Attitude adjustment and butt joint method, device, equipment, medium and program for aircraft sections

Abstract

The invention discloses an attitude adjustment and butt joint method, device and equipment for aircraft sections, a medium and a program. The method comprises the following steps: determining a target section in two airplane sections to be docked, and obtaining a measurement feature point data table and an attitude adjustment point data table of the target section; inputting into a pre-constructed simulation docking model of the aircraft section to obtain a simulation value of each measurement point of the target section; obtaining a target simulation value from all simulation values exceeding a preset threshold interval, and determining a target attitude adjustment point for the target measurement point; performing disturbance adjustment on the target attitude adjustment point according to the target simulation value until a preset attitude adjustment precision condition is met; and according to the coordinates of the target attitude adjustment point, determining control parameters of the attitude adjustment positioner so as to guide attitude adjustment docking. According to the embodiment of the invention, the attitude adjustment process is optimized through digital simulation iteration, analysis obstacles caused by data format differences are eliminated, virtual tolerance iteration verification is supported, automatic generation of attitude adjustment parameters is realized, and the docking efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aircraft manufacturing, and in particular to a method, device, equipment, medium and program for pose adjustment and docking of aircraft sections. BACKGROUND

[0002] In the current "structure manufacturer-main manufacturer-supplier" civil aircraft production mode, each aircraft structure manufacturer is responsible for manufacturing large parts and delivering them to the main manufacturer for final assembly. However, in actual processes, the measurement data delivered by each aircraft structure manufacturer is not unified and standardized in format.

[0003] Unreasonable data format results in the inability to import data into a digital virtual docking tolerance simulation platform for iterative analysis, limiting the application of digital technology in civil aircraft production. Further, due to the inability to use the simulation platform for iterative analysis, the main manufacturer needs to perform repeated trial assembly and trial and error on site after receiving the sections delivered by each aircraft structure manufacturer, which not only is inefficient but also may affect the stability of mass production quality and is not conducive to continuous improvement. SUMMARY

[0004] Therefore, the present application provides a method, device, equipment, medium and program for pose adjustment and docking of aircraft sections to solve the problem that the prior art can only adjust the docking position and attitude of each part through repeated trial assembly and trial and error on site.

[0005] In a first aspect, an embodiment of the present application provides a method for pose adjustment and docking of aircraft sections, which comprises:

[0006] determining a target section from two aircraft sections to be docked, and obtaining a measurement feature point data table and a pose adjustment point data table corresponding to the target section;

[0007] inputting the measurement feature point data table and the pose adjustment point data table into a pre-constructed simulation docking model of the aircraft section to obtain a simulation value of each measurement point under the target section;

[0008] iterating through the simulation value of each measurement point, obtaining a target simulation value from all simulation values exceeding a preset threshold interval, and determining a target pose adjustment point for a target measurement point corresponding to the target simulation value according to a pre-set mapping relationship between test points and pose adjustment points;

[0009] adjusting the target pose adjustment point according to the target simulation value, and updating the simulation value of each measurement point under the target section according to the target pose adjustment point after the adjustment, and returning to perform the operation of iterating through the simulation value of each measurement point until a preset pose adjustment accuracy condition is met;

[0010] determining control parameters of a pose adjustor according to the coordinates of the target pose adjustment point at the end of iteration to guide the pose adjustment and docking of the two aircraft sections.

[0011] In a second aspect, an embodiment of the present application provides a pose adjustment docking device for aircraft sections, the device comprising:

[0012] a data table acquisition module configured to determine a target section from the two aircraft sections to be docked, and acquire a measured feature point data table and a pose adjustment point data table corresponding to the target section;

[0013] a simulation value calculation module configured to input the measured feature point data table and the pose adjustment point data table into a pre-constructed simulation docking model of the aircraft sections, to obtain simulation values of each measured point under the target section;

[0014] a target pose adjustment point determination module configured to traverse the simulation values of each measured point, acquire a target simulation value from all simulation values exceeding a preset threshold interval, and determine a target pose adjustment point for a target measured point corresponding to the target simulation value according to a pre-set mapping relationship between test points and pose adjustment points;

[0015] a perturbation adjustment module configured to perturb and adjust the target pose adjustment point according to the target simulation value, and after updating the simulation values of each measured point under the target section according to the perturbed and adjusted target pose adjustment point, return to perform the operation of traversing the simulation values of each measured point until a preset pose adjustment accuracy condition is met;

[0016] a pose adjustment docking parameter determination module configured to determine control parameters of a pose adjustment positioner according to coordinates of the target pose adjustment point at the end of iteration, to guide pose adjustment docking of the two aircraft sections.

[0017] In a third aspect, an embodiment of the present application further provides an electronic device, the electronic device comprising:

[0018] at least one processor; and

[0019] a memory in communication with the at least one processor; wherein

[0020] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the pose adjustment docking method of any embodiment of the present application.

[0021] In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, the computer readable storage medium storing computer instructions, and the computer instructions are used to enable a processor to perform the pose adjustment docking method of any embodiment of the present application when executed.

[0022] In a fifth aspect, the embodiments of the present application further provide a computer program product, which comprises a computer program, and the computer program, when executed by a processor, implements the aircraft section pose adjustment docking method according to any one of the embodiments of the present application.

[0023] The technical solution of the embodiments of the present application automatically finds the target simulation value that exceeds the preset threshold interval by traversing the simulation value of each measurement point, and determines the target pose adjustment point according to the mapping relationship between the test point and the pose adjustment point, thereby reducing manual intervention and improving the automation and intelligent level of the docking process. Through the iterative adjustment mode, the optimal solution can be gradually approached, ensuring the accuracy and stability of the pose adjustment process. Through accurate simulation and iterative adjustment, the number of trial and error in the docking process can be reduced, the docking cycle can be shortened, and the overall work efficiency can be improved. At the same time, since the errors and rework in the docking process are reduced, the production cost can also be reduced to a certain extent.

[0024] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0026] Figure 1 is a flowchart of the pose adjustment docking method of an aircraft section according to the first embodiment of the present application;

[0027] Figure 2 is a flowchart of another pose adjustment docking method of an aircraft section according to the second embodiment of the present application;

[0028] Figure 3 is a structural schematic diagram of a pose adjustment docking device of an aircraft section according to the third embodiment of the present application;

[0029] Figure 4 is a structural schematic diagram of an electronic device for a pose adjustment docking method of an aircraft section according to the fourth embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Example 1

[0033] Figure 1 This is a flow chart of a method for adjusting and docking an aircraft section according to a first embodiment of the present invention. This embodiment is applicable to the case of performing digital full-aircraft docking tolerance analysis based on actual measurement data of aircraft sections. This method can be performed by an aircraft section adjustment and docking device, which can be implemented in the form of hardware and / or software and can be configured in a virtual assembly system for civil aircraft manufacturing. Figure 1 As shown, the method includes:

[0034] S110 , determining a target section among the two aircraft sections to be docked, and obtaining a measurement feature point data table and an attitude adjustment point data table corresponding to the target section.

[0035] The docking segments are two aircraft components, such as a fuselage and wing, that are about to be assembled and docked during the aircraft manufacturing process. The target segment is the segment selected from the two docking segments as the subject of current operations and analysis. The target segment selection may be based on different requirements, such as adjusting the posture of one segment to better mate with the other.

[0036] The measurement feature point data table records relevant data of feature points used for measurement and monitoring on the section, and position, size and other information of the points are very important for evaluating assembly quality and docking accuracy of the section. For example, the measurement feature points can include some key geometric position points, and coordinate values and other information of the points are recorded in the data table.

[0037] The pose adjustment point data table contains data information of points used for adjusting the pose of the section. The pose adjustment points are points that can be operated in the pose adjustment process of the section, and the position and pose of the section are changed by adjusting the points to achieve accurate docking. In the embodiment of the present application, the simulation docking model is a computer simulation-based aircraft section simulation docking model, which can simulate the docking process of the section according to the input data and calculate the simulation values of each measurement point.

[0038] S120, input the measurement feature point data table and the pose adjustment point data table into the pre-constructed simulation docking model of the aircraft section to obtain simulation values of each measurement point under the target section.

[0039] The measurement feature point data table and the pose adjustment point data table of the two sections to be docked are provided as input information to the pre-established simulation docking model of the aircraft section. The model performs simulation calculation according to the data to obtain simulation values corresponding to each measurement point in the two sections under the current docking condition. The simulation values reflect the simulation results of the position, size and other parameters of the measurement points under the assumed docking state.

[0040] Optionally, before inputting the measurement feature point data table and the pose adjustment point data table into the pre-constructed simulation docking model of the aircraft section, the following steps can be further included:

[0041] According to historical aircraft section pose adjustment schemes and actual measurement data of each aircraft section provided by the supplier, the disturbance interval of the pose adjustment point in the simulation docking model and the docking interface control element are determined, and a mapping relationship between the docking interface control element and the pose adjustment point is constructed, wherein each aircraft section contains at least one docking interface element, and each docking interface control element contains a plurality of measurement points.

[0042] The mapping relationship between the docking interface control element and the pose adjustment point is constructed as a simulation operation table, and the simulation operation table is imported into the tolerance analysis software to obtain the simulation docking model for the aircraft section.

[0043] The historical aircraft section alignment scheme contains various practical operation information, experience and results in the past aircraft section alignment process, and the actual measurement data of each aircraft section provided by the supplier reflects the actual status of each aircraft section. The alignment point may have a certain position change or deviation in the actual assembly process due to various factors, and the allowed change range is the disturbance interval. Through analysis of the historical data and the actual measurement data, the reasonable disturbance range of the alignment point may appear, so as to more realistically simulate the actual situation in the simulation docking model. The docking interface control element refers to the part connected between the aircraft sections, and under a certain docking interface control element, a plurality of preset measurement points such as End_Sur_24K_L1, End_Sur_24K_L3, End_Sur_24K_R1 and End_Sur_24K_R11 may be contained. End_Sur_ represents that the docking interface control element is the skin gap, 24K represents the 24 frame interface, and L1 represents the measurement point at the L1 longeron.

[0044] Since the adjustment of the alignment point directly or indirectly affects the state of the docking interface control element, and the change of the docking interface control element may also need to be optimized by adjusting the alignment point. Therefore, the mapping relationship between them needs to be established, that is, it is clear which alignment points are related to each docking interface control element, and how they affect each other, so that the change of the docking interface control element can be accurately simulated according to the change of the alignment point in the simulation process.

[0045] The tolerance analysis software is used for analyzing and simulating the tolerance in various engineering systems. In the embodiment of the application, the simulation docking model can be constructed according to the input related data and the mapping relationship, various conditions in the docking process can be simulated, and the influence of the tolerance on the docking result can be evaluated.

[0046] S130, traverse the simulation values of each measurement point, obtain a target simulation value in all simulation values exceeding a preset threshold interval, and determine a target alignment point for a target measurement point corresponding to the target simulation value according to a preset mapping relationship between the measurement points and the alignment points.

[0047] The preset threshold interval is a preset interval range for measuring whether the simulation value of the measurement point meets the requirements. For each measurement point, there is a corresponding preset threshold interval. If the simulation value of the measurement point exceeds this interval, it means that the state of the measurement point may have a deviation and needs to be adjusted.

[0048] The target simulation value refers to those simulation values found in the process of traversing simulation values of all measurement points, which exceed the preset threshold interval. The appearance of the simulation value means that the state of the measurement point does not meet the expectation, and further processing is needed. The target measurement point is the measurement point corresponding to the target simulation value, that is, the simulation result of the measurement point exceeds the preset threshold interval, and the measurement point needs to be adjusted to achieve a suitable state.

[0049] The mapping relationship between the test point and the pose adjustment point is a predetermined correspondence relationship, which clearly shows which pose adjustment points are associated with each measurement point. When the simulation value of a certain measurement point has a problem (which can exceed the preset threshold interval in the embodiment of the present application), the corresponding pose adjustment point can be found according to the mapping relationship, so that the pose adjustment point can be operated to adjust the state of the measurement point.

[0050] Further, traversing the simulation values of each measurement point, obtaining the target simulation value from all simulation values exceeding the preset threshold interval can include:

[0051] Obtaining the simulation value of a measurement point as a current simulation value in sequence, and detecting whether the current simulation value falls within the preset threshold interval;

[0052] If yes, the processing of the current simulation value is abandoned; if no, the current simulation value is identified as a candidate simulation value, and a target boundary adjacent to the current simulation value is determined according to the boundary of the preset threshold interval;

[0053] If the target boundary is the upper limit of the preset threshold interval, the difference between the current simulation value and the upper limit is calculated as the pose adjustment point disturbance of the current simulation value; if the target boundary is the lower limit of the preset threshold interval, the difference between the current simulation value and the lower limit is calculated as the pose adjustment point disturbance of the current simulation value;

[0054] Returning to the operation of sequentially obtaining the simulation value of a measurement point as a current simulation value until the processing of all measurement points is completed;

[0055] Obtaining the candidate simulation value with the maximum pose adjustment point disturbance as the target simulation value.

[0056] In the embodiment of the present application, if the current simulation value falls within the preset threshold interval, it indicates that the state of the measurement point is within the acceptable range, and it does not need to be further processed, and the value is directly skipped, and the simulation value of the next measurement point is processed. If the current simulation value exceeds the preset threshold interval, the value is marked as an "alternative simulation value", that is, it may become the target simulation value to be found finally. By judging whether the alternative simulation value exceeds the upper limit or the lower limit of the preset threshold interval, the "target boundary" adjacent to it (whether the upper limit or the lower limit) is determined. In a specific example, if the alternative simulation value of the measurement point End_Sur_24K_L1 is 3.273, and the preset threshold interval is [1, 3], at this time, the target boundary adjacent to the alternative simulation value is the upper limit, and the difference (3.273-3=0.273) between the alternative simulation value and the upper limit of the preset threshold interval can be used as the disturbance amount of the attitude adjustment point.

[0057] After processing the simulation values of all the measurement points, a plurality of alternative simulation values and their corresponding attitude adjustment point disturbance amounts are obtained, and the one with the largest attitude adjustment point disturbance amount is found from the alternative simulation values, which is determined as the "target simulation value". The target simulation value will play an important reference role in subsequent aircraft section attitude adjustment operations, because the attitude adjustment point disturbance amount reflects the influence degree of the deviation of the measurement point on the attitude adjustment point.

[0058] S140, according to the target simulation value, the target attitude adjustment point is disturbed and adjusted, and after updating the simulation values of each measurement point under the target section according to the disturbed and adjusted target attitude adjustment point, the operation of traversing the simulation values of each measurement point is returned to be executed until the preset attitude adjustment accuracy condition is met.

[0059] The disturbance adjustment is an operation of adjusting the target attitude adjustment point to a certain extent. By disturbing and adjusting the position of the target attitude adjustment point in a certain direction, the attitude of the target section is changed, and then the simulation values of the measurement points are affected, so that they are closer to the preset threshold interval. The preset attitude adjustment accuracy condition is a condition for judging whether the attitude adjustment operation has reached a satisfactory effect. The condition may include that the simulation values of all the measurement points fall within the preset threshold interval, or the number of attitude adjustments reaches a certain number. When the condition is met, it is considered that the attitude adjustment task can be ended.

[0060] According to the determined target simulation value, the corresponding target attitude adjustment point is disturbed and adjusted, that is, the position parameters of the attitude adjustment point are appropriately changed. After disturbing and adjusting the target attitude adjustment point, the simulation values of each measurement point under the target section are recalculated using the new attitude adjustment point state to reflect the new state of the measurement points after the attitude of the section is changed. Then, the operation of traversing and checking the simulation values of each measurement point is returned again, and the above process is repeated until the preset attitude adjustment accuracy condition is met.

[0061] Optionally, the preset pose adjustment accuracy condition can include:

[0062] the number of iterations of the operation of traversing the simulation value of each measurement point reaches a preset threshold and / or the perturbation amount of the pose adjustment point for perturbation adjustment exceeds the perturbation interval of the pose adjustment point;

[0063] The docking interface control element includes at least one of a skin gap, a contour difference, a longeron axis difference, a slide rail hole spacing, and a slide rail surface difference of the docking interface.

[0064] The number of iterations is the number of repeated operations in the process of processing the simulation value of each measurement point, such as determining whether it exceeds the preset threshold interval, calculating the perturbation amount of the pose adjustment point, etc. Each repeated operation is called an iteration. The docking interface control element refers to the connection part between the aircraft components, which is the key area to realize component assembly and ensure the integrity of the overall structure of the aircraft. For example, the skin gap is used to describe the size of the gap between the aircraft skins at the docking interface, which is an important factor affecting the appearance and aerodynamic performance of the aircraft; the contour difference is used to describe the height difference or discontinuity of the docking components in the contour, and excessive contour difference may affect the aerodynamic performance and structural strength of the aircraft; the longeron axis difference is used to describe the deviation between the axes of the longerons (longitudinal members in the aircraft structure) when docking, which will affect the carrying capacity and stability of the aircraft structure; the slide rail hole spacing is used to describe the distance between the slide rail holes on the docking components, and the slide rail holes are used to install components such as slide rails, and the accuracy of the spacing directly affects the installation precision of the slide rails and the movement performance of the components. The slide rail surface difference is used to describe the height difference or discontinuity of the slide rail surface on the docking components, which will affect the sliding performance of the slide rail and the movement accuracy of the components.

[0065] S150, according to the coordinates of the target pose adjustment point at the end of the iteration, determine the control parameters of the pose adjustment positioner for guiding the pose adjustment docking of the two aircraft sections.

[0066] The pose adjustment positioner is a device used to accurately adjust the position and attitude of the section in the embodiment of the application, which can move, rotate, etc. according to the received control parameters to realize the accurate docking between the sections. Specifically, when the pose adjustment operation meets the preset pose adjustment accuracy condition, i.e. the iteration process ends, the coordinates of the target pose adjustment point at this time are obtained, and the coordinates of the target pose adjustment point are converted into control parameters that can be recognized and executed by the pose adjustment positioner according to the working principle and control logic of the pose adjustment positioner. Finally, these control parameters are transmitted to the pose adjustment positioner, and the pose adjustment positioner performs pose adjustment docking operation on the two aircraft sections according to these parameters, thereby guiding the actual assembly process and realizing the accurate docking of the sections.

[0067] The technical scheme of the embodiment of the present application automatically finds out the target simulation value exceeding the preset threshold interval by traversing the simulation value of each measurement point, and determines the target pose adjustment point according to the mapping relationship between the test point and the pose adjustment point, reduces manual intervention, and improves the automation and intelligent level of the docking process. Through the iterative adjustment mode, the optimal solution can be gradually approached, and the accuracy and stability of the pose adjustment process are ensured. Through accurate simulation and iterative adjustment, the number of trial and error in the docking process can be reduced, the docking period can be shortened, and the overall work efficiency can be improved. At the same time, since the error and rework in the docking process are reduced, the production cost can also be reduced to a certain extent.

[0068] Embodiment two

[0069] Figure 2 The flowchart of another pose adjustment and docking method of an aircraft section provided by the second embodiment of the present application is based on the above-mentioned embodiment. As shown in the figure, Figure 2 the method comprises:

[0070] S210, determining a target section in two aircraft sections to be docked, and processing actual measurement data of each aircraft section provided by a supplier according to a unified standard format.

[0071] Since the actual measurement data of the aircraft sections provided by different suppliers may not be in a unified format, this will bring difficulties to subsequent analysis and processing, and therefore it is necessary to arrange these data according to a unified standard format, such as the storage format, data type, data accuracy, etc., so that the data has consistency and standardization, and is convenient for subsequent extraction and analysis operations.

[0072] S220, extracting the measurement point name, measurement point position and measurement point theoretical coordinate value of the target section from the processed actual measurement data to obtain a measurement feature point data table of the target section.

[0073] From the format-processed actual measurement data, the name information used to identify each measurement point is extracted. These names are usually set to facilitate the identification and differentiation of different measurement points. The measurement point position is the actual position information of each measurement point in the aircraft section, which is generally represented by the coordinates (x, y, z) in a three-dimensional space, and is used to accurately describe the spatial position of the measurement point in a certain coordinate system. The measurement point theoretical coordinate value is the coordinate position that should be in the design theory, which is a standard value determined based on the design drawings and theoretical model of the aircraft, and is used for comparison with the actual measured position.

[0074] S230, extracting the pose adjustment point name and pose adjustment point theoretical coordinate value of the target section from the processed actual measurement data to obtain a pose adjustment point data table of the target section.

[0075] The name of the attitude adjustment point is a name used to identify the attitude adjustment point, which is set to clarify the function and position of different attitude adjustment points, for example, "6#L" can be used to represent the 6th left attitude adjustment point on the nose section for controlling the X direction of the nose. The theoretical coordinate value of the attitude adjustment point is a theoretical coordinate value that can realize accurate docking and attitude adjustment of the aircraft section during the design and assembly of the aircraft.

[0076] S240, input the measured feature point data table and the attitude adjustment point data table into the simulation docking model of the aircraft section constructed in advance, to obtain the simulation value of each measurement point under the target section.

[0077] S250, traverse the simulation value of each measurement point, obtain the target simulation value from all simulation values exceeding the preset threshold interval, and determine the target attitude adjustment point for the target measurement point corresponding to the target simulation value according to the preset mapping relationship between the test point and the attitude adjustment point.

[0078] S260, obtain the maximum attitude adjustment point disturbance quantity corresponding to the target simulation value, and obtain the actual coordinate value of the target attitude adjustment point based on the theoretical coordinate value of the target attitude adjustment point according to the disturbance quantity.

[0079] First, find the maximum attitude adjustment point disturbance quantity corresponding to the target simulation value, which represents the amplitude of the target attitude adjustment point that needs to be adjusted, and then adjust it according to the maximum attitude adjustment point disturbance quantity based on the theoretical coordinate value of the target attitude adjustment point. For example, if the disturbance quantity is the displacement in a certain coordinate axis direction, the displacement is added to the corresponding direction of the theoretical coordinate value (or subtracted, depending on the direction of the disturbance quantity), so as to obtain the actual coordinate value of the target attitude adjustment point, that is, the position of the target attitude adjustment point after disturbance adjustment.

[0080] S270, add the actual coordinate value of the target attitude adjustment point to the attitude adjustment point data table of the original target section to obtain the attitude adjustment point data table of the new target section, and obtain the actual coordinate value of each measurement point under the target section according to the attitude adjustment point data table of the new target section.

[0081] Add the actual coordinate value of the target attitude adjustment point calculated to the attitude adjustment point data table originally recording the target section attitude adjustment point information, update the data table, form a new target section attitude adjustment point data table. And based on the new attitude adjustment point data table, combined with the structure relationship of the aircraft section and the association between the measurement point and the attitude adjustment point, the actual coordinate value of each measurement point under the target section is calculated.

[0082] S280, add the actual coordinate value of each measurement point to the measured feature point data table to obtain a new measured feature point data table.

[0083] The actual coordinate value of each measurement point calculated is added to the measurement feature point data table recording the measurement point information, the data table is updated to obtain a new measurement feature point data table, at this time, the new data table contains the latest position information of the measurement point after the disturbance adjustment.

[0084] S290, input the pose point data table of the new target section and the new measurement feature point data table into the simulation docking model of the aircraft section constructed in advance, and after recalculating the new simulation value of each measurement point of the target section, return to perform the operation of traversing the simulation value of each measurement point until the preset pose accuracy condition is met.

[0085] The updated pose point data table and measurement feature point data table are input as input data into the simulation docking model of the aircraft section constructed in advance, and the simulation docking model recalculates and simulates according to the input data to obtain the new simulation value of each measurement point of the target section. The new simulation value reflects the state of each measurement point after the disturbance adjustment of the target pose point, and can be used to further evaluate the docking effect and quality of the aircraft section, and determine whether to continue the pose operation or other optimization measures.

[0086] S2100, determine the control parameters of the pose positioner according to the coordinates of the target pose point at the end of iteration, to guide the pose docking of the two aircraft sections.

[0087] The technical scheme of the embodiment of the application mainly describes the processes of data standardization and normalization, accurate data extraction and classification, disturbance adjustment of the target pose point, coordinate update based on disturbance amount, and data-driven iterative optimization, through the refinement of the overall scheme. Specifically, through the unified and standardized data processing method and clear data extraction requirements, the trial and error cost and time cost caused by inconsistent data are reduced. At the same time, the disturbance amount is quantified for accurate adjustment, avoiding the blindness of traditional trial fitting, so that the pose operation is more targeted. Through multiple iterations to calculate the new simulation value of each measurement point, it is helpful to timely discover and correct the deviation in the assembly process, and further ensure the assembly precision.

[0088] Embodiment three

[0089] Figure 3 A structure diagram of a pose docking device for an aircraft section is provided for the third embodiment of the application. As shown in the figure, Figure 3 The device comprises:

[0090] The data table acquisition module 310 is configured to determine a target section in the two aircraft sections to be docked, and acquire a measurement feature point data table and a pose point data table corresponding to the target section.

[0091] The simulation value calculation module 320 is configured to input the measured feature point data table and the pose adjustment point data table into a simulation docking model of the aircraft section constructed in advance to obtain simulation values of each measurement point under the target section.

[0092] The target pose adjustment point determination module 330 is configured to traverse the simulation values of each measurement point, obtain a target simulation value from all simulation values exceeding a preset threshold interval, and determine a target pose adjustment point for a target measurement point corresponding to the target simulation value according to a preset mapping relationship between the test point and the pose adjustment point.

[0093] The perturbation adjustment module 340 is configured to perturb and adjust the target pose adjustment point according to the target simulation value, and after updating the simulation values of each measurement point under the target section according to the target pose adjustment point after the perturbation adjustment, return to perform the operation of traversing the simulation values of each measurement point until a preset pose adjustment accuracy condition is met.

[0094] The pose adjustment docking parameter determination module 350 is configured to determine control parameters of a pose adjustment positioner according to the coordinates of the target pose adjustment point at the end of iteration, to guide the pose adjustment docking of the two aircraft sections.

[0095] The technical scheme of the embodiment of the application automatically finds out the target simulation value exceeding the preset threshold interval by traversing the simulation values of each measurement point, and determines the target pose adjustment point according to the mapping relationship between the test point and the pose adjustment point, thereby reducing manual intervention and improving the automation and intelligent level of the docking process. Through the iterative adjustment mode, the optimal solution can be gradually approached, and the accuracy and stability of the pose adjustment process are ensured. Through accurate simulation and iterative adjustment, the number of trial and error in the docking process can be reduced, the docking cycle can be shortened, and the overall work efficiency can be improved. At the same time, since the errors and rework in the docking process are reduced, the production cost can also be reduced to a certain extent.

[0096] Optionally, on the basis of each of the above embodiments, the data table acquisition module 310 can include:

[0097] The measured data processing unit is configured to process the measured data of each aircraft section provided by the supplier according to a unified standard format;

[0098] The measurement feature point data table construction unit is configured to extract the measurement point name, the measurement point position, and the measurement point theoretical coordinate value under the target section from the processed measured data to obtain the measurement feature point data table of the target section.

[0099] The pose adjustment point data table construction unit is configured to extract the pose adjustment point name and the pose adjustment point theoretical coordinate value under the target section from the processed measured data to obtain the pose adjustment point data table of the target section.

[0100] Optionally, based on the above embodiments, the system may further include: a simulation docking model construction unit configured to determine, before inputting the measurement feature point data table and the attitude adjustment point data table into the pre-constructed simulation docking model of the aircraft section, the disturbance interval of the attitude adjustment points and the docking interface control elements in the simulation docking model based on historical aircraft section attitude adjustment plans and the actual measured data of each aircraft section provided by the supplier, and to construct a mapping relationship between the docking interface control elements and the attitude adjustment points, wherein each aircraft section includes at least one docking interface element, and each docking interface control element includes a plurality of measurement points;

[0101] The mapping relationship between the docking interface control elements and the attitude adjustment points is constructed as a simulation operation table, and the simulation operation table is imported into the tolerance analysis software to obtain a simulation docking model for the aircraft section.

[0102] Optionally, based on the above embodiments, the target posture adjustment point determination module 330 may include:

[0103] A simulation value detection unit is used to sequentially obtain the simulation value of a measurement point as a current simulation value, and detect whether the current simulation value falls within a preset threshold interval;

[0104] a simulation value processing unit configured to, if yes, abandon processing of the current simulation value; if no, identify the current simulation value as a candidate simulation value, and determine a target boundary adjacent to the current simulation value based on a preset threshold interval boundary;

[0105] a pose adjustment point disturbance amount calculation unit, configured to, if the target boundary is an upper limit of a preset threshold interval, calculate the difference between the current simulation value and the upper limit as the pose adjustment point disturbance amount corresponding to the current simulation value; and if the target boundary is a lower limit of the preset threshold interval, calculate the difference between the current simulation value and the lower limit as the pose adjustment point disturbance amount corresponding to the current simulation value;

[0106] The measurement point loop processing unit is used to return to execute the operation of sequentially obtaining the simulation value of each measurement point as the current simulation value until the processing of all measurement points is completed;

[0107] The target simulation value determination unit is used to obtain the alternative simulation value with the largest disturbance amount at the attitude adjustment point as the target simulation value.

[0108] Optionally, based on the above embodiments, the disturbance adjustment module 340 may include:

[0109] a posture adjustment point actual coordinate value acquisition unit, configured to acquire a maximum posture adjustment point disturbance corresponding to a target simulation value, and obtain an actual coordinate value of the target posture adjustment point based on the disturbance value and the theoretical coordinate value of the target posture adjustment point;

[0110] The actual coordinate value acquisition unit is configured to add the actual coordinate value of the target pose point to the pose point data table of the original target section to obtain a new pose point data table of the target section, and obtain the actual coordinate value of each measurement point under the target section according to the new pose point data table of the target section.

[0111] The measurement feature point data table updating unit is configured to add the actual coordinate value of each measurement point to the measurement feature point data table to obtain a new measurement feature point data table.

[0112] The simulation value recalculation unit is configured to input the new pose point data table of the target section and the new measurement feature point data table into the simulation docking model of the aircraft section that is constructed in advance to recalculate the new simulation value of each measurement point under the target section.

[0113] Optionally, on the basis of each of the above embodiments, the preset pose adjustment precision condition can include that the iteration number of the operation of traversing the simulation value of each measurement point reaches a preset threshold and / or the disturbance amount of the pose point for disturbance adjustment exceeds the disturbance interval of the pose point.

[0114] The docking interface control element can include at least one of a skin gap, a contour step, a longer beam axis step, a slide rail hole spacing, and a slide rail surface step of the docking interface.

[0115] The aircraft section pose adjustment docking device provided by the embodiment of the application can execute the aircraft section pose adjustment docking method provided by any of the embodiments of the application, and has the corresponding function modules and beneficial effects of the execution method.

[0116] Embodiment four

[0117] Figure 4 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the applications described and / or claimed in this document.

[0118] As Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0119] Various components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, a loudspeaker, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0120] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as a pose alignment docking method for an aircraft section.

[0121] That is, a target section is determined among two aircraft sections to be docked, and a measurement feature point data table and a pose alignment point data table corresponding to the target section are obtained;

[0122] The measurement feature point data table and the pose alignment point data table are input into a pre-constructed simulation docking model of the aircraft section, to obtain a simulation value of each measurement point under the target section;

[0123] The simulation values of each measurement point are traversed, a target simulation value is obtained among all simulation values exceeding a preset threshold interval, and a target pose alignment point is determined for a target measurement point corresponding to the target simulation value according to a pre-set mapping relationship between the test point and the pose alignment point;

[0124] The target pose point is disturbed and adjusted according to the target simulation value, and after the simulation value of each measurement point under the target section is updated according to the disturbed and adjusted target pose point, the operation of traversing the simulation value of each measurement point is returned to be executed until the preset pose adjustment accuracy condition is met.

[0125] According to the coordinates of the target pose point at the end of iteration, the control parameters of the pose adjustor are determined to guide the pose adjustment docking of the two aircraft sections.

[0126] In some embodiments, a pose adjustment docking method of an aircraft section can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the pose adjustment docking method of an aircraft section described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform a pose adjustment docking method of an aircraft section by any other appropriate means, for example, by means of firmware.

[0127] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0128] Computer programs used to implement the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flow diagrams and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0129] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, 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.

[0130] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device 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 electronic device. Other kinds of devices can be used to provide for interaction with a user as well; 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, speech, or tactile input.

[0131] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end 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 a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0132] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0133] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0134] The above detailed description does not constitute a limitation on the scope of protection of the present application. 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 replacements and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for adjusting and docking an aircraft section, characterized in that: include: Determine a target section among the two aircraft sections to be docked, and obtain a measurement feature point data table and an attitude adjustment point data table corresponding to the target section; Input the measurement feature point data table and the attitude adjustment point data table into the pre-built simulation docking model of the aircraft section to obtain the simulation value of each measurement point under the target section; Traverse the simulation values ​​of each measurement point, obtain the target simulation value from all simulation values ​​that exceed the preset threshold range, and determine the target attitude adjustment point for the target measurement point corresponding to the target simulation value based on the preset mapping relationship between the test point and the attitude adjustment point; Perform disturbance adjustment on the target attitude adjustment point according to the target simulation value, and after updating the simulation value of each measurement point under the target segment according to the target attitude adjustment point after the disturbance adjustment, return to execute the operation of traversing the simulation value of each measurement point until the preset attitude adjustment accuracy condition is met; According to the coordinates of the target attitude adjustment point at the end of the iteration, control parameters of the attitude adjustment positioner are determined to provide guidance for attitude adjustment docking of the two aircraft sections.

2. The method according to claim 1, characterized in that Obtain the measurement feature point data table and posture adjustment point data table corresponding to the target segment, including: Process the measured data of each aircraft section provided by the supplier in a unified standard format; Extracting the name, position and theoretical coordinate value of the measurement point under the target section from the processed measured data to obtain a measurement feature point data table of the target section; The names of the attitude adjustment points under the target segment and the theoretical coordinate values ​​of the attitude adjustment points are extracted from the processed measured data to obtain a attitude adjustment point data table of the target segment.

3. The method according to claim 1, characterized in that Before inputting the measurement feature point data table and the attitude adjustment point data table into the pre-built simulation docking model of the aircraft section, the following steps are also included: Based on historical aircraft segment attitude adjustment plans and actual measured data of each aircraft segment provided by the supplier, the disturbance range of the attitude adjustment points and the docking interface control elements in the simulation docking model are determined, and a mapping relationship between the docking interface control elements and the attitude adjustment points is constructed, where each aircraft segment contains at least one docking interface element, and each docking interface control element contains multiple measurement points; The mapping relationship between the docking interface control elements and the attitude adjustment points is constructed as a simulation operation table, and the simulation operation table is imported into the tolerance analysis software to obtain a simulation docking model for the aircraft section.

4. The method according to claim 1, wherein Traverse the simulation values ​​of each measurement point and obtain the target simulation value from all simulation values ​​that exceed the preset threshold range, including: Obtaining the simulation value of each measurement point in turn as the current simulation value, and detecting whether the current simulation value falls within a preset threshold range; If yes, the processing of the current simulation value is abandoned; if no, the current simulation value is identified as an alternative simulation value, and the target boundary adjacent to the current simulation value is determined according to the preset threshold interval boundary; If the target boundary is the upper limit of the preset threshold interval, the difference between the current simulation value and the upper limit is calculated as the attitude adjustment point disturbance amount corresponding to the current simulation value; if the target boundary is the lower limit of the preset threshold interval, the difference between the current simulation value and the lower limit is calculated as the attitude adjustment point disturbance amount corresponding to the current simulation value; Return to execute the operation of obtaining the simulation value of each measurement point as the current simulation value in turn until the processing of all measurement points is completed; The alternative simulation value with the largest disturbance amount at the attitude adjustment point is obtained as the target simulation value.

5. The method according to claims 1-4, characterized in that Perform disturbance adjustment on the target attitude adjustment point according to the target simulation value, and update the simulation value of each measurement point under the target segment according to the target attitude adjustment point after the disturbance adjustment, including: Obtaining a maximum attitude adjustment point disturbance value corresponding to a target simulation value, and obtaining an actual coordinate value of the target attitude adjustment point based on the theoretical coordinate value of the target attitude adjustment point according to the disturbance value; Add the actual coordinate value of the target posture adjustment point to the posture adjustment point data table of the original target segment to obtain a new posture adjustment point data table of the target segment, and obtain the actual coordinate value of each measurement point under the target segment according to the new posture adjustment point data table of the target segment; Add the actual coordinate value of each measurement point to the measurement feature point data table to obtain a new measurement feature point data table; The new target segment's attitude adjustment point data table and the new measurement feature point data table are input into the pre-built simulation docking model of the aircraft segment, and the new simulation value of each measurement point under the target segment is recalculated.

6. The method according to claim 3, characterized in that The preset posture adjustment accuracy conditions include: The number of iterations of the operation of traversing the simulation value of each measurement point reaches a preset threshold and / or the disturbance amount of the attitude adjustment point used for disturbance adjustment exceeds the disturbance interval of the attitude adjustment point; The control factors of the docking interface include: at least one of the skin gap, the shape step difference, the long stringer axis step difference, the slide rail hole spacing and the slide rail surface step difference of the docking interface.

7. An attitude adjustment and docking device for aircraft sections, characterized in that: include: A data table acquisition module is used to determine a target section among the two aircraft sections to be docked, and to obtain a measurement feature point data table and an attitude adjustment point data table corresponding to the target section; A simulation value calculation module is used to input the measurement feature point data table and the attitude adjustment point data table into a pre-built simulation docking model of the aircraft section to obtain the simulation value of each measurement point under the target section; A target attitude adjustment point determination module is used to traverse the simulation values ​​of each measurement point, obtain the target simulation value from all simulation values ​​that exceed the preset threshold range, and determine the target attitude adjustment point for the target measurement point corresponding to the target simulation value based on the preset mapping relationship between the test point and the attitude adjustment point; A disturbance adjustment module is used to perform disturbance adjustment on the target attitude adjustment point according to the target simulation value, and after updating the simulation value of each measurement point under the target segment according to the target attitude adjustment point after the disturbance adjustment, return to execute the operation of traversing the simulation value of each measurement point until the preset attitude adjustment accuracy condition is met; The attitude docking parameter determination module is used to determine the control parameters of the attitude positioner according to the coordinates of the target attitude point when the iteration ends, so as to guide the attitude docking of the two aircraft sections.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the attitude adjustment and docking method for aircraft sections according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement an attitude adjustment and docking method for aircraft sections according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements a method for attitude adjustment and docking of aircraft sections according to any one of claims 1 to 6.

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