Helicopter fuselage butt joint assembly process integrated management and control system

Abstract

The invention relates to a helicopter fuselage docking assembly process integrated management and control system, which comprises an assembly management and control decision module, a normal docking module and a calibration system module, and is characterized in that the normal docking module and the calibration system module are child nodes of the assembly management and control decision module; the normal docking module comprises a station preparation decision-making module, a cabin docking decision-making module, a hole making action module, a separation reset riveting decision-making module and a whole vehicle off-frame decision-making module; according to the method, management and control tasks of the normal docking module, the calibration system module and all the modules in the normal docking module are generated, all the modules work based on the management and control tasks, and therefore the problems that a traditional hierarchical state machine is complex in state management, difficult to maintain, insufficient in man-machine interaction and the like in an aircraft assembly scene are solved, the expression ability of complex logic can be achieved, and the reliability of aircraft assembly is improved. Standardization and reusability of the module are achieved, and frequent man-machine interaction requirements in the assembling process can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of digital assembly, in particular to a helicopter fuselage butt joint assembly process integrated management and control system. BACKGROUND

[0002] The digital and automatic assembly system can effectively improve the quality and efficiency of aircraft component and fuselage assembly, and improve the compatibility and flexibility of the aircraft production line. The digital system for aircraft assembly is composed of robots, high-precision measurement and integrated control subsystems, which successfully realize transfer, butt joint, riveting, finishing and other tasks through high integration and cooperation, greatly improving the consistency of assembly operation, improving the quality of assembly process, and being compatible with various aircraft products.

[0003] However, the aircraft assembly process is complex, the flow is numerous, and there are a large number of human-machine interlaced cooperation operations, which poses a challenge to the integrated management and control of the system. In order to solve this problem, most digital assembly systems need to develop customized integrated control software, so as to implement management and control of equipment control and process, coordination of personnel cooperation, and diagnosis and alarm of fault state. The integrated management and control system needs to consider all aspects of system operation, so the logic is complex, the interface is numerous, and it is usually difficult to fully debug and test the integrated management and control system, which leads to defects in the software, frequent interruption of production process, or accidents and losses in actual production process. In order to adapt to new aircraft models and variable process flow, the integrated management and control system usually needs to be reconstructed and reorganized, which has a large software development cost, and it is difficult to achieve mutual compatibility between multiple models. It is also difficult to form a standard management and control mode for similar digital assembly systems, which deepens the difficulty of maintenance and upgrade of different equipment.

[0004] In order to solve the above problems, several key features of the management and control software system need to be met: it can not only debug and test single automatic action, but also easily form complex process control steps, and further construct complete assembly process. The corresponding process flow is also easy to realize human-computer interaction, which is convenient for personnel operation and understanding. In addition, the integrated management and control of the process flow can fully consider the constraint conditions of the assembly site to ensure the safety of the execution process and the assembly quality.

[0005] The integrated management and control system in the related art can provide independent function modules, and the operation user can operate the independent function modules to complete the complex process flow according to the use demand. In order to avoid misoperation and ensure the process flow, a sequential process or a layered function module combination can be further adopted, so as to program and realize all automatic butt joint process flows of a certain fixed model. However, this construction method is difficult to balance the flexibility of the system and the process control, and it is difficult to realize strict process control under the condition of ensuring the compatibility of the assembly system.

[0006] The hierarchical state machine system can model complex behavior actions, solve decision-making problems in complex and variable environments through periodic traversal of the tree-like hierarchical state machine, and is widely used in real-time control of intelligent robots, flight control, and embedded control. However, aircraft assembly is a pulsating, discrete, and non-real-time action system, which is significantly different from the above real-time decision-making problems. At the same time, the hierarchical state machine introduces many system states, causing logic complexity and maintenance difficulties, and thus cannot meet many requirements of integrated management and control of aircraft assembly. SUMMARY

[0007] The application provides a helicopter fuselage docking assembly process integrated management and control system to solve the problems of complex state management, maintenance difficulty, and insufficient human-computer interaction of traditional hierarchical state machines in the aircraft assembly scene, can realize the expression ability of complex logic, has strong expansibility, realizes the standardization and reusability of modules, and can meet the frequent human-computer interaction demand in the assembly process.

[0008] The first aspect of the application provides a helicopter fuselage docking assembly process integrated management and control system, comprising An assembly control decision module, which is a root node of the helicopter fuselage docking assembly process integrated management and control system determined according to a modular state tree; The child nodes of the assembly control decision module are a normal docking module and a calibration system module determined according to the modular state tree, the child nodes of the normal docking module are a station preparation decision module, a cabin section docking decision module, a hole making action module, a separation reset riveting decision module, and a whole vehicle unloading decision module, wherein the normal docking module, the station preparation decision module, the cabin section docking decision module, the separation reset riveting decision module, and the whole vehicle unloading decision module are decision nodes, and the calibration system module and the hole making action module are action nodes; wherein The assembly control decision module is configured to generate control tasks of the normal docking module, the calibration system module, and each module in the normal docking module when receiving an aircraft docking task; The calibration system module is configured to determine an inspection task period based on the control task, and perform an inspection operation according to the inspection task period; The station preparation decision module is configured to perform an initialization action before each splicing task starts based on the control task, and monitor the position and attitude of the aircraft to be spliced in the splicing process in real time; The cabin section docking decision module is configured to generate a splicing task based on the control task, and insert and splice the nose section, the front section of the middle fuselage, the middle section of the middle fuselage, the rear section of the middle fuselage, the transition section, and the tail beam of the aircraft to be spliced based on the splicing task. The hole making action module is configured to prompt an operator to perform a hole making operation. The separation and reset riveting decision module is configured to generate a safety control strategy for when the operator enters the work area based on the management and control task, and to perform safety control according to the control strategy. The whole vehicle unloading decision module is configured to generate an unloading task according to the management and control task, and to control the AGV to drive out from below the splicing frame after the whole machine of the spliced-together aircraft is spliced.

[0009] Optionally, in some embodiments, the helicopter fuselage docking assembly process integrated management and control system described above further includes a modular state tree construction module, wherein the modular state tree construction module is specifically configured to: obtain an assembly process of helicopter fuselage docking; determine a root node of the assembly process, hierarchically divide the assembly process, determine a plurality of child nodes of the assembly process, define a dividable child node as a decision node, and define a non-dividable child node as an action node; combine decision nodes with similar decision logic into the same decision module, define differences and necessary parameters of each decision module as input parameters of the corresponding decision module, define a running result of each decision module as an output parameter of the corresponding decision module, determine an input interface of the corresponding decision module according to the input parameters of each decision module, and determine an output interface of the corresponding decision module according to the output parameters of each decision module; combine action nodes with similar action logic into the same action module, define differences and necessary parameters of each action module as input parameters of the corresponding action module, define a running result of each action module as an output parameter of the corresponding action module, determine an input interface of the corresponding action module according to the input parameters of each action module, and determine an output interface of the corresponding action module according to the output parameters of each action module; construct the modular state tree according to the root node of the assembly process, the decision node, the input interface of the decision node, the output interface of the decision node, the action node, the input interface of the action node, and the output interface of the action node.

[0010] Optionally, in some embodiments, the helicopter fuselage docking assembly process integrated management and control system further includes an initialization calling interface, which is specifically configured to: for the modular state tree, treat the root node of the assembly process as a parent decision node, set a current state of the root node as an initial state, and initialize a child action node or a child decision node corresponding to the current state according to a preset initialization parameter.

[0011] Optionally, in some embodiments, the helicopter fuselage docking assembly process integrated management system further comprises a jump calling interface, and the jump calling interface is specifically used for: determining a target decision node and a target state of the target decision node according to a jump instruction given by a user; judging whether a sub-action node or a sub-decision node corresponding to a current state of the target decision node meets a preset completed condition; if the sub-action node or the sub-decision node corresponding to the current state of the target decision node meets the preset completed condition, judging whether a condition for jumping from the current state of the target decision node to the target state of the target decision node is met according to a jump relationship table of the target decision node; if the condition for jumping from the current state of the target decision node to the target state of the target decision node is met, switching the current state of the target decision node to the target state of the target decision node, and initializing the sub-decision node or the sub-action node corresponding to the target state.

[0012] Optionally, in some embodiments, the helicopter fuselage docking assembly process integrated management system further comprises an execution calling interface, and the execution calling interface is specifically used for: determining an execution node according to an execution task given by a user; in a case where the execution node is an action node, judging whether a current state of the execution node is an initial state, and if the current state of the execution node is the initial state, controlling the execution node to execute a corresponding action execution method; in a case where the execution node is a decision node, determining a plurality of execution sub-nodes of the execution node, initializing the execution node and the execution sub-nodes, executing a corresponding execution sub-node task according to the current state of the execution node, and automatically jumping to a next state according to a state jump relationship table of the execution node after the execution sub-node task corresponding to the current state of the execution node is executed, until there is no jump item corresponding to the current state in the state jump relationship table of the execution node. Optionally, in some embodiments, the station preparation decision module comprises: a work ladder resetting module configured to adjust a work ladder to an initial position corresponding to the work ladder before each splicing task starts; a pose adjusting unit resetting action module configured to adjust a pose adjusting device for adjusting a pose of a fuselage section to an initial position corresponding to the pose adjusting device before each splicing task starts; a laser tracker station building action module configured to monitor positions and poses of a nose section, a front middle fuselage section, a middle middle fuselage section, a rear middle fuselage section, a transition section and a tail beam of an aircraft to be spliced in real time.

[0013] Optionally, in some embodiments, the cabin section docking decision module comprises: The cabin section transfer and up-rack decision module is configured to generate a first action instruction based on the management and control task, so as to transport the positions and postures of the nose section, the front middle fuselage section, the middle middle fuselage section, the rear middle fuselage section, the transition section and the tail beam of the aircraft to be spliced to the splicing station according to the first action instruction; The cabin section posture adjustment cycle decision module is configured to generate a second action instruction based on the management and control task, so as to adjust the cabin section that has been up-racked to a required posture for docking according to the second action instruction; The splicing action module is configured to generate a docking instruction based on the management and control task, so as to finally splice two adjacent cabin sections; The cabin section separation action module is configured to generate a separation instruction when the splicing of the two adjacent cabin sections is unsuccessful.

[0014] Optionally, in some embodiments, the cabin section transfer and up-rack decision module comprises: The AGV carrying driving-in action module is configured to control the AGV carrying the cabin section to be spliced to drive into the splicing station; The cabin section posture measurement action module is configured to monitor the current position and the current posture of the cabin section to be spliced after the AGV drives into the splicing station; The positioner handover support action module is configured to move the cabin section to be spliced from the AGV to the splicing rack and provide support; The AGV empty driving-out action module is configured to control the AGV to drive away from the splicing station after completing the unloading of the cabin section to be spliced.

[0015] Optionally, in some embodiments, the cabin section posture adjustment cycle decision module comprises: The cabin section posture measurement action module is configured to monitor the current position and the current posture of the cabin section to be spliced after the AGV drives into the splicing station; The cabin section posture adjustment action module is configured to adjust the cabin section to be spliced to a required posture for docking based on a target position and a target posture of the cabin section to be spliced according to the current position and the current posture.

[0016] Optionally, in some embodiments, the whole vehicle down-rack decision module comprises: The whole machine down-rack preparation action module is configured to generate an adjustment instruction based on the management and control task, so as to adjust the corresponding equipment to a down-rack state according to the adjustment instruction when the aircraft to be spliced meets a preset removal condition; The partial positioner evacuation action module is configured to generate a removal instruction based on the management and control task, so as to remove the positioner according to the removal instruction; AGV driving-in action module, configured to control the AGV to drive into below the splicing frame to prepare to carry the whole machine; Multi-positioner linkage action module, configured to control actions of the positioners to ensure that the whole machine is moved from the splicing frame to the AGV; AGV driving-out action module, configured to control the AGV to drive out from below the splicing frame after carrying the whole machine.

[0017] The second aspect embodiment of the application provides a management and control method of a helicopter fuselage butt joint assembly process integrated management and control system, including the following steps: According to the modular state tree, the root node of the helicopter fuselage butt joint assembly process integrated management and control system is determined as an assembly management and control decision module; According to the modular state tree, the child nodes of the assembly management and control decision module are determined as a normal butt joint module and a calibration system module, and according to the modular state tree, the child nodes of the normal butt joint module are determined as a station preparation decision module, a cabin section butt joint decision module, a hole making action module, a separation reset riveting decision module and a whole vehicle unloading decision module, wherein the normal butt joint module, the station preparation decision module, the cabin section butt joint decision module, the separation reset riveting decision module and the whole vehicle unloading decision module are decision nodes, and the calibration system module and the hole making action module are action nodes; wherein When the aircraft butt joint task is received, the assembly management and control decision module generates management and control tasks of the normal butt joint module, the calibration system module and each module in the normal butt joint module; The calibration system module determines an inspection task cycle based on the management and control task, and performs an inspection operation according to the inspection task cycle; The station preparation decision module performs an initialization action before each splicing task starts based on the management and control task, and monitors the position and attitude of the aircraft to be spliced in the splicing process in real time; The cabin section butt joint decision module generates a splicing task based on the management and control task, so as to insert and butt joint the nose section, the front middle fuselage section, the middle middle fuselage section, the rear middle fuselage section, the transition section and the tail beam of the aircraft to be spliced based on the splicing task; The hole making action module prompts the operator to make holes; The separation reset riveting decision module generates a safety control strategy when the operator enters the work area based on the management and control task, so as to perform safety control according to the control strategy; The whole vehicle unloading decision module generates an unloading task according to the management and control task, so as to control the AGV to drive out from below the splicing frame after carrying the whole machine after the aircraft to be spliced is spliced.

[0018] Therefore, the application has at least the following beneficial effects: (1) The application adopts a modular management mode for aircraft assembly processes, can realize complex logic expression capability, has strong expansibility for different aircraft models, and can realize automatic docking process management for different aircraft models by modifying corresponding modules according to docking process modification of different aircraft models.

[0019] (2) The application realizes standardization and reusability of modules, avoids repeated development workload. The action execution method has reusability, can complete similar control and measurement tasks by giving different input parameters, and the corresponding execution results as the output of the node can be accessed by other modules.

[0020] (3) The application ensures that the execution result is correct and meets the requirements, ensures that the personnel operation is correct, the assembly process is correctly executed along the allowed path, and prevents repeated operation and misoperation. The beneficial effect is to form a specification for the judgment of condition satisfaction, which can effectively meet the prerequisite condition of the control action, avoid omission of the prerequisite condition, and effectively prevent misoperation.

[0021] (4) The application adopts a modular docking process to enable parallel processing of docking program development, and the start module setting mode of the strategy module facilitates individual testing of each module, and the software development efficiency and program debugging efficiency are greatly improved. (5) The tree diagram formed by the application not only meets the frequent man-machine interaction demand in the assembly process, ensures the safety of personnel and products in the docking process, is easy for the operator to understand and be familiar with, and greatly reduces the training time of complex operation.

[0022] Additional aspects and advantages of the application will be in part apparent and in part pointed out hereinafter in the description of the application. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and / or additional aspects and advantages of the application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which: Figure 1 A schematic diagram of the principle of the modular hierarchical state machine decision system provided according to an embodiment of the application; Figure 2 A schematic diagram of the basic information composition of the action node and the decision node provided according to an embodiment of the application; Figure 3 A task flowchart of the execution action node continuously executing from the initial state according to an embodiment of the application; Figure 4 A schematic diagram of the state of the decision node and the corresponding relationship of the subnode according to an embodiment of the application; Figure 5An activation path diagram of the modular hierarchical state machine according to an embodiment of the present application; Figure 6 An internal state jump relationship and a sub-node activation process diagram of a decision node according to an embodiment of the present application; Figure 7 A task flow diagram of a decision node according to an embodiment of the present application; Figure 8 A modular local test diagram of different root nodes according to an embodiment of the present application; Figure 9 A block diagram of a helicopter fuselage docking assembly process integrated management and control system according to an embodiment of the present application; Figure 10 A general structure diagram of an aircraft assembly docking management and control system according to an embodiment of the present application; Figure 11 A connection relationship diagram of an assembly station preparation decision module of an aircraft assembly docking management and control system according to an embodiment of the present application; Figure 12 A connection relationship diagram of a cabin docking decision module of an aircraft assembly docking management and control system according to an embodiment of the present application; Figure 13 A connection relationship diagram of a separation decision module of an aircraft assembly docking management and control system according to an embodiment of the present application; Figure 14 A connection relationship diagram of a whole machine unloading decision module of an aircraft assembly docking management and control system according to an embodiment of the present application; Figure 15 A flowchart of a management and control method of a helicopter fuselage docking assembly process integrated management and control system according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] Embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below are examples for explaining the present application and are not intended to limit the present application.

[0025] The helicopter fuselage docking assembly process integrated management and control system and the management and control method thereof according to the embodiments of the present application are described below with reference to the accompanying drawings. In view of the problems of the traditional hierarchical state machine in the aircraft assembly scene, such as complex state management, difficult maintenance, and insufficient human-computer interaction, the present application provides a helicopter fuselage docking assembly process integrated management and control system. In the system, a modular management and control method is used to manage and control the helicopter fuselage docking assembly process. The assembly management and control decision module is the top node of the modular state tree. When receiving the aircraft docking task, the assembly management and control decision module generates the management and control tasks of the normal docking module, the calibration system module, and each module in the normal docking module. The normal docking module and the calibration system module are two child nodes of the assembly management and control decision module, and are used to work according to the management and control tasks generated by the assembly management and control decision module. Thus, the problems of the traditional hierarchical state machine in the aircraft assembly scene, such as complex state management, difficult maintenance, and insufficient human-computer interaction, are solved. The helicopter fuselage docking assembly process integrated management and control system can realize the expression ability of complex logic, realize the standardization and reusability of modules, and meet the frequent human-computer interaction demand in the assembly process.

[0026] The helicopter fuselage docking assembly process integrated management and control system according to the embodiments of the present application is constructed based on a modular state tree. Here, the construction method of the modular state tree based on the helicopter fuselage docking assembly process integrated management and control system is described. Point 1: The assembly process modular integrated management and control system includes: a-modular state tree, and b-call interface.

[0027] Point 2: In point 1, the a-modular state tree includes a plurality of a1-action nodes, a plurality of a2-decision nodes, a3-node connection relationship, and one a4-root node.

[0028] Point 3: In point 2, the a1-action node includes a11-node identity code, a12-current state, a13-node input and output interface, a14-action execution method, etc.

[0029] Point 4: In point 2, the a11-node identity code is ensured to be unique in all a1-action nodes and a2-decision nodes.

[0030] Point 5: In point 3, the a13-node input and output interface includes pre-defined input and output data, and the a14-action execution method executes specific actions according to the a13-node input and output interface.

[0031] Point 6: In point 5, the a14-action execution method defines the jump method of the a12-current state and the corresponding device control action.

[0032] Point 7: In point 2, the a2-decision node includes a21-node identity code, a22-current state, a23-node input and output interface, a24-full state list, a25-termination state list, a26-state jump relationship table, and a27-state jump check method.

[0033] Point 8: In point 7, the a21-node identity code is unique in all a1-action nodes and a2-decision nodes.

[0034] Point 9: In point 7, the a22-current state can only take the initial state or a value from the a24-full state list.

[0035] Point 10: In point 7, the a22-current state can only implement the jump defined in the a26-state jump relationship table.

[0036] Point 11: In point 7, the a26-state jump relationship table contains the jump relationship between each state in the a24-full state list and the automatic jump flag allowed during execution.

[0037] Point 12: In point 7, the a27-state jump check method checks the jump condition of the a22-current state to a target state, and only when the condition check is passed, the a22-current state can jump to the next target state.

[0038] Point 13: In point 7, the a23-node input and output interface includes predefined input and output data, and the a27-state jump check method can make specific judgment decisions based on the a23-node input and output interface.

[0039] Point 14: In point 7, the a25-termination state list records one or more states in the a24-full state list, when the a22-current state takes a value in the a25-termination state list, the a22-current state cannot jump to other states, indicating that the task corresponding to the a2-decision node has been completed.

[0040] Point 15: In point 2, the a3-node connection relationship includes a31-parent decision node and multiple a32-sub-action nodes and a33-sub-decision nodes, the a31-parent decision node and the a33-sub-decision node are respectively an a2-decision node, and the a32-sub-action node is an a1-action node.

[0041] Point 16: In point 15, each state in the a24-entire state list of the a31-parent decision node corresponds to an a32-sub action node or an a33-sub decision node, and the correspondence between the state of the a31-parent decision node and the a11-node identity code of the a32-sub action node is saved in the a24-entire state list of the a31-parent decision node. The correspondence between the state of the a31-parent decision node and the a21-node identity code of the a32-sub decision node is also saved in the a24-entire state list of the a31-parent decision node.

[0042] Point 17: In point 2, the a4-root node points to an a1-action node and saves its a11-node identity code, or points to an a2-decision node and saves its a21-node identity code.

[0043] Point 18: In point 2, all a1-action nodes, a2-decision nodes, a3-nodes, and a4-root nodes form a tree data structure.

[0044] Point 19: In point 1, the b-call interface includes b1-modular state tree initialization, b2-query node active path, b3-jump decision node state, and b4-execute node task.

[0045] Point 20: The b1-modular state tree initialization is for the modular state tree in point 18, the a4-root node is regarded as the a31-parent decision node, the a22-current state is set as the initial state, and the a32-sub action node or the a33-sub decision node corresponding to the a22-current state is initialized according to the given initialization parameters.

[0046] Point 21: In point 20, initializing the a32-sub action node means initializing the a13-node input and output interface and setting the a12-current state as the initial state.

[0047] Point 22: In point 20, initializing the a33-sub decision node means initializing the a23-node input and output interface and switching the a22-current state to the initial state, thereby triggering the initialization of the corresponding next-level a33-sub decision node, so as to recursively complete the initialization of all subsequent a33-sub decision nodes until the a32-sub action node initialization in point 21.

[0048] Point 23: In point 19, the b2-query node activates the path from the a4-root node, and finds the a32-subaction node or the a33-subdecision node according to the a4-root node a22-current state and the a3-node connection relationship. When the a32-subaction node is found, the a21-node identity code of all modules is returned from the a4-root node. When the a33-subdecision node is found, the a21-node identity code is recorded, and the iterative search is continued. The node on the activated path is the activated node, and the root node is always the activated node.

[0049] Point 24: In point 19, the b3-jump decision node state jumps according to the a2-decision node given by the user and one target state in the a24-all state list, checks whether the a32-subaction node or the a33-subdecision node corresponding to the a22-current state of the a2-decision node meets the completed condition, confirms whether the a22-current state jumps to the target state given by the user according to the a26-state jump relationship table, switches the a22-current state to the target state, and initializes the a32-subaction node or the a33-subdecision node corresponding to the target state as in 20.

[0050] Point 25: In point 24, the a2-decision node given by the user can only be the activated node on the activated path of point 23. If it is not the activated node, the state jump is not allowed.

[0051] Point 26: In point 24, the a32-subaction node or the a33-subdecision node meeting the completed condition specifically refers to the a32-subaction node being in the execution completion state, and the a22-current state of the a33-subdecision node taking a value in the a25-termination state list.

[0052] Point 27: In point 24, the condition for the a22-current state jumping to the target state given by the user refers to multiple judgment conditions for judging whether it can jump to the target state. When all the judgment conditions are met, the jump is allowed. When the conditions are not met, the a22-current state is not allowed to jump to the target state.

[0053] Point 28: In point 19, the b4-execution node task executes the task according to the a1-action node in the active node given by the user, or executes the task according to the a2-decision node in the active node given by the user.

[0054] Point 29: In point 28, the a1-action node executing the task specifically includes the following steps: first, confirming that the a12-current state is the initial state, then running the a14-action execution method of the a1-action node to complete the jump of the a12-current state and the control action of the corresponding device. If the a1-action node is not in the initial state, the task cannot be executed.

[0055] Point 30: In point 28, the a2-decision node performs tasks, including continuously performing sub-node tasks and automatically jumping states.

[0056] Point 31: In point 30, the sub-node task is specifically performing tasks on the a1-action node corresponding to the a22-current state of the a2-decision node, or performing tasks on the a2-decision node corresponding to the a22-current state.

[0057] Point 32: In point 30, the automatic state jumping step specifically queries the a26-state jump relationship table of the current a2-decision node for items that jump from the a22-current state, and when the automatic jump permission flag is true during the execution of point 7, the state jump step in point 24 is executed.

[0058] Point 33: In point 30, after jumping, continue to execute the sub-node tasks in point 28. If there are no items in the a26-state jump relationship table in point 32 that jump from the a22-current state, or all items in point 32 have a false automatic jump permission flag during execution, no state jump is performed, and the task execution of the a2-decision node stops.

[0059] Point 34: The working steps of the modular integrated management and control system of the assembly process module include: c-constructing a modular state tree, d-executing an integrated management and control system.

[0060] Point 35: In point 34, c-constructing a modular state tree specifically includes c1-task division, c2-defining node and connection relationship, and c3-defining node content and interface.

[0061] Point 36: In point 35, the specific steps of c1-task hierarchy division are to define a complete set of assembly process, divide the complete set of assembly process into multiple sub-assembly processes, and further divide the sub-assembly process into more specific sub-assembly processes.

[0062] Point 37: In point 35, the specific steps of c2-defining node and connection relationship are to define the complete set of assembly process as an a2-decision node and determine it as an a4-root node; for further divisible sub-assembly tasks, define them as a2-decision nodes, and for non-divisible assembly processes, define them as a1-action nodes; according to the hierarchy division relationship in point 36, define multiple a1-action nodes and a2-decision nodes, wherein similar nodes are classified into the same module, and different parts are extracted into module input parameters.

[0063] Point 38: After the division of the whole assembly task into a series of a1-action nodes and a2-decision nodes in point 37, the interconnection relationship of all nodes is constructed according to the membership and inclusion relationship of the assembly task.

[0064] Point 39: In point 35, the c3-definition node content and interface specific steps are to define the content and interface of each a1-action node and the content and interface of a2-decision node respectively.

[0065] Point 40: In point 39, the content and interface of each a1-action node are defined, nodes with similar control action logic are combined into an a1-action node, and a14-action execution method is constructed, including control actions on each automation device; the differences and necessary parameters are defined as input parameters of the module, and the results of node running are defined as output parameters of the module, thereby constituting the a13-node input and output interface.

[0066] Point 41: In point 39, the content and interface of each a2-decision node are defined, nodes with similar decision logic are combined into an a2-decision node, and a24-entire state list, a25-termination state list, a26-state jump relationship table, and a27-state jump checking method are constructed, including state jump checking conditions and jump relationship; the differences and necessary parameters are defined as input parameters of the module, and the results of node running are defined as output parameters of the module, thereby constituting the a23-node input and output interface.

[0067] Point 42: The overall system is implemented using an object-oriented programming language, and classes are used to establish each node, and interconnection relationships are established through references or pointers.

[0068] The integrated control system plays an irreplaceable role in coordinating equipment, optimizing tasks, improving production efficiency and quality in the automatic assembly system of the aircraft, especially in the positioning and assembly of parts by personnel and machines. The equipment-centered integrated control system needs to be guided and controlled by the operator to control the complex operation process: the integrated control system encapsulates the access interface of each automation device and provides some closed-loop control modules, and a set of operation interfaces are provided to the user, and the user initializes the parameters of these tools according to the device working logic and process needs, and calls the function module to execute, which requires high requirements for the operator. In order to avoid missing the execution process, the above-mentioned independent control process is usually combined into a complete process in the form of a flowchart or a wizard. But the cost is that the logic of abnormal handling is abnormally complex, and under the condition that the exception cannot be effectively handled, the automation process is interrupted and deadlocked.

[0069] The core of the embodiment of the present application is to regard the integrated control system as an intelligent agent, the automation equipment, the processed product and the operating personnel are regarded as the environment of the integrated control system, and the instructions and operations issued by the operating personnel to the integrated control system through the human-machine interface are regarded as the intention perception information of the operating personnel obtained by the integrated control system through the HMI. As an intelligent agent system, the integrated control system is no longer passive to accept the instructions issued by the personnel and act according to the instructions, but is always in an active running state, obtains the environment information and the intention information of the personnel through the perception means, and then issues the action instructions to the personnel or the equipment under the driving of the intelligent decision machine of the system, that is, the intelligent agent system reacts to the various changes of the external environment, combines the action intention generated by the system target, and generates the execution instructions, so that the final ideal of the system, that is, the safe, efficient and high-precision completion of the assembly and manufacturing task of the aircraft product, is achieved. In this way, the integrated control system not only pays attention to the equipment control, but also emphasizes the intelligent management of the whole process, so that the transformation from equipment control to whole process management is realized.

[0070] The modular hierarchical state machine is an effective implementation way of the intelligent decision machine. The modular hierarchical state machine divides the complex behavior logic into multiple independent modules, each of which can be independently designed, tested and reused, so that the development efficiency and maintainability of the system are significantly improved. The assembly process modular integrated management and control system is mainly based on the basic structure of the hierarchical state machine, and the hierarchical state machine is modularly divided, and the modules are connected to form a tree structure. The specific control actions and condition judgment logic are written into different modules. Through the access and traversal of the tree structure, the equipment control and logic judgment of the whole digital assembly system are executed, the control task misoperation or repeated operation is avoided, and the complexity of large-scale control logic is reduced.

[0071] In the basic framework of the modular hierarchical state decision machine, the embodiment of the present application makes comprehensive changes for the aircraft assembly process management, and the specific implementation process is as follows: 1. The static organizational structure of the decision system adopts a basic framework similar to XABSL: it is composed of a series of independent decision modules, which internally contain state machines for decision and control actions. The modular state tree is composed of nodes and the relationship between the connected nodes, wherein the nodes are divided into two categories, namely a1-action nodes and a2-decision nodes, wherein the a1-action nodes are the leaves of the tree structure, and the a2-decision nodes are used to realize a certain complex behavior in combination with a series of other a2-decision nodes and a1-action nodes. Each a1-action node can be used as a32-sub-action node by multiple other a2-decision nodes; each a2-decision node can also be used as a33-sub-decision node by multiple other a2-decision nodes. The connection relationship of all a1-action nodes, a2-decision nodes and a3-nodes and a4-root node constitutes a tree data structure. For example, Figure 1The tree diagram shown, in which the rectangle represents a2-decision node, the ellipse represents a1-action node, and the directed curve between the nodes represents the a3-node connection relationship between the parent node and the child node, has the advantage of being able to realize the complex logic expression ability similar to the intelligent robot decision.

[0072] 2. As shown in Figure 2 The a1-action node and the a2-decision node are both embodied as a finite state machine, and the current state is saved in the node module. The state of the node changes constantly according to the external information and the execution. In addition, the a1-action node and the a2-decision node also have several same attributes, such as the node identity code for uniquely determining the node identity among many nodes, and the node input and output interface for giving the parameter input and returning the execution result, which is similar to the function call parameter and return value in the computer high-level language program, which makes the module have reusability. When different input parameters are given, similar control and measurement tasks can be completed, and the corresponding execution result as the output of the node can be accessed by other modules. The advantage is to realize the standardization and reusability of the module, and avoid the workload of repeated development.

[0073] 3. The a1-action node has an a14-action execution method, which is embodied as a sequentially executed control instruction. The action execution method is usually used for the direct control of the equipment in the digital assembly system, such as downloading the trajectory program of the robot and the motion mechanism, and starting the execution; such as controlling the laser tracker and other measuring instruments to measure the object and obtain the measurement result, such as controlling the AGV to enter or exit the assembly area. The action execution method updates the current state of the state machine along the sequential execution steps, and the progress of the current action execution can be obtained by accessing the current state, as shown in Figure 3

[0074] The specific steps of the action node task are to first confirm that its current state is the initial state. If the current state is not the initial state, the action node cannot execute the task. Since the state machine of the action node must be executed completely once it is started and cannot be paused or exited in the middle, the action node in the non-initial state has been executed and cannot be started again. The condition check when the joint node state jumps ensures that the control action flow corresponding to each action node must be executed once and only once, thereby ensuring the absolute safety of the assembly system operation.

[0075] ​4. Unlike the periodic polling decision mode of XABSL, the a14-action execution method is characterized by continuous execution of the control action once it is started, until the entire action is executed, the current state jumps to the termination state, and the action execution method of other action nodes cannot be executed while the action execution method of one action node is running, nor can the action execution method be paused or exited in the middle of execution. The periodic polling decision requires the action of one polling cycle to be completed as soon as possible to improve the response speed of the agent. The improvement is beneficial in that it is more in line with the operation of independent program blocks of aircraft assembly management, without wasting a large number of persistent polling cycles, and this fast response capability is completed by the underlying hardware of the control system such as PLC, achieving better real-time performance and safety.

[0076] 5. The difference between the a2-decision node and the a1-action node is that the a2-decision node does not have the a14-action execution method for sequential execution, and the state jump process of the decision node can be interrupted and paused. Its unique attributes include a24-entire state list, a25-termination state list, a26-state jump relationship table, and a27-state jump checking method, etc. The role of the a2-decision node in the digital assembly system is to combine different sub-nodes to form a complete assembly task, and then combine the basic assembly tasks to form higher-level assembly tasks until the overall management task of the entire digital assembly system can be described. The specific role of the decision node includes: ensuring that the successor node meets the prerequisites for execution, ensuring that the execution result correctly meets the requirements, ensuring that the personnel operation is correct, and the assembly process is correctly executed along the allowed path, preventing repeated operations and misoperations. The benefit is that the judgment of condition satisfaction is standardized, which can effectively meet the prerequisite conditions of the control action and avoid the omission of prerequisite conditions, thereby effectively preventing misoperations.

[0077] 6. The entire state of the a2-decision node is saved in the a24-entire state list, and the current state of the decision node can only take a value in the entire state list and point to an initial state at node initialization. Figure 4As shown, the complete state list of the decision node also records the correspondence between each state and the node identity code of the successor submodule. The successor submodule can be another a2-decision node or an a1-action node. Based on this state-submodule correspondence, the data of the successor submodule can be accessed or its methods can be called. All states of the a2-decision node correspond to the progress and steps of the assembly system within the assembly task. The equipment control, measurement, and personnel actions corresponding to this progress and steps are processed as successor nodes in different states. This decouples specific control actions and other low-level logic from the current decision node, allowing it to only consider high-level processing logic and abnormal situation handling. This reduces the complexity of each module, while the complexity of the overall system is reduced by the collaboration and connection of multiple modules, demonstrating the advantages of modularity and reconfigurability.

[0078] 7. Modular State Tree Initialization: For the modular state tree described above, the root node is the parent decision node. The current state is set as the initial state, and the corresponding action node or decision node is initialized. For action nodes, only the input / output interfaces are initialized, and the current state is set to the initial state. For decision nodes, in addition to initializing the node's input / output interfaces and switching the current state to the initial state, the next-level child nodes corresponding to the initial state of that child node are triggered until the child node becomes an action node. System initialization effectively prepares the internal parameters and states of each module, enabling the execution of new tasks and avoiding the retention of task information.

[0079] 8. For example Figure 5 As shown, the query node activation path starts from the root node and searches for successor child nodes based on the current state of the root node and node connection relationships. When a successor child node is a decision node, its node identity code is recorded, and the search continues iteratively along the successor nodes corresponding to the current state of that successor node. When a successor node is an action node, the node identity codes of all modules are returned starting from the root node. Nodes on the activation path are active nodes, and the root node is always an active node. The activation path represents the execution status of the assembly task, progressively refining from the top-level management task corresponding to the root node to the assembly task corresponding to the specific next-level decision node, until the a1-action node is found. This achieves the search and traversal of the modular state tree, forming the b2-query node activation path. State transitions and task execution can only be performed on nodes on the activation path. Users can obtain the current execution progress of the assembly task from the activation path, thus possessing high self-interpretation.

[0080] 9. The a26-state jump relation table defines all possible state jump processes, the state of the a2-decision node can only complete the jump defined in the a26-state jump relation table, and undefined jump relations are not allowed to occur. The state jump relation table ensures the sequence relationship between the steps of an assembly task, for example, the assembly process allows the order of 1→2→3 and 1→4→3, but does not allow the order of 1→3→4. Therefore, only the jump relations of 1→2 and 1→4, 2→3 and 4→3 are defined in the state jump relation table, and the jump relations of 1→3 and 3→4 are not defined, so that the user can be prevented from implementing the assembly task in an incorrect assembly order (principle as shown in Figure 6 The state jump relation table also allows a state to jump to itself, and the state jump relation table also defines an automatic jump permission flag during execution, which allows the automatic jump of a state when a condition is met.

[0081] 10. Unlike the single state jump route in the intelligent robot XABSL decision system, when defining the a26-state jump relation table, it is possible to jump from the current state to multiple possible states, and the specific jump direction is selected by the operator. Therefore, a certain degree of freedom is reserved for the user, which is beneficial in that it ensures safety while retaining the fault tolerance and flexibility features of the system.

[0082] 11. The a2-decision node needs to perform the a27-state jump check method before implementing the state jump defined in the state jump relation table. The jump condition from the current state to the target state is checked, and the state jump is allowed when the condition check passes, entering the next assembly step. When the condition check does not pass, the state jump is prohibited, and the next assembly step is prohibited. The basis for the state jump check is the sub-module state corresponding to the current state and the sub-module data output, as well as the external perception data input. The a27-state jump check method ensures that the assembly step corresponding to the current state meets the target, such as measurement data meeting error requirements, or the robot trajectory program successfully running to completion, or a multi-step assembly sub-task successfully executing or completely failing to recover. The state jump check method also ensures that the external conditions meet the prerequisites for the next assembly step, i.e., the equipment for the next step is ready or the required actual measurement data is valid.

[0083] When the jump check fails, the jump to the target state cannot be completed, and the user's processing method is to adjust the assembly environment, eliminate the condition not met, or jump to other allowed states, especially in the condition of allowing to jump to itself, jump to itself state, so as to repeat the current assembly task, for example, when the measurement of the assembly component is unqualified, the workpiece component state is adjusted, and a new round of measurement is carried out, until the precision condition is met, and then the next assembly step is promoted. This method not only ensures the safety operation requirement, but also leaves sufficient room for the user to solve system failure and realize fault recovery, so that the assembly process can still continue after the fault recovery, avoiding the failure and restart of the whole process.

[0084] The state jump check method ensures that the entire assembly process strictly advances according to the quality requirements and premise conditions, avoids manual data modification or bypassing quality inspection, produces unqualified assembly results, avoids major accidents due to failure of underlying equipment without timely processing, ensures the assembly quality and safety of the digital system, and also embodies the intelligence of integrated management and control.

[0085] 12. The jump condition meeting indicates that the assembly task corresponding to the current assembly step has been executed, and the premise condition of the next assembly step has been met, fully ensuring the correctness of assembly execution. Then, the state jump is started, that is, the current state is switched to the target state, and the subnode corresponding to the target state is initialized as described above. Each decision node located on the activation path can be selected by the user to execute state jump, and the jump must be triggered by the user. This mechanism avoids the problem that the state jump of the hierarchical state machine for robot intelligent decision and real-time control depends entirely on external perception results and jumps automatically, so that the state jump of the hierarchical state machine is controlled by the user, and the user can fully control the specific jump process of the assembly process.

[0086] 13. The decision node has a25-termination state list recording one or more states in the complete state list, and when the current state takes a value in the termination state list, the current state cannot jump to other states, indicating that the assembly step corresponding to the decision node has been completed, thereby indicating that the task represented by the decision node is completed, and the decision of the upper-level decision module to jump to other states is provided.

[0087] 14. The step of executing the task of the decision node is to first execute the subnode task corresponding to the current state, then automatically jump the state, then continue to execute the subnode task corresponding to the new state, and automatically jump the state, until the current state has no state that can be automatically jumped, and the typical flow is as follows Figure 7The automatic jump state condition is that the items that can be jumped from the current state in the state jump relationship table of the current decision node are queried, and when the execution period automatic jump permission flag of an item in the table is true, the automatic state jump can be executed. If all entries do not allow automatic jump, the condition is not met, the automatic state jump cannot be completed, and the decision node task is executed. The automatic jump state can completely execute an assembly task corresponding to a decision node, avoiding the fact that the user can only execute the assembly task step by step. When the assembly task corresponding to the decision node is composed of several steps that can be automatically connected and executed, the steps can be executed in batches at one time. For example, after the measurement action is executed, if it is qualified and the condition is met, the robot trajectory can be continuously executed. At this time, the automatic jump state can make the decision node automatically jump to the trajectory action after the measurement action is executed, thereby realizing a completely automatic process. When the related assembly work must be manually intervened, the related state is confirmed, and the manual assembly work is executed, the execution period automatic jump flag can be set to false, thereby automatically interrupting the task execution of the decision node, and then manually performing the node state jump after the manual confirmation. The mechanism meets the high-efficiency execution demand of the digital assembly system, and also takes into account the inevitable human intervention problem in the aircraft assembly process, thereby ensuring the safety of personnel work.

[0088] 15. A plurality of a1-action nodes and a2-decision nodes are connected into a tree structure through node connection relationships. The parent node of the tree structure can only be a decision node, and the child node can be a32-sub-action node and a33-sub-decision node. When the child node is a32-sub-action node, the end of the tree structure is reached, and there is no successor node; when the child node is a33-sub-decision node, other successor nodes can also be connected. As described above, the connection relationship between the parent node and the child node is saved in the complete state list of the decision node, and is represented as a state-node identity code correspondence. Corresponding to the entire assembly system from the overall system management task to the assembly task and then to the sub-assembly task, to the final specific assembly equipment control and action, a top-down, layer-by-layer accurate and clear logical structure is formed, which has the benefit of being able to quickly form a complex assembly flow control logic.

[0089] 16. The a4-root node points to the identity code of an a1-action node or an a2-decision node in the tree structure, so that the node becomes the traversal starting point of the assembly management system. The root node can point to the root node of the entire assembly tree, or to any a2-decision node in the middle, or even to an a1-action node at the end of the tree structure. Any node in the entire module tree can be specified as a root node, and the debugging, testing and application of a single node can be completed by calling the action execution method from the root node. Figure 8The execution process of assigning the root node as different action nodes and decision nodes is shown. The flexible pointing of the root node allows equipment developers to debug and test each node from the bottom-up, starting from the basic action node, and gradually upwards, until the overall control logic is debugged and tested, without modifying the assembly logic. Thus, the overall integrated control decision system can be quickly constructed.

[0090] Specifically, Figure 9 A schematic diagram of a helicopter fuselage docking assembly process integrated control system provided by an embodiment of the present application.

[0091] As Figure 9 shown, the helicopter fuselage docking assembly process integrated control system 10 includes an assembly control decision module 100, a normal docking module 200, a calibration system module 300, a station preparation decision module 201, a cabin section docking decision module 202, a hole making action module 203, a separation reset riveting decision module 204, and a whole vehicle unloading decision module 205.

[0092] It should be noted that the assembly control decision module 100 is the root node of the helicopter fuselage docking assembly process integrated control system 10 determined according to the modular state tree.

[0093] The child nodes of the assembly control decision module 100 are the normal docking module 200 and the calibration system module 300 determined according to the modular state tree, the child nodes of the normal docking module 200 are the station preparation decision module 201, the cabin section docking decision module 202, the hole making action module 203, the separation reset riveting decision module 204, and the whole vehicle unloading decision module 205 determined according to the modular state tree, wherein the normal docking module 200, the station preparation decision module 201, the cabin section docking decision module 202, the separation reset riveting decision module 204, and the whole vehicle unloading decision module 205 are decision nodes, the calibration system module 300 and the hole making action module 203 are action nodes. The assembly control decision module 100 is configured to generate the control tasks of the normal docking module 200, the calibration system module 300, and each module in the normal docking module 200 when receiving an aircraft docking task; the calibration system module 300 is configured to determine an inspection task period based on the control task, and perform an inspection operation according to the inspection task period.

[0094] Specifically, the station preparation decision module 201 is configured to perform an initialization action before each splicing task starts based on the management and control task, and monitor the position and attitude of the aircraft to be spliced in the splicing process in real time; the cabin section docking decision module 202 is configured to generate a splicing task based on the management and control task, and splice the nose section, the front section of the middle fuselage, the middle section of the middle fuselage, the rear section of the middle fuselage, the transition section and the tail beam of the aircraft to be spliced based on the splicing task; the hole drilling action module 203 is configured to prompt the operator to perform the hole drilling operation; the separation and reset riveting decision module 204 is configured to generate a safety control strategy when the operator enters the working area based on the management and control task, and perform safety control according to the control strategy; and the whole vehicle unloading decision module 205 is configured to generate an unloading task according to the management and control task, and control the AGV to drive out from below the splicing frame after the whole aircraft after splicing is loaded on the AGV.

[0095] It should be noted that the embodiment of the present application can realize automatic docking process management for large helicopter fuselages. The fuselage includes six cabin sections, i.e., a nose section, a front section of a middle fuselage, a middle section of the middle fuselage, a rear section of the middle fuselage, a transition section and a tail beam. The automatic docking process takes the middle section of the middle fuselage as a reference, then docks the front section of the middle fuselage or the rear section of the middle fuselage with the middle section of the middle fuselage, then docks the nose section with the front section of the middle fuselage or the transition section with the rear section of the middle fuselage, performs hole drilling on the docking area after the above-mentioned five sections are docked, separates and applies glue to the docking area after hole drilling, resets and rivets the sections after glue application, automatically docks the tail beam and fixes it with screws after riveting, and finally performs whole aircraft unloading operation. The hole drilling, glue application and riveting belong to manual operation, and the other processes are automatic equipment actions.

[0096] In actual execution, the aircraft fuselage docking automatic assembly system includes multiple hardware subsystems, such as an automatic telescopic working ladder, an AGV transport vehicle, an automatic attitude adjusting positioner, a laser tracker and the like, and involves transfer, attitude adjustment, docking, manual assembly operation and periodic self-precision calibration of multiple cabin sections. The main processes include: 1. system automatic calibration, 2. docking station preparation, 3. transfer, attitude adjustment and docking of each cabin section, 4. hole drilling, 5. whole separation, deburring, resetting and riveting, 6. whole aircraft unloading and the like. Each assembly process involves a series of specific work steps, and each step involves equipment control, such as automatic measurement of the laser tracker, automatic searching of the positioner, running of the positioner to adjust the attitude track and the like. The aircraft fuselage docking automatic assembly system has the typical characteristics of human-machine collaborative work, complex assembly process and cross-coupling control logic, and the helicopter fuselage docking assembly integrated control system needs to centrally control each link, equipment and personnel in the assembly process, avoid misoperation in abnormal conditions, ensure the absolute safety of the docked aircraft cabin sections, and support different assembly sequences.

[0097] Optionally, in some embodiments, the helicopter fuselage docking assembly process integrated management system 10 described above further comprises a modular state tree construction module, wherein the modular state tree construction module is specifically configured to: obtain the assembly process of the helicopter fuselage docking; determine the root node of the assembly process, hierarchically divide the assembly process, determine a plurality of child nodes of the assembly process, define the child nodes that can be divided as decision nodes, define the child nodes that cannot be divided as action nodes, and determine the connection relationship between all nodes according to the assembly process; merge the decision nodes with similar decision logic into the same decision module, define the differences and necessary parameters of each decision module as the input parameters of the corresponding decision module, and define the running results of each decision module as the output parameters of the corresponding decision module, determine the input interface of the corresponding decision module according to the input parameters of each decision module, and determine the output interface of the corresponding decision module according to the output parameters of each decision module; merge the action nodes with similar action logic into the same action module, define the differences and necessary parameters of each action module as the input parameters of the corresponding action module, and define the running results of each action module as the output parameters of the corresponding action module, determine the input interface of the corresponding action module according to the input parameters of each action module, and determine the output interface of the corresponding action module according to the output parameters of each action module; and construct the modular state tree according to the root node of the assembly process, the decision nodes, the input interface of the decision nodes, the output interface of the decision nodes, the action nodes, the input interface of the action nodes, the output interface of the action nodes, and the connection relationship between all nodes.

[0098] Specifically, the assembly process of the helicopter fuselage is modeled according to the modular state tree as shown in Figure 10 The assembly management module 100 is the root node of the modular state tree, indicating the management tasks of the entire system. The normal docking module 200 and the calibration system module 300 are two child nodes of the assembly management module, respectively indicating the batch docking task of the aircraft and the periodic inspection task with a cycle of half a year or one year. The docking task cannot be performed during the execution of the inspection task. Since it has a successor node, the assembly management module is a decision module.

[0099] Optionally, in some embodiments, the helicopter fuselage docking assembly process integrated management system further comprises an initialization calling interface, which is specifically configured to: for the modular state tree, regarding the root node of the assembly process as a parent decision node, setting the current state of the root node as an initial state, and initializing the child action nodes or child decision nodes corresponding to the current state according to the preset initialization parameters.

[0100] The working principle of initializing the calling interface in the embodiments of the present application can be understood in combination with the construction manner of the modularized state tree in the helicopter fuselage docking assembly process integrated management and control system. For details, refer to the description of points 19 to 22. To avoid repetition, no longer be described here.

[0101] Optionally, in some embodiments, the helicopter fuselage docking assembly process integrated management and control system further includes a jump calling interface, and the jump calling interface is specifically used for: determining a target decision node and a target state of the target decision node according to a jump instruction given by a user; judging whether a sub-action node or a sub-decision node corresponding to a current state of the target decision node meets a preset completed condition; if the sub-action node or the sub-decision node corresponding to the current state of the target decision node meets the preset completed condition, judging whether a condition of jumping from the current state of the target decision node to the target state of the target decision node is met according to a jump relationship table of the target decision node; if the condition of jumping from the current state of the target decision node to the target state of the target decision node is met, switching the current state of the target decision node to the target state of the target decision node, and initializing the sub-decision node or the sub-action node corresponding to the target state.

[0102] The working principle of the jump calling interface in the embodiments of the present application can be understood in combination with the construction manner of the modularized state tree in the helicopter fuselage docking assembly process integrated management and control system. For details, refer to the description of points 19, 24 to 27. To avoid repetition, no longer be described here.

[0103] Optionally, in some embodiments, the helicopter fuselage docking assembly process integrated management and control system further includes an execution calling interface, and the execution calling interface is specifically used for: determining an execution node according to an execution task given by a user; in a case where the execution node is an action node, judging whether a current state of the execution node is an initial state, and if the current state of the execution node is the initial state, controlling the execution node to execute a corresponding action execution method; in a case where the execution node is a decision node, determining a plurality of execution sub-nodes of the execution node, initializing the execution node and the execution sub-nodes, executing a corresponding execution sub-node task according to the current state of the execution node, and automatically jumping to a next state after the execution sub-node task corresponding to the current state of the execution node is executed according to a state jump relationship table of the execution node, until there is no jump item corresponding to the current state in the state jump relationship table of the execution node.

[0104] The working principle of the embodiment of the application for executing the calling interface can be combined with the understanding of the construction method of the modular state tree in the helicopter fuselage butt joint assembly process integrated management and control system. For details, refer to the description of points 19 and 28 to 33. To avoid repetition, details are not described here. Optionally, in some embodiments, the station preparation decision module 201 includes a working ladder reset module, a pose adjusting unit reset action module, and a laser tracker station building action module.

[0105] The working ladder reset module is configured to adjust the working ladder to the initial position corresponding to the working ladder before each splicing task starts. The pose adjusting unit reset action module is configured to adjust the pose adjusting device for adjusting the pose of the fuselage section to the initial position corresponding to the pose adjusting device before each splicing task starts. The laser tracker station building action module is configured to monitor the positions and poses of the nose section, the front fuselage section, the middle fuselage section, the rear fuselage section, the transition section, and the tail beam of the aircraft to be spliced in real time.

[0106] Specifically, as shown in Figure 11 , the station preparation step includes several device control tasks such as automatic working ladder reset, automatic pose adjusting unit reset, and laser tracker station building, thereby forming three action nodes. Accordingly, the station preparation module becomes an upper decision module with sub-nodes.

[0107] Optionally, in some embodiments, the cabin section butt joint decision module 202 includes a cabin section transfer and mounting decision module, a cabin section pose adjusting cycle decision module, a splicing and joining action module, and a cabin section separation action module.

[0108] The cabin section transfer and mounting decision module is configured to generate a first action instruction based on the management and control task, so as to transport the positions and poses of the nose section, the front fuselage section, the middle fuselage section, the rear fuselage section, the transition section, and the tail beam of the aircraft to be spliced to the splicing station according to the first action instruction. The cabin section pose adjusting cycle decision module is configured to generate a second action instruction based on the management and control task, so as to adjust the mounted cabin section to the required pose for butt joint according to the second action instruction. The splicing and joining action module is configured to generate a butt joint instruction based on the management and control task, so as to finally splice two adjacent cabin sections. The cabin section separation action module is configured to generate a separation instruction when the splicing and joining of the two adjacent cabin sections is unsuccessful.

[0109] Specifically, as shown in Figure 12As shown, the cabin section docking step includes three specific steps of cabin section transfer, cabin section attitude adjustment cycle, and plug-in butt joint, and a separation task for coping with unsuccessful plug-in butt joint. Therefore, the cabin section docking module includes four sub-modules, wherein the transfer and the adjustment cycle further include more specific equipment control actions and state transitions, thus forming two decision modules, and the plug-in butt joint and the separation steps directly correspond to the specific trajectory operation actions of the attitude adjuster, thus forming two action nodes.

[0110] Optionally, in some embodiments, the transfer and loading of the cabin section decision module includes an AGV carrying driving-in action module, a cabin section attitude measurement action module, a positioner handover support action module, and an AGV empty driving-out action module.

[0111] The AGV carrying driving-in action module is used to control the AGV carrying the cabin section to be spliced to drive into the splicing station; the cabin section attitude measurement action module is used to monitor the current position and current attitude of the cabin section to be spliced after the AGV drives into the splicing station; the positioner handover support action module moves the cabin section to be spliced from the AGV to the splicing rack and provides support; and the AGV empty driving-out action module is used to control the AGV to drive away from the splicing station after completing the unloading of the cabin section to be spliced.

[0112] Specifically, as shown in Figure 12 The above-mentioned transfer and loading task specifically includes AGV carrying cabin section assembly driving-in, cabin section attitude measurement, automatic positioner positioning support, AGV empty driving-out, and other specific equipment control and manual intervention actions, thus forming four action nodes.

[0113] Optionally, in some embodiments, the cabin section attitude adjustment cycle decision module includes a cabin section attitude measurement action module and a cabin section attitude adjustment action module.

[0114] The cabin section attitude measurement action module is used to monitor the current position and current attitude of the cabin section to be spliced after the AGV drives into the splicing station; and the cabin section attitude adjustment action module is used to adjust the cabin section to be spliced to the required attitude for docking based on the target position and target attitude of the cabin section to be spliced according to the current position and current attitude.

[0115] Optionally, in some embodiments, the hole making action module 203 in the normal docking module 200 is mainly used for manual entry into the docking area to perform hole making and partial connector drilling tasks that cannot be performed by machines. Although this module does not have equipment control actions, it involves the risk of personnel entering the non-safety area of the assembly system. Adding the hole making step is beneficial for prompting the user and avoiding misoperation or misaction during personnel hole making operation.

[0116] Optionally, in some embodiments, as shown in Figure 13As shown, the separation, reset, and riveting decision module 204 is used to realize the following: After the hole making is completed, the operator leaves the work area. After confirming that all movable work ladders are in safe positions, the automatic positioner is controlled to separate the compartments segment by segment in sequence. The operator re-enters the work area to perform complex operations such as cleaning, deburring, and applying adhesive to the hole-making area. After the operator leaves the work area, the automatic positioner drives the compartments to reset and reconnect. The operator then re-enters the work area for manual assembly and riveting. Therefore, the separation and reset module involves complex and frequent human-machine interaction operations. Safe control of the automated equipment must be implemented to avoid accidental injury to personnel or damage to the workpiece. For this reason, the separation and reset module includes five action modules: separation preparation alarm, automatic separation of each segment in sequence, manual handling, automatic reset of each segment in sequence, and manual handling.

[0117] Optionally, in some embodiments, the vehicle removal decision module 205 includes: a vehicle removal preparation module, a partial locator removal module, an AGV entry module, a multi-locator linkage module, and an AGV exit module.

[0118] The system includes the following modules: a whole machine removal preparation module, which generates adjustment instructions based on management tasks to adjust the corresponding equipment to the removal state when the aircraft to be assembled meets the preset removal conditions; a partial locator removal module, which generates removal instructions based on management tasks to remove the locators according to the removal instructions; an AGV entry module, which controls the AGV to enter under the splicing frame to prepare to carry the whole machine; a multi-locator linkage module, which controls the actions of each locator to ensure that the whole machine is moved from the splicing frame to the AGV; and an AGV exit module, which controls the AGV to drive out from under the splicing frame after carrying the whole machine.

[0119] Specifically, such as Figure 14 As shown, the complete machine removal is the last step in a normal docking task. It includes a series of equipment control operations and manual intervention, including preparation for complete machine removal, removal of some locators, entry of AGV transfer vehicle, multi-locator linkage removal, and exit of AGV transfer vehicle, etc., which have 5 action modules.

[0120] After dividing the integrated management and control tasks of the aforementioned complex aircraft fuselage automatic docking system into various levels, a series of decision nodes and action nodes can be generated based on the task organization relationship, hierarchical relationship, and common reusable parts.

[0121] Among them, a large number of nodes have similar functions, for example, 1, 2, 3, …, etc. The docking task of multiple cabin sections contains completely same sub-action modules, and the difference is only in the initial position of the cabin section, the distribution of the measurement points, and the difference in the final plug-in pose. The driving-in task and the driving-out task of the AGV transfer vehicle can be reused in the cabin assembly transfer and the whole machine unloading, only the automatic navigation parking position is different. The automatic pose adjustment locator linkage operation track is repeatedly applied in the cabin pose adjustment, joint plug-in and separation reset process, only the group of the pose adjustment locator and the initial and final pose are different. Many modules related to personnel entering the work area to implement manual work only need to give information prompts, and the prompt information is different. The above different parameters are extracted as module input and output parameters, thereby improving the reusability of the designed module and the maintainability of the system.

[0122] Further, the connection relationship of each node is established according to the complete state table of the decision node, a modular tree structure is formed, and the same module can be used as a child node of different upper nodes or as a child node corresponding to different states of the same upper node. Therefore, the number of modules to be maintained by the integrated management and control system is greatly reduced.

[0123] The action modules required to be implemented in the embodiments of the application include: a calibration data import action module, a tracker measurement cabin pose action module, a pose adjustment locator operation track action module, a pose adjustment locator positioning support action module, a manual work prompting action module, a work ladder control action module, a pose adjustment locator reset action module, a tracker station building action module, and the like. The characteristics of the above-mentioned action modules are that once started, they are executed successfully or failed to exit, and are all bottom control modules for a single device.

[0124] The decision modules required to be implemented in the embodiments of the application include: a system management and control decision module, a normal docking decision module, a station preparation decision module, a cabin docking decision module, a separation reset decision module, a whole machine unloading module, a transfer loading decision module, and a measurement and adjustment cycle decision module. The characteristics of the above-mentioned decision modules are that they contain multiple operation steps, the task order logic is variable and strict, and multiple condition judgments are required when the steps are switched.

[0125] Therefore, the embodiments of the application can solve the problem of uncertain automatic docking process and meet the demand of a large number of human-computer interactions, thereby improving the universality of the automatic docking equipment of the helicopter fuselage, realizing the optimized management of the docking process, improving the safety in the docking process, improving the docking efficiency and the automatic docking assembly technology level.

[0126] The helicopter fuselage butt joint assembly process integrated management and control system provided in the embodiment of the present application adopts a modular management and control mode to manage and control the helicopter fuselage butt joint assembly process, the assembly management and control decision module is a top node of the modular state tree, and is used to generate management and control tasks of the normal butt joint module, the calibration system module and each module in the normal butt joint module when receiving an aircraft butt joint task, the normal butt joint module and the calibration system module are two child nodes of the assembly management and control decision module, and are used to work according to the management and control tasks generated by the assembly management and control decision module. Therefore, the problems of complex state management, difficult maintenance and insufficient human-computer interaction of the traditional hierarchical state machine in the aircraft assembly scene are solved, the expression capability of complex logic is achieved, the standardization and reusability of the module are achieved, and the frequent human-computer interaction demand in the assembly process can be met.

[0127] Secondly, the management and control method of the helicopter fuselage butt joint assembly process integrated management and control system provided in the embodiment of the present application is described with reference to the accompanying drawings.

[0128] It should be noted that the root node of the helicopter fuselage butt joint assembly process integrated management and control system is the assembly management and control decision module according to the modular state tree; the child nodes of the assembly management and control decision module are the normal butt joint module and the calibration system module according to the modular state tree, and the child nodes of the normal butt joint module are the station position preparation decision module, the cabin section butt joint decision module, the hole drilling action module, the separation reset riveting decision module and the whole vehicle unloading decision module according to the modular state tree, wherein the normal butt joint module, the station position preparation decision module, the cabin section butt joint decision module, the separation reset riveting decision module and the whole vehicle unloading decision module are decision nodes, and the calibration system module and the hole drilling action module are action nodes.

[0129] As shown in Figure 15 , the flowchart of the management and control method of the helicopter fuselage butt joint assembly process integrated management and control system in the embodiment of the present application is shown in Figure 15 .

[0130] In step S1501, the normal butt joint module, the calibration system module and the management and control tasks of each module in the normal butt joint module are generated by the assembly management and control decision module when receiving an aircraft butt joint task.

[0131] In step S1502, the calibration system module determines an inspection task period based on the management and control task, and performs an inspection operation according to the inspection task period.

[0132] In step S1503, the station position preparation decision module performs an initialization action before each splicing task starts based on the management and control task, and monitors the position and attitude of the aircraft to be spliced in the splicing process in real time.

[0133] In step S1504, a splicing task is generated by a cabin section docking decision module based on the management and control task, so as to splice the nose section, the front middle fuselage section, the middle middle fuselage section, the rear middle fuselage section, the transition section and the tail beam of the aircraft to be spliced based on the splicing task.

[0134] In step S1505, a hole drilling action module is used to prompt the operator to perform the hole drilling operation.

[0135] In step S1506, a separation and reset riveting decision module is used to generate a safety control strategy when the operator enters the work area based on the management and control task, so as to perform safety control according to the control strategy.

[0136] In step S1507, a whole vehicle unloading decision module is used to generate an unloading task according to the management and control task, so as to control the AGV to drive out from below the splicing frame after the whole aircraft after splicing is completed.

[0137] It should be noted that the foregoing explanation and description of the helicopter fuselage docking assembly process integrated management and control system embodiment also applies to the management and control method of the helicopter fuselage docking assembly process integrated management and control system of this embodiment, which will not be described here.

[0138] According to the management and control method of the helicopter fuselage docking assembly process integrated management and control system provided in the embodiments of the present application, the helicopter fuselage docking assembly process is managed and controlled in a modular manner. The assembly management and control decision module is the top node of the modular state tree, and is used to generate management and control tasks of the normal docking module, the calibration system module and each module in the normal docking module when receiving a aircraft docking task. The normal docking module and the calibration system module are two child nodes of the assembly management and control decision module, and are used to work according to the management and control tasks generated by the assembly management and control decision module. Thus, the problems of complex state management, difficult maintenance and insufficient human-computer interaction of the traditional hierarchical state machine in the aircraft assembly scene are solved, the expression ability of complex logic is realized, the standardization and reusability of the modules are realized, and the frequent human-computer interaction demand in the assembly process can be met.

[0139] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms is not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. Furthermore, the different embodiments or examples described in the present specification and the features of the different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0140] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0141] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0142] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0143] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0144] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A system for integrated management and control of a process of butt joining a fuselage of a helicopter, characterized in that, Comprise: An assembly control decision module, which is a root node of a helicopter fuselage docking assembly process integrated control system determined according to a modular state tree; The sub-nodes of the assembly control decision module are a normal docking module and a calibration system module determined according to the modular state tree, the sub-nodes of the normal docking module are a station preparation decision module, a cabin section docking decision module, a hole making action module, a separation reset riveting decision module and a whole vehicle unloading decision module determined according to the modular state tree, wherein the normal docking module, the station preparation decision module, the cabin section docking decision module, the separation reset riveting decision module and the whole vehicle unloading decision module are decision nodes, and the calibration system module and the hole making action module are action nodes; wherein The assembly control decision module is used to generate the normal docking module, the calibration system module and the control tasks of each module in the normal docking module when receiving an aircraft docking task; The calibration system module is used to determine an inspection task cycle based on the control task, and perform an inspection operation according to the inspection task cycle; The station preparation decision module is used to perform an initialization action before each splicing task starts based on the control task, and monitor the position and attitude of the aircraft to be spliced in the splicing process in real time; The cabin section docking decision module is used to generate a splicing task based on the control task, and insert and splice the nose section, the front section of the middle fuselage, the middle section of the middle fuselage, the rear section of the middle fuselage, the transition section and the tail beam of the aircraft to be spliced based on the splicing task; The hole making action module is used to prompt the operator to make holes; The separation reset riveting decision module is used to generate a safety control strategy when the operator enters the work area based on the control task, and perform safety control according to the control strategy; The whole vehicle unloading decision module is used to generate an unloading task according to the control task, and control the AGV to carry the whole machine after the aircraft to be spliced is spliced to drive out from below the splicing rack.

2. The system according to claim 1, wherein, Further comprise: A modular state tree construction module, wherein the modular state tree construction module is specifically used for: Obtaining an assembly process of helicopter fuselage docking; Determining a root node of the assembly process, hierarchically dividing the assembly process, determining a plurality of sub-nodes of the assembly process, defining the divisible sub-nodes as decision nodes, defining the non-divisible sub-nodes as action nodes, and determining the connection relationship between all nodes according to the assembly process; Combining decision nodes with similar decision logic into the same decision module, defining the differences and necessary parameters of each decision module as input parameters of the corresponding decision module, defining the running results of each decision module as output parameters of the corresponding decision module, determining the input interface of the corresponding decision module according to the input parameters of each decision module, and determining the output interface of the corresponding decision module according to the output parameters of each decision module; The action logic similar action nodes are combined into the same action module, the difference and necessary parameters of each action module are defined as input parameters of the corresponding action module, the running result of each action module is defined as output parameters of the corresponding action module, the input interface of the corresponding action module is determined according to the input parameters of each action module, and the output interface of the corresponding action module is determined according to the output parameters of each action module; The modular state tree is constructed according to the root node, the decision node, the input interface of the decision node, the output interface of the decision node, the action node, the input interface of the action node, the output interface of the action node of the assembly process and the connection relationship between all the nodes.

3. The system according to claim 2, wherein, The helicopter fuselage docking assembly process integrated management system further includes an initialization calling interface, and the initialization calling interface is specifically used for: For the modular state tree, the root node of the assembly process is regarded as a parent decision node, the current state of the root node is set as an initial state, and the child action node or child decision node corresponding to the current state is initialized according to the preset initialization parameters.

4. The system according to claim 2, wherein, The helicopter fuselage docking assembly process integrated management system further includes a jump calling interface, and the jump calling interface is specifically used for: According to the jump instruction given by the user, a target decision node and a target state of the target decision node are determined; It is judged whether the child action node or child decision node corresponding to the current state of the target decision node meets the preset completed condition; If the child action node or child decision node corresponding to the current state of the target decision node meets the preset completed condition, it is judged whether the condition of jumping from the current state of the target decision node to the target state of the target decision node is met according to the jump relationship table of the target decision node; If the condition of jumping from the current state of the target decision node to the target state of the target decision node is met, the current state of the target decision node is switched to the target state of the target decision node, and the child decision node or child action node corresponding to the target state is initialized.

5. The system according to claim 2, wherein, The helicopter fuselage docking assembly process integrated management system further includes an execution calling interface, and the execution calling interface is specifically used for: According to the execution task given by the user, an execution node is determined; In the case that the execution node is an action node, it is judged whether the current state of the execution node is an initial state, and if the current state of the execution node is the initial state, the execution node is controlled to execute the corresponding action execution method; In the case that the execution node is a decision node, a plurality of execution child nodes of the execution node are determined, the execution node and the execution child nodes are initialized, the corresponding execution child node task is executed according to the current state of the execution node, and the state jump relationship table of the execution node is used to automatically jump to the next state after the execution child node task corresponding to the current state of the execution node is executed, until there is no jump item corresponding to the current state in the state jump relationship table of the execution node.

6. The system according to claim 1, wherein, The station preparation decision module comprises: The working ladder reset module is configured to adjust the working ladder to an initial position corresponding to the working ladder before each splicing task starts. The attitude adjustment unit reset action module is configured to adjust an attitude adjustment device for adjusting the attitude of the fuselage section to an initial position corresponding to the attitude adjustment device before each splicing task starts. The laser tracker station building action module is configured to monitor the positions and attitudes of the nose section, the front fuselage section, the middle fuselage section, the rear fuselage section, the transition section and the tail beam of the aircraft to be spliced in real time.

7. The system according to claim 1, wherein, The cabin section docking decision module includes: The cabin section transfer and mounting decision module is configured to generate a first action instruction based on the control task, and transport the positions and attitudes of the nose section, the front fuselage section, the middle fuselage section, the rear fuselage section, the transition section and the tail beam of the aircraft to be spliced to the splicing station according to the first action instruction. The cabin section attitude adjustment cycle decision module is configured to generate a second action instruction based on the control task, and adjust the mounted cabin section to a required attitude for docking according to the second action instruction. The splicing action module is configured to generate a docking instruction based on the control task, and finally splice two adjacent cabin sections. The cabin section separation action module is configured to generate a separation instruction when the splicing of the two adjacent cabin sections fails.

8. The system according to claim 7, characterized in that, The cabin section transfer and mounting decision module includes: The AGV carrying and driving-in action module is configured to control the AGV carrying the cabin section to be spliced to drive into the splicing station. The cabin section position and attitude measurement action module is configured to monitor the current position and attitude of the cabin section to be spliced after the AGV drives into the splicing station. The positioner handover support action module is configured to move the cabin section to be spliced from the AGV to the splicing rack and provide support. The AGV empty driving-out action module is configured to control the AGV to drive out of the splicing station after completing the unloading of the cabin section to be spliced.

9. The system according to claim 8, characterized in that, The cabin section attitude adjustment cycle decision module includes: The cabin section position and attitude measurement action module is configured to monitor the current position and attitude of the cabin section to be spliced after the AGV drives into the splicing station. The cabin section position and attitude adjustment action module is configured to adjust the cabin section to be spliced to a required attitude for docking based on a target position and a target attitude of the cabin section to be spliced according to the current position and the current attitude.

10. The system of claim 1, wherein, The whole vehicle unmounting decision module includes: The whole machine unmounting preparation action module is configured to generate an adjustment instruction based on the control task, and adjust the equipment corresponding to the unmounting to an unmounting state according to the adjustment instruction when the aircraft to be spliced meets a preset removal condition. The partial positioner evacuation action module is configured to generate a removal instruction based on the control task, and remove the positioner according to the removal instruction. The AGV driving-in action module is configured to control the AGV to drive into the space below the splicing rack to prepare to carry the whole machine. The multi-positioner linkage action module is configured to control the actions of the positioners to ensure that the whole machine is moved from the splicing rack to the AGV. The AGV driving-out action module is configured to control the AGV to drive out of the space below the splicing rack after carrying the whole machine.

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