly, embodiments of this application provide an apparatus for solving the docking pose of aircraft components, comprising:

[0024] The acquisition module is used to acquire the measured three-dimensional coordinates of feature points on the first and second components in the global coordinate system.

[0025] The transformation module is used to obtain the first initial pose of the first component and the second initial pose of the second component according to the transformation relationship between the measured three-dimensional coordinates and the theoretical three-dimensional coordinates.

[0026] The solution module is used to solve the part pose using the first initial pose and the second initial pose as initial values ​​and the optimization objective function as the optimization objective. The optimization objective function is obtained based on the first constraint function and the second constraint function. The first constraint function is the constraint function in the global coordinate system, and the second constraint function is the constraint function in the local coordinate system of the docking part.

[0027] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when loaded and executed by a processor, implements the aircraft component docking pose solving method provided in any of the first aspects above.

[0028] Fourthly, embodiments of this application provide an electronic device, including a processor and a memory, wherein,

[0029] Memory is used to store computer programs;

[0030] The processor is used to load and execute computer programs to enable electronic devices to perform aircraft component docking pose solving methods as provided in any of the first aspects above.

[0031] Compared with the prior art, the beneficial effects of this application are:

[0032] This application proposes a method, apparatus, medium, and device for solving the docking pose of aircraft components. The method includes: obtaining the measured three-dimensional coordinates of feature points on a first component and a second component in a global coordinate system; obtaining a first initial pose of the first component and a second initial pose of the second component based on the transformation relationship between the measured three-dimensional coordinates and the theoretical three-dimensional coordinates; solving the component pose using the first initial pose and the second initial pose as initial values ​​and an optimization objective function as the optimization objective; wherein the optimization objective function is obtained based on a first constraint function and a second constraint function, the first constraint function being a constraint function in a global coordinate system and the second constraint function being a constraint function in a local coordinate system of the docking part. This application first unifies the position and attitude information of aircraft components into a global coordinate system using measured 3D coordinates. Then, it performs coordinate transformation by transforming the measured coordinates with theoretical coordinates to obtain the initial pose of the components. Finally, it solves for the optimal docking pose by optimizing the objective function. Since the objective function is a function in a hybrid coordinate system that integrates constraints from multiple coordinate systems, it avoids complex data transformation and coordinate system matching processes, making the calculation process simpler and more direct. This not only reduces the amount of computation but also improves the convenience and practicality of operation. By integrating information from multiple coordinate systems, the accuracy and stability of the pose solution are improved. Each constraint function describes the relative position and attitude of the components from a specific perspective, thus reflecting the true state of the components more comprehensively and precisely. It not only covers the overall pose relationship of the components but also considers the assembly quality of the local docking area, so that the final solved component pose can meet both the overall pose control requirements and the local assembly quality requirements, effectively improving the level of aircraft component docking pose solution. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the electronic device structure of the hardware operating environment involved in the embodiments of this application;

[0034] Figure 2 A flowchart illustrating the aircraft component docking pose solving method provided in this application embodiment;

[0035] Figure 3 This is a schematic diagram illustrating an application scenario of the aircraft component docking pose solving method provided in the embodiments of this application;

[0036] Figure 4 A schematic diagram of a wing-body docking joint in one embodiment of the aircraft component docking pose solving method provided in this application.

[0037] Figure 5 This is a schematic diagram of the module for solving the docking pose of aircraft components provided in an embodiment of this application;

[0038] The diagram is labeled as follows: 101-Processor, 102-Communication bus, 103-Network interface, 104-User interface, 105-Memory. Detailed Implementation

[0039] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0040] See attached document Figure 1 , attached Figure 1 This is a schematic diagram of the electronic device structure of the hardware operating environment involved in the embodiments of this application. The electronic device may include: a processor 101, such as a central processing unit (CPU), a communication bus 102, a user interface 104, a network interface 103, and a memory 105. The communication bus 102 is used to realize the connection and communication between these components. The user interface 104 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 104 may also include a standard wired interface and a wireless interface. The network interface 103 may optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface). The memory 105 may be a storage device independent of the aforementioned processor 101. The memory 105 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as at least one disk storage device. The processor 101 may be a general-purpose processor, including a central processing unit, a network processor, etc., or it may be a digital signal processor, an application-specific integrated circuit, a field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component.

[0041] Those skilled in the art will understand that the appendix Figure 1 The structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0042] As attached Figure 1 As shown, the memory 105, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and an aircraft component docking pose solving device.

[0043] In the appendix Figure 1In the electronic device shown, the network interface 103 is mainly used for data communication with the network server; the user interface 104 is mainly used for data interaction with the user; the processor 101 and the memory 105 in this application can be set in the electronic device. The electronic device calls the aircraft component docking pose solving device stored in the memory 105 through the processor 101 and executes the aircraft component docking pose solving method provided in the embodiment of this application.

[0044] See attached document Figure 2 Based on the hardware device described in the foregoing embodiments, embodiments of this application provide a method for solving the docking pose of aircraft components, comprising the following steps:

[0045] S10: Obtain the measured 3D coordinates of feature points on the first and second components in the global coordinate system.

[0046] In the specific implementation process, feature points of aircraft components are established, and the measured three-dimensional coordinates of these feature points in the global coordinate system are obtained. The first and second components are the aircraft components that need to be docked and assembled. (See attached...) Figure 3 In the application scenario shown, the first component is the aircraft fuselage component and the second component is the aircraft left wing component, which are denoted as component M and component N respectively. In this application scenario, the dashed box represents the local assembly area. The measured three-dimensional coordinates of all feature points on aircraft component M and component N in the global coordinate system are obtained by using a laser tracker at multiple stations.

[0047] S20: Based on the transformation relationship between measured three-dimensional coordinates and theoretical three-dimensional coordinates, obtain the first initial pose of the first component and the second initial pose of the second component respectively.

[0048] In the specific implementation process, the theoretical three-dimensional coordinates are the coordinate values ​​corresponding to the feature points on the theoretical model, which are known quantities. The feature points on component M are denoted as follows: The measured three-dimensional coordinates are Theoretical three-dimensional coordinates are The three-dimensional coordinates for attitude adjustment are The transformation relationship between the measured three-dimensional coordinates and the theoretical three-dimensional coordinates of aircraft component M is calculated, and the coordinate transformation is performed to obtain the initial pose of component M, i.e., the first initial pose. This involves aligning the measured 3D coordinates of the feature points with their theoretical 3D coordinates to obtain the initial six-dimensional pose vector of the component. Similarly, the initial six-dimensional pose vector of component N can be obtained in the same way. .

[0049] S30: Using the first initial pose and the second initial pose as initial values, and the optimization objective function as the optimization objective, solve for the pose of the component; wherein, the optimization objective function is obtained based on the first constraint function and the second constraint function, the first constraint function is the constraint function in the global coordinate system, and the second constraint function is the constraint function in the local coordinate system of the docking part.

[0050] In the specific implementation process, the initial pose obtained by transforming the aforementioned measured three-dimensional coordinates is used as the initial value. The component pose is solved using the optimization objective function in the hybrid coordinate system as the optimization objective. The first constraint function in the global coordinate system and the second constraint function in the local coordinate system are fused together. Each constraint function describes the relative position and attitude of the component from its own perspective, reflecting the true state of the component more comprehensively. The constraint functions are fused in multiple coordinate systems to establish the optimization objective function and solve it uniformly, avoiding complex data transformation and coordinate system matching. That is, before solving the component pose using the first and second initial poses as initial values ​​and the optimization objective function as the optimization objective, the method also includes:

[0051] The objective function is obtained based on the first constraint function and the second constraint function.

[0052] In one embodiment, before obtaining the optimization objective function based on the first constraint function and the second constraint function, the method further includes:

[0053] A first constraint function is obtained based on the first feature point set of the first component and the second component; wherein, the first feature point in the first feature point set is a feature point that characterizes the overall pose of the first component and the second component.

[0054] In practical implementation, based on the different types of feature points on the component, they are divided into first feature points representing the overall pose of the component and second feature points representing the local pose of the docking area. For example, component M has a total of 20 feature points, of which 8 are used to establish the global constraint function. That is, the first feature points of component M are represented by the set... The 12 feature points used to establish the local constraint function are located on the fuselage docking joint, i.e., the second feature points of component M belong to the set. , , Component N has a total of 14 feature points, of which 8 are used to establish the global constraint function. That is, the first feature point of component N is represented by the set [set name missing]. Six feature points are used to establish the local constraint function. These points are located on the wing docking joint, i.e., the second feature points of component N belong to the set. , , .

[0055] Specifically, based on the first feature point set of the first component and the second component, a first constraint function is obtained, including:

[0056] The first constraint function is obtained based on the deviation of the attitude adjustment three-dimensional coordinates and theoretical three-dimensional coordinates of the first feature points in the first feature point set of the first component and the second component in the coordinate axis direction, and the maximum allowable deviation of the first feature points in the first feature point set of the first component and the second component in the coordinate axis direction.

[0057] In the specific implementation process, based on the first feature point set M0 of component M and the feature point set N0 of component N, the first constraint function in the global coordinate system is defined as follows:

[0058]

[0059] in, Representing the first feature points in M0 and N0 respectively , The deviation between the attitude-adjusted 3D coordinates and the theoretical 3D coordinates in the x, y, and z coordinate axes, i.e. . They represent the first feature points respectively. , The maximum allowable deviation in the x, y, and z coordinate axes is a known constant, set according to the attitude adjustment technology conditions.

[0060] In one embodiment, before obtaining the optimization objective function based on the first constraint function and the second constraint function, the method further includes:

[0061] A second constraint function is obtained based on the second feature point set of the first component and the second component; wherein, the second feature point in the second feature point set is a feature point that characterizes the local pose of the docking part of the first component and the second component.

[0062] In the specific implementation process, a second constraint function is established in the local coordinate system based on the second feature point sets of component M and component N. The family of second feature point sets of component M is represented as follows: The family of the second feature points of component N is represented as The second family of constraint functions in the local coordinate system is represented as follows: ,in, , Let and represent the sets of second feature points of component M and component N, respectively. (Set family) The feature points of each set belong to a subset of the feature points of component M, forming a set family. The feature points of each set belong to a subset of the feature points of component N, that is:

[0063] , i=1,2,…,n,P M This represents the set of all feature points on component M;

[0064] , i=1,2,…,n,P N This represents the set of all feature points on component N.

[0065] Specifically: Based on the second feature point set of the first component and the second component, the second constraint function is obtained, including:

[0066] Based on the second feature point set of the first and second components, establish a local coordinate system for the docking area;

[0067] The theoretical three-dimensional coordinates of the second feature points in the second feature point sets of the first component and the second component in the local coordinate system are obtained respectively, as well as the three-dimensional coordinates of the second feature points in the second feature point sets of the first component and the second component in the local coordinate system after pose adjustment.

[0068] The second constraint function is obtained based on the deviation between the three-dimensional coordinates of the second feature points in the second feature point set of the first and second components after pose adjustment in the local coordinate system and the theoretical three-dimensional coordinates of the second feature points in the second feature point set of the first and second components in the local coordinate system, as well as the maximum allowable deviation of the second feature points in the second feature point set of the first and second components in the local coordinate system.

[0069] In the specific implementation process, taking the second feature point set M1, M2, M3 of component M and the second feature point set N1, N2, N3 of component N as an example, and establishing the second constraint functions F1, F2, F3 in the local coordinate system, the explanation is as follows: There are 3 sets of identical docking joints in the aircraft wing-body docking area, as shown in the attached figure. Figure 4 The diagram shows a wing-body docking joint. In this embodiment, the method for establishing the second constraint function F1 is illustrated using the joints M1 and N1 as examples. The methods for F2 and F3 are the same as those for F1.

[0070] First, establish the local coordinate system of the joint. -xyz; where the origin of the local coordinate system is the center of a fork lug on component N. The x-axis of the coordinate system is parallel to and The connection, by point to The y-axis of the coordinate system is perpendicular to the joint plane and points towards... and One side; the z-axis direction of the coordinate system is obtained according to the right-hand coordinate system establishment rule.

[0071] Secondly, obtain the feature points on component M. The theoretical three-dimensional coordinates in the local coordinate system are as follows: Figure 4 As can be seen from the geometric relationships shown, In the local coordinate system The theoretical coordinates under -xyz can be expressed as follows: , , , .

[0072] Then, the second feature point on component M is obtained. The 3D coordinates after pose adjustment in the local coordinate system can be obtained by solving for the 3D coordinates after pose adjustment in the global coordinate system, and are expressed as follows: , , , .in, yes The pose-adjusted 3D coordinates in the global coordinate system, where R and T are the rotation matrix and translation vector between the global and local coordinate systems, respectively.

[0073] Finally, establish the second constraint function of the joint. ,in, Indicating M1 The deviation between the pose-adjusted 3D coordinates and the theoretical 3D coordinates in the local coordinate system; This represents the maximum permissible deviation of each feature point in M1 in the local coordinate system. Similarly, the second constraint function for the other two sets of joints can be obtained. and .

[0074] In the above process, the methods for solving the rotation matrix R and the translation matrix T are as follows:

[0075] Let the direction vectors of the x-axis, y-axis, and z-axis in the local coordinate system in the global coordinate system be respectively , , .in, , , yes Aesthetic adjustment in three-dimensional coordinates in the global coordinate system. It is a plane normal vector obtained by fitting multiple points on the joint plane through measurement, pointing to... and One side is considered a known quantity. c is obtained through the cross product of the normal vectors of the x-axis and y-axis, i.e. .

[0076] After normalizing the direction vectors in each direction, we have:

[0077] , , ;

[0078] The rotation matrix R between the global coordinate system and the local coordinate system can be expressed as:

[0079]

[0080] Translation matrix .

[0081] In one embodiment, the component pose is solved using a first initial pose and a second initial pose as initial values ​​and an optimization objective function as the optimization objective, including:

[0082] Using the first and second initial poses as initial values ​​and the optimization objective function as the optimization objective, the poses of the first and second components to be solved are fused into a single particle, and the particle swarm optimization algorithm is used to solve the component poses.

[0083] In the specific implementation process, an optimization objective function for the component pose is established. :

[0084] in, This represents the absolute value of the residual in the d-direction for feature points in parts M and N that have exceeded the deviation in both the global and local coordinate systems. Using the objective function as the optimization goal, a particle swarm optimization algorithm is employed to solve for the part poses; specifically, the poses of parts M and N are fused into a single particle with 12 independent parameters. As a dimension of the particle, the initial particle value is the initial particle value. The fitness function of the algorithm is The specific solution steps are well known to those skilled in the art and will not be elaborated here.

[0085] In this embodiment, the position and attitude information of the aircraft components are first unified into the global coordinate system using measured three-dimensional coordinates. Then, coordinate transformation is performed using the transformation relationship between measured and theoretical coordinates to obtain the initial pose of the components. Finally, the optimal docking pose is solved by optimizing the objective function. Since the optimization objective function is a function in a hybrid coordinate system established by integrating constraints from multiple coordinate systems, complex data transformation and coordinate system matching processes are avoided, making the calculation process simpler and more direct. This not only reduces the amount of computation but also improves the convenience and practicality of operation. By integrating information from multiple coordinate systems, the accuracy and stability of the pose solution are improved. Each constraint function describes the relative position and attitude of the components from a specific perspective, thus reflecting the true state of the components more comprehensively and precisely. It not only covers the overall pose relationship of the components but also considers the assembly quality of the local docking area, so that the final solved component pose can meet both the overall pose control requirements and the local assembly quality requirements, effectively improving the level of aircraft component docking pose solution.

[0086] See attached document Figure 5 Based on the same inventive concept as in the foregoing embodiments, this application also provides an aircraft component docking pose solving device, comprising:

[0087] The acquisition module is used to acquire the measured three-dimensional coordinates of feature points on the first and second components in the global coordinate system.

[0088] The transformation module is used to obtain the first initial pose of the first component and the second initial pose of the second component according to the transformation relationship between the measured three-dimensional coordinates and the theoretical three-dimensional coordinates.

[0089] The solution module is used to solve the part pose using the first initial pose and the second initial pose as initial values ​​and the optimization objective function as the optimization objective. The optimization objective function is obtained based on the first constraint function and the second constraint function. The first constraint function is the constraint function in the global coordinate system, and the second constraint function is the constraint function in the local coordinate system of the docking part.

[0090] Those skilled in the art should understand that the division of the various modules in the embodiments is merely a logical functional division. In actual applications, they can be fully or partially integrated into one or more actual carriers. These modules can be implemented entirely in software through processing unit calls, entirely in hardware, or a combination of software and hardware. It should be noted that each module in the aircraft component docking pose solving device in this embodiment corresponds one-to-one with each step in the aircraft component docking pose solving method in the aforementioned embodiments. Therefore, the specific implementation of this embodiment can refer to the implementation of the aforementioned aircraft component docking pose solving method, which will not be repeated here.

[0091] Based on the same inventive concept as in the foregoing embodiments, embodiments of this application also provide a computer-readable storage medium storing a computer program. When the computer program is loaded and executed by a processor, it implements the aircraft component docking pose solving method provided in the embodiments of this application.

[0092] Based on the same inventive concept as in the foregoing embodiments, embodiments of this application also provide an electronic device, including a processor and a memory, wherein,

[0093] Memory is used to store computer programs;

[0094] The processor is used to load and execute computer programs to enable electronic devices to perform the aircraft component docking pose solving method provided in the embodiments of this application.

[0095] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or it may be a device including one or any combination of the above-mentioned memories. The computer may be a variety of computing devices, including smart terminals and servers.

[0096] In some embodiments, executable instructions may take the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0097] As an example, executable instructions may, but do not necessarily, correspond to files in the file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple collaborative files (e.g., a file that stores one or more modules, subroutines, or code sections).

[0098] As an example, executable instructions can be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0099] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0100] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0101] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a multimedia terminal device (which may be a mobile phone, computer, television receiver, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0102] In summary, the embodiments of this application provide a method, apparatus, medium, and device for solving the docking pose of aircraft components. The method includes: obtaining the measured three-dimensional coordinates of feature points on a first component and a second component in a global coordinate system; obtaining a first initial pose of the first component and a second initial pose of the second component based on the transformation relationship between the measured three-dimensional coordinates and the theoretical three-dimensional coordinates; solving the component pose using the first initial pose and the second initial pose as initial values ​​and an optimization objective function as the optimization objective; wherein the optimization objective function is obtained based on a first constraint function and a second constraint function, the first constraint function being a constraint function in a global coordinate system and the second constraint function being a constraint function in a local coordinate system of the docking part. This application first unifies the position and attitude information of aircraft components into a global coordinate system using measured 3D coordinates. Then, it performs coordinate transformation by transforming the measured coordinates with theoretical coordinates to obtain the initial pose of the components. Finally, it solves for the optimal docking pose by optimizing the objective function. Since the objective function is a function in a hybrid coordinate system that integrates constraints from multiple coordinate systems, it avoids complex data transformation and coordinate system matching processes, making the calculation process simpler and more direct. This not only reduces the amount of computation but also improves the convenience and practicality of operation. By integrating information from multiple coordinate systems, the accuracy and stability of the pose solution are improved. Each constraint function describes the relative position and attitude of the components from a specific perspective, thus reflecting the true state of the components more comprehensively and precisely. It not only covers the overall pose relationship of the components but also considers the assembly quality of the local docking area, so that the final solved component pose can meet both the overall pose control requirements and the local assembly quality requirements, effectively improving the level of aircraft component docking pose solution.

[0103] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for solving the docking pose of aircraft components, characterized in that, Includes the following steps: Obtain the measured three-dimensional coordinates of feature points on the first component and the second component in the global coordinate system; wherein, the feature points include a first feature point and a second feature point, the first feature point being a feature point representing the overall pose, and the second feature point being a feature point representing the local pose of the docking part; Based on the transformation relationship between the measured 3D coordinates and the theoretical 3D coordinates, the first initial pose of the first component and the second initial pose of the second component are obtained respectively; wherein, the transformation relationship is used to characterize the alignment of the measured 3D coordinates of the feature points with the theoretical 3D coordinates; Using the first initial pose and the second initial pose as initial values, and the optimization objective function as the optimization objective, the component pose is solved; wherein, the optimization objective function is obtained based on the first constraint function and the second constraint function, the first constraint function is the constraint function in the global coordinate system, and the second constraint function is the constraint function in the local coordinate system of the docking part; the first constraint function is obtained based on the first feature point, and the second constraint function is obtained based on the second feature point.

2. The method for solving the docking pose of aircraft components according to claim 1, characterized in that, Before solving for the component pose using the first initial pose and the second initial pose as initial values ​​and the optimization objective function as the optimization objective, the method further includes: The optimization objective function is obtained based on the first constraint function and the second constraint function.

3. The method for solving the docking pose of aircraft components according to claim 2, characterized in that, Before obtaining the optimization objective function based on the first constraint function and the second constraint function, the method further includes: The first constraint function is obtained based on the first feature point set of the first component and the second component; wherein, the first feature point in the first feature point set is the feature point characterizing the overall pose of the first component and the second component.

4. The method for solving the docking pose of aircraft components according to claim 3, characterized in that, The step of obtaining the first constraint function based on the first feature point set of the first component and the second component includes: The first constraint function is obtained based on the deviation of the pose adjustment three-dimensional coordinates and theoretical three-dimensional coordinates of the first feature points in the first feature point set of the first component and the second component in the coordinate axis direction, and the maximum allowable deviation of the first feature points in the first feature point set of the first component and the second component in the coordinate axis direction.

5. The method for solving the docking pose of aircraft components according to claim 2, characterized in that, Before obtaining the optimization objective function based on the first constraint function and the second constraint function, the method further includes: The second constraint function is obtained based on the second feature point set of the first component and the second component; wherein the second feature point in the second feature point set is the feature point characterizing the local pose of the docking part of the first component and the second component.

6. The method for solving the docking pose of aircraft components according to claim 5, characterized in that, The step of obtaining the second constraint function based on the second feature point set of the first component and the second component includes: A local coordinate system for the docking area is established based on the second feature point set of the first component and the second component; The theoretical three-dimensional coordinates of the second feature points in the second feature point sets of the first component and the second component in the local coordinate system are obtained respectively, as well as the three-dimensional coordinates of the second feature points in the second feature point sets of the first component and the second component after pose adjustment in the local coordinate system. The second constraint function is obtained based on the deviation between the three-dimensional coordinates of the second feature points in the second feature point set of the first component and the second component in the local coordinate system after pose adjustment and the theoretical three-dimensional coordinates of the second feature points in the second feature point set of the first component and the second component in the local coordinate system, and the maximum allowable deviation of the second feature points in the second feature point set of the first component and the second component in the local coordinate system.

7. The method for solving the docking pose of aircraft components according to claim 1, characterized in that, The step of solving for the component pose using the first initial pose and the second initial pose as initial values ​​and the optimization objective function as the optimization objective includes: Using the first initial pose and the second initial pose as initial values ​​and the optimization objective function as the optimization objective, the poses to be solved of the first component and the second component are fused into a single particle, and the particle swarm optimization algorithm is used to solve the component pose.

8. A device for solving the docking pose of aircraft components, characterized in that, include: The acquisition module is used to acquire the measured three-dimensional coordinates of feature points on the first component and the second component in the global coordinate system; wherein, the feature points include a first feature point and a second feature point, the first feature point being a feature point representing the overall pose, and the second feature point being a feature point representing the local pose of the docking part; The transformation module is used to obtain the first initial pose of the first component and the second initial pose of the second component according to the transformation relationship between the measured three-dimensional coordinates and the theoretical three-dimensional coordinates; wherein, the transformation relationship is used to characterize the alignment of the measured three-dimensional coordinates of the feature points with the theoretical three-dimensional coordinates; The solution module is used to solve the component pose using the first initial pose and the second initial pose as initial values ​​and the optimization objective function as the optimization objective; wherein the optimization objective function is obtained based on the first constraint function and the second constraint function, the first constraint function is the constraint function in the global coordinate system, and the second constraint function is the constraint function in the local coordinate system of the docking part; the first constraint function is obtained based on the first feature point, and the second constraint function is obtained based on the second feature point.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is loaded and executed by the processor, it implements the method for solving the docking pose of aircraft components as described in any one of claims 1-7.

10. An electronic device, characterized in that, Including processor and memory, among which, The memory is used to store computer programs; The processor is used to load and execute the computer program so that the electronic device performs the aircraft component docking pose solution method as described in any one of claims 1-7.

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