Mobile aircraft wing body docking equipment and method based on AGV (Automatic Guided Vehicle)

Abstract

The invention discloses mobile aircraft wing body docking equipment and method based on an AGV. The device comprises a plurality of mobile numerical control positioners, a multi-view vision measurement system, an upper computer, wings, an aircraft body, a wireless gateway, wing target spots and aircraft body target spots. The wings are placed on a plurality of movable numerical control positioners, and the degree-of-freedom poses of the wings are adjusted through the movable numerical control positioners and are in butt joint with the fuselage; wing target spots are distributed on the upper surface of a wing, fuselage target spots are distributed on the upper surface of a fuselage, and measurement of relative poses of the wing and the fuselage is achieved in cooperation with a multi-view vision measurement system. Data of the mobile numerical control positioners and the multi-view vision measurement system are sent to an upper computer through a wireless gateway, and each mobile numerical control positioner is controlled to adjust the position and posture of a wing. According to the invention, the efficiency and the flexible configuration capability of the existing assembly equipment can be improved, and the device has the characteristics of simple appearance, less personnel demand, high assembly efficiency and strong flexible configuration capability, and is suitable for the wing body assembly link of an aircraft assembly production line.

Description

Technical Field

[0001] This invention relates to the field of aircraft assembly and manufacturing technology, and in particular to a mobile aircraft wing-body docking equipment and method based on AGV. Background Technology

[0002] Wing-body assembly is a crucial step in aircraft final assembly. It typically employs multiple CNC positioners connected in parallel to form a 6-DOF (DoF) attitude adjustment mechanism, enabling six-DOF attitude adjustment between the aircraft and the wing. With the mass production of domestically produced large aircraft and the increasing demand for large-scale production of small and medium-sized aircraft, higher demands are being placed on the efficiency of assembly equipment. Furthermore, the rapid iteration of aircraft models also places higher demands on assembly equipment. AGVs (Automated Guided Vehicles) are widely used in intelligent production lines, significantly improving work efficiency, reducing labor intensity, enhancing operational safety, and providing flexibility and scalability. Combining CNC positioners with AGVs, leveraging the mobility and flexible configuration advantages of AGVs, enables autonomous installation and attitude adjustment of aircraft wings, and can be reused in production lines for various models.

[0003] The published patents with application numbers 202210099246.3 and 202110223701.1 integrate multiple CNC positioners onto a single AGV, used for flexible assembly of large helicopters and external wing support attitude adjustment docking assembly, respectively, enabling automatic transfer and assembly of aircraft sections. However, because the CNC positioners are fixedly installed on the AGV, their position and layout cannot be changed, limiting their use to the assembly of specific types of sections.

[0004] Each AGV integrates a CNC positioner to form a mobile CNC positioner. Multiple mobile CNC positioners are combined to form an attitude adjustment system. The mobile CNC positioners can be controlled by the AGV, enabling flexible layout of the attitude adjustment equipment. However, due to the uncertainty of the mobile CNC positioner's position, it is difficult to connect it to the aircraft cabin. Furthermore, limited by the AGV's parking positioning accuracy, the relative positional relationship of multiple mobile CNC positioners is uncertain, resulting in unknown kinematic parameters for the entire attitude adjustment mechanism, making precise motion control impossible. Summary of the Invention

[0005] The purpose of this invention is to propose a mobile aircraft wing-body docking equipment and method based on AGV, which realizes automatic connection between the equipment and the wing, and automatically establishes the kinematic parameters of the entire attitude adjustment mechanism to achieve precise motion control of the wing, and is applicable to the assembly of different types of cabin sections.

[0006] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0007] A mobile aircraft wing-body docking equipment based on AGV includes: multiple mobile CNC positioners, a multi-view vision measurement system, a host computer, a wing, a fuselage, a wireless gateway, wing target points, and fuselage target points. The wing is placed on multiple mobile CNC positioners, and the wing's degrees of freedom and attitude are adjusted through the mobile CNC positioners to dock with the fuselage. The wing target points are distributed on the upper surface of the wing, and the fuselage target points are arranged on the upper surface of the fuselage. The multi-view vision measurement system is used to measure the relative attitude of the wing and the fuselage. The data from the mobile CNC positioners and the multi-view vision measurement system are sent to the host computer through the wireless gateway to control each mobile CNC positioner to adjust the wing's attitude.

[0008] Furthermore, the mobile CNC positioner includes an AGV, a 3-axis CNC positioner, a motion controller, a three-dimensional force sensor, a calibration camera, a ball joint, and support legs. The support legs are distributed around the AGV and fixed to the chassis of the AGV to realize the lifting and lowering of the AGV. The motion controller is fixed to the upper surface of the AGV and controls the movement of the 3-axis CNC positioner. The three-dimensional force sensor is installed on the upper part of the 3-axis CNC positioner, and the data of the three-dimensional force sensor is transmitted to the motion controller through a communication protocol. A ball joint is installed above the three-dimensional force sensor, which cooperates with the ball joint under the wing to realize the connection between the 3-axis CNC positioner and the wing. The calibration camera is installed on the 3-axis CNC positioner and is used to take pictures of the area under the wing.

[0009] Furthermore, the multi-view vision measurement system includes multiple cameras for measuring the relative pose of the wings and fuselage.

[0010] Furthermore, the wing includes a wing body, a calibration fixture, a ball joint, a calibration target, and an assembly interface; the ball joint is installed under the wing and is mounted to the wing via a mechanical interface; the calibration target is fixed to the ball joint via the calibration fixture, and the calibration target is photographed via a calibration camera; the wing target is installed on the wing body via a target mounting interface; the assembly interface is used for docking with the fuselage.

[0011] A docking method for a mobile aircraft wing-body docking device based on AGV, comprising:

[0012] Move the mobile CNC positioner to the designated position, that is, below the ball head with the corresponding number. After reaching the designated position, the calibration camera takes a picture of the calibration target with the corresponding number to obtain the relative pose relationship between the ball socket and the ball head.

[0013] The mobile CNC positioner adjusts its movements according to the relative positional relationship to make the ball socket contact the ball head. The motion controller collects the contact force between the ball head and the ball socket through a three-dimensional force sensor and completes the matching of the ball socket and the ball head through force compliance control.

[0014] The relative pose relationship between the mobile CNC positioner and the wing, as well as the positional relationship between the mobile CNC positioners, are obtained by taking pictures with a calibration camera; the motion controller establishes the kinematic model of the entire mobile CNC positioner.

[0015] The relative attitude deviation of the wing and fuselage is measured by taking pictures using a multi-view vision measurement system. The attitude deviation is transmitted to the host computer via a wireless gateway. The host computer calculates the movement of the mobile CNC positioner and sends it to the motion controller via the wireless gateway. The controller then controls each mobile CNC positioner to adjust the wing attitude. This process is repeated until the wing attitude is adjusted to the correct position, and then the wing and fuselage are docked.

[0016] Furthermore, the relative pose relationship between the ball socket and the ball head, and the relative pose relationship between the mobile CNC positioner and the wing are obtained, specifically including:

[0017] The calibration camera takes pictures of the corresponding numbered calibration targets to obtain the relative pose relationship between the i-th calibration camera and the calibration target. ;

[0018] Based on the relationship between the i-th calibration target and the ball head coordinate system And the relationship between the i-th sphere and the calibration camera coordinate system. Establish the coordinate relationship between the i-th ball head and the ball socket. .

[0019] Furthermore, the relative pose relationship between the mobile CNC positioner and the wing is obtained as follows: based on the relationship between the i-th calibration target and the wing coordinate system, and the coordinate system between the i-th calibration camera and the mobile CNC positioner, the relationship between the i-th mobile CNC positioner and the wing coordinate system is established. .

[0020] Furthermore, the positional relationship between the mobile CNC positioners is as follows: , where i and j represent the i-th and j-th mobile CNC positioners, respectively.

[0021] Furthermore, the relative pose deviation of the wing and fuselage is measured by taking pictures using a multi-view vision measurement system. Specifically, this includes: taking the relative pose of the wing target point relative to the fuselage target point using the multi-view vision measurement system. To obtain the relative pose relationship between the target point on the wing and the wing. and the relative pose relationship between the fuselage target and the fuselage. The attitude relationship between the wing and the fuselage was calculated. This allows us to obtain the relative pose deviation.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: The mobile aircraft wing-body docking equipment based on AGV proposed in this invention uses an AGV to position a mobile CNC positioner below the underside of the wing ball joint. The calibration camera in the mobile CNC positioner takes pictures of the calibration target under the wing. Knowing the coordinate system relationship between the ball joint and the calibration target, as well as the coordinate system relationship between the camera and the ball joint, the coordinate relationship between the ball joint and the ball joint can be established. The CNC positioner adjusts the ball joint to the vicinity of the ball joint. When the ball joint contacts the ball joint, the force sensor feeds back data to perform force compliance control on the attitude adjustment mechanism until the contact force between the ball joint and the ball joint reaches the theoretical value. At this point, the calibration camera takes pictures of the calibration target. Knowing the relationship between the calibration target and the wing coordinate system, and the relationship between the calibration camera and the CNC positioner coordinate system, the relationship between the CNC positioner and the wing coordinate system can be established. This allows for the acquisition of the positional relationships between the CNC positioners, enabling the creation of a kinematic model of the entire attitude adjustment mechanism. A multi-view vision measurement system measures the relative attitude of the wing and fuselage, and the attitude deviation is fed back to the host computer. The host computer then controls the position of the moving CNC positioner to achieve wing attitude adjustment. Since the combination of multiple CNC positioners constitutes a redundant drive mechanism, force compliance control is used during wing attitude adjustment to ensure that excessive internal forces are not generated within the mechanism, guaranteeing the safety of the wing and equipment. This mechanism is applicable to the assembly of different types of cabin sections. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A schematic diagram of the components of a mobile aircraft wing-body docking equipment based on AGV provided in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the mobile CNC positioner provided in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the wing structure provided in an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the system workflow provided in an embodiment of the present invention. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] This invention provides a method such as Figure 1 The AGV-based mobile aircraft wing-body docking equipment shown includes: a mobile CNC positioner 1, a multi-view vision measurement system 3, a host computer 5, a wing 2, a fuselage 4, a wireless gateway 6, wing target points 7, and fuselage target points 8. The docking equipment typically consists of three or more mobile CNC positioners, each with three degrees of freedom. The combined motion of multiple CNC positioners achieves the wing's two-degree-of-freedom attitude adjustment. The relative attitude of the fuselage and wing is achieved through the multi-view vision measurement system 3 in conjunction with the wing target points 7 and fuselage target points 8.

[0030] The mobile CNC positioner 1, as shown... Figure 2 As shown, the system consists of AGV1-1, a 3-axis CNC positioner 1-6, a motion controller 1-2, a 3D force sensor 1-4, a calibration camera 1-5, a ball socket 1-3, and support legs 1-7. AGV1-1 has omnidirectional mobility and can autonomously navigate or be remotely controlled to the loading area under the wing. The loading area is the AGV's parking position. The travel range of the 3-axis CNC positioner 1-6 covers the loading area, ensuring that the 3-axis CNC positioner 1-6 on the AGV can autonomously connect to the wing. There are four support legs 1-7, distributed around AGV1-1 and fixed to its chassis. Support legs 1-7 have lifting functions, allowing AGV1-1 to contact or detach from the ground. When the AGV is detached from the ground, the support legs 1-7 are in contact with the ground. The entire device achieves good support rigidity through the contact of the four support legs, ensuring the operational accuracy of the equipment. After AGV1-1 stops in the loading area, the support legs 1-7 on AGV1-1 automatically descend. The 3-axis CNC positioner 1-6 moves via motion controller 1-2, which is fixed to the upper surface of AGV1-1. A three-dimensional force sensor 1-4 is mounted on the upper part of the 3-axis CNC positioner 1-6, and the data from the three-dimensional force sensor 1-4 is transmitted to the motion controller 1-2 via a communication protocol. A ball socket 1-3 is mounted above the three-dimensional force sensor 1-4, which cooperates with the ball head 2-4 under the wing 2 to connect the 3-axis CNC positioner 1-6 to the wing 2. The calibration camera 1-5 is mounted on the 3-axis CNC positioner 1-6 and is used to photograph the calibration target 2-5 under the wing.

[0031] The multi-view vision measurement system 3 is used for relative pose measurement of the wing 2 and the fuselage 4. It consists of a variable number of cameras, the number of which is determined by the size of the wing and the field of view of the cameras. The field of view of the cameras covers the entire wing as much as possible. The data from the multi-view vision measurement system 3 is processed by a host computer.

[0032] The wing 2 consists of a wing body 2-1, a calibration fixture 2-3, a ball joint 2-4, a calibration target 2-5, and an assembly interface 2-2, as follows: Figure 3 As shown. Ball joint 2-4 is mounted under the wing and connected to the wing 2 via a mechanical interface. The positional relationship of the i-th ball joint 2-4 relative to the wing 2 is shown. The accuracy is ensured by machining. The calibration target 2-5 is fixed to the ball head 2-4 using a fixture. The relative pose between the ball head 2-4 and the calibration target 2-5 can be determined by the machining precision. Alternatively, visual calibration can be used to determine the relative pose between the i-th calibration target 2-5 and the ball head 2-4. The target point 7 is mounted on the upper part of the wing body 2-1. A target mounting interface is provided on the upper part of the wing body 2-1, and the position of the target mounting interface is ensured by machining. Therefore, the relative attitude relationship between the wing target point and the wing can be obtained. Assembly interface 2-2 is located on one side of the wing body 2-1 and is used to dock with the fuselage 4.

[0033] The mobile aircraft wing-body docking equipment based on AGV proposed in this invention uses an AGV to position a mobile CNC positioner 1 below the ball joint 2-4 under the wing. The calibration camera 1-5 in the mobile CNC positioner 1 takes pictures of the calibration target 2-5 under the wing, obtaining the relative pose relationship between the i-th calibration camera 1-5 and the calibration target 2-5. Given the relationship between the coordinate system of the i-th calibration target 2-5 and the ball head 2-4. And the relationship between the i-th sphere 1-3 and the coordinate system of the calibration camera 1-5 The coordinate relationship between the i-th ball head 2-4 and the ball socket 1-3 can be established. , The ball socket 1-3 is adjusted to be near the ball head 2-4 using a 3-axis CNC positioner 1-6. Once the ball socket 1-3 contacts the ball head 2-4, the force sensor provides feedback data to perform force-compliant control on the attitude adjustment mechanism until the contact force between the ball head 2-4 and the ball socket 1-3 reaches the theoretical value. At this point, the calibration target 2-5 is photographed using a calibration camera 1-5, and the relationship between the i-th calibration target 2-5 and the wing coordinate system is known. The relationship between the coordinate system of the i-th calibration camera 1-5 and the mobile CNC positioner 1 The relationship between the i-th mobile CNC positioner 1 and the coordinate system of wing 2 can be established. The positional relationship between the mobile CNC positioners 1 can then be obtained. Finally, a kinematic model of the entire attitude adjustment mechanism is established, where i and j represent the i-th and j-th mobile CNC positioners 1, respectively, and inv represents the inversion of the coordinate matrix.

[0034] The relative pose of the wing and fuselage 2 is measured by the multi-view vision measurement system 3. First, the relative pose of the wing target point 7 relative to the fuselage target point 8 can be obtained by the multi-view vision measurement system 3. To ensure the precision of mechanical design and manufacturing, the relative attitude relationship between wing target point 7 and the wing can be obtained. and the relative pose relationship between target point 8 on the fuselage and fuselage 4. The positional relationship between wing 2 and fuselage 4 can be calculated. .

[0035] The attitude deviations of wing 2 and fuselage 4 are fed back to the host computer 5, which then controls the position of the mobile CNC positioner 1 to adjust the wing's attitude. Since the combination of multiple mobile CNC positioners 1 forms a redundant drive mechanism, force compliance control is used during wing 2 attitude adjustment to ensure the safety of wing 2 and the equipment by preventing excessive internal forces from being generated within the mechanism. The force on the mobile CNC positioner 1 is collected by a three-dimensional force sensor located above it.

[0036] The workflow of the entire system is as follows Figure 4 As shown: First, the mobile CNC positioner 1 is moved to the designated position, namely below the corresponding numbered ball head 2-4. After reaching the designated position, the calibration camera 1-5 takes a picture of the corresponding numbered calibration target 2-5 to obtain the relative pose relationship between the mobile CNC positioner 1 and the ball head 2-4. Then, the mobile CNC positioner 1 adjusts its movements according to the relative pose relationship until the ball socket 1-3 contacts the ball head 2-4. The motion controller 1-2 collects the contact force between the ball head 2-4 and the ball socket 1-3 through a three-dimensional force sensor, and completes the engagement of the ball socket 1-3 and the ball head 2-4 through force compliance control. At this time, the relative pose relationship between the mobile CNC positioner 1 and the wing 2 is obtained by taking pictures through the calibration camera 1-5, and the motion controller 1-2 establishes the kinematic model of the entire attitude adjustment mechanism. Subsequently, the relative pose deviation of the wing and fuselage is measured by taking pictures through the multi-view vision measurement system 3. The pose deviation is transmitted to the host computer 5 through the wireless gateway. The host computer 5 calculates the movement of the mobile CNC positioner 1 and sends it to the motion controller 1-2 through the wireless gateway. The host computer controls each mobile CNC positioner 1 to adjust the wing pose. This process is repeated until the wing 2 is in the correct pose, thus ending the entire assembly process.

[0037] This invention can improve the efficiency and flexible configuration capability of existing assembly equipment. It features a simple appearance, low personnel requirements, high assembly efficiency, and strong flexible configuration capability, and is suitable for the wing-body assembly stage of aircraft assembly production lines.

[0038] Without causing conflict, those skilled in the art can freely combine and use the above-mentioned additional technical features; the above description is only a preferred embodiment of the present invention, and any technical solution that achieves the purpose of the present invention by essentially the same means is within the protection scope of the present invention.

Claims

1. A mobile aircraft wing-body docking equipment based on AGV, characterized in that, include: Multiple mobile CNC positioners, multi-view vision measurement system, host computer, wings, fuselage, wireless gateway, wing targets and fuselage targets; The wing is mounted on multiple mobile CNC positioners, which are used to adjust the wing's degrees of freedom and orientation, and then dock with the fuselage. Target points are distributed on the upper surface of the wing, and target points are arranged on the upper surface of the fuselage. A multi-view vision measurement system is used to measure the relative orientation of the wing and fuselage. Data from the mobile CNC positioners and the multi-view vision measurement system are transmitted to a host computer via a wireless gateway to control each mobile CNC positioner to adjust the wing's orientation.

2. The mobile aircraft wing-body docking equipment based on AGV according to claim 1, characterized in that, The mobile CNC positioner includes an AGV, a 3-axis CNC positioner, a motion controller, a three-dimensional force sensor, a calibration camera, a ball joint, and support legs. The support legs are distributed around the AGV and fixed to the chassis of the AGV to enable the AGV to lift and lower. The motion controller is fixed to the upper surface of the AGV and controls the movement of the 3-axis CNC positioner. The three-dimensional force sensor is installed on the upper part of the 3-axis CNC positioner, and the data from the three-dimensional force sensor is transmitted to the motion controller via a communication protocol. A ball joint is installed above the three-dimensional force sensor, which cooperates with the ball joint under the wing to connect the 3-axis CNC positioner to the wing. The calibration camera is installed on the 3-axis CNC positioner and is used to take pictures of the area under the wing.

3. The mobile aircraft wing-body docking equipment based on AGV according to claim 1, characterized in that, The multi-view vision measurement system includes multiple cameras for measuring the relative pose of the wings and fuselage.

4. A mobile aircraft wing-body docking equipment based on AGV according to claim 2, characterized in that, The wing includes a wing body, a calibration fixture, a ball joint, a calibration target, and an assembly interface. The ball joint is installed under the wing and is connected to the wing via a mechanical interface. The calibration target is fixed to the ball joint via the calibration fixture, and the calibration target is photographed via a calibration camera. The wing target is installed on the wing body via a target mounting interface. The assembly interface is used for docking with the fuselage.

5. A method for docking a mobile aircraft wing-body docking equipment using any one of the equipment described in claims 1-4, characterized in that, include: Move the mobile CNC positioner to the designated position, that is, below the ball head with the corresponding number. After reaching the designated position, the calibration camera takes a picture of the calibration target with the corresponding number to obtain the relative pose relationship between the ball socket and the ball head. The mobile CNC positioner adjusts its movements according to the relative positional relationship to make the ball socket contact the ball head. The motion controller collects the contact force between the ball head and the ball socket through a three-dimensional force sensor and completes the matching of the ball socket and the ball head through force compliance control. The relative pose relationship between the mobile CNC positioner and the wing, as well as the positional relationship between the mobile CNC positioners, are obtained by taking pictures with a calibration camera. The motion controller establishes the kinematic model of the entire mobile CNC positioner; The relative attitude deviation of the wing and fuselage is measured by taking pictures using a multi-view vision measurement system. The attitude deviation is transmitted to the host computer via a wireless gateway. The host computer calculates the movement of the mobile CNC positioner and sends it to the motion controller via the wireless gateway. The controller then controls each mobile CNC positioner to adjust the wing attitude. This process is repeated until the wing attitude is adjusted to the correct position, and then the wing and fuselage are docked.

6. The docking method for a mobile aircraft wing-body docking equipment according to claim 5, characterized in that, Obtaining the relative pose relationship between the ball socket and the ball head, and the relative pose relationship between the moving CNC positioner and the wing, specifically including: The calibration camera takes pictures of the corresponding numbered calibration targets to obtain the relative pose relationship between the i-th calibration camera and the calibration target. ; Based on the relationship between the i-th calibration target and the ball head coordinate system And the relationship between the i-th sphere and the calibration camera coordinate system. Establish the coordinate relationship between the i-th ball head and the ball socket. .

7. The docking method for a mobile aircraft wing-body docking equipment according to claim 5, characterized in that, The relative pose relationship between the mobile CNC positioner and the wing is obtained as follows: Based on the relationship between the i-th calibration target and the wing coordinate system, and the coordinate system between the i-th calibration camera and the mobile CNC positioner, the relationship between the i-th mobile CNC positioner and the wing coordinate system is established. .

8. The docking method for a mobile aircraft wing-body docking equipment according to claim 7, characterized in that, The positional relationship between the mobile CNC positioners is as follows: , where i and j represent the i-th and j-th mobile CNC positioners, respectively.

9. The docking method for a mobile aircraft wing-body docking equipment according to claim 5, characterized in that, The relative pose deviation of the wing and fuselage is measured by taking pictures using a multi-view vision measurement system. Specifically, this includes: taking the relative pose of the wing target point relative to the fuselage target point using the multi-view vision measurement system. To obtain the relative pose relationship between the target point on the wing and the wing. and the relative pose relationship between the fuselage target and the fuselage. The attitude relationship between the wing and the fuselage was calculated. This allows us to obtain the relative pose deviation.

Images