Aircraft section transfer transportation method, device, equipment, medium and program

Abstract

The invention discloses an aircraft section transferring and transporting method, device and equipment, a medium and a program product, and relates to the technical field of aircraft assembly, and the method comprises the following steps: obtaining model data information and docking process information of an aircraft section to be transferred; according to the model data information and the docking process information, determining transfer tool information for transferring the to-be-transferred aircraft section; generating a transfer control algorithm according to the transfer tool information; and controlling a transfer tool to operate according to the transfer control algorithm, and carrying out transfer transportation on the to-be-transferred aircraft section. Cooperative transportation of the transfer aircraft sections is completed through the transfer control algorithm, and the assembly efficiency of the to-be-transferred aircraft sections can be improved.

Description

TECHNICAL FIELD

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

[0002] When manufacturing an aircraft, each section of the aircraft needs to be transported to a designated position by a transport tool, and then the aircraft is assembled.

[0003] In the prior art, during the manufacturing process of a civil aircraft, a fixed-path transport tool is usually used to transport each section of the aircraft according to a fixed path to complete the assembly of the aircraft.

[0004] However, the above scheme can only transport aircraft sections at a fixed speed and along a fixed path, which has poor flexibility. When the transport tool deviates from the path, it cannot be handled in a timely manner, resulting in low assembly efficiency of the aircraft. SUMMARY

[0005] The present application provides a method, device, equipment, medium and program for transporting aircraft sections to solve the problems of low efficiency and poor flexibility during the assembly of aircraft sections.

[0006] According to an aspect of the present application, a method for transporting aircraft sections is provided, comprising:

[0007] acquiring model data information and docking process information of a section to be transported;

[0008] determining transport tool information for transporting the section to be transported according to the model data information and the docking process information;

[0009] generating a transport control algorithm according to the transport tool information;

[0010] controlling the transport tool to run according to the transport control algorithm, and transporting the section to be transported.

[0011] According to another aspect of the present application, a device for transporting aircraft sections is provided, comprising:

[0012] a data acquisition module for acquiring model data information and docking process information of a section to be transported;

[0013] a transport tool determination module for determining transport tool information for transporting the section to be transported according to the model data information and the docking process information;

[0014] a transport control algorithm generation module for generating a transport control algorithm according to the transport tool information;

[0015] The transfer transport module controls the operation of the transfer tool according to the transfer control algorithm, and transfers the aircraft section to be transferred.

[0016] According to another aspect of the present application, an electronic device is provided, the electronic device comprising:

[0017] at least one processor; and

[0018] a memory connected with the at least one processor in communication; wherein,

[0019] 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 aircraft section transfer transport method according to any one of the embodiments of the present application.

[0020] According to another aspect of the present application, a computer readable storage medium is provided, the computer readable storage medium stores computer instructions for enabling a processor to implement the aircraft section transfer transport method according to any one of the embodiments of the present application when executed by the processor.

[0021] According to another aspect of the present application, a computer program product is provided, the computer program product comprises a computer program, and the computer program implements the data de-sensitization processing method according to any one of the embodiments of the present application when executed by a processor.

[0022] The technical solution of the embodiments of the present application acquires the model data information and the docking process information of the aircraft section to be transferred, determines the transfer tool information for transferring the aircraft section to be transferred according to the model data information and the docking process information, generates the transfer control algorithm according to the transfer tool information, and finally controls the operation of the transfer tool according to the transfer control algorithm, and transfers the aircraft section to be transferred. The transfer control algorithm determined according to the transfer tool information can improve the assembly efficiency of the aircraft section to be transferred.

[0023] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0025] Figure 1 is a flow chart of a method for transporting an aircraft section according to an embodiment of the present application;

[0026] Figure 2 is a flow chart of another method for transporting an aircraft section according to another embodiment of the present application;

[0027] Figure 3 is a layout diagram of a slave tool and a discrete slave positioning device according to an embodiment of the present application;

[0028] Figure 4 is a diagram of a laser sensor and a reflector according to an embodiment of the present application;

[0029] Figure 5 is a flow chart of a slave tool and a discrete slave positioning device according to an embodiment of the present application;

[0030] Figure 6 is a diagram of a master-slave tool cooperative motion coordinate system according to an embodiment of the present application;

[0031] Figure 7 is a structural diagram of a device for transporting an aircraft section according to an embodiment of the present application;

[0032] Figure 8 is a structural diagram of an electronic device for implementing a method for transporting an aircraft section according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work should belong to the scope of protection of the present application.

[0034] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and the above-described accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular sequential or chronological order. 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 "comprise" 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 list of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to such processes, methods, products, or devices.

[0035] Embodiment one

[0036] Figure 1 A flowchart of an aircraft section transfer transportation method is provided for the first embodiment of the present application. The embodiment can be applicable to the transfer control of a transfer aircraft section transportation tool. The method can be executed by an aircraft section transfer transportation device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. As shown in Figure 1 The method can include:

[0037] S110, acquiring model data information and docking process information of a to-be-transferred aircraft section.

[0038] The to-be-transferred aircraft section can be each section of the aircraft that needs to be transferred during the assembly of the aircraft, such as the fuselage section, the wing section, the tail section, and the engine section. By transferring the to-be-transferred aircraft section, the assembly of the aircraft can be completed.

[0039] The model data information can be the specific model, size, weight, and material of the aircraft section, and other key parameters. It can be obtained by reading the aircraft model data stored in the aviation database or by the user in advance. The docking process information can be the specific process steps, technical requirements, and tool equipment during the docking of different sections during the assembly of the aircraft. It can be obtained by reading the docking process data stored in the aviation database or by the user in advance.

[0040] Specifically, the model data information and the docking process information of the aircraft section to be moved can be obtained by referring to the technical manual of the aircraft manufacturer, referring to the operation specification of the airline, or accessing a professional aviation database, etc. The model data information of the aircraft section to be moved, such as size, weight, material, etc., and the specific steps, technical requirements and tool equipment usage instructions of the docking process data can be obtained. Through the obtained model data information and docking process information of the aircraft section to be moved, the moving tool information for moving the aircraft section to be moved can be determined.

[0041] S120, determining the moving tool information for moving the aircraft section to be moved according to the model data information and the docking process information.

[0042] The moving tool information can include moving configuration information and motion information. The moving configuration information can include device model information, device load capacity and tool motion performance, etc. The moving motion information can include running speed and running path, etc.

[0043] For example, the AGV (Automatic Guided Vehicle) can be selected as the moving tool of the aircraft section according to the model data information and the docking process information of the aircraft section to be moved, and the configuration parameter information of the AGV and the running parameter information of each AGV can be determined according to the model data information and the docking process information of the aircraft section to be moved.

[0044] S130, generating a moving control algorithm according to the moving tool information.

[0045] The moving control algorithm can be an algorithm for guiding and controlling the operation of the moving tool (such as AGV), which can be generated according to the device model information and motion information of the moving tool.

[0046] Specifically, the moving control algorithm can be generated according to the load capacity, motion performance and positioning accuracy of the moving tool, etc. The number of moving tools, the initial speed of each moving tool, the speed information at different times, and the adjustment scheme when the moving tool deviates from the path or speed can be obtained. Then, the moving control algorithm for controlling the moving tool can be determined according to these information.

[0047] S140, controlling the moving tool to run according to the moving control algorithm, and moving the aircraft section to be moved.

[0048] The transfer tool can be a tool for transferring the aircraft section to be transferred, can be an AGV, i.e., an automatic guided vehicle, and the transfer tool can be composed of a master transfer tool and a plurality of slave transfer tools, wherein the master transfer tool and the slave transfer tools are each provided with a positioner and a controller, the positioner is used to obtain the current position information of the transfer tool, the controller is used to control the transfer tool to run according to the running speed and the running path according to the transfer control algorithm, and is also used to adjust the running path and the running speed according to the current position information. The AGV is a transport vehicle equipped with an automatic guiding device such as an electromagnetic or optical device, which can travel along a specified guiding path, has safety protection and various transfer functions. In the field of aircraft manufacturing and maintenance, the AGV is widely used in the transfer and transportation of aircraft sections to improve production efficiency and reduce labor costs.

[0049] In an optional embodiment of the present application, the transfer tool is controlled to run according to the transfer control algorithm, and the aircraft section to be transferred is transferred and transported, which can be controlled according to the running path and the running speed of the transfer tool in the transfer control algorithm to run the transfer tool according to the set path and speed, and transfer each section to be transferred to the specified position. In the running process of the transfer tool, the positioner provided on the transfer tool is used to obtain the position information of each transfer tool in real time, and the controller provided on each transfer tool is used to judge whether the path or speed of each transfer tool has deviated according to the real-time position information of each transfer tool. By providing the controller on each transfer tool, the running speed and the deviation of the transportation path of the transfer tool can be judged more quickly, and timely adjustment can be made. If deviation occurs, the running speed, running direction and running path of the transfer tool can be adjusted according to the adjustment method in the transfer control algorithm, so that the transfer tool can adjust the running path and speed of the transfer tool in real time, and the transfer tool can safely and efficiently complete the transfer and transportation task. The scheme of the embodiment of the present application can be used in the assembly and installation scene of each civil aircraft model single section and multi-section, and the corresponding integrated cooperative motion control scheme can be generated according to the docking of each section and the section transportation process, which is suitable for the design and manufacture of the docking and transportation equipment of the aircraft assembly, and also provides the process parameter demand output for the overall planning of the production line equipment and supports the establishment of the flexible aircraft assembly production line.

[0050] The technical scheme of the embodiment of the present application obtains the model data information and the docking process information of the aircraft section to be transferred, determines the transfer tool information for transferring the aircraft section to be transferred according to the model data information and the docking process information, generates a transfer control algorithm according to the transfer tool information, and finally controls the transfer tool to run according to the transfer control algorithm to transfer and transport the aircraft section to be transferred. The transfer control algorithm determined by the transfer tool can complete the cooperative transportation of the aircraft section to be transferred, and the assembly efficiency of the aircraft section to be transferred can be improved.

[0051] Embodiment Two

[0052] Figure 2 A flowchart of a method for transporting an aircraft section provided by Embodiment Two of the present application, which refines the transporting of the aircraft section to be moved based on the type data information and the docking process information of the aircraft section to be moved, the determination of the moving tool information of the moving tool for moving the aircraft section to be moved according to the type data information and the docking process information, the generation of the moving control algorithm according to the moving tool information, and the control of the moving tool according to the moving control algorithm. As shown in FIG. 2, the method can include: Figure 2

[0053] S210, obtaining type data information and docking process information of the aircraft section to be moved.

[0054] S220, determining moving tool information of the moving tool for moving the aircraft section to be moved according to the type data information and the docking process information.

[0055] In an optional embodiment of the present application, the determination of the moving tool information of the moving tool for moving the aircraft section to be moved according to the type data information and the docking process information includes: determining moving configuration information of the moving tool for moving the aircraft section to be moved according to the type data information of each aircraft section in the aircraft section to be moved; determining moving motion information of the moving tool according to the docking process information between each aircraft section to be moved in the aircraft section to be moved, wherein the moving motion information of the moving tool includes motion path information and motion speed information; and determining the moving configuration information and the moving motion information as the moving tool information of the moving tool for moving the aircraft section to be moved.

[0056] The moving configuration information can be information for representing parameters such as the type and quantity of the moving tool, and the moving configuration information can include device type information, device load capacity, and motion performance of the moving tool, and other related information. The moving motion information can be parameter information for representing the running path, running speed, and running position of the moving tool, and the moving motion information can include motion path information and motion speed information of each moving tool in the process of moving the aircraft section to be moved, and other related information. The motion path information can be the running path information of the moving tool in the process of moving the aircraft section to be moved, and the motion speed information can be the running speed information of the moving tool in the process of moving the aircraft section to be moved.

[0057] ​Specifically, the transport tool parameters capable of transporting the to-be-transported aircraft section can be determined according to the model data information of each aircraft section in the to-be-transported aircraft section, and then the qualified transport tool is selected from the transport tools, and the device model information, device load capacity and motion performance of the transport tool are determined as the transport configuration information of the transport tool; the transport sequence and position corresponding to each to-be-transported aircraft section are obtained according to the docking process information between each to-be-transported aircraft section in the to-be-transported aircraft section, and then the motion path information and motion speed information of the transport tool are planned according to the transport sequence and position corresponding to each to-be-transported aircraft section, and then the motion path information and motion speed information of the transport tool are determined as the transport motion information of the transport tool. Finally, the transport configuration information and motion information are determined as the transport tool information of the to-be-transported aircraft section.

[0058] S230, generating a transport control algorithm according to the transport tool information.

[0059] Specifically, the transport control algorithm is generated according to the transport tool information, including: generating the transport control algorithm according to the transport configuration information and the transport motion information; wherein the transport control algorithm is used to control the operation of the transport tool.

[0060] In an optional embodiment of the present application, the transport control algorithm is generated according to the transport tool information, which can be to obtain the transport configuration information of the transport tool, to determine the transport tool according to the transport configuration information, and to determine the transport operation path and operation speed of each transport tool according to the transport motion information. The position information of the transport tool can also be obtained in real time through the positioner, and whether the transport tool has speed or path deviation is judged according to the position information of the transport tool. If deviation occurs, the transport tool with speed or path deviation is adjusted according to the adjustment parameters corresponding to the adjustment strategy in the algorithm. Then the transport control algorithm is planned according to the transport operation path, operation speed and adjustment strategy of the transport tool.

[0061] S240, simulating the transport control algorithm by a simulation tool to obtain a transport simulation result.

[0062] The simulation tool can be a tool for simulating and testing the designed transport control algorithm. The transport simulation of the transport control algorithm can analyze the effectiveness and feasibility of the transport control algorithm and make optimization and adjustment. The transport simulation can be a process of simulating and analyzing the transport process. The transport simulation result can be a series of data and charts obtained from the simulation model after the simulation process is completed, which can be used to evaluate the control effect of the transport control algorithm.

[0063] For example, a virtual aircraft section transfer environment can be constructed, including transfer tools (such as AGVs), objects to be transferred (such as various aircraft sections to be transferred), transportation paths, and environmental obstacles. Then, by running the simulation model, the entire process of the transfer task performed by the transfer tool according to the preset control algorithm is simulated, including the start, travel, docking, and unloading of each link, and finally the time used in each link and the transportation result of the section to be transferred are obtained. The transfer transportation simulation result of the transfer control algorithm.

[0064] S250, if the transfer transportation simulation result of the transfer control algorithm meets the preset condition, the transfer control algorithm is determined as the optimal transfer control algorithm.

[0065] The preset condition can be a series of standards or thresholds set for evaluating the performance and effect of the transfer control algorithm during the transfer transportation simulation process. For example, whether the total time required for the transfer task is within the preset time range; whether the positioning error of the transfer tool during the docking process is less than the preset accuracy threshold; whether the transfer tool can travel according to the planned path to complete the transfer assembly task; whether the speed and acceleration parameters of the transfer tool remain stable during the transfer process, etc.

[0066] The optimal transfer control algorithm can be a control algorithm that can meet or exceed all preset conditions under given conditions to achieve the best transfer effect.

[0067] Specifically, according to the transfer transportation simulation result of the transfer control algorithm, if all parameters in the simulation result can meet the pre-set conditions, the transfer control algorithm can be determined as the optimal transfer control algorithm. If one or more parameters in the simulation result cannot meet the pre-set conditions, the parameters of the transfer control algorithm can be optimized according to the transfer transportation simulation result, and the simulation test can be performed again until the transfer transportation simulation result of the transfer control algorithm can meet the preset conditions.

[0068] S260, according to the optimal transfer control algorithm, the transfer motion data of each transfer tool is determined, wherein the transfer motion data of each transfer tool includes the running distance parameters between each transfer tool, the motion path data of each transfer tool, and the motion speed data of each transfer tool.

[0069] The running distance parameter between the transfer tools can be a distance parameter that should be maintained between the transfer tools during running of the transfer tools. For example, the transfer tools are four AGVs, including one master AGV and three slave AGVs, and the running distance parameter between the transfer tools can be a distance parameter that should be maintained between the three slave AGVs and the master AGV during running of the three slave AGVs. The movement path data of the transfer tools can be movement path data of the transfer tools during transfer of the aircraft parts to be transferred, and the movement speed data of the transfer tools can be running speed of the transfer tools during transfer of the aircraft parts to be transferred along the movement path. The distance between the transfer tools can be obtained by the positioners arranged on the transfer tools.

[0070] Exemplarily, Figure 3 A layout schematic diagram of the transfer tools and the discrete transfer positioners of the embodiment of the present application is shown in FIG. 1. Figure 3 As shown in FIG. 2, four AGVs are provided with laser ranging sensors on the left side in the moving direction and reflective surfaces on the rear side and the right side, thereby forming a set of modular, reconfigurable and quickly teaming discrete civil aircraft section collaborative transportation AGV structure. Figure 4 A schematic diagram of the laser sensor and the reflective plate of the embodiment of the present application is shown in FIG. 3. Figure 4 As shown in FIG. 4, the AGVs can perform real-time speed loop feedback control by following the distance sensing information of the master (secondary master), and the collaborative and synchronous movement of the four AGVs can be achieved by real-time speed adjustment of the AGVs.

[0071] S270, controlling running of the transfer tools according to the transfer movement parameters to complete transfer and transportation of the aircraft parts to be transferred.

[0072] In an optional embodiment of the present application, controlling running of the transfer tools according to the transfer movement parameters to complete transfer and transportation of the aircraft parts to be transferred includes: determining preset position data and preset speed data of the transfer tools according to an optimal transfer control algorithm; obtaining current movement speed data and current movement position data of the transfer tools during transfer and transportation; comparing the current movement speed data with the preset speed data to obtain a first comparison result, and comparing the current movement position data with the preset position data to obtain a second comparison result; determining a correction parameter of the movement parameters of the transfer tools according to the first comparison result and the second comparison result, and correcting the movement parameters of the transfer tools according to the correction parameter; and controlling running of the transfer tools according to the corrected movement parameters of the transfer tools to complete transfer and transportation of the aircraft parts to be transferred.

[0073] The preset position data can be a position at which the transfer tool should be at a certain time after the transfer tool starts moving according to the set running path and running parameter in the optimal transfer control algorithm, and can be position data determined according to the set running path and running parameter in the optimal transfer control algorithm in combination with the time at which the transfer tool starts moving. For example, the transfer tool starts moving from point A according to the set running path and running parameter, and after 10 seconds, the preset position of the transfer tool should be at point B, and after another 10 seconds, the preset position of the transfer tool should be at point C. Therefore, points B and C are the preset position data corresponding to the transfer tool. The preset speed data can be a running speed at which the transfer tool should be at a certain time after the transfer tool starts moving according to the set running path and running parameter in the optimal transfer control algorithm, and can be speed data determined according to the set running path and running parameter in the optimal transfer control algorithm in combination with the time at which the transfer tool starts moving.

[0074] The current motion speed data can be current running speed data of the transfer device obtained by a laser radar or an ultrasonic sensor or the like installed on the transfer tool. The current motion position data can be current position data of the transfer device obtained by a positioner device installed on the transfer tool. The current motion position data can include current position data of the transfer tool and corresponding position data between the transfer tools. The current position data of the transfer tool can be a position at which the transfer tool is currently located, and the corresponding position data between the transfer tools can be distance data between one transfer device and other transfer devices.

[0075] The first comparison result can be a comparison result obtained by comparing the current motion speed data of the transfer tool with the preset speed data, and can be used to represent whether the current running speed of the transfer tool deviates. The second comparison result can be a comparison result obtained by comparing the current motion position data of the transfer tool with the preset position data, and can be used to represent whether the position at which the transfer tool is currently located deviates from the position of other transfer tools. The transfer tool motion parameter can be each motion parameter of the transfer tool, and can include a motion speed parameter, a motion path parameter and a motion direction parameter. The correction parameter can be a parameter for correcting the motion speed and the motion direction of the transfer tool calculated according to the current position of each transfer tool and the deviation data.

[0076] Exemplarily, preset position data and preset speed data of the transfer tool can be determined according to an optimal transfer control algorithm, then current motion position data of the transfer tool in the transfer transportation process is acquired through the positioner, current motion speed of the transfer tool in the transfer transportation process is acquired through the laser radar, then the current motion speed data of the transfer tool is compared with the preset speed data to obtain a first comparison result, and whether the current running speed of the transfer tool has deviated is determined according to the first comparison result, if the current running speed of the transfer tool has deviated, the running speed of the transfer tool needs to be adjusted. The current motion position data is compared with the preset position data to obtain a second comparison result, and whether the current running position of the transfer tool has deviated is determined according to the second comparison result, if the position of the transfer tool has deviated, the running direction, running path and running speed of the transfer tool need to be adjusted. The transfer tool continues to run according to the corrected motion parameters of the transfer tool, and then the transfer transportation of the aircraft section to be transferred is completed.

[0077] In an optional embodiment of the present application, the transfer tool can be a virtual rigid body structure composed of a master vehicle AGV and multiple slave vehicles AGV, the speed of each AGV can be planned through a rigid body-based method to plan the speed of the whole team of AGVs, wherein the number of AGVs can be set according to requirements. A speed distribution algorithm can be designed according to the position state of the multiple AGVs at the time of teaming, the speed of each transfer device is distributed to each individual AGV as a feedforward speed of the motion control algorithm. The one-way three-beam laser sensor information of the position error obtained through cooperative measurement is used to design an AGV plane attitude solving algorithm based on the sensor filtering method and the design size of the AGV, to obtain the error state of the slave vehicle AGV, and the motion path, motion speed and motion direction of the slave vehicle AGV are adjusted according to the error state of the slave vehicle AGV, and the running of the master vehicle AGV and the slave vehicle AGV is controlled through the adjusted parameters.

[0078] Exemplarily, Figure 5 The slave vehicle transfer solving control flowchart of the embodiment of the present application is as follows, Figure 5As shown, the path and speed of the slave AGV can be planned to obtain the feedforward speed and running path of the slave AGV, and then the feedforward speed and running path of the slave AGV are distributed to the corresponding AGV slave, so that the AGV slave can run according to the distributed speed and path, and the feedforward speed and running path of the slave AGV are fed back to the motion control algorithm. Through the feedback of the laser emitted by the laser ranging sensor in the cooperative measurement system, the distance error value between the slave and the master AGV or the secondary master AGV is obtained, and the angle error value between the slave and the master AGV or the secondary master AGV is obtained through AGV attitude calculation, and then the feedback speed corresponding to the slave AGV is obtained through the AGV cooperative control algorithm, and the feedback speed is sent to the motion control algorithm. After receiving the feedback speed and the feedforward speed and running path of the slave AGV, the motion control algorithm can calculate the correction value of the speed, path and angle of the slave AGV, and then send the correction value of the speed, path and angle of the slave AGV to the motion calculation algorithm, and the motion calculation algorithm can calculate the correction value of the speed, path and angle of the slave AGV according to the correction value of the speed, path and angle of the slave AGV. Then the adjustment value of the different wheel systems of the slave AGV is determined according to the calculation result, and the motor motion of the different wheel systems is accurately controlled according to the adjustment value, so that the slave AGV can run according to the adjustment value. After adjustment, the running speed and displacement data of the slave AGV can be obtained through the speed and / or displacement sensor, and fed back to the motion control algorithm, so that the motion control algorithm can control the motion of the slave AGV according to the obtained running speed and displacement data of the slave AGV.

[0079] In an optional embodiment of the present application, the transfer tool can be an AGV, and the one-way three-beam laser sensor information of the position error obtained through cooperative measurement can be used to design an AGV plane attitude calculation algorithm based on sensor filtering mode and AGV design size to obtain the error state of the slave AGV. A multi-AGV master-slave cooperative algorithm is developed and designed, for example, using Leader-Follower, behavior-based or virtual structure-based formation strategy and cooperative control algorithm. Figure 6 The coordinate system for cooperative motion of the master-slave transfer tool is shown in FIG. 1. Figure 6 As shown, L is the motion path of the master AGV, O1 is the origin of the master coordinate system constructed according to the position of the master AGV, and O2 is the origin of the slave coordinate system constructed according to the position of the slave AGV. After the master coordinate system and the slave coordinate system are constructed, the master-slave coordinate system can be constructed according to the origin of the master coordinate system and the origin of the slave coordinate system, as shown in FIG. 2. Figure 6 As shown, the straight line between O1 and O2 can be determined as the Y-axis of the master-slave coordinate system, O2 is set as the origin of the master-slave coordinate system, and then a straight line perpendicular to the Y-axis is made as the X-axis of the master-slave coordinate system, thereby constructing the master-slave coordinate system.Figure 6 1 represents a master AGV, v x1 is the forward speed of the master AGV in the x direction, v y1 is the forward speed of the master AGV in the y direction, and a1 is the angle between the master coordinate system and the master-slave coordinate system; 2 in the figure represents a slave AGV, v x2 is the forward speed of the slave AGV in the x direction, v y2 is the forward speed of the slave AGV in the y direction, and a2 is the angle between the slave coordinate system and the master-slave coordinate system. Figure 6 The master-slave type transfer tool cooperative motion coordinate system is constructed, and a motion control algorithm is combined, so that the offset value of the master AGV and the slave AGV at time t can be calculated, and then the master-slave vehicle is controlled according to the offset value of the master AGV at time t. The motion control algorithm can be a Leader-Follower algorithm, and the motion formula of the master-slave vehicle is as follows:

[0080]

[0081] In the above formula, L is the motion control formula of the master AGV, F is the motion control formula of the slave AGV, w1(t) is the angular velocity adjustment value of the master AGV at time t, v x1 (t) is the running speed adjustment value of the master AGV in the x direction at time t, w2(t) is the angular velocity adjustment value of the slave AGV at time t, v x2 (t) is the running speed adjustment value of the slave AGV in the x direction at time t, v y2 (t) is the running speed adjustment value of the slave AGV in the y direction at time t; k1 is the angular velocity adjustment coefficient of the master AGV, and a1 is the angular velocity offset value of the master AGV in the running process, e θ1 (t) is the angular velocity offset value of the master AGV in the running process at time t, k2 is the speed adjustment coefficient of the master AGV, and e x1 (t) is the displacement offset value of the master AGV in the running process at time t, v y1 (t) is the running speed adjustment value of the master AGV in the y direction at time t; k3 is the angular velocity adjustment coefficient of the slave AGV, a2 is the angular velocity offset value of the slave AGV in the running process, e θ2 (t) is the angular velocity offset value of the slave AGV in the running process at time t, k4 and k5 are the speed adjustment coefficients, AL is the distance value of the master and the slave at time t, a1 is the angle between the master coordinate system and the master-slave coordinate system, a2 is the angle between the slave coordinate system and the master-slave coordinate system, and e x2(t) is the displacement offset value of the slave AGV at the time t when the slave AGV is running.

[0082] Optionally, after the multiple optimization designs of the transfer control algorithm are capable of meeting the transfer requirements of the to-be-transferred aircraft section, the corresponding parameters of the transfer tool and the positioner and the like can be processed and manufactured, and integrated and installed. After the site design and the tool manufacturing are completed, the transfer docking equipment can be applied, debugged and verified on site, and after the debugging is completed, the safety and reliability of the transfer docking equipment are verified through the simulation piece, and the transfer docking equipment is put into the trial operation of the production line of the aircraft section.

[0083] In a specific application scenario, the aircraft section transfer and transportation method provided by the embodiment of the application can include the following processes:

[0084] Step one, sort out the civil aircraft section assembly process requirements.

[0085] Specifically, the data of each section of the civil aircraft to be assembled and the docking process data can be acquired, and these information can be sorted to obtain the basic parameters of each section of the civil aircraft to be assembled and the docking parameters between each section and the like.

[0086] Step two, design discrete AGV.

[0087] The load capacity, movement speed and the like of the AGV can be designed according to the basic parameters of each section of the civil aircraft to be assembled and the docking parameters between each section and the like, or a suitable AGV can be selected from the already manufactured AGV, wherein the number of the AGV can be designed and selected according to the requirements, and can be 2, 4 or 5 or the like.

[0088] Step three, sensor design and layout design.

[0089] After the design of the discrete AGV is completed, the components such as the sensors, positioners and controllers configured on each AGV can be designed, and the layout design of the discrete AGV can be completed according to the assembly requirements of the civil aircraft section.

[0090] Step four, multi-AGV teaming logic design.

[0091] After the design of the discrete AGV, the sensors and the layout of the discrete AGV are completed, the teaming logic of the multiple AGVs can be designed, and the multiple AGVs can have multiple teaming logics, and different teaming logics can correspond to the assembly of different sections of the civil aircraft, thereby improving the flexibility.

[0092] Step five, AGV teaming cooperative motion model construction.

[0093] After the multi-AGV teaming logic design is completed, an AGV teaming cooperative motion model can be constructed, and the AGV is controlled to run through the teaming cooperative motion model.

[0094] Step six, AGV mechanical and electrical integration scheme is formed.

[0095] After the AGV teaming cooperative motion model is constructed, the design results of the previous five steps can be integrated to form a detailed AGV mechanical and electrical integration scheme. Specifically, the mechanical structure design of the AGV, the selection and layout of electrical elements, the integration of the control system, etc. can be determined. Through accurate calculation and simulation, the cooperative work between components is ensured to meet the high precision requirements of civil aircraft section assembly. Finally, a complete and implementable AGV mechanical and electrical integration scheme is formed, which provides a basis for subsequent manufacturing and debugging.

[0096] In another specific application scenario, the aircraft section transfer and transportation method provided by the embodiment of the application can include the following processes:

[0097] Step one, select the civil aircraft assembly process that needs to be cooperatively transported.

[0098] Specifically, the model and preliminary size information of the civil aircraft section assembly docking and its transfer work that need to be targeted can be determined according to the assembly requirements.

[0099] Step two, sort out the section process ball head position and other docking process information.

[0100] Specifically, the process flow analysis and the sorting and decomposition of corresponding parameters can be performed for the selected civil aircraft section to form preliminary design input information of the transfer docking equipment.

[0101] Step three, design the transfer AGV and positioner scheme and flow path range design.

[0102] Specifically, the AGV and positioner can be designed according to the process information to form a preliminary scheme and corresponding size information, and the logistics path of the plant planning equipment is designed.

[0103] Step four, form AGV and positioner various technical parameters and motion parameters.

[0104] Specifically, the AGV kinematic parameter specifications and kinematic model can be formed according to the process position information and the design scheme of the AGV and positioner.

[0105] Step five, motion parameter and control algorithm design.

[0106] Specifically, the cooperative motion control model design and corresponding algorithm design can be established according to the various technical parameters and motion parameters of the AGV and positioner.

[0107] Step six, cooperative motion control simulation and process simulation.

[0108] Specifically, it can be simulated and analyzed for motion control algorithm and optimized algorithm parameters and methods by using, for example, SIMULINK, while using, for example, DELMIA for simulation and design optimization of the process of the device.

[0109] Step seven, complete the design and manufacture of the transfer equipment.

[0110] Specifically, according to the simulation results, after multiple optimization designs, the transfer locator is processed and manufactured according to the optimized parameters and integrated.

[0111] Step eight, debugging and on-site application verification of civil aircraft section.

[0112] Specifically, after completing the design and manufacture, the transfer docking equipment is debugged and verified on site, and after debugging, the safety and reliability are verified through the simulation piece, and then put into the trial run of the production line of the type of aircraft section.

[0113] The technical scheme of the embodiment of the application, by acquiring the type data information and the docking process information of the aircraft section to be transferred, determining the transfer tool information for transferring the aircraft section to be transferred according to the type data information and the docking process information, then generating the transfer control algorithm according to the transfer tool information, and finally controlling the transfer tool to run according to the transfer control algorithm, the aircraft section to be transferred is transported. It can efficiently and flexibly control the transfer tool to complete the cooperative transportation of the aircraft section to be transferred through the transfer control algorithm, which can improve the assembly efficiency of the aircraft section to be transferred, and improve the safety and flexibility of the assembly of the aircraft section to be transferred.

[0114] Embodiment three

[0115] Figure 7 A structural schematic diagram of an aircraft section transfer and transportation device provided by the third embodiment of the application is shown in FIG. 3. Figure 7 As shown in the figure, the device includes a data acquisition module 310, a transfer tool determination module 320, a transfer control algorithm generation module 330, and a transfer transportation module 340.

[0116] Further, the data acquisition module 310 can be used to acquire the type data information and the docking process information of the aircraft section to be transferred; the transfer tool determination module 320 can be used to determine the transfer tool information for transferring the aircraft section to be transferred according to the type data information and the docking process information; the transfer control algorithm generation module 330 can be used to generate the transfer control algorithm according to the transfer tool information; and the transfer transportation module 340 can be used to control the transfer tool to run according to the transfer control algorithm, and transport the aircraft section to be transferred.

[0117] Further, the transfer tool determination module 320 is specifically configured to: determine, according to the model data information of each aircraft section in the aircraft section to be transferred, the transfer configuration information of the transfer tool of the aircraft section to be transferred; determine, according to the docking process information between each aircraft section to be transferred in the aircraft section to be transferred, the transfer motion information of the transfer tool, wherein the motion information of the transfer tool includes motion path information and motion speed information; and determine the transfer configuration information and the transfer motion information as the transfer tool information of the aircraft section to be transferred.

[0118] Further, the transfer control algorithm generation module 330 is specifically configured to: generate, according to the transfer configuration information and the transfer motion information, a transfer control algorithm; and wherein the transfer control algorithm is used to control the operation of the transfer tool.

[0119] Further, the transfer transportation module 340 is specifically configured to: determine, according to the optimal transfer control algorithm, the transfer motion data of each transfer tool, wherein the transfer motion data of the transfer tool includes: running distance parameters between each transfer tool, motion path data of each transfer tool, and motion speed data of each transfer tool; and control the operation of the transfer tool according to the transfer motion parameters to complete the transfer transportation of the aircraft section to be transferred.

[0120] Further, the device is further specifically configured to: determine, according to the optimal transfer control algorithm, preset position data and preset speed data of the transfer tool; obtain current motion speed data and current motion position data of the transfer tool in the transfer transportation process; compare the current motion speed data with the preset speed data to obtain a first comparison result, and compare the current motion position data with the preset position data to obtain a second comparison result; determine, according to the first comparison result and the second comparison result, a correction parameter for the motion parameters of the transfer tool, correct the motion parameters of the transfer tool according to the correction parameter; and control the operation of the transfer tool according to the corrected motion parameters of the transfer tool to complete the transfer transportation of the aircraft section to be transferred.

[0121] Further, the device further includes: a simulation module, which is used to, after generating the transfer control algorithm according to the transfer tool information, further include: performing transfer transportation simulation on the transfer control algorithm by a simulation tool to obtain a transfer transportation simulation result; and if the transfer transportation simulation result of the transfer control algorithm meets a preset condition, determining the transfer control algorithm as the optimal transfer control algorithm.

[0122] The aircraft section transfer transportation device provided in the embodiments of the present application can execute the aircraft section transfer transportation method provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0123] Embodiment Four

[0124] Figure 8A structural 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, smartphones, 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 present application described and / or claimed in this document.

[0125] As shown in Figure 8 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., communicatively connected to the at least one processor 11, where the memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. 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.

[0126] Various components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, 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 through a computer network, such as the Internet, and / or various telecommunication networks.

[0127] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the method of transferring and transporting aircraft sections.

[0128] In some embodiments, the method of transfer of an aircraft section can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more steps of the method of transfer of an aircraft section as described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method of transfer of an aircraft section by other means, e.g., with the aid of firmware.

[0129] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0130] Computer programs used to implement the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as part of a standalone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0131] 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.

[0132] 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.

[0133] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0134] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0135] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein.

[0136] 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 transferring and transporting aircraft sections, characterized in that: include: Obtain model data and docking process information of the aircraft section to be transferred; Determining transfer tool information for transferring the aircraft section to be transferred based on the model data information and the docking process information; generating a transfer control algorithm according to the transfer tool information; The transfer tool is controlled to operate according to the transfer control algorithm to transfer and transport the aircraft section to be transferred.

2. The method according to claim 1, characterized in that The step of determining transfer tool information for transferring the aircraft section to be transferred based on the model data information and the docking process information includes: determining transfer configuration information of a transfer tool for the aircraft section to be transferred according to the model data information of each aircraft section in the aircraft section to be transferred; Determining transfer motion information of a transfer tool according to docking process information between each of the aircraft sections to be transferred, wherein the motion information of the transfer tool includes motion path information and motion speed information; The transfer configuration information and the transfer motion information are determined as transfer tool information of the aircraft section to be transferred.

3. The method according to claim 2, characterized in that Generating a transfer control algorithm according to the transfer tool information includes: generating a transfer control algorithm according to the transfer configuration information and the transfer motion information; The transfer control algorithm is used to control the operation of the transfer tool.

4. The method according to claim 1, wherein After generating a transfer control algorithm according to the transfer tool information, the method further includes: Performing a transfer and transportation simulation on the transfer control algorithm through a simulation tool to obtain a transfer and transportation simulation result; If the load transfer and transportation simulation result of the load transfer control algorithm meets the preset conditions, the load transfer control algorithm is determined as the optimal load transfer control algorithm.

5. The method according to claim 4, characterized in that The step of controlling the operation of the transfer tool according to the transfer control algorithm to transfer and transport the aircraft section to be transferred includes: Determining the transfer motion data of each transfer tool according to the optimal transfer control algorithm, wherein the transfer motion data of the transfer tool includes: a running distance parameter between each transfer tool, motion path data of each transfer tool, and motion speed data of each transfer tool; The transfer tool is controlled to operate according to the transfer motion parameters to complete the transfer and transportation of the aircraft section to be transferred.

6. The method according to claim 5, characterized in that The step of controlling the transfer tool to operate according to the transfer motion parameters to complete the transfer and transportation of the aircraft section to be transferred includes: Determining preset position data and preset speed data of the transfer tool according to the optimal transfer control algorithm; Obtaining the current movement speed data and current movement position data of the transfer tool during the transfer and transportation process; Comparing the current motion speed data with the preset speed data to obtain a first comparison result, and comparing the current motion position data with the preset position data to obtain a second comparison result; determining a correction parameter for a motion parameter of a transfer tool according to the first comparison result and the second comparison result, and correcting the motion parameter of the transfer tool according to the correction parameter; The operation of the transfer tool is controlled according to the corrected motion parameters of the transfer tool to complete the transfer and transportation of the aircraft section to be transferred.

7. A device for transferring and transporting aircraft sections, characterized in that: include: Data acquisition module, which obtains the model data and docking process information of the aircraft section to be transferred; a transfer tool determination module, which determines transfer tool information for transferring the aircraft section to be transferred based on the model data information and the docking process information; A transfer control algorithm generating module, which generates a transfer control algorithm according to the transfer tool information; The transfer and transportation module controls the operation of the transfer tool according to the transfer control algorithm to transfer and transport the aircraft section to be transferred.

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

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

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

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