Method, system, device and equipment for adjusting position of aircraft component and medium

Abstract

The technical scheme of the invention discloses an aircraft component position adjusting method, system, device and equipment and a medium, the method comprises the following steps: obtaining dynamic stress data and position coordinates of an aircraft component in a docking process, the aircraft component being carried and moved along a moving path through a mobile robot, the dynamic stress data are changed along with the movement of the mobile robot; determining a compensation distance according to the dynamic stress data and the position coordinates; and the compensation distance is sent to a mobile robot, so that the mobile robot adjusts the position of the aircraft component according to the compensation distance. According to the technical scheme provided by the invention, the positions of the aircraft parts in the docking process can be accurately calibrated, the docking accuracy of the aircraft parts is improved, and the aircraft parts are prevented from being damaged due to abnormal stress.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent control, and in particular to a position adjustment method, system, device, equipment and medium for an aircraft component. BACKGROUND

[0002] In aircraft manufacturing and maintenance, component docking is a key step to ensure structural integrity and safety. Due to the large size and high precision requirements of components, position adjustment becomes a core link in the docking process. Precise position adjustment not only reduces assembly errors, but also improves flight performance and service life. With the increasing requirements of the aviation industry for efficiency and precision, optimizing position adjustment technology is of great significance to improving manufacturing quality, reducing costs and ensuring flight safety.

[0003] In the process of docking the aircraft components, due to the large size of the components, multiple docking robots are generally used to assist in transportation. However, due to the uneven ground during the docking process, the positions of multiple docking robots may fluctuate, resulting in large errors in the positions of multiple docking robots, affecting the accuracy of docking. Furthermore, the positional deviation of the mobile robot may cause hard pulling of the aircraft component, leading to damage to the aircraft component. SUMMARY

[0004] The technical solution of the present application provides a position adjustment method, system, device, equipment and medium for an aircraft component. Through the technical solution of the embodiment of the present application, the position of the mobile robot can be accurately compensated, and the positions of the mobile robot and the aircraft component can be accurately calibrated, thereby improving the accuracy of the aircraft component docking process. At the same time, damage to the aircraft component caused by abnormal stress can be avoided.

[0005] In a first aspect, the embodiment of the present application provides a position adjustment method for an aircraft component, comprising:

[0006] Obtaining dynamic force data and position coordinates of the aircraft component during docking, wherein the aircraft component is moved along a movement path by a mobile robot, and the dynamic force data changes due to the movement of the mobile robot;

[0007] Determining a compensation distance according to the dynamic force data and the position coordinates;

[0008] Sending the compensation distance to the mobile robot to adjust the position of the aircraft component according to the compensation distance.

[0009] In a second aspect, the embodiment of the present application provides a position adjustment system for an aircraft component, comprising a mobile robot, a server and a laser positioning module, wherein the mobile robot is configured with a force acquisition module.

[0010] The force collecting module is configured to collect force data of the aircraft component and send the force data to the server through the mobile robot.

[0011] The mobile robot is configured to adjust the position of the aircraft component according to the compensation distance sent by the server.

[0012] The laser positioning module is configured to acquire laser positioning data of the aircraft component and send position coordinates represented by the laser positioning data to the server.

[0013] The server is configured to perform the position adjustment method of the aircraft component according to any of the embodiments of the present application.

[0014] In a third aspect, an embodiment of the present application provides a position adjustment device for an aircraft component, comprising:

[0015] The acquisition module is configured to acquire dynamic force data and position coordinates of the aircraft component during the docking process, wherein the aircraft component is carried and moved along a movement path by a mobile robot, and the dynamic force data changes due to the movement of the mobile robot.

[0016] The determination module is configured to determine a compensation distance according to the dynamic force data and the position coordinates.

[0017] The sending module is configured to send the compensation distance to the mobile robot, so that the mobile robot adjusts the position of the aircraft component according to the compensation distance.

[0018] In a fourth aspect, an embodiment of the present application provides an electronic device, and the electronic device comprises:

[0019] at least one processor; and

[0020] a memory in communication with the at least one processor; wherein

[0021] 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 position adjustment method of the aircraft component according to any of the embodiments of the present application.

[0022] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, and the computer readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to perform the position adjustment method of the aircraft component according to any of the embodiments of the present application when executed.

[0023] The embodiment of the application provides a position adjustment method, system, device, equipment and medium of an aircraft component, the method comprises the following steps: acquiring dynamic force data and position coordinates of the aircraft component in a docking process, wherein the aircraft component is carried and moved along a moving path by a mobile robot, and the dynamic force data changes due to the movement of the mobile robot; compensating distance is determined according to the dynamic force data and the position coordinates; and the compensating distance is sent to the mobile robot, so that the mobile robot adjusts the position of the aircraft component according to the compensating distance. Specifically, the compensating distance of the mobile robot can be accurately determined through the dynamic force data and the position coordinates of the aircraft component, and then the position of the aircraft component is adjusted by the mobile robot according to the compensating distance, so that the docking of the aircraft component is completed. The technical scheme of the embodiment of the application can accurately compensate the position of the mobile robot, accurately calibrate the positions of the mobile robot and the aircraft component, improve the accuracy of the docking process of the aircraft component, and avoid damage of the aircraft component caused by abnormal force. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0025] Figure 1 A flow chart of a position adjustment method of an aircraft component provided by the embodiment one of the application;

[0026] Figure 2 A flow chart of a position adjustment method of an aircraft component provided by the embodiment two of the application;

[0027] Figure 3 A structural schematic diagram of a position adjustment system of an aircraft component provided by the embodiment three of the application;

[0028] Figure 4 A structural schematic diagram of a position adjustment device of an aircraft component provided by the embodiment four of the application;

[0029] Figure 5 A structural schematic diagram of an electronic device provided by the embodiment five of the application. DETAILED DESCRIPTION

[0030] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, so that those skilled in the art can better understand the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0031] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] It should be noted that in the technical solutions of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in the technical solutions comply with relevant laws and regulations and do not violate public order and good customs.

[0033] Embodiment one

[0034] Figure 1 A flowchart of a position adjustment method of an aircraft part is provided for the first embodiment of the present application. The method can be applied to the case that the docking accuracy is low due to poor synchronization of the docking robot during the docking process of the aircraft part. The method can be implemented by a position adjustment device of an aircraft part, which can be configured by software and / or hardware and configured in a computer or server.

[0035] As shown in Figure 1 , comprising:

[0036] Step 110, acquiring dynamic force data and position coordinates of the aircraft part during the docking process, wherein the aircraft part is carried and moved along a moving path by a moving robot, and the dynamic force data changes due to the movement of the moving robot.

[0037] It should be noted that, due to the large volume and weight of the aircraft part, the aircraft part is carried by the mobile robot, and then the docking assembly of the aircraft part is completed by moving the mobile robot. At the same time, during the docking process, due to the uneven ground or the cooperation error between the multiple mobile robots, the position coordinates of the mobile robot will be affected, and then the aircraft part carried will be hard pulled, affecting the safety of the docking.

[0038] The docking process refers to the process of combining at least two parts of the aircraft to form a whole part. The dynamic force data refers to the force data generated by the hard pulling of the aircraft part due to the change of the position of the mobile robot during the docking process. The dynamic force data can be obtained by a force sensor, which can be arranged at the connection between the mobile robot and the aircraft part, such as the connection between the positioning lifting rod of the mobile robot and the aircraft part. The dynamic force data can be transmitted to the server executing the position adjustment method of the aircraft part described in the present application by the mobile robot. The position coordinates are the spatial coordinates of the aircraft part, which can be obtained by a laser positioning device or other positioning system.

[0039] Specifically, since the aircraft part is carried by the mobile robot, the mobile robot will produce hard pulling with the aircraft part during the movement, which will affect and cause damage to the aircraft part. Therefore, by monitoring the dynamic force data and position coordinates of the aircraft part, the position of the mobile robot can be adjusted to avoid damage caused by hard pulling. At the same time, by calibrating the position of the mobile robot, the accuracy of the docking of the aircraft part can be improved.

[0040] Optionally, before the dynamic force data and position coordinates of the aircraft part during the docking process are obtained, the method comprises:

[0041] Obtaining laser positioning data of the aircraft part, and establishing a current coordinate system of the aircraft part according to the laser positioning data and a preset point of the aircraft part.

[0042] The laser positioning data can be obtained by an IGPS (Indoor Global Positioning System) system, and the laser positioning data can include the position coordinates and positioning information of the aircraft. The preset point is a fixed point on the aircraft selected in advance, and the current coordinate system is the coordinate system in which the aircraft part is located during the docking process. It should be noted that, since at least two aircraft parts are required to participate in the docking process, and generally one aircraft part is fixed and the other aircraft part is moved to complete the docking process, the current coordinate system can refer to the coordinate system of the fixed aircraft part and the coordinate system of the moving aircraft part.

[0043] Specifically, the coordinates of the preset points can be determined through at least three preset points on the aircraft component and laser positioning data, and then the current coordinate system of the aircraft component can be determined according to the coordinates of the preset points. The specific determination method is not limited here.

[0044] A theoretical docking model of the aircraft component is obtained, a theoretical point of the preset point in the theoretical docking model is determined, and a theoretical coordinate system of the aircraft component is established according to the theoretical point.

[0045] The theoretical docking model is a virtual three-dimensional model of the aircraft component after successful docking, and the theoretical docking model includes the coordinates of each point of the aircraft component after successful docking.

[0046] Specifically, the theoretical point corresponding to the preset point can be searched in the theoretical docking model, and the position coordinates of the theoretical point are determined, and then the theoretical coordinate system of the aircraft component is established according to the position coordinates of the theoretical point. It should be noted that, since at least two aircraft components are involved in the docking process, the theoretical coordinate system includes the coordinate systems in which the at least two aircraft components are located.

[0047] According to the theoretical coordinate system, the current coordinate system, the preset point and the theoretical point, the moving path of the aircraft component during the docking process is determined.

[0048] The moving path is the movement path of the mobile robot. By moving the mobile robot along the moving path, the aircraft component can reach the position of the aircraft component after successful docking represented by the theoretical docking model, and then the docking of the aircraft component in the actual work can be completed.

[0049] Optionally, a coordinate conversion relationship is determined according to the current coordinate system and the theoretical coordinate system. The position coordinates of the preset terminal point of the theoretical point in the current coordinate system are determined according to the position coordinates of the theoretical point and the coordinate conversion relationship. The position coordinates of the preset point are determined as the preset starting point, and the moving path is determined according to the preset starting point and the preset terminal point.

[0050] The coordinate conversion relationship can map and convert the coordinates in the current coordinate system and the coordinates in the theoretical coordinate system. For example, the position coordinates of the preset points A, B and C of the aircraft component in the current coordinate system are A1, B1 and C1 respectively. After successful docking, the position coordinates of the theoretical points corresponding to the preset points A, B and C in the theoretical coordinate system are A2, B2 and C2 respectively. Therefore, A2, B2 and C2 can be converted to coordinate points A3, B3 and C3 in the current coordinate system through the coordinate conversion relationship, so that the coordinate systems are unified. In the actual docking process, A1, B1 and C1 in the current coordinate system are moved to A3, B3 and C3 respectively, and the docking work can be completed.

[0051] Specifically, the preset point of the aircraft component not connected in actual work can be taken as a preset starting point, the position coordinates of the theoretical point in the current coordinate system are determined as a preset ending point, and then the moving path of the mobile robot is determined. It should be noted that the mobile robot carries the aircraft component to perform the connection work along the moving path. During the moving process, due to the speed and position deviation of the mobile robot, the aircraft component can be hard pulled, which can cause damage to the aircraft component. Therefore, the position of the mobile robot needs to be calibrated according to the method of the embodiment of the application to avoid damage to the aircraft component.

[0052] Optionally, the coordinate conversion relationship can be determined by the following formula:

[0053]

[0054] wherein, and are feature matrices corresponding to the current coordinate system of the aircraft components A and B to be connected respectively, is the inverse matrix of the feature matrix of the aircraft component A.

[0055] and are theoretical coordinate systems of the connected aircraft components A and B respectively,

[0056] is the inverse matrix of the theoretical coordinate system of the aircraft component B, is the coordinate conversion relationship.

[0057] Step 120, determining a compensation distance according to the dynamic force data and the position coordinates.

[0058] Specifically, the step includes:

[0059] acquiring static force data of the aircraft component; if the deviation between the static force data and the dynamic force data is greater than a preset threshold, determining a compensation distance according to the static force data, the dynamic force data and the position coordinates of the aircraft component.

[0060] wherein, the static force data is the force data collected by the force sensor when the aircraft component to be connected is in a static state.

[0061] Specifically, during the connection process, if the mobile robot and the aircraft component have a hard pull, the force of the aircraft component will change, and therefore the deviation between the dynamic force data and the static force data will occur. Further, if the deviation between the static force data and the dynamic force data is greater than a preset threshold, it can be indicated that the position of the mobile robot needs to be adjusted, and then the compensation distance can be determined according to the static force data, the dynamic force data and the position coordinates of the aircraft component.

[0062] For example, if the moving path is not flat, it can cause the mobile robot to suddenly sink, which in turn can cause the aircraft component to be pulled, and thus the compensation distance can be the vertical height distance.

[0063] For example, since the aircraft component can be carried by multiple mobile robots, the hard pulling can be caused by the pulling of the specific position of the aircraft component by the multiple robots due to the cooperation error (change of relative position), and thus the compensation distance can be the horizontal distance adjustment. The horizontal distance adjustment can also be achieved by adjusting the relative speed of each mobile robot, which is not described here.

[0064] Step 130: sending the compensation distance to the mobile robot to adjust the position of the aircraft component according to the compensation distance.

[0065] The compensation distance includes a vertical compensation distance and a horizontal compensation distance, the vertical compensation distance is used to adjust the support height of the positioning telescopic rod of the mobile robot for the aircraft component, and the horizontal compensation distance is used to adjust the horizontal movement of the mobile robot.

[0066] Specifically, the vertical compensation distance and the horizontal distance compensation are sent to the mobile robot to adjust the support height according to the vertical compensation distance, and to adjust the horizontal movement position according to the horizontal compensation distance.

[0067] The embodiment of the application provides a position adjustment method for an aircraft component, which comprises the following steps: acquiring dynamic force data and position coordinates of the aircraft component in a docking process, wherein the aircraft component is carried and moved along a moving path by a mobile robot, and the dynamic force data changes due to the movement of the mobile robot; determining a compensation distance according to the dynamic force data and the position coordinates; and sending the compensation distance to the mobile robot to adjust the position of the aircraft component according to the compensation distance. Specifically, the dynamic force data and the position coordinates of the aircraft component can be used to accurately determine the compensation distance of the mobile robot, and then the mobile robot adjusts the position of the aircraft component according to the compensation distance to complete the docking of the aircraft component. The technical scheme of the embodiment of the application can accurately compensate the position of the mobile robot, accurately calibrate the positions of the mobile robot and the aircraft component, and improve the accuracy of the docking process of the aircraft component.

[0068] Embodiment two

[0069] Figure 2 A flowchart of a position adjustment method for an aircraft component is provided for the second embodiment of the application, which specifically defines a method for determining a compensation distance according to dynamic force data and position coordinates.

[0070] As Figure 2 shown in the accompanying drawings, comprising:

[0071] Step 210, acquiring dynamic force data and position coordinates of the aircraft component in the docking process, wherein the aircraft component is moved along a moving path by a mobile robot, and the dynamic force data changes due to the movement of the mobile robot.

[0072] Step 220, acquiring static force data of the aircraft component.

[0073] Step 230, if the deviation between the static force data and the dynamic force data is greater than a preset threshold, determining a compensation distance according to the static force data, the dynamic force data, and the position coordinates of the aircraft component.

[0074] The static force data includes static vertical force data and static horizontal force data, and the static vertical force data and the static horizontal force data are force data in the horizontal direction and the vertical direction of the aircraft component in a static state, respectively. The dynamic force data includes dynamic vertical force data and dynamic horizontal force data, and the dynamic vertical force data and the dynamic horizontal force data are force data in the vertical direction and the horizontal direction of the aircraft component in the docking process, respectively.

[0075] Optionally, determining the compensation distance according to the static force data, the dynamic force data, and the position coordinates of the aircraft component includes:

[0076] determining a current docking height of the aircraft component according to the position coordinates of the aircraft component, determining a docking height difference according to the current docking height and a theoretical docking height, determining a vertical force deviation according to the dynamic vertical force data and the static vertical force data, and determining the vertical compensation distance according to the docking height difference and the vertical force deviation.

[0077] The current docking height is the height at which the aircraft component currently locates, the theoretical docking height is the height at which the aircraft component successfully docks, the docking height difference represents the deviation of the height of the aircraft component in the docking process, the vertical force deviation represents the deviation of the dynamic vertical force data and the static vertical force data of the aircraft component in the vertical direction, and if the vertical force deviation is too large, the aircraft component may be pulled and damaged. The vertical compensation distance is the height that needs to be compensated in the vertical direction of the aircraft component.

[0078] Optionally, determining the vertical compensation distance according to the docking height difference and the vertical force deviation includes:

[0079] Obtaining a mass parameter, a damping parameter and a stiffness parameter of the aircraft component. Determining a vertical restoring force of the aircraft component according to the stiffness parameter and a docking height difference. Determining a vertical damping force of the aircraft component according to the damping parameter and a desired speed. Determining a vertical desired acceleration of the aircraft component according to the mass parameter, the vertical restoring force, the vertical damping force and a vertical force deviation. Determining a vertical desired speed of the aircraft component according to the vertical desired acceleration, and determining a vertical compensation distance according to the vertical desired speed.

[0080] Determining a horizontal displacement distance of the aircraft component according to a position coordinate of the aircraft component, and determining a horizontal force deviation according to the dynamic horizontal force data and the static horizontal force data. Determining the horizontal compensation distance according to the horizontal displacement distance and the horizontal force deviation.

[0081] The horizontal force deviation is a deviation of the dynamic horizontal force data and the static horizontal force data of the aircraft component in the horizontal direction. The horizontal compensation distance is a distance required to be compensated in the horizontal direction.

[0082] Optionally, determining the horizontal compensation distance according to the horizontal displacement distance and the horizontal force deviation comprises: obtaining a mass parameter, a damping parameter and a stiffness parameter of the aircraft component. Determining a horizontal restoring force of the aircraft component according to the stiffness parameter and the horizontal displacement distance. Determining a horizontal damping force of the aircraft component according to the damping parameter and a desired speed. Determining a horizontal desired acceleration of the aircraft component according to the mass parameter, the horizontal restoring force, the horizontal damping force and a horizontal force deviation. Determining a horizontal desired speed of the aircraft component according to the horizontal desired acceleration, and determining the horizontal compensation distance according to the horizontal desired speed.

[0083] Optionally, the admittance control model can be decoupled in each direction, and represented by using an admittance control model in a one-dimensional system, and the formula is as follows:

[0084]

[0085] In the formula, F is the filtered dynamic force data, F0 is the static force data, m is a virtual mass, b is a virtual damping, k is a virtual stiffness, x is a current position coordinate of the aircraft component, x is a desired position, and x is a desired speed. v is the filtered dynamic force data, F0 is the static force data, m v is the virtual mass, b v is the virtual damping, k v is the virtual stiffness, is the desired acceleration, is the desired speed, x is the current position coordinate of the aircraft component, x v is the desired position.

[0086] The filtering method can be a Kalman filtering algorithm, and the formula is as follows:

[0087]

[0088] Wherein: is the filtered dynamic force data at time H; is the filtered dynamic force data at time H-1;X H is the dynamic force data, is the Kalman gain. Specifically, for the filtered dynamic force data, it needs to be decomposed into force to determine the dynamic vertical force data in the vertical direction and the dynamic horizontal force data in the horizontal direction.

[0089] Specifically, the first-order admittance control model in the vertical direction is:

[0090]

[0091] Wherein, T is the sampling period, t is the current time, X(t-1) is the horizontal displacement distance, which can be determined according to the position coordinates of the aircraft component.F IGPS is the current docking height of the aircraft component at time t;X IGPS_0 is the theoretical docking height, which can be determined according to the height of the successfully docked aircraft component.F d is the vertical force deviation, which can be determined by difference between the dynamic vertical force data and the static vertical force data, x is the vertical compensation distance; b v is the damping parameter, k v is the stiffness parameter, m v is the mass parameter.

[0092] Specifically, k v (X IGPS (t)-X IGPS_0 ) is the vertical restoring force, is the vertical damping force.

[0093] Specifically, the first-order admittance control model in the horizontal direction is:

[0094]

[0095] Wherein, T is the sampling period, t is the current time, X(t-1) is the horizontal displacement distance, which can be determined according to the position coordinates of the aircraft component.F d is the horizontal force deviation, which can be determined by difference between the dynamic horizontal force data and the static horizontal force data, x is the horizontal compensation distance, b v is the damping parameter, k v is the stiffness parameter, m v is the mass parameter.

[0096] Specifically, is the horizontal damping force, k v X(t-1) is the horizontal restoring force.

[0097] Step 240, send the compensation distance to the mobile robot, so that the mobile robot adjusts the position of the aircraft part according to the compensation distance.

[0098] The embodiment of the application provides a position adjustment method of an aircraft part, and the technical scheme of the embodiment of the application can determine the height compensation of the mobile robot in the vertical direction and the distance compensation of the mobile robot in the horizontal direction according to the dynamic force data and the position coordinates in the vertical direction and the horizontal direction, so that the positions of the mobile robot and the aircraft part in the vertical direction and the horizontal direction can be accurately calibrated, the accuracy in the docking process of the aircraft part is improved, and abnormal force of the aircraft part in the vertical direction and the horizontal direction is avoided.

[0099] Embodiment three

[0100] Figure 3 A structural schematic diagram of a position adjustment system of an aircraft part provided by the third embodiment of the application, comprising: a mobile robot 4, a server 6 and a laser positioning module 1, and the mobile robot 4 is configured with a force acquisition module 5. Further, for the purpose of clear understanding, Figure 3 The aircraft part 2 and the aircraft part 3 are further included in the embodiment.

[0101] The force acquisition module 5 is used for acquiring force data of the aircraft part and sending the force data to the server through the mobile robot.

[0102] Specifically, since the docking process needs to fix the aircraft part 3 and move the aircraft part 2, the force data acquired by the force acquisition module 5 includes dynamic force data and static force data of the aircraft part 2.

[0103] The mobile robot 4 is used for adjusting the position of the aircraft part according to the compensation distance sent by the server.

[0104] Illustratively, the mobile robot can be an AGV (Automated Guided Vehicle) robot, and the cooperative control among multiple AGVs can adopt a formation control strategy of navigation following, the leader leads the path navigation of the whole AGV, and the follower keeps a fixed relative pose with the leader.

[0105] The laser positioning module 1 is used for acquiring laser positioning data of the aircraft part and sending position coordinates represented by the laser positioning data to the server.

[0106] Illustratively, the laser positioning module can be an IGPS measuring device, the IGPS measuring device sends laser through a sending component and receives returned laser through a receiving component, and then calculates the coordinate position of the aircraft part through the laser data.

[0107] The server 6 is configured to execute the position adjustment method of the aircraft component according to any of the embodiments of the present application.

[0108] Specifically, the position coordinates of the aircraft component can be measured by the laser positioning module, and then the server can be used to calculate the current coordinate system. The server can determine the moving path of the aircraft component according to the current coordinate system and the stored theoretical docking model. The server sends the moving path to the mobile robot for docking work. During the docking work, the dynamic force data of the aircraft component can be collected by the force collection module and sent to the server through the mobile robot. The server can determine whether the aircraft component is subjected to hard pulling according to the pre-stored static force data, the dynamic force data and the preset threshold. If the aircraft component is subjected to hard pulling, the compensation distance can be determined according to the dynamic force data and the position coordinates, and then the compensation distance can be sent to the mobile robot to adjust the position of the aircraft component through the mobile robot. The mobile robot adjusts the support height according to the vertical compensation distance and adjusts the horizontal moving position according to the horizontal compensation distance.

[0109] The embodiment of the present application provides a position adjustment system of an aircraft component. Through the system of the embodiment of the present application, the position coordinates of the aircraft component can be accurately obtained through the laser positioning module, and the dynamic force data of the aircraft component can be accurately obtained through the force collection module arranged on the mobile robot. Then, the compensation distance can be determined according to the position coordinates and the dynamic force data of the aircraft component through the server. Then, the position coordinates of the aircraft component and the mobile robot are compensated according to the compensation distance. The system can accurately calibrate the position of the mobile robot and the aircraft component based on the cooperation of each component, improve the docking accuracy, and reduce the abnormal force of the aircraft component.

[0110] Embodiment four

[0111] Figure 4 A structural schematic diagram of a position adjustment device of an aircraft component provided by the fourth embodiment of the present application is shown in FIG. 4. Figure 4 As shown in the figure, the device comprises:

[0112] The acquisition module 410 is configured to acquire the dynamic force data and the position coordinates of the aircraft component during the docking process. The aircraft component is carried and moved along the moving path by the mobile robot, and the dynamic force data changes due to the movement of the mobile robot.

[0113] The determination module 420 is configured to determine the compensation distance according to the dynamic force data and the position coordinates.

[0114] The sending module 430 is configured to send the compensation distance to the mobile robot, so that the mobile robot adjusts the position of the aircraft component according to the compensation distance.

[0115] The embodiment of the present application provides a position adjusting device of an aircraft component. The device acquires dynamic force data and position coordinates of the aircraft component in a docking process, wherein the aircraft component is carried and moved along a moving path by a moving robot, and the dynamic force data changes due to the movement of the moving robot. A compensation distance is determined according to the dynamic force data and the position coordinates. The compensation distance is sent to the moving robot, so that the moving robot adjusts the position of the aircraft component according to the compensation distance. Specifically, the dynamic force data and the position coordinates of the aircraft component can be used to accurately determine the compensation distance of the moving robot, and then the moving robot adjusts the position of the aircraft component according to the compensation distance, thereby completing the docking of the aircraft component. The technical scheme of the embodiment of the present application can accurately compensate the position of the moving robot, accurately calibrate the positions of the moving robot and the aircraft component, and improve the accuracy of the docking process of the aircraft component.

[0116] Optionally, the position adjusting device of the aircraft component further comprises a moving path determining module.

[0117] The moving path determining module comprises:

[0118] A current coordinate system determining unit is configured to acquire laser positioning data of the aircraft component, and establish a current coordinate system of the aircraft component according to the laser positioning data and a preset point of the aircraft component.

[0119] A theoretical coordinate system determining unit is configured to acquire a theoretical docking model of the aircraft component, determine a theoretical point corresponding to the preset point in the theoretical docking model, and establish a theoretical coordinate system of the aircraft component according to the theoretical point.

[0120] A moving path determining unit is configured to determine a moving path of the aircraft component in a docking process according to the theoretical coordinate system, the current coordinate system, the preset point and the theoretical point.

[0121] The moving path determining unit comprises:

[0122] A coordinate conversion relationship determining subunit is configured to determine a coordinate conversion relationship according to the current coordinate system and the theoretical coordinate system.

[0123] A conversion subunit is configured to determine a position coordinate of a preset terminal point of the preset point in the current coordinate system according to the position coordinate of the theoretical point and the coordinate conversion relationship.

[0124] A moving path determining subunit is configured to determine a position coordinate of a preset starting point of the preset point as the position coordinate, and determine the moving path according to the preset starting point and the preset terminal point.

[0125] Optionally, the determining module 420 comprises:

[0126] The acquisition unit is configured to acquire static force data of the aircraft component.

[0127] The determination unit is configured to determine a compensation distance according to the static force data, the dynamic force data and the position coordinates of the aircraft component if a deviation between the static force data and the dynamic force data is greater than a preset threshold.

[0128] The static force data includes static vertical force data and static horizontal force data. The dynamic force data includes dynamic vertical force data and dynamic horizontal force data. The determination unit specifically includes:

[0129] The current docking height determination subunit is configured to determine a current docking height of the aircraft component according to the position coordinates of the aircraft component.

[0130] The vertical force deviation determination subunit is configured to determine a docking height difference according to the current docking height and a theoretical docking height of the aircraft component, and determine a vertical force deviation according to the dynamic vertical force data and the static vertical force data.

[0131] The vertical compensation distance determination subunit is configured to determine the vertical compensation distance according to the docking height difference and the vertical force deviation.

[0132] The horizontal force deviation determination subunit is configured to determine a horizontal displacement distance of the aircraft component according to the position coordinates of the aircraft component, and determine a horizontal force deviation according to the dynamic horizontal force data and the static horizontal force data.

[0133] The horizontal compensation distance determination subunit is configured to determine the horizontal compensation distance according to the horizontal displacement distance and the horizontal force deviation.

[0134] Optionally, the vertical compensation distance determination subunit is specifically configured to: acquire a mass parameter, a damping parameter and a stiffness parameter of the aircraft component; determine a vertical restoring force of the aircraft component according to the stiffness parameter and the docking height difference; determine a vertical damping force of the aircraft component according to the damping parameter and an expected speed; determine a vertical expected acceleration of the aircraft component according to the mass parameter, the vertical restoring force, the vertical damping force and the vertical force deviation; determine a vertical expected speed of the aircraft component according to the vertical expected acceleration; and determine the vertical compensation distance according to the vertical expected speed.

[0135] Optionally, the horizontal compensation distance determination sub-unit is specifically configured to: acquire a mass parameter, a damping parameter and a stiffness parameter of the aircraft component; determine a horizontal restoring force of the aircraft component according to the stiffness parameter and the horizontal displacement distance; determine a horizontal damping force of the aircraft component according to the damping parameter and the expected speed; determine a horizontal expected acceleration according to the mass parameter, the horizontal restoring force, the horizontal damping force and the horizontal force deviation; and determine the horizontal expected speed of the aircraft component according to the horizontal expected acceleration, and determine the horizontal compensation distance according to the horizontal expected speed.

[0136] Optionally, the sending module 430 is specifically configured to: send the vertical compensation distance and the horizontal distance compensation to the mobile robot, so that the mobile robot adjusts the support height according to the vertical compensation distance, and so that the mobile robot adjusts the horizontal moving position according to the horizontal compensation distance.

[0137] The position adjustment device for the aircraft component provided in the embodiments of the present application can execute the position adjustment method for the aircraft component provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0138] Embodiment five

[0139] Figure 5 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present 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.

[0140] As shown in Figure 5 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 are communicatively connected to the at least one processor 11, where the memory stores a computer program that can be executed by the at least one processor. 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.

[0141] Multiple 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, speakers, 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 via a computer network such as the Internet and / or various telecommunication networks.

[0142] Processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. Processor 11 executes the various methods and processes described above, such as the method for adjusting the position of an aircraft component.

[0143] In some embodiments, the aircraft component position adjustment method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the aircraft component position adjustment method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to execute the aircraft component position adjustment method in any other suitable manner (e.g., via firmware).

[0144] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0145] Computer programs for implementing 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, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a remote machine or entirely on a remote machine or server.

[0146] 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.

[0147] 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.

[0148] The systems and techniques described herein 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 herein, 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.

[0149] 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. A 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.

[0150] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in series, or executed in different orders, as long as the desired results of the technical solutions of the present disclosure can be achieved, and the present disclosure is not limited herein.

[0151] The above detailed description does not constitute a limitation on the protection scope 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 protection scope of the present application.

Claims

1. A method for adjusting the position of an aircraft component, characterized in that: include: Acquiring dynamic force data and position coordinates of the aircraft component during the docking process, wherein the aircraft component is carried and moved along a moving path by a mobile robot, and the dynamic force data changes due to the movement of the mobile robot; Determining a compensation distance based on the dynamic force data and position coordinates; The compensation distance is sent to a mobile robot, so that the mobile robot adjusts the position of the aircraft component according to the compensation distance.

2. The method according to claim 1, characterized in that Before obtaining the dynamic force data and position coordinates of the aircraft components during the docking process, the following steps are included: Acquiring laser positioning data of the aircraft component, and establishing a current coordinate system of the aircraft component based on the laser positioning data and a preset point of the aircraft component; Acquiring a theoretical docking model of the aircraft component, determining a theoretical point corresponding to the preset point in the theoretical docking model, and establishing a theoretical coordinate system of the aircraft component based on the theoretical point; The moving path of the aircraft components during docking is determined according to the theoretical coordinate system, the current coordinate system, the preset point and the theoretical point.

3. The method according to claim 2, characterized in that Determining the movement path of the aircraft components during docking according to the theoretical coordinate system, the current coordinate system, the preset point, and the theoretical point includes: Determine a coordinate transformation relationship according to the current coordinate system and the theoretical coordinate system; Determine the position coordinates of the theoretical point at the preset end point of the current coordinate system according to the position coordinates of the theoretical point and the coordinate conversion relationship; The position coordinates of the preset point are determined as a preset starting point, and the moving path is determined according to the preset starting point and the preset end point.

4. The method according to claim 1, wherein Determining the compensation distance according to the dynamic force data and the position coordinates includes: obtaining static force data of the aircraft component; If the deviation between the static force data and the dynamic force data is greater than a preset threshold, a compensation distance is determined based on the static force data, the dynamic force data and the position coordinates of the aircraft component.

5. The method according to claim 4, characterized in that The static force data includes static vertical force data and static horizontal force data; the dynamic force data includes dynamic vertical force data and dynamic horizontal force data; Determining the compensation distance based on the static force data, the dynamic force data and the position coordinates of the aircraft component includes: determining a current docking height of the aircraft component according to the position coordinates of the aircraft component; determining a docking height difference based on a current docking height and a theoretical docking height of the aircraft components, and determining a vertical force deviation based on the dynamic vertical force data and the static vertical force data; Determining the vertical compensation distance according to the docking height difference and the vertical force deviation; determining a horizontal displacement distance of the aircraft component according to the position coordinates of the aircraft component, and determining a horizontal force deviation according to the dynamic horizontal force data and the static horizontal force data; The horizontal compensation distance is determined according to the horizontal displacement distance and the horizontal force deviation.

6. The method according to claim 5, characterized in that Determining the vertical compensation distance according to the docking height difference and the vertical force deviation includes: Obtaining mass parameters, damping parameters, and stiffness parameters of the aircraft component; determining a vertical restoring force of the aircraft component based on the stiffness parameter and the docking height difference; determining a vertical damping force of the aircraft component based on the damping parameter and the desired speed; determining a vertical expected acceleration based on the mass parameter, the vertical restoring force, the vertical damping force, and the vertical force deviation; A vertical desired velocity of the aircraft component is determined according to the vertical desired acceleration, and a vertical compensation distance is determined according to the vertical desired velocity.

7. The method according to claim 5, characterized in that Determining the horizontal compensation distance according to the horizontal displacement distance and the horizontal force deviation includes: Obtaining mass parameters, damping parameters, and stiffness parameters of the aircraft component; determining a horizontal restoring force of the aircraft component based on the stiffness parameter and the horizontal displacement distance; determining a horizontal damping force of the aircraft component based on the damping parameter and the expected speed; Determining a horizontal expected acceleration based on the mass parameter, the horizontal restoring force, the horizontal damping force, and the horizontal force deviation; A horizontal expected speed of the aircraft component is determined according to the horizontal expected acceleration, and a horizontal compensation distance is determined according to the horizontal expected speed.

8. The method according to claim 5, characterized in that The step of sending the compensation distance to the mobile robot so that the mobile robot adjusts the position of the aircraft component according to the compensation distance includes: The vertical compensation distance and the horizontal distance compensation are sent to the mobile robot, so that the mobile robot adjusts the support height according to the vertical compensation distance, and so that the mobile robot adjusts the horizontal movement position according to the horizontal compensation distance.

9. A position adjustment system for aircraft components, characterized in that: include: A mobile robot, a server and a laser positioning module, wherein the mobile robot is equipped with a force collection module; The force collection module is used to collect force data of aircraft components and send the force data to the server via the mobile robot; The mobile robot is configured to adjust the position of the aircraft component according to the compensation distance sent by the server; The laser positioning module is used to obtain laser positioning data of the aircraft component and send the position coordinates represented by the laser positioning data to the server; The server is used to execute the position adjustment method of aircraft components according to any one of claims 1-8.

10. A position adjustment device for aircraft components, characterized in that: include: an acquisition module, configured to acquire dynamic force data and position coordinates of the aircraft component during the docking process, wherein the aircraft component is carried and moved along a moving path by a mobile robot, and the dynamic force data changes due to the movement of the mobile robot; A determination module is used to determine a compensation distance based on the dynamic force data and position coordinates; and a sending module is used to send the compensation distance to a mobile robot so that the mobile robot adjusts the position of the aircraft component according to the compensation distance.

11. 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, wherein the computer program is executed by the at least one processor so as to enable the at least one processor to perform the position adjustment method of an aircraft component according to any one of claims 1 to 8.

12. 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 the position adjustment method of an aircraft component according to any one of claims 1 to 8 when executed.

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