For this matter, Yang Jie has spent a lot of effort in the past two years, on the one hand, he directly used a passenger plane to conduct various technical tests and record a large amount of data for many years, and on the other hand, he also dredged up the relationship with the heads and brains of these relevant departments. °C Eight '°C Eight ' °C Read ' °C Book, .■.o↑

Yang Jie is taking the high-level route, but the joints layer by layer below also need to be opened, otherwise many things will turn yellow if they drag on.

It is not easy to ask the Civil Aviation Administration to lift the ban on wireless wLan on the aircraft, and Yang Jie has also done enough work to finally wait for this day-

It is very difficult for some new things to be popularized on a large scale, and there is a lot of preparatory work to be done in order to dispel the concerns of the upper echelons.

That is, after the Civil Aviation Administration issued the "Evaluation Guide for the Use of Portable Electronic Devices on Board" a few days later, domestic airlines have also opened the business of providing wireless wLan broadband services, the first to open this service is the Fokker F100, F70, F50 delivered by China Fokker Company, high-speed satellite broadband transceiver terminals and wireless wLan networks in the aircraft have long been equipped, and even these software programs such as traffic billing have been done.

Therefore, after the Civil Aviation Administration's order to lift the ban, almost more than a dozen companies in China have opened this business.

The media department of Quantum Networks and many domestic media outlets have reported on this incident a lot, and it has also caused a huge sensation.

The passengers of the plane proudly showed the reporters their mobile phones to log in to the wireless wLan network, and the photos and news reports were also reprinted by many overseas media. ∈ 8∈8∈ read ∈ books, .≦.o≧

Rabbit country technology surpasses that of Western countries?Rabbit country airlines ignore passenger safety?

These Western media outlets report on this in an exaggerated, cynical or sour manner.

There are many airlines that have opened wireless wLan for domestic passenger aircraft, and some airlines have even come up with a free way to limit the number of passengers.

Hundreds of domestic passenger planes have long been equipped with wireless wLan broadband network equipment, in less than a month, almost millions of users at home and abroad have used wireless wLan network, but also to many domestic airlines to bring more than one billion revenue.

Many airlines immediately knew that Huaxing Group had opened the door to a gold mine for them, and they also looked to Zhonghua Fokker to install these equipment.

The China Satellite Communications Company also took more than 30 percent of the profits from these revenues, while the China Fokker Company and Huaxing Communication Equipment Company also got money for hardware and software equipment.

A few days later, Yang Jie accompanied Song Xinyang to inspect the China Satellite Communications Company.

In the dust-free workshop of the satellite assembly, Yang Jie, Song Xinyang and others all changed into dust-free and anti-static clothing, and they also wore special shoes on their feet.

Song Xinyang was also surprised to see that many fixed and mobile robots were used on the assembly line for assembly work.

At this time, he saw that the technician directly controlled the workpiece grasped by the robot, and adjusted hundreds of kilograms of workpiece with a slight force, and the torque applied by the robot arm during the assembly was displayed on the control interface in real time.

The technical manager in charge of the final assembly was also cautiously introducing the assembly system in front of him to Song Xinyang at this time.

"Chief, in order to make the robot flexible for different working conditions and obtain high application efficiency in the changing assembly conditions of satellites, we are also developing robot assembly technology under the control of visual guidance and force feedback, combining machine vision and force sense. ”

"We install auxiliary pins in the assembly holes, guide the part into the cone guide range of the pins with visual guidance, and then apply force feedback control to the robot under the pin guidance to accurately assemble the workpiece in place. This set of vision-guided components uses infrared cameras combined with cooperative targets to achieve stable visual recognition and target positioning. We have also designed a probe-type measurement tool and designed a measurement method to achieve flexible and convenient measurement of the target point. ”

"How accurate are your robotic assemblies?"

Song Xinyang asked.

"The School of Artificial Intelligence of Meixihu University also provided us with technical support, and we designed a calculation method for finding the pose transformation matrix and the target pose of the robot under the condition of knowing the spatial correspondence point pair, and adopted the method of mixed control of pressure, torque and displacement to achieve the guidance control of the compliant pin. ”

The technical manager said proudly: "Now our set of assembly robot assembly corresponding to the hole measurement matching error is less than 2 mm, the robot under the visual guidance, can transport the workpiece to the guide range of the pin, and under the pin guidance and force feedback control, the workpiece can be accurately assembled in place, at the same time, the assembly force we also designed the torque force threshold, to avoid the assembly force caused by excessive component damage, to meet our assembly design requirements, has now become our company's mature operation mode." ”

Song Xinyang nodded, he looked at Yang Jie and said, "I see that you pay great attention to automation and robot production!"

Yang Jie said with a smile: "This is also a helpless thing, my requirement for them is that a production line should produce at least 130 satellites for me in a year, in order to achieve this goal, we must achieve the highest efficiency in control, testing, logistics, production, etc., such as virtual simulation, robot assembly and other methods must be used." ”

The application of robot for satellite deck assembly, in terms of hardware, only need a mobile robot, and for each deck to configure a simple support device, greatly reduce the hardware investment; in terms of operation efficiency, the working time of a single deck is less than 30 minutes, shortened to less than 50% of the traditional operation mode; in terms of operation quality, adopt flexible force control technology, in addition, the robot assembly system is also used for the assembly task of special parts, and solve the problem of installation and disassembly.

Recently, in a key model, the department uses a robot to dismantle the coating thermal grease equipment, using specially developed robot control technology, while separating the interface of the equipment thermal grease, the control interface is stressed within a safe range, compared with the traditional manual removal method, the interface force can be known and controlled, and the operation process is stable and reliable. This is the first time that the robot has been used to dismantle a thermal grease coating equipment, enabling the safe removal of the relevant heavy parts.

In the future, the robot assembly system will continue to maintain a high density of applications, the project team will continue to optimize the functions of the system, on the one hand, improve the ease of use of the system, make the system more simple, and facilitate the promotion and use of the system, on the other hand, improve the safety of the system, and take technical evasion and countermeasures to ensure the safety of products and personnel in the application of all risks such as misoperation and system errors. 11