A method, system, apparatus, device, and medium for position adjustment of an aircraft component

Abstract

The technical scheme of the embodiment of the application discloses a kind of position adjustment method, system, device, equipment and medium of aircraft component, which comprises: the dynamic force data and position coordinates of aircraft component in the process of docking are obtained, wherein the aircraft component is moved along the moving path by mobile robot, and the dynamic force data changes due to the movement of the mobile robot;According to the dynamic force data and position coordinates, the compensation distance is determined;The compensation distance is sent to the mobile robot, so that the mobile robot adjusts the position of the aircraft component according to the compensation distance.The technical scheme provided by the application can accurately calibrate the position of the aircraft component during docking, improve the accuracy of aircraft component docking, and avoid damage caused by abnormal stress of aircraft component.

Description

Technical Field

[0001] This invention relates to the field of intelligent control, and in particular to a method, system, device, equipment, and medium for adjusting the position of aircraft components. Background Technology

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

[0003] During the docking of aircraft components, due to the large size of the components, multiple docking robots are typically used for transportation. However, uneven ground during the docking process can cause the positions of these robots to fluctuate, leading to significant errors in their synchronization and affecting the accuracy of the docking. Furthermore, the positional deviation of the moving robots may cause them to exert force on the aircraft components, resulting in damage. Summary of the Invention

[0004] The technical solution of the present invention provides a method, system, device, equipment and medium for adjusting the position of aircraft components. Through the technical solution of the embodiments of the present invention, the position of the mobile robot can be accurately compensated and the position of the mobile robot and the aircraft components can be accurately calibrated, thereby improving the accuracy of the docking process of aircraft components. At the same time, it can avoid damage to aircraft components caused by abnormal force.

[0005] In a first aspect, embodiments of the present invention provide a method for adjusting the position of an aircraft component, comprising:

[0006] The dynamic force data and position coordinates of the aircraft components during the docking process are obtained, wherein the aircraft components are moved along a moving path by a mobile robot, and the dynamic force data changes due to the movement of the mobile robot.

[0007] The compensation distance is determined based on the dynamic force data and position coordinates.

[0008] The compensation distance is sent to the mobile robot so that the mobile robot can adjust the position of the aircraft component according to the compensation distance.

[0009] Secondly, embodiments of the present invention provide a position adjustment system for aircraft components, including: a mobile robot, a server and a laser positioning module, wherein the mobile robot is equipped with a force acquisition module;

[0010] The force acquisition module is used to collect force data of aircraft components and send the force data to the server through the mobile robot;

[0011] The mobile robot is used to adjust the position of the aircraft components according to the compensation distance sent by the server;

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

[0013] The server is used to execute the position adjustment method for aircraft components as described in any embodiment of the present invention.

[0014] Thirdly, embodiments of the present invention provide a position adjustment device for an aircraft component, comprising:

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

[0016] The determination module is used to determine the compensation distance based on the dynamic force data and position coordinates;

[0017] A sending module is used to send the compensation distance to the mobile robot so that the mobile robot can adjust the position of the aircraft component according to the compensation distance.

[0018] Fourthly, embodiments of the present invention provide an electronic device, characterized in that the electronic device comprises:

[0019] At least one processor; and,

[0020] A memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the aircraft component position adjustment method as described in any one of the embodiments of the present invention.

[0022] Fifthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute the position adjustment method for an aircraft component as described in any one of the embodiments of the present invention.

[0023] This invention provides a method, system, device, equipment, and medium for adjusting the position of an aircraft component. The method includes: acquiring dynamic force data and position coordinates of the aircraft component during the docking process, 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; determining a compensation distance based on the dynamic force data and position coordinates; and 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. Specifically, by using the dynamic force data and position coordinates of the aircraft component, the compensation distance of the mobile robot can be accurately determined, 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 solution of this invention can accurately compensate for the position of the mobile robot, accurately calibrate the positions of the mobile robot and the aircraft component, improve the accuracy of the aircraft component docking process, and at the same time, avoid damage to the aircraft component caused by abnormal forces. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart of a method for adjusting the position of an aircraft component according to Embodiment 1 of the present invention;

[0026] Figure 2 This is a flowchart of a method for adjusting the position of an aircraft component according to Embodiment 2 of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of an aircraft component position adjustment system provided in Embodiment 3 of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of a position adjustment device for an aircraft component provided in Embodiment 4 of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

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

[0033] Example 1

[0034] Figure 1 This is a flowchart illustrating a method for adjusting the position of an aircraft component according to Embodiment 1 of the present invention. This method is applicable to situations where low docking accuracy is caused by poor synchronization of the docking robot during the docking process of aircraft components. The method can be implemented by an aircraft component position adjustment device, which can be configured with software and / or hardware and is installed in a computer or server.

[0035] like Figure 1 As shown, it includes:

[0036] Step 110: Obtain dynamic force data and position coordinates of aircraft components during the docking process, wherein the aircraft components are moved along a moving path by a mobile robot, and the dynamic force data changes as the mobile robot moves.

[0037] It should be noted that due to the large size and weight of aircraft components, these components are carried and moved by mobile robots, which then facilitate the docking and assembly of the components. However, during the docking process, uneven ground or errors in coordination between multiple mobile robots can affect the robots' position coordinates, potentially causing the carried aircraft components to be subjected to rigid pulling, thus compromising the safety of the docking.

[0038] The docking process refers to the process of assembling at least two aircraft components into a single unit. Dynamic force data refers to the force data generated during the docking process due to the rigid pulling force exerted on the aircraft components caused by the change in the position of the mobile robot. Dynamic force data can be acquired using force sensors, which can be configured at the connection point between the mobile robot and the aircraft component, such as the connection point between the mobile robot's positioning telescopic rod and the aircraft component. The dynamic force data can be transmitted via the mobile robot to a server executing the aircraft component position adjustment method described in this application. Position coordinates are the spatial coordinates of the aircraft component and can be obtained using laser positioning equipment or other positioning systems.

[0039] Specifically, because aircraft components are carried by mobile robots, the robots exert rigid tension on the components during movement, potentially causing damage. Therefore, by monitoring the dynamic stress data and position coordinates of the aircraft components, the position of the mobile robot can be adjusted to avoid damage caused by this rigid tension. Furthermore, calibrating the position of the mobile robot can improve the accuracy of aircraft component docking.

[0040] Optionally, before acquiring the dynamic force data and position coordinates of the aircraft components during the docking process, the following steps are included:

[0041] Acquire laser positioning data of the aircraft component, and establish the current coordinate system of the aircraft component based on the laser positioning data and the preset points of the aircraft component.

[0042] The laser positioning data can be obtained through the IGPS (Indoor Global Positioning System) system, and can include the aircraft's position coordinates and positioning information. The preset point is a pre-selected fixed point on the aircraft, and the current coordinate system is the coordinate system of the aircraft component during this docking process. It should be noted that since the docking process requires at least two aircraft components, and generally involves fixing one aircraft component and moving the other, the current coordinate system can refer to both the coordinate system of the fixed aircraft component and the coordinate system of the moving aircraft component.

[0043] Specifically, the coordinates of the preset points can be determined using 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 based on the coordinates of the preset points. The specific determination method is not limited here.

[0044] Obtain the theoretical docking model of the aircraft component, determine the theoretical point corresponding to the preset point in the theoretical docking model, and establish the theoretical coordinate system of the aircraft component based on the theoretical point.

[0045] The theoretical docking model is a virtual 3D model of the successfully docked aircraft components, and includes the coordinates of each point of the aircraft components after successful docking.

[0046] Specifically, the theoretical point corresponding to the preset point can be retrieved in the theoretical docking model, and the position coordinates of the theoretical point can be determined. Then, the theoretical coordinate system of the aircraft component can be established based on the position coordinates of the theoretical point. It should be noted that since the docking process requires the participation of at least two aircraft components, the theoretical coordinate system includes the coordinate systems of the at least two aircraft components.

[0047] Based on the theoretical coordinate system, the current coordinate system, the preset point, and the theoretical point, the movement path of the aircraft components during the docking process is determined.

[0048] The movement path is the motion path of the mobile robot. By moving the mobile robot along the movement path, the aircraft parts can reach the position of successful docking of the aircraft parts as represented by the theoretical docking model, thereby completing the docking of the aircraft parts in actual operation.

[0049] Optionally, a coordinate transformation relationship is determined based on the current coordinate system and the theoretical coordinate system. The position coordinates of the theoretical point at a preset endpoint in the current coordinate system are determined based on the position coordinates of the theoretical point and the coordinate transformation relationship. The position coordinates of the preset point are then used as a preset starting point, and the movement path is determined based on the preset starting point and the preset endpoint.

[0050] The coordinate transformation relationship allows for the mapping and transformation of coordinates between the current coordinate system and the theoretical coordinate system. For example, the preset points A, B, and C of an aircraft component have coordinates A1, B1, and C1 in the current coordinate system, respectively. After successful docking, the theoretical points corresponding to preset points A, B, and C have coordinates A2, B2, and C2 in the theoretical coordinate system. Therefore, the coordinate transformation relationship can be used to convert A2, B2, and C2 into coordinate points A3, B3, and C3 in the current coordinate system, thus unifying the coordinate systems. In the actual docking process, simply moving A1, B1, and C1 in the current coordinate system to A3, B3, and C3 respectively completes the docking operation.

[0051] Specifically, in actual operation, the preset point of the un-docked aircraft component can be used as the preset starting point, and the theoretical point's position coordinates in the current coordinate system can be determined as the preset ending point, thereby determining the mobile robot's movement path. It should be noted that during the docking operation, the mobile robot carries the aircraft component along the movement path. Due to speed and positional deviations during movement, the mobile robot may exert a rigid pull on the aircraft component, potentially causing damage. Therefore, according to the method of this embodiment, the position of the mobile robot needs to be calibrated to avoid damage to the aircraft component.

[0052] Optionally, the coordinate transformation relationship can be determined using the following formula:

[0053]

[0054] in, and These are the feature matrices corresponding to the current coordinate systems of aircraft components A and B, respectively, which are to be docked. Let be the inverse matrix of the characteristic matrix of aircraft component A.

[0055] and These are the theoretical coordinate systems for aircraft components A and B after docking.

[0056] Let be the inverse matrix of the theoretical coordinate system of aircraft component B. This represents the coordinate transformation relationship.

[0057] Step 120: Determine the compensation distance based on the dynamic force data and position coordinates.

[0058] Specifically, the steps include:

[0059] Obtain the 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, determine the compensation distance based on the static force data, the dynamic force data and the position coordinates of the aircraft component.

[0060] Among them, the static force data refers to the force data collected by the force sensor when the aircraft component to be docked is in a static state.

[0061] Specifically, during the docking process, if the mobile robot and the aircraft component experience a rigid pull, the force exerted on the aircraft component will change, resulting in a deviation between the dynamic force data and the static force data. Furthermore, if the deviation between the static and dynamic force data exceeds a preset threshold, it indicates that the position of the mobile robot needs adjustment. The compensation distance can then be determined based on the static force data, the dynamic force data, and the position coordinates of the aircraft component.

[0062] For example, if the movement path is uneven, the mobile robot may suddenly get stuck, which may cause the aircraft parts to be pulled. Therefore, the compensation distance can be the vertical height distance.

[0063] For example, since transporting aircraft parts may require the collaboration of multiple mobile robots, the cause of rigid pulling may be the pulling on specific locations of the aircraft parts due to collaboration errors (changes in relative position) by multiple robots. Therefore, the compensation distance can be adjusted in the horizontal direction. This horizontal distance adjustment can also be achieved by adjusting the relative speeds of the mobile robots, which will not be elaborated upon here.

[0064] Step 130: Send the compensation distance to the mobile robot so that the mobile robot can adjust the position of the aircraft component according to the compensation distance.

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

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

[0067] This invention provides a method for adjusting the position of an aircraft component. The method includes: acquiring dynamic force data and position coordinates of the aircraft component during the docking process, 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; determining a compensation distance based on the dynamic force data and position coordinates; and 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. Specifically, by using the dynamic force data and position coordinates of the aircraft component, the compensation distance of the mobile robot can be accurately determined, 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 solution of this invention can accurately compensate for the position of the mobile robot, accurately calibrate the positions of the mobile robot and the aircraft component, and improve the accuracy of the aircraft component docking process.

[0068] Example 2

[0069] Figure 2 This is a flowchart of a method for adjusting the position of an aircraft component according to Embodiment 2 of the present invention. The method specifically defines a method for determining the compensation distance based on the dynamic force data and position coordinates.

[0070] like Figure 2 As shown, it includes:

[0071] Step 210: Obtain dynamic force data and position coordinates of aircraft components during the docking process, wherein the aircraft components are moved along a moving path by a mobile robot, and the dynamic force data changes as the mobile robot moves.

[0072] Step 220: Obtain the 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, determine the compensation distance based on 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, which represent the forces acting on the aircraft components in the horizontal and vertical directions, respectively, under static conditions. The dynamic force data includes dynamic vertical force data and dynamic horizontal force data, which represent the forces acting on the aircraft components in the vertical and horizontal directions during the docking process.

[0075] Optionally, based on the static force data, dynamic force data, and the position coordinates of the aircraft component, the compensation distance is determined, including:

[0076] The current docking height of the aircraft component is determined based on its position coordinates; the docking height difference is determined based on the current docking height and the theoretical docking height; the vertical force deviation is determined based on the dynamic vertical force data and the static vertical force data; and the vertical compensation distance is determined based on the docking height difference and the vertical force deviation.

[0077] The current docking height refers to the current altitude of the aircraft component, while the theoretical docking height is the altitude of the successfully docked component. The docking height difference represents the altitude deviation of the aircraft component during the docking process. Vertical force deviation represents the deviation between the dynamic and static vertical force data of the aircraft component. Excessive vertical force deviation may cause tension and damage to the aircraft component. The vertical compensation distance is the required vertical compensation height for the aircraft component.

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

[0079] Obtain the mass parameters, damping parameters, and stiffness parameters of the aircraft component. Determine the vertical restoring force of the aircraft component based on the stiffness parameters and the docking height difference. Determine the vertical damping force of the aircraft component based on the damping parameters and the desired velocity. Determine the desired vertical acceleration based on the mass parameters, vertical restoring force, vertical damping force, and vertical force deviation. Determine the desired vertical velocity of the aircraft component based on the desired vertical acceleration, and determine the vertical compensation distance based on the desired vertical velocity.

[0080] The horizontal displacement distance of the aircraft component is determined based on its position coordinates; the horizontal force deviation is determined based on the dynamic horizontal force data and the static horizontal force data; and the horizontal compensation distance is determined based on the horizontal displacement distance and the horizontal force deviation.

[0081] The horizontal force deviation is the deviation between the dynamic horizontal force data and the static horizontal force data of the aircraft components in the horizontal direction. The horizontal compensation distance is the distance that needs to be compensated in the horizontal direction.

[0082] Optionally, determining the horizontal compensation distance based on the horizontal displacement distance and horizontal force deviation includes: obtaining the mass parameters, damping parameters, and stiffness parameters of the aircraft component; determining the horizontal restoring force of the aircraft component based on the stiffness parameters and horizontal displacement distance; determining the horizontal damping force of the aircraft component based on the damping parameters and desired velocity; determining the desired horizontal acceleration based on the mass parameters, horizontal restoring force, horizontal damping force, and horizontal force deviation; determining the desired horizontal velocity of the aircraft component based on the desired horizontal acceleration; and determining the horizontal compensation distance based on the desired horizontal velocity.

[0083] Optionally, the admittance control model can be decoupled in all directions and represented using the admittance control model in a one-dimensional system, as shown in the following formula:

[0084]

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

[0086] The filtering method can be Kalman filtering, with the following formula:

[0087]

[0088] in: The filtered dynamic force data at time H; The dynamic force data after filtering at time H-1; X H For dynamic force data, This is the Kalman gain. Specifically, for the filtered dynamic force data, force decomposition is required 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 as follows:

[0090]

[0091] Where T is the sampling period, t is the current time, and X is the sampling period. IGPS X represents the current docking altitude of the aircraft component at time t; IGPS_0 This refers to the theoretical docking height, which can be determined based on the height of the successfully docked aircraft components. F d The vertical force deviation can be determined by subtracting dynamic and static vertical force data, where x is the vertical compensation distance; b v k is the damping parameter. v m is the stiffness parameter. v These are quality parameters.

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

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

[0094]

[0095] Where T is the sampling period, t is the current time, and X(t-1) is the horizontal displacement distance, which can be determined based on the position coordinates of the aircraft components. F d The horizontal force deviation can be determined by subtracting dynamic and static horizontal force data, where x is the horizontal compensation distance and b is the horizontal compensation distance. v Damping parameter, k v m is the stiffness parameter. v These are quality parameters.

[0096] Specifically, For 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 can adjust the position of the aircraft component according to the compensation distance.

[0098] This invention provides a method for adjusting the position of an aircraft component. The technical solution of this invention can determine the vertical height compensation and horizontal distance compensation of the mobile robot for the aircraft component based on the dynamic force data and position coordinates in the vertical and horizontal directions. This can accurately calibrate the position of the mobile robot and the aircraft component in the vertical and horizontal directions, improve the accuracy of the aircraft component docking process, and avoid abnormal forces on the aircraft component in the vertical and horizontal directions.

[0099] Example 3

[0100] Figure 3 This is a schematic diagram of the structure of an aircraft component position adjustment system provided in Embodiment 3 of the present invention, including: a mobile robot 4, a server 6, and a laser positioning module 1. The mobile robot 4 is equipped with a force acquisition module 5. Further, for clarity, Figure 3 It also includes aircraft component 2 and aircraft component 3;

[0101] The force acquisition module 5 is used to acquire force data of aircraft components and send the force data to the server through the mobile robot.

[0102] Specifically, since the docking process requires fixing aircraft component 3 and moving aircraft component 2, the force data collected by the force acquisition module 5 includes dynamic force data and static force data of aircraft component 2.

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

[0104] For example, the mobile robot can be an AGV (Automated Guided Vehicle) robot. The collaborative control between multiple AGVs can adopt a leader-follower formation control strategy, where the leader guides the overall AGV path navigation, and the followers maintain a fixed relative posture with the leader.

[0105] The laser positioning module 1 is used to acquire laser positioning data of the aircraft component and send the position coordinates represented by the laser positioning data to the server.

[0106] For example, the laser positioning module can be an IGPS measuring device. The IGPS measuring device sends laser light through a transmitting component and receives the returned laser light through a receiving component, and then calculates the coordinate position of the aircraft component through the laser data.

[0107] The server 6 is used to execute the position adjustment method for aircraft components as described in any embodiment of the present invention.

[0108] Specifically, the laser positioning module calculates the position coordinates of aircraft components and sends this information to the server for coordinate system calculation. The server then determines the component's movement path based on the current coordinate system and a stored theoretical docking model. This path is sent to a mobile robot for docking. During docking, the force acquisition module collects dynamic force data from the aircraft components and sends it to the server via the mobile robot. The server uses pre-stored static force data, dynamic force data, and preset thresholds to determine if the aircraft components are experiencing rigid tension. If rigid tension is detected, a compensation distance is determined based on the dynamic force data and position coordinates. This compensation distance is then sent to the mobile robot, which adjusts the aircraft component's position. Specifically, the mobile robot adjusts the support height based on the vertical compensation distance and adjusts the horizontal movement position based on the horizontal compensation distance.

[0109] This invention provides a position adjustment system for aircraft components. The system utilizes a laser positioning module to accurately acquire the position coordinates of the aircraft components, and a force acquisition module mounted on a mobile robot to accurately acquire dynamic force data of the components. A server then determines a compensation distance based on the aircraft components' position coordinates and dynamic force data. The mobile robot then compensates for the position coordinates of both the aircraft components and the mobile robot based on this compensation distance. This system, based on the cooperation of its components, can accurately calibrate the positions of the mobile robot and the aircraft components, improving docking accuracy and reducing abnormal forces on the aircraft components.

[0110] Example 4

[0111] Figure 4 This is a schematic diagram of the structure of an aircraft component position adjustment device provided in Embodiment 4 of the present invention. Figure 4 As shown, the device includes:

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

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

[0114] The sending module 430 is used to send the compensation distance to the mobile robot so that the mobile robot can adjust the position of the aircraft component according to the compensation distance.

[0115] This invention provides a device for adjusting the position of an aircraft component. The device acquires dynamic force data and position coordinates of the aircraft component during the docking process. 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. A compensation distance is determined based on the dynamic force data and position coordinates. This compensation distance is sent to the mobile robot, enabling the mobile robot to adjust the position of the aircraft component accordingly. Specifically, by using the dynamic force data and position coordinates of the aircraft component, the compensation distance of the mobile robot can be accurately determined, and then the mobile robot adjusts the position of the aircraft component based on the compensation distance to complete the docking of the aircraft component. The technical solution of this invention can accurately compensate for the position of the mobile robot, accurately calibrate the positions of the mobile robot and the aircraft component, and improve the accuracy of the aircraft component docking process.

[0116] Optionally, the position adjustment device for the aircraft component further includes a movement path determination module.

[0117] The movement path determination module includes:

[0118] The current coordinate system determination unit is used to acquire the laser positioning data of the aircraft component and establish the current coordinate system of the aircraft component based on the laser positioning data and the preset points of the aircraft component.

[0119] The theoretical coordinate system determination unit is used to obtain the theoretical docking model of the aircraft component, determine the theoretical point corresponding to the preset point in the theoretical docking model, and establish the theoretical coordinate system of the aircraft component based on the theoretical point.

[0120] The movement path determination unit is used to determine the movement path of the aircraft component during the docking process based on the theoretical coordinate system, the current coordinate system, the preset point, and the theoretical point.

[0121] The movement path determination unit includes:

[0122] The coordinate transformation relationship determination sub-unit is used to determine the coordinate transformation relationship based on the current coordinate system and the theoretical coordinate system.

[0123] The transformation subunit is used to determine the position coordinates of the theoretical point in the current coordinate system based on the position coordinates of the theoretical point and the coordinate transformation relationship.

[0124] The movement path determination subunit is used to determine the position coordinates of the preset point as a preset starting point, and to determine the movement path based on the preset starting point and the preset ending point.

[0125] Optionally, the determining module 420 includes:

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

[0127] The judgment unit is used to determine the compensation distance based on the static force data, the dynamic force data and the position coordinates of the aircraft component if the 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 judgment unit specifically includes:

[0129] The current docking height determination subunit is used to determine the current docking height of the aircraft component based on its position coordinates.

[0130] The vertical force deviation determination subunit is used to determine the docking height difference based on the current docking height and theoretical docking height of the aircraft components, and to determine the vertical force deviation based on the dynamic vertical force data and the static vertical force data.

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

[0132] The horizontal force deviation determination subunit is used to determine the horizontal displacement distance of the aircraft component based on its position coordinates, and to determine the horizontal force deviation based on the dynamic horizontal force data and the static horizontal force data.

[0133] The horizontal compensation distance determination subunit is used to determine the horizontal compensation distance based on the horizontal displacement distance and the horizontal force deviation.

[0134] Optionally, the vertical compensation distance determination subunit is specifically used for: acquiring the mass parameters, damping parameters, and stiffness parameters of the aircraft component; determining the vertical restoring force of the aircraft component based on the stiffness parameters and the docking height difference; determining the vertical damping force of the aircraft component based on the damping parameters and the desired velocity; determining the desired vertical acceleration based on the mass parameters, vertical restoring force, vertical damping force, and vertical force deviation; determining the desired vertical velocity of the aircraft component based on the desired vertical acceleration; and determining the vertical compensation distance based on the desired vertical velocity.

[0135] Optionally, the horizontal compensation distance determination subunit is specifically used to: acquire the mass parameters, damping parameters, and stiffness parameters of the aircraft component; determine the horizontal restoring force of the aircraft component based on the stiffness parameters and horizontal displacement distance; determine the horizontal damping force of the aircraft component based on the damping parameters and desired velocity; determine the desired horizontal acceleration based on the mass parameters, horizontal restoring force, horizontal damping force, and horizontal force deviation; determine the desired horizontal velocity of the aircraft component based on the desired horizontal acceleration; and determine the horizontal compensation distance based on the desired horizontal velocity.

[0136] Optionally, the sending module 430 is specifically used 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 movement position according to the horizontal compensation distance.

[0137] The aircraft component position adjustment device provided in this embodiment of the invention can execute the aircraft component position adjustment method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0138] Example 5

[0139] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0140] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0141] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0142] Processor 11 can be a variety of general-purpose and / or special-purpose processing components 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 special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the position adjustment method for aircraft parts.

[0143] In some embodiments, the aircraft component positioning method may be implemented as a computer program tangibly contained 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 positioning method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the aircraft component positioning method by any other suitable means (e.g., by means of firmware).

[0144] Various embodiments of the systems and techniques described above herein 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), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0145] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0146] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0147] To provide interaction with a user, the systems and techniques described herein 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0148] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0149] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0150] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0151] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for adjusting the position of an aircraft component, characterized in that, include: The dynamic force data and position coordinates of the aircraft components during the docking process are obtained, wherein the aircraft components are moved along a moving path by a mobile robot, and the dynamic force data changes due to the movement of the mobile robot. The compensation distance is determined based on the dynamic force data and position coordinates; wherein, the compensation distance includes a vertical compensation distance and a horizontal compensation distance; The compensation distance is sent to the mobile robot so that the mobile robot adjusts the position of the aircraft component according to the compensation distance; The step of determining the compensation distance based on the dynamic force data and position coordinates includes: The static force data of the aircraft component is obtained, wherein 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. 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. The step of determining the compensation distance based on the static force data, dynamic force data, and the position coordinates of the aircraft components includes: The current docking height of the aircraft component is determined based on its position coordinates; Based on the current docking height and theoretical docking height of the aircraft components, the docking height difference is determined, and the vertical force deviation is determined based on the dynamic vertical force data and static vertical force data. The vertical compensation distance is determined based on the docking height difference and the vertical force deviation. The horizontal displacement distance of the aircraft component is determined based on its position coordinates, and the horizontal force deviation is determined based on the dynamic horizontal force data and the static horizontal force data. The horizontal compensation distance is determined based on the horizontal displacement distance and the horizontal force deviation.

2. The method according to claim 1, characterized in that, Before acquiring the dynamic force data and position coordinates of the aircraft components during the docking process, the following steps are included: Acquire laser positioning data of the aircraft component, and establish the current coordinate system of the aircraft component based on the laser positioning data and the preset points of the aircraft component; Obtain the theoretical docking model of the aircraft component, determine the theoretical point corresponding to the preset point in the theoretical docking model, and establish the theoretical coordinate system of the aircraft component based on the theoretical point; Based on the theoretical coordinate system, the current coordinate system, the preset point, and the theoretical point, the movement path of the aircraft components during the docking process is determined.

3. The method according to claim 2, characterized in that, The step of determining the movement path of the aircraft components during the docking process based on the theoretical coordinate system, the current coordinate system, the preset point, and the theoretical point includes: Determine the coordinate transformation relationship based on the current coordinate system and the theoretical coordinate system; The position coordinates of the theoretical point in the current coordinate system are determined based on the position coordinates of the theoretical point and the coordinate transformation relationship. The location coordinates of the preset point are determined as the preset starting point, and the movement path is determined based on the preset starting point and the preset ending point.

4. The method according to claim 1, characterized in that, The step of determining the vertical compensation distance based on the docking height difference and the vertical force deviation includes: Obtain the mass parameters, damping parameters, and stiffness parameters of the aircraft component; The vertical restoring force of the aircraft component is determined based on the stiffness parameters and the docking height difference. The vertical damping force of the aircraft component is determined based on the damping parameters and the desired speed. The desired vertical acceleration is determined based on the mass parameters, vertical restoring force, vertical damping force, and vertical force deviation. The vertical desired velocity of the aircraft component is determined based on the vertical desired acceleration, and the vertical compensation distance is determined based on the vertical desired velocity.

5. The method according to claim 1, characterized in that, Determining the horizontal compensation distance based on the horizontal displacement distance and the horizontal force deviation includes: Obtain the mass parameters, damping parameters, and stiffness parameters of the aircraft component; The horizontal restoring force of the aircraft component is determined based on the stiffness parameters and horizontal displacement distance. Determine the horizontal damping force of the aircraft components based on the damping parameters and the desired speed; The desired horizontal acceleration is determined based on the mass parameters, horizontal restoring force, horizontal damping force, and horizontal force deviation. The horizontal desired velocity of the aircraft component is determined based on the horizontal desired acceleration, and the horizontal compensation distance is determined based on the horizontal desired velocity.

6. The method according to claim 1, characterized in that, 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 horizontal distance compensation are sent to the mobile robot so that the mobile robot can adjust its support height according to the vertical compensation distance and adjust its horizontal movement position according to the horizontal compensation distance.

7. A position adjustment system for an aircraft component, characterized in that, include: A mobile robot, a server, and a laser positioning module; the mobile robot is equipped with a force acquisition module. The force acquisition module is used to collect force data of aircraft components and send the force data to the server through the mobile robot; The mobile robot is used to adjust the position of the aircraft components according to the compensation distance sent by the server; The laser positioning module is used to acquire 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 for aircraft components as described in any one of claims 1-6.

8. A position adjustment device for an aircraft component, characterized in that, include: The acquisition module is used to acquire dynamic force data and position coordinates of aircraft components during the docking process, wherein the aircraft components are moved along a moving path by a mobile robot, and the dynamic force data changes due to the movement of the mobile robot. The determination module is used to determine the compensation distance based on the dynamic force data and position coordinates; wherein the compensation distance includes a vertical compensation distance and a horizontal compensation distance; A sending module is used to send the compensation distance to a mobile robot so that the mobile robot can adjust the position of the aircraft component according to the compensation distance; The determining module includes: The acquisition unit is used to acquire static force data of the aircraft component, wherein the static force data includes static vertical force data and static horizontal force data; and the dynamic force data includes dynamic vertical force data and dynamic horizontal force data. The judgment unit is used to determine the compensation distance based on the static force data, the dynamic force data and the position coordinates of the aircraft component if the deviation between the static force data and the dynamic force data is greater than a preset threshold. The judgment unit includes: The current docking height determination subunit is used to determine the current docking height of the aircraft component based on its position coordinates. The vertical force deviation determination subunit is used to determine the docking height difference based on the current docking height and theoretical docking height of the aircraft component, and to determine the vertical force deviation based on the dynamic vertical force data and static vertical force data. The vertical compensation distance determination subunit is used to determine the vertical compensation distance based on the docking height difference and the vertical force deviation. The horizontal force deviation determination subunit is used to determine the horizontal displacement distance of the aircraft component based on the position coordinates of the aircraft component, and to determine the horizontal force deviation based on the dynamic horizontal force data and the static horizontal force data. The horizontal compensation distance determination subunit is used to determine the horizontal compensation distance based on the horizontal displacement distance and the horizontal force deviation.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the position adjustment method for an aircraft component as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the position adjustment method for any one of claims 1-6.

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