Method, system and device for automatically planning projection position of aircraft hole site, and storage medium

Abstract

This invention relates to the field of intelligent manufacturing, specifically to an automatic planning method, system, device, and storage medium for aircraft aperture projection positions. The method includes the following steps: determining the placement area of ​​the projector; setting optimization target parameters; initializing optimization units; evaluating the aperture coverage, aperture quality, precision, projection utilization, and comprehensive planning results for each optimization unit; determining whether the optimization target is met; if not, optimizing each unit based on the comprehensive evaluation score using an optimization strategy, and resubmitting the optimized results, iterating until the algorithm's stopping condition is met. This invention provides an automatic projection position planning method by evaluating indicators such as aperture coverage, global aperture projection quality, image precision, and projector utilization, combined with an optimization algorithm, ensuring full aperture coverage, high-quality projected images, and a minimum number of projectors after planning.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing, specifically to an automatic planning method, system, device, and storage medium for aircraft aperture projection positions. Background Technology

[0002] In aircraft assembly, the drilling of holes in components such as the skin and frame, as well as the installation of fasteners like rivets and high-strength locks, constitute a significant portion of the work. Therefore, manual marking and projection marking are often used to indicate hole locations, hole diameters, and fastener part numbers, providing assembly personnel with intuitive assembly information and thus improving assembly efficiency. Consequently, aircraft hole projection technology has been widely applied in the aircraft assembly industry both domestically and internationally. Existing technologies, such as Chinese invention patent application number CN202010395615.4 entitled "A Positioning Method and Processing Method for Assembly Holes on Aircraft Skin," disclose the following steps: Installing an aircraft skin on an assembly jig, with multiple targets distributed on the aircraft skin; collecting the position coordinates of the targets, and creating a projection file based on the target position coordinates, the size of the aircraft skin, and the position coordinates of the designed assembly holes; setting a laser projection system outside the aircraft skin at a first interval distance from the side of the aircraft skin to be positioned, ensuring that the projection surface of the projection device at least covers the area of ​​the aircraft skin where the assembly holes need to be opened; the laser emitted by the laser projection system irradiates the targets and then returns to the laser projection system, thus connecting the spatial position of the aircraft skin with the laser projection system; playing the projection file, with the laser projection system projecting onto the side of the aircraft skin to be positioned, projecting a designed number of cross-shaped positioning lines on the side of the aircraft skin to be positioned, and the multiple cross-shaped positioning lines being distributed at the positions of the designed assembly holes, thus achieving the positioning of the assembly holes.

[0003] During the projection process, due to the large size of some aircraft components, multiple projectors are needed to project simultaneously to achieve multi-aircraft collaborative projection. However, how to arrange the projectors to ensure full coverage of the apertures, guarantee the quality of the projected image, and optimize the number of projectors has become a challenge. Summary of the Invention

[0004] To address the aforementioned issues, this invention provides an automatic planning method, system, device, and storage medium for aircraft aperture projection positions. By evaluating indicators such as aperture coverage, global aperture projection quality, image detail, and projector utilization, and combining these with optimization algorithms, the invention automatically determines the projector placement, projection direction, and number of projectors, ensuring full aperture coverage, high-quality projected images, and a minimum number of projectors after planning.

[0005] To achieve the above-mentioned objectives, the technical solution provided in this application is as follows: An automatic planning method for aircraft aperture projection positions includes the following steps: Step S1: First, determine the area where the projector can be placed; Step S2: Set the optimization target parameters; Step S3: Initialize the optimization unit; Step S4: Evaluate the coverage of projected apertures for each optimization unit; Step S5: Evaluate the quality of the projected aperture positions for each optimization unit; Step S6: Evaluate the precision of the projected image for each optimization unit; Step S7: Evaluate the projection utilization rate for each optimization unit; Step S8: Perform a comprehensive evaluation of the planning results for each optimization unit; Step S9: Determine whether the evaluation coefficients of each optimization unit meet the optimization objective; In step S10, if the algorithm termination condition is not met, then based on the comprehensive evaluation score of each optimization unit, an optimization strategy is adopted to optimize the position and number of projectors in each unit, and the optimized result is substituted back into step S4 for evaluation, and the process is iterated until the algorithm termination condition is met.

[0006] Furthermore, in step S1, a pre-set... Each placeable area constitutes a placeable area set. Each region From two three-dimensional points and To express, Represents the coordinates of the point Meet the conditions The rectangular area between, such as Figure 1 As shown in the above formula, This represents the number of placeable regions, where i = 1, ..., M identifies one of the placeable regions, and a, b, and c are 3D points. , The x, y, and z coordinates.

[0007] Further, step S2 specifically involves: setting the hole coverage rate. , This indicates the degree of coverage of the projected image over all the holes to be projected; the quality of the hole projection. , This indicates the quality of the projected aperture image; the fineness of the projected image. , This indicates the pixel detail of the projected image; projector utilization rate. , , indicating the degree to which the projection apertures of the various projectors do not overlap; the maximum number of iterations of the algorithm. .

[0008] Further, step S3 specifically involves: generating There are 1 optimization unit, each optimization unit is defined as follows: ,Include Taiwan projector, And the resolution of each projector Internal Reference ,Location Rotation vector External reference During initialization, the projector position needs to be initialized within the set of available placement areas. middle.

[0009] Furthermore, the projection aperture coverage evaluation formula in step S4 The definition is as follows: ,

[0010] in This represents the total number of holes to be projected. For optimization unit The set of covered projection apertures, The number of elements in the set. Indicates finding the hole In the projector The pixel coordinates below Indicates the hole In the projector Inside the projected pixel area , It is the first The number of projectors contained in each optimization unit.

[0011] Furthermore, in step S5, the projection aperture quality evaluation formula... The definition is as follows: ,in

[0012] in Indicates the hole Normal and Projector The included angle of the Z-axis, , This is the hole visibility coefficient. If the hole can be displayed by the projector, the coefficient is 1; otherwise, it is 0.

[0013] Furthermore, in step S6, the formula for evaluating the fineness of the projected image... The definition is as follows: ,in

[0014] in For projector arrive distance, For projector of Focal length of direction, This indicates the number of pixels per millimeter of the projected image at the current distance; the more pixels, the finer the image.

[0015] Furthermore, in step S7, the utilization rate evaluation formula The definition is as follows: ,

[0016] in This represents the set of apertures that are simultaneously projected by at least two projectors. This indicates the number of holes in the set. They represent from the first The indices of two different projectors selected in each optimization unit. Indicates projector The pixel area.

[0017] Furthermore, in step S8, the formula for calculating the comprehensive evaluation score of the planning results is... The definition is as follows:

[0018] , These are the weighting coefficients.

[0019] Furthermore, in step S9, if there is a unit Make If both conditions are met, it means that the optimization unit satisfies the optimization objective, and the algorithm stops; or if the current iteration count is greater than the maximum iteration count. The algorithm stops when the time is right.

[0020] An automatic planning system for aircraft aperture projection positions includes: Projection aperture coverage evaluation unit: used to calculate the coverage of the aperture to be projected, and evaluated by calculating the number of projection apertures that the projector in each optimization unit can cover; Projection aperture quality evaluation unit: Evaluation is performed by calculating the average quality of the projected image of the aperture to be projected; Projected image detail evaluation unit: The detail of the image is evaluated by calculating the average pixel density at the position of the aperture to be projected.

[0021] Projector utilization evaluation unit: The projector utilization is evaluated by calculating the proportion of holes that are repeatedly projected.

[0022] The comprehensive evaluation unit for planning results calculates the coverage of projection apertures, the quality of projection apertures, the fineness of the projected image, and the utilization rate of the projector to obtain the score of the optimization unit, which is used to update the position and number of projectors in subsequent optimization units.

[0023] Furthermore, in the projection aperture quality evaluation unit, the projection aperture quality is evaluated by calculating the angle between the projection aperture normal and the projector orientation.

[0024] An electronic device includes a processor and a memory storing processor-executable instructions, wherein the above-described method is implemented when the instructions are executed by the processor.

[0025] A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the above-described method.

[0026] The advantages of this invention are: 1. This invention evaluates indicators such as aperture coverage, global aperture projection quality, image detail, and projector utilization, and combines optimization algorithms to provide an automatic projection position planning method that ensures full coverage of the planned projection apertures, good projection image quality, and the minimum number of projectors.

[0027] 2. This invention is applicable to the simultaneous projection of multiple projectors into the same projection hole position, assisting in the drilling of holes and the installation of connectors on aircraft. It can effectively solve the problem of projection position planning and reduce the risk of unexpected situations such as insufficient projection coverage, poor projection image quality, and low projector utilization due to insufficient planning in the early stage.

[0028] 3. All algorithms used in this invention can be implemented by computers, enabling automated projection position planning and effectively reducing the workload of manual projection position planning.

[0029] 4. The present invention proposes a comprehensive evaluation method for planning results based on projection aperture coverage, projection aperture quality, projection image fineness evaluation, and projector utilization rate, so as to realize the scientific evaluation of the quality of projection position planning in multi-machine collaborative projection scenarios.

[0030] 5. This invention proposes an automatic planning method for aircraft aperture projection positions. It establishes a comprehensive evaluation mechanism encompassing aperture coverage evaluation, aperture quality evaluation, projected image detail evaluation, projector utilization evaluation, and planning results evaluation. This mechanism allows for iterative updates and optimizations of the projector positions and quantities using optimization algorithms, thereby achieving automatic planning of projection positions. Ultimately, it finds a set of projectors that satisfies both aperture coverage and projector utilization requirements while maximizing image quality and detail. Attached Figure Description Figure 1 This is a schematic diagram of the area where the projector can be placed, according to an embodiment of the present invention.

[0031] Figure 2 This is a schematic diagram showing the angle between the projection hole and the projector in an embodiment of the present invention. Figure 3 This is a flowchart illustrating an embodiment of the method of the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are for explaining the invention and not for limiting it. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0033] Example 1 like Figure 3 As shown, an automatic planning method for aircraft aperture projection positions includes the following steps: Step S1: First, determine the area where the projector can be placed; Step S2: Set the optimization target parameters; Step S3: Initialize the optimization unit; Step S4: Evaluate the coverage of projected apertures for each optimization unit; Step S5: Evaluate the quality of the projected aperture positions for each optimization unit; Step S6: Evaluate the precision of the projected image for each optimization unit; Step S7: Evaluate the projection utilization rate for each optimization unit; Step S8: Perform a comprehensive evaluation of the planning results for each optimization unit; Step S9: Determine whether the evaluation coefficients of each optimization unit meet the optimization objective; In step S10, if the algorithm termination condition is not met, then based on the comprehensive evaluation score of each optimization unit, an optimization strategy is adopted to optimize the position and number of projectors in each unit. The optimized result is then substituted back into step S4 for evaluation, and this process is iterated until the algorithm termination condition is met. Existing optimization methods in this field can be used for optimization. Existing optimization methods all require an evaluation formula to evaluate the quality of the optimization results. The purpose of this method is to provide a general evaluation method for this type of optimization method.

[0034] Example 2 As the title suggests - Figure 3 As shown, an automatic planning method for aircraft aperture projection positions includes the following steps: Step S1: First, determine the area where the projector can be placed; Step S2: Set the optimization target parameters; Step S3: Initialize the optimization unit; Step S4: Evaluate the coverage of projected apertures for each optimization unit; Step S5: Evaluate the quality of the projected aperture positions for each optimization unit; Step S6: Evaluate the precision of the projected image for each optimization unit; Step S7: Evaluate the projection utilization rate for each optimization unit; Step S8: Perform a comprehensive evaluation of the planning results for each optimization unit; Step S9: Determine whether the evaluation coefficients of each optimization unit meet the optimization objective; In step S10, if the algorithm termination condition is not met, then based on the comprehensive evaluation score of each optimization unit, an optimization strategy is adopted to optimize the position and number of projectors in each unit. The optimized result is then substituted back into step S4 for evaluation, and this process is iterated until the algorithm termination condition is met. Existing optimization methods in this field can be used for optimization. Existing optimization methods all require an evaluation formula to evaluate the quality of the optimization results. The purpose of this method is to provide a general evaluation method for this type of optimization method.

[0035] In step S1, preset Each placeable area constitutes a placeable area set. Each region From two three-dimensional points and To express, Represents the coordinates of the point Meet the conditions The rectangular area between, such as Figure 1 As shown in the above formula, This represents the number of placeable regions, where i = 1, ..., M identifies one of the placeable regions, and a, b, and c are 3D points. , The x, y, and z coordinates.

[0036] Step S2 specifically involves setting the hole coverage rate. , This indicates the degree of coverage of the projected image over all the holes to be projected; the quality of the hole projection. , This indicates the quality of the projected aperture image; the fineness of the projected image. , This indicates the pixel detail of the projected image; projector utilization rate. , , indicating the degree to which the projection apertures of the various projectors do not overlap; the maximum number of iterations of the algorithm. .

[0037] Step S3 specifically involves: generating There are 1 optimization unit, each optimization unit is defined as follows: ,Include Taiwan projector, And the resolution of each projector Internal Reference ,Location Rotation vector External reference During initialization, the projector position needs to be initialized within the set of available placement areas. middle.

[0038] Formula for evaluating the coverage of projected apertures in step S4 The definition is as follows: ,

[0039] in This represents the total number of holes to be projected. For optimization unit The set of covered projection apertures, The number of elements in the set. Indicates finding the hole In the projector The pixel coordinates below Indicates the hole In the projector Inside the projected pixel area , It is the first The number of projectors contained in each optimization unit.

[0040] In step S5, the formula for evaluating the quality of the projected aperture is... The definition is as follows: ,in

[0041] in Indicates the hole Normal and Projector The included angle of the Z-axis, The smaller the included angle, the higher the projection quality. This is the hole visibility coefficient. If the hole can be displayed by the projector, the coefficient is 1; otherwise, it is 0.

[0042] The specific calculation method is as follows: In the projector pixel coordinates below Located in the pixel area Inside, A value of 1 indicates that the pixel coordinates are outside the pixel region. Take 0.

[0043] In step S6, the formula for evaluating the fineness of the projected image is... The definition is as follows: ,in

[0044] in For projector arrive distance, For projector of Focal length of direction, This indicates the number of pixels per millimeter of the projected image at the current distance; the more pixels, the finer the image.

[0045] In step S7, the utilization rate evaluation formula The definition is as follows: ,

[0046] in This represents the set of apertures that are simultaneously projected by at least two projectors. This indicates the number of holes in the set. They represent from the first The indices of two different projectors selected in each optimization unit. Indicates projector The pixel region, if The resolution is 1920*1080, then It refers to the region with coordinates between [1,1] and [1920,1080].

[0047] In step S8, the formula for calculating the comprehensive evaluation score of the planning results is as follows: The definition is as follows:

[0048] This formula sums all evaluation coefficients to obtain the final comprehensive evaluation score, where the projected coverage rate... With projection utilization Performing multiplication followed by square root extraction ensures both projection coverage and utilization. , This is a weighting coefficient used to control the degree of influence of projection aperture quality and image detail.

[0049] In step S9, if there exists a unit Make If both conditions are met, it means that the optimization unit satisfies the optimization objective, and the algorithm stops; or if the current iteration count is greater than the maximum iteration count. The algorithm stops when the time is right.

[0050] Example 3 An automatic planning system for aircraft aperture projection positions includes: Projection aperture coverage evaluation unit: used to calculate the coverage of the aperture to be projected, and evaluated by calculating the number of projection apertures that the projector in each optimization unit can cover; Projection aperture quality evaluation unit: Evaluation is performed by calculating the average quality of the projected image of the aperture to be projected; Projected image detail evaluation unit: The detail of the image is evaluated by calculating the average pixel density at the position of the aperture to be projected. The higher the pixel density at the position to be projected, the higher the detail of the image.

[0051] Projector utilization evaluation unit: The projector utilization rate is evaluated by calculating the proportion of holes that are repeatedly projected. The fewer holes that are repeatedly projected, the higher the projector utilization rate, which is used to optimize the number of projectors.

[0052] The comprehensive evaluation unit for planning results calculates the coverage of projection apertures, the quality of projection apertures, the fineness of the projected image, and the utilization rate of the projector to obtain the score of the optimization unit, which is used to update the position and number of projectors in subsequent optimization units.

[0053] In the projection aperture quality evaluation unit, the projection aperture quality is evaluated by calculating the angle between the projection aperture normal and the projector orientation. The smaller the angle, the better the projected image quality.

[0054] Example 4 Before using this method, define the following parameters: Define the set of projection apertures , contains One hole to be projected, each hole , , represented as ,in Indicates the hole Coordinates in the aircraft coordinate system Indicates the hole The unit normal vector.

[0055] Define the projector as The projector parameters are expressed as follows: ,in The projected image area of ​​the projector: , The width is in pixels. The height is in pixels.

[0056] The intrinsic parameter matrix of the projector is defined as follows:

[0057] , For projectors in , Focal length in direction, , For projectors in , The principal point in the direction.

[0058] Let be the extrinsic parameter matrix of the projector, representing the three-dimensional attitude of the projector in the aircraft coordinate system, defined as follows:

[0059] Let be the translation vector of the projector in the aircraft coordinate system, and be the extrinsic parameter. The last column is defined as follows:

[0060] Let be the rotation vector of the projector in the aircraft coordinate system, represented by a four-dimensional vector, where the parameters represent the rotation angle and the direction of the rotation axis, as defined below:

[0061] The rotational attitude part is composed of Calculations show that the Rodrigues formula can be used for conversion: This invention is mainly implemented through the following 10 steps, such as... Figure 3 As shown: Step S1, Set the area where the projector can be placed: Preset There are three placeable regions; in this implementation, three regions are selected to form a set of placeable regions. Each region Represented by two three-dimensional points: , like Figure 1 As shown.

[0062] Step S2, Set optimization target parameters: Set the target parameters as follows: pore coverage rate Hole projection quality Projected image detail Projector utilization rate The maximum number of iterations of the algorithm is .

[0063] Step S3, Initialize optimization units: Generate There are 1 optimization unit, each optimization unit is defined as follows: ,Include Taiwan projector, During implementation, projectors typically select the same signal, so the resolution and intrinsic parameters of each projector can be set to the same values. Therefore, each projector has the same resolution, and the projected image area is accurately positioned. The internal reference is defined as follows:

[0064] Location set as The rotation vector is defined as External parameters are defined as The projector position needs to be initialized within the designated placement area. In the middle, ensure the position Conditions met: ,

[0065] Step S4, Projected aperture coverage evaluation: For each optimization unit, evaluate the quality of the projected apertures according to the projected aperture coverage evaluation formula: ,

[0066] First, calculate the coordinates of the hole position in the projector coordinate system:

[0067] Then calculate the pixel coordinates of the aperture position under the projector:

[0068] Subsequently, the judgment was made. That is, whether the pixel coordinates of the hole are located in the projected image area. Internally, the following conditions must be met:

[0069] If it exists If the above conditions are met, then the hole position will be... Add to collection In the middle, completed , After calculation, the coverage rate of the projected apertures can be obtained:

[0070] Step S5, Projected Hole Quality Evaluation: For each optimization unit, evaluate the quality of the projected holes according to the projected hole quality evaluation formula: ,in

[0071] in The calculation method is the same as in step S4. Indicates when the condition is met The value is 1 if the condition is met, and 0 if the condition is not met. Next, all included angles are calculated. (See diagram of included angle) Figure 2 (as shown) , Then we can conclude , The calculation method is as follows:

[0072] Step S6, Projection Image Detail Evaluation: The detail of the projected image is evaluated for each optimization unit according to the projection image detail evaluation formula: ,in

[0073] in The calculation method is the same as in step S4. Indicates when the condition is met The value is 1 when the condition is met and 0 when the condition is not met. Since all projectors in this embodiment have the same intrinsic parameters, therefore... All taken as Next, calculate all of them. , , Then we can conclude , The calculation method is as follows:

[0074] Step S7, Projector Utilization Evaluation: Evaluate the projector utilization rate for each optimization unit based on the utilization rate evaluation formula:

[0075]

[0076] in , The calculation method is the same as in step S4, except that the aperture positions that are projected by at least two projectors simultaneously need to be calculated and added to the calculation. Then, the number of holes in the set can be obtained.

[0077] Step S8, Comprehensive Evaluation of Planning Results: A comprehensive evaluation of the planning results is performed for each optimization unit. The calculation formula for the comprehensive evaluation score is as follows:

[0078] Step S9, determine whether the result meets the optimization objective: determine whether the evaluation coefficients of each optimization unit meet the optimization objective. If there is a unit... Make If both conditions are met, it means the optimization unit satisfies the optimization objective, and the algorithm stops. Alternatively, if the current iteration count is greater than the maximum iteration count... The algorithm ends when the time is right.

[0079] Step S10, update each optimization unit: If the algorithm termination condition is not met, then update each optimization unit based on its comprehensive evaluation score. An optimization strategy is adopted to optimize the position and number of projectors in each unit. In this embodiment, the particle swarm optimization algorithm is selected as the optimization algorithm. According to this algorithm, the optimization calculation method for the position and number of projectors is as follows: Assume the current iteration number is Based on the fitness (i.e., the comprehensive evaluation score) of each particle (i.e., each optimized unit), the local optimum and the global optimum are calculated.

[0080] Calculate the local optimum, where :

[0081] Calculate the global optimum:

[0082] The position of the particle is determined by the translation and rotation vectors of each projector in the optimization unit. The composition, where the particle's position vector is a matrix:

[0083] Update particle velocity, where Given the inertia coefficient, , Given the weight coefficients, , Random number:

[0084] Update particle positions, and ensure that the positions of the projectors contained within the updated particles are constrained to the placement area. internal:

[0085] The number of projectors in each unit The number of projectors can vary, and different strategies can be used to reduce or increase the number of projectors during updates, which will not be elaborated in this embodiment.

[0086] Update particle position Then, the external parameters of each projector are calculated using the rotation vector and translation vector. Then, we return to step S4 to re-evaluate each coefficient and iteratively update each optimization unit until the optimization result meets the termination condition.

[0087] Example 5 An electronic device includes a processor and a memory storing processor-executable instructions, which, when executed by the processor, implement the method described in any one of Embodiments 1-4.

[0088] Example 6 A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the method as described in any one of Examples 1-4.

Claims

1. A method for automatically planning the projection position of aircraft apertures, characterized in that, Includes the following steps: Step S1: First, determine the area where the projector can be placed; Step S2: Set the optimization target parameters; Step S3: Initialize the optimization unit; Step S4: Evaluate the coverage of projected apertures for each optimization unit; Step S5: Evaluate the quality of the projected aperture positions for each optimization unit; Step S6: Evaluate the precision of the projected image for each optimization unit; Step S7: Evaluate the projection utilization rate for each optimization unit; Step S8: Perform a comprehensive evaluation of the planning results for each optimization unit; Step S9: Determine whether the evaluation coefficients of each optimization unit meet the optimization objective; In step S10, if the algorithm termination condition is not met, then based on the comprehensive evaluation score of each optimization unit, an optimization strategy is adopted to optimize the position and number of projectors in each unit, and the optimized result is substituted back into step S4 for evaluation, and the process is iterated until the algorithm termination condition is met.

2. The automatic planning method for aircraft aperture projection positions according to claim 1, characterized in that, In step S1, a pre-set Each placeable area constitutes a placeable area set. Each region From two three-dimensional points and To express, Represents the coordinates of the point Meet the conditions The rectangular region between them, as shown in Figure 1, is in the above formula. This represents the number of placeable regions, where i = 1, ..., M identifies one of the placeable regions, and a, b, and c are 3D points. , The x, y, and z coordinates.

3. The automatic planning method for aircraft aperture projection positions according to claim 1, characterized in that, Step S2 specifically involves: setting the hole coverage rate. , This indicates the degree of coverage of the projected image over all the holes to be projected; the quality of the hole projection. , This indicates the quality of the projected aperture image; the fineness of the projected image. , This indicates the pixel fineness of the projected image; Projector utilization rate , , indicating the degree to which the projection apertures of the various projectors do not overlap; the maximum number of iterations of the algorithm. .

4. The automatic planning method for aircraft aperture projection positions according to claim 1, characterized in that, Step S3 specifically involves: generating There are 1 optimization unit, each optimization unit is defined as follows: ,Include Taiwanese projector And the resolution of each projector Internal Reference ,Location Rotation vector External reference During initialization, the projector position needs to be initialized within the set of available placement areas. middle.

5. The automatic planning method for aircraft aperture projection positions according to claim 1, characterized in that, The projection aperture coverage evaluation formula in step S4 The definition is as follows: ， in This represents the total number of holes to be projected. For optimization unit The set of covered projection apertures, This represents the number of elements in the set. Indicates finding the hole In the projector The pixel coordinates below Indicates the hole In the projector Inside the projected pixel area , It is the first The number of projectors contained in each optimization unit.

6. The automatic planning method for aircraft aperture projection positions according to claim 1, characterized in that, In step S5, the projection aperture quality evaluation formula The definition is as follows: ,in in Indicates the hole Normal and Projector The included angle of the Z-axis, The smaller the included angle, the higher the projection quality. This is the hole visibility coefficient. If the hole can be displayed by the projector, the coefficient is 1; otherwise, it is 0.

7. The automatic planning method for aircraft aperture projection positions according to claim 1, characterized in that, In step S6, the formula for evaluating the fineness of the projected image is... The definition is as follows: ,in in For projector arrive distance, For projector of Focal length of direction, This indicates the number of pixels per millimeter of the projected image at the current distance; the more pixels, the finer the image.

8. The automatic planning method for aircraft aperture projection positions according to claim 1, characterized in that, In step S7, the utilization rate evaluation formula The definition is as follows: ， in This represents the set of apertures that are simultaneously projected by at least two projectors. This indicates the number of holes in the set. They represent from the first The indices of two different projectors selected in each optimization unit. Indicates projector The pixel area.

9. The automatic planning method for aircraft aperture projection positions according to claim 1, characterized in that, In step S8, the formula for calculating the comprehensive evaluation score of the planning results is as follows: The definition is as follows: , These are the weighting coefficients.

10. The automatic planning method for aircraft aperture projection positions according to claim 1, characterized in that, In step S9, if there is a unit Make If both conditions are met, it means that the optimization unit satisfies the optimization objective, and the algorithm stops; or if the current iteration count is greater than the maximum iteration count. The algorithm stops when the time is right.

11. An automatic planning system for aircraft aperture projection positions, characterized in that, include: Projection aperture coverage evaluation unit: used to calculate the coverage of the aperture to be projected, and evaluated by calculating the number of projection apertures that the projector in each optimization unit can cover; Projection aperture quality evaluation unit: Evaluation is performed by calculating the average quality of the projected image of the aperture to be projected; Projected image detail evaluation unit: The detail of the image is evaluated by calculating the average pixel density at the position of the aperture to be projected. Projector utilization evaluation unit: The projector utilization is evaluated by calculating the proportion of apertures that are repeatedly projected. The comprehensive evaluation unit for planning results calculates the coverage of projection apertures, the quality of projection apertures, the fineness of the projected image, and the utilization rate of the projector to obtain the score of the optimization unit, which is used to update the position and number of projectors in subsequent optimization units.

12. The automatic planning system for aircraft aperture projection positions according to claim 1, characterized in that, In the projection aperture quality evaluation unit, the projection aperture quality is evaluated by calculating the angle between the projection aperture normal and the projector orientation.

13. An electronic device, the electronic device comprising a processor and a memory storing instructions executable by the processor, characterized in that, When the instruction is executed by the processor, it implements the functionality described in claim 1. The method described in any of 10.

14. A computer-readable storage medium having a program stored thereon, characterized in that, When the program is executed by the processor, it implements the functionality described in claim 1. The method described in any of 10.

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