Control method and control system of multi-degree-of-freedom AI intelligent posture adjustment equipment

Abstract

The present invention relates to the field of assembly technology, and in particular to a control method and control system for a multi-degree-of-freedom AI intelligent posture adjustment device, the method comprising: a central control module adjusts the detection parameter sending frequency of the detection module to a corresponding value according to the difference between the average error rate in the historical posture adjustment process and the preset error rate average; the central control module adjusts the number of measurement points of the posture adjustment component to be adjusted according to the difference between the actual number of edges and corners and the preset number of edges and corners; the central control module obtains the original posture and coordinates of each point to be constructed by the posture adjustment; the central control module adjusts the posture adjustment speed according to the actual component impact force; the central control module adjusts the unit angle feedback adjustment times to a corresponding value according to the difference between the actual posture adjustment time and the preset posture adjustment time. Detection module, data preprocessing module, central control module and control module. The present invention realizes the control accuracy of the posture adjustment process and improves the posture adjustment efficiency.

Description

Technical Field

[0001] The present invention relates to the field of assembly technology, and in particular to a control method and a control system for a multi-degree-of-freedom AI intelligent posture adjustment device. Background Art

[0002] With the development of science and technology and the development of economy and society, the requirements for assembly technology are gradually increasing. For example, the assembly of large components requires more precise posture adjustment. The existing technology has problems with the accuracy and efficiency of posture adjustment, which restricts the improvement of production efficiency.

[0003] Chinese Patent Publication No.: CN113381186A discloses a coaxiality adjustment method for a large-span split-type automatic posture adjustment device, comprising the following steps: Step 1: Auxiliary measuring devices with adjustment reference surfaces are respectively provided at the active end and the driven end; Step 2: Adjust the adjustment reference surfaces of the active end and the driven end to be parallel and equidistant to the rotation axis; Step 3: Adjust the adjustment reference surfaces of the active end and the driven end to be horizontal; Step 4: Adjust the coaxiality of the rotation axis of the active end and the driven end through the adjustment reference surfaces of the active end and the driven end. It can be seen that the coaxiality adjustment method for the large-span split-type automatic posture adjustment device has the problem of insufficient accuracy in controlling the posture adjustment process and insufficient posture adjustment efficiency. Summary of the invention

[0004] To this end, the present invention provides a control method and control system for a multi-degree-of-freedom AI intelligent posture adjustment device, so as to overcome the problems of insufficient control accuracy and insufficient posture adjustment efficiency in the prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides a control method for a multi-degree-of-freedom AI intelligent posture adjustment device, comprising: step S1, before adjusting the posture of a component, the central control module checks various parameters in the system to determine the number of parameters to be reset, and when completing the resetting of the parameters of the corresponding items in the system, determines whether to adjust the detection parameter sending frequency of the detection module to the corresponding value according to the difference between the average error rate in the historical posture adjustment process and the preset error rate average; step S2, the sensor in the detection module obtains the detection parameter, and when the central control module completes the adjustment of the detection parameter sending frequency, the number of measurement points of the component to be adjusted for the component to be adjusted is adjusted according to the difference between the actual number of edges and corners of the component to be adjusted and the preset number of edges and corners, and after the adjustment is completed, a spatial rectangular coordinate system is established according to the corresponding parameters of the posture adjustment device and the component to be adjusted detected by the detection module; step S3, the central control module controls the detection module to obtain the measurement points of the component to be adjusted for the component to be adjusted according to the original posture of the component to be adjusted, and substitutes each measurement point of the component to be adjusted into the spatial rectangular coordinate system to target Generate corresponding coordinates for each measurement point of the component to be adjusted; Step S4, when the central control module completes the generation of the coordinates of the measurement points of each component to be adjusted in the component to be adjusted, call the attitude adjustment algorithm to plan the attitude adjustment path of the attitude adjustment device for the component to be adjusted, and when the central control module adjusts the attitude of the component to be adjusted according to the planned attitude adjustment path, the central control module adjusts the attitude adjustment speed of the attitude adjustment device according to the difference between the actual impact force of the component to be adjusted detected by the force sensor set in the detection module and the preset impact force of the component to be adjusted; Step S5, the detection module When the module completes the posture adjustment of the to-be-adjusted structure, it measures the current coordinates of the measurement points of each component to be adjusted in the to-be-adjusted component again, and the central control module determines whether to perform a secondary posture adjustment on the component to be adjusted according to the coordinates; when the central control module completes the adjustment of the posture adjustment speed and the posture adjustment device completes the posture adjustment of the component to be adjusted, the central control module determines whether to re-plan the route according to the time taken to complete the posture adjustment, and adjusts the unit angle feedback adjustment times to the corresponding value according to the difference between the actual posture adjustment time and the preset posture adjustment time when the determination is completed.

[0006] Further, in step S1, before the posture adjustment component is adjusted, the central control module makes a preliminary judgment on whether to adjust the detection parameter sending frequency of the detection module according to the error rate average value D in the historical posture adjustment process, and the central control module is provided with a preset first error rate average value D1 and a preset second error rate average value D2, wherein D1<D2,

[0007] If D≤D1, the central control module determines that the average value of the actual error rate in the historical posture adjustment process is within the allowable range and controls the posture adjustment device to perform normal posture adjustment on the posture adjustment component;

[0008] If D1<D≤D2, the central control module determines that the actual error rate average value in the historical posture adjustment process exceeds the allowable range, calculates the difference △D between the actual error rate average value in the historical posture adjustment process and the preset error rate average value, and adjusts the detection parameter sending frequency of the detection module to the corresponding value according to △D, and sets △D=D-D1;

[0009] If D>D2, the central control module determines that the average value of the actual error rate in the historical posture adjustment process exceeds the allowable range, the posture adjustment device cannot move the component to be adjusted to the corresponding position, and the central control module issues a maintenance notice.

[0010] Further, when the central control module completes the preliminary judgment on whether to adjust the detection parameter sending frequency of the detection module and the error rate average value D in the historical posture adjustment process satisfies D1<D≤D2, the central control module adjusts the detection parameter sending frequency of the detection module to a corresponding value according to the difference △D between the actual error rate average value and the preset error rate average value in the historical posture adjustment process, and the central control module is provided with a preset first error rate average value difference △D1, a preset second error rate average value difference △D2, a preset first detection parameter sending frequency adjustment coefficient α1, a preset second detection parameter sending frequency adjustment coefficient α2 and a preset detection parameter sending frequency F0, wherein △D1<△D2, 1<α1<α2,

[0011] If △D≤△D1, the central control module determines that the difference between the actual error rate average value and the preset error rate average value in the historical posture adjustment process is within the allowable range and does not adjust the detection parameter sending frequency;

[0012] If △D1<△D≤△D2, the central control module determines that the difference between the actual error rate average value and the preset error rate average value in the historical posture adjustment process exceeds the allowable range and uses α1 to adjust the detection parameter sending frequency. The adjusted detection parameter sending frequency is recorded as F1, and F1=α1×F0 is set;

[0013] If △D>△D2, the central control module determines that the difference between the actual error rate average value and the preset error rate average value in the historical posture adjustment process exceeds the allowable range and uses α2 to adjust the detection parameter sending frequency. The adjusted detection parameter sending frequency is recorded as F2, and F2=α2×F0 is set.

[0014] Further, when the central control module completes the adjustment of the detection parameter sending frequency, the central control module determines whether to adjust the number of measuring points of the component to be adjusted according to the actual number of edges and corners E of the component to be adjusted detected by the visual detector arranged in the detection module, and the central control module is provided with a preset number of edges and corners E1 of the first component to be adjusted and a preset number of edges and corners E2 of the second component to be adjusted, wherein E1<E2,

[0015] If E≤E1, the central control module determines that the actual number of edges and corners of the component to be adjusted is within the allowable range and controls the attitude adjustment device to adjust the component to be adjusted normally;

[0016] If E1<E≤E2, the central control module determines that the actual number of edges and corners of the component to be adjusted exceeds the allowable range, calculates the difference △E between the actual number of edges and corners of the component and the preset number of edges and corners of the component, and adjusts the number of measuring points of the component to be adjusted to the corresponding value according to △E, setting △E=E-E1;

[0017] If E>E2, the central control module determines that the actual number of edges and corners of the component to be adjusted exceeds the allowable range, and the attitude adjustment device cannot meet the requirement for the number of measurement points of the component to be adjusted, and the central control module issues a notification to replace the attitude adjustment device.

[0018] Further, when the central control module completes the determination of whether to adjust the number of measuring points of the component to be adjusted and the actual number of edges and corners E of the component to be adjusted satisfies E1<E≤E2, the central control module adjusts the number of measuring points of the component to be adjusted according to the difference △E between the actual number of edges and corners of the component to be adjusted and the preset number of edges and corners of the component to be adjusted. The central control module is provided with a preset difference △E1 of the number of edges and corners of the first component to be adjusted, a preset difference △E2 of the number of edges and corners of the second component to be adjusted, a preset adjustment coefficient K1 of the number of measuring points of the first component to be adjusted, a preset adjustment coefficient K2 of the number of measuring points of the second component to be adjusted, and a preset number Q0 of measuring points of the component to be adjusted, wherein △E1<△E2, 1<K1<K2,

[0019] If △E≤△E1, the central control module determines that the difference between the actual number of corners of the component to be adjusted and the preset number of corners of the component to be adjusted is within the allowable range and does not adjust the number of measurement points of the component to be adjusted;

[0020] If △E1<△E≤△E2, the central control module determines that the difference between the actual number of edges and corners of the component to be adjusted and the preset number of edges and corners of the component to be adjusted exceeds the allowable range, and uses K1 to adjust the number of measuring points of the component to be adjusted. The adjusted number of measuring points of the component to be adjusted is recorded as Q1, and Q1=K1×Q0 is set;

[0021] If △E>△E2, the central control module determines that the difference between the actual number of edges and corners of the component to be adjusted and the preset number of edges and corners of the component to be adjusted exceeds the allowable range and uses K2 to adjust the number of measurement points of the component to be adjusted. The adjusted number of measurement points of the component to be adjusted is recorded as Q2, and Q2=K2×Q0 is set.

[0022] Furthermore, when the posture adjustment device is adjusting the posture of a large posture adjustment component, the central control module determines whether to adjust the posture adjustment speed according to the impact force F of the posture adjustment component to be adjusted received by the posture adjustment device detected by the force sensor arranged in the detection module. The central control module is provided with a preset first impact force F1 of the posture adjustment component to be adjusted and a preset second impact force F2 of the posture adjustment component to be adjusted, wherein F1<F2.

[0023] If F≤F1, the central control module determines that the impact force of the posture adjustment device on the posture adjustment component actually detected is within the allowable range and controls the posture adjustment device to perform normal posture adjustment on the posture adjustment component;

[0024] If F1<F≤F2, the central control module determines that the impact force of the posture adjustment component to be adjusted that is actually detected on the posture adjustment device exceeds the allowable range, calculates the difference △F between the actual impact force of the posture adjustment component to be adjusted and the preset impact force of the posture adjustment component to be adjusted, and adjusts the posture adjustment speed to a corresponding value according to △F, setting △F=F-F1;

[0025] If F>F2, the central control module determines that the impact force of the component to be adjusted received by the attitude adjustment device actually detected exceeds the allowable range, and the attitude adjustment device cannot accurately send the component to be adjusted to the corresponding position, and the central control module issues a notice to stop the operation of the attitude adjustment device and conduct an inspection.

[0026] Further, when the central control module completes the determination of whether to adjust the posture adjustment speed and the impact force F of the posture adjustment component to be adjusted received by the posture adjustment device satisfies F1<F≤F2, the central control module adjusts the posture adjustment speed according to the difference △F between the actual impact force of the posture adjustment component and the preset impact force of the posture adjustment component, and the central control module is provided with a preset first posture adjustment component impact force difference △F1, a preset second posture adjustment component impact force difference △F2, a preset first posture adjustment speed adjustment coefficient β1, a preset posture adjustment speed adjustment coefficient β2 and a preset posture adjustment speed V0, wherein △F1<△F2, 0<β1<β2<1,

[0027] If ΔF≤ΔF1, the central control module determines that the difference between the actual impact force of the component to be adjusted and the preset impact force of the component to be adjusted is within the allowable range and does not adjust the attitude adjustment speed;

[0028] If △F1<△F≤△F2, the central control module determines that the difference between the actual impact force of the component to be adjusted and the preset impact force of the component to be adjusted exceeds the allowable range and uses β2 to adjust the adjustment speed. The adjusted adjustment speed is recorded as V1, and V1=β2×V0 is set;

[0029] If △F>△F2, the central control module determines that the difference between the actual impact force of the component to be adjusted and the preset impact force of the component to be adjusted exceeds the allowable range and uses β1 to adjust the adjustment speed. The adjusted adjustment speed is recorded as V2, and V2=β1×V0 is set.

[0030] Further, when the central control module completes the adjustment of the posture adjustment speed, the central control module determines whether to re-plan the posture adjustment path of the posture adjustment device for the posture adjustment component according to the time T used to complete the posture adjustment. The central control module is provided with a preset first posture adjustment time T1 and a preset second posture adjustment time T2, wherein T1<T2,

[0031] If T<T1, the central control module determines that the actual posture adjustment time is within the allowable range and does not re-plan the posture adjustment path of the posture adjustment device for the posture adjustment component;

[0032] If T1<T<T2, the central control module determines that the actual posture adjustment time exceeds the allowable range, calculates the difference △T between the actual posture adjustment time and the preset posture adjustment time, and adjusts the unit angle feedback adjustment times to the corresponding value according to △T, setting △T=T-T1;

[0033] If T>T2, the central control module determines that the actual time used for posture adjustment exceeds the allowable range, and the posture adjustment path of the posture adjustment component to be adjusted by the posture adjustment device cannot complete the posture adjustment of the posture adjustment component within the specified time, and the central control module uses the posture adjustment algorithm to re-plan the posture adjustment path.

[0034] Further, when the central control module completes the determination of whether to re-plan the posture adjustment path and the time T used to complete the posture adjustment satisfies T1<T<T2, the central control module adjusts the unit angle feedback adjustment times to a corresponding value according to the difference △T between the actual posture adjustment time and the preset posture adjustment time. The central control module is provided with a preset first posture adjustment time difference △T1, a preset second posture adjustment time difference △T2, a preset first unit angle feedback adjustment times adjustment coefficient γ1, a preset second unit angle feedback adjustment times adjustment coefficient γ2 and a preset unit angle feedback adjustment times S0, wherein △T1<△T2, 0<γ1<γ2<1,

[0035] If △T≤△T1, the central control module determines that the difference between the actual posture adjustment time and the preset posture adjustment time is within the allowable range and does not adjust the number of unit angle feedback adjustment times;

[0036] If △T1<△T≤△T2, the central control module determines that the difference between the actual posture adjustment time and the preset posture adjustment time exceeds the allowable range and uses γ2 to adjust the unit angle feedback adjustment times. The adjusted unit angle feedback adjustment times are recorded as S1, and S1=γ2×S0 is set;

[0037] If △T>△T2, the central control module determines that the difference between the actual posture adjustment time and the preset posture adjustment time exceeds the allowable range and uses γ1 to adjust the unit angle feedback adjustment times. The adjusted unit angle feedback adjustment times are recorded as S2, and S2=γ1×S0 is set.

[0038] The present invention also includes a system of a control method for a multi-degree-of-freedom AI intelligent posture adjustment device, including: a detection module, used to control the sensor arranged on the posture adjustment device to perform corresponding detection on the operating parameters in the posture adjustment process and send the detection results to the data preprocessing module and the central control module; a data preprocessing module, which is connected to the detection module, used to receive the detection parameters sent by the detection module and perform preliminary analysis and processing on the detection parameters and send the detection parameters after preliminary analysis and processing to the central control module; a central control module, which is connected to the detection module, the data preprocessing module and the control module, used to receive the data sent by each module, further analyze and process the data and determine whether to perform corresponding parameter adjustment on the posture adjustment device according to the analysis and processing results; a control module, which is connected to the central control module, used to receive the instructions sent by the central control module and control the posture adjustment device to perform corresponding posture adjustment operations according to the instructions.

[0039] Compared with the prior art, the beneficial effect of the present invention lies in that the method of the present invention can adjust the detection parameter sending frequency of the detection module to a corresponding value according to the difference between the average value of the error rate in the historical posture adjustment process and the preset average value of the error rate by setting a preset error rate average value, a preset number of edges and corners of the component to be adjusted, a preset impact force of the component to be adjusted, and a preset posture adjustment time, and can adjust the number of measurement points of the component to be adjusted according to the difference between the actual number of edges and corners of the component to be adjusted and the preset number of edges and corners of the component to be adjusted, and after the adjustment is completed, the detection module detects the difference between the posture adjustment device and the component to be adjusted. A coordinate system is established according to the parameters, and the attitude adjustment speed can be adjusted according to the difference between the actual impact force of the component to be adjusted detected by the force sensor arranged in the detection module and the preset impact force of the component to be adjusted. According to the time taken to complete the attitude adjustment, it can be determined whether to re-plan the attitude adjustment path of the component to be adjusted by the attitude adjustment device, and when the determination is completed, the number of unit angle feedback adjustments can be adjusted to a corresponding value according to the difference between the actual attitude adjustment time and the preset attitude adjustment time, thereby improving the accuracy of control of the attitude adjustment device and the attitude adjustment process and the efficiency of the attitude adjustment, and achieving the improvement of the accuracy of control of the attitude adjustment process and the efficiency of the attitude adjustment.

[0040] Furthermore, the method of the present invention can make a preliminary judgment on whether to adjust the detection parameter sending frequency of the detection module according to the error rate average values ​​in the historical posture adjustment process by setting a preset first error rate average value and a preset second error rate average value, thereby improving the judgment on the precise adjustment of the detection parameter sending frequency and further realizing the accuracy of the control of the posture adjustment process and improving the posture adjustment efficiency.

[0041] Furthermore, the method of the present invention can adjust the detection parameter sending frequency of the detection module to a corresponding value according to the difference between the actual error rate average value and the preset error rate average value in the historical posture adjustment process by setting a preset first error rate average value difference, a preset second error rate average value difference, a preset first detection parameter sending frequency adjustment coefficient, a preset second detection parameter sending frequency adjustment coefficient and a preset detection parameter sending frequency, thereby improving the ability to accurately adjust the detection parameter sending frequency before posture adjustment, and further achieving the accuracy of the control of the posture adjustment process and the improvement of the posture adjustment efficiency.

[0042] Furthermore, the method of the present invention can determine whether to adjust the number of measuring points of the component to be adjusted according to the number of edges and corners of the component to be adjusted detected by the visual detector arranged in the detection module by setting a preset number of edges and corners of the first component and a preset number of edges and corners of the second component, thereby realizing the determination of precise adjustment of the number of measuring points of the component to be adjusted of the component to be adjusted, and further realizing the accuracy of control of the attitude adjustment process and improving the attitude adjustment efficiency.

[0043] Furthermore, the method of the present invention can adjust the number of measurement points of the component to be adjusted according to the difference between the actual number of edges of the component to be adjusted and the preset number of edges of the component to be adjusted, thereby achieving precise adjustment of the number of measurement points of the component to be adjusted of the component to be adjusted, and further achieving the accuracy of the control of the attitude adjustment process and the improvement of the attitude adjustment efficiency.

[0044] Furthermore, the method of the present invention can determine whether to adjust the speed of the posture adjustment process according to the impact force of the posture adjustment component to be adjusted detected by the force sensor arranged in the detection module, by setting a preset first impact force of the component to be adjusted, thereby improving the ability to accurately adjust the posture adjustment speed, improving the efficiency of the posture adjustment, and further achieving the accuracy of the control of the posture adjustment process and the improvement of the posture adjustment efficiency.

[0045] Furthermore, the method of the present invention can adjust the attitude adjustment speed according to the difference between the actual impact force of the component to be adjusted and the preset impact force of the component to be adjusted by setting a preset first impact force difference of the component to be adjusted, a preset second impact force difference of the component to be adjusted, a preset first attitude adjustment speed adjustment coefficient, a preset attitude adjustment speed adjustment coefficient and a preset attitude adjustment speed, thereby improving the ability to adjust the attitude adjustment speed and the efficiency of attitude adjustment, and further achieving the accuracy of control of the attitude adjustment process and the improvement of the attitude adjustment efficiency.

[0046] Furthermore, the method of the present invention can determine whether to re-plan the posture adjustment path based on the time taken to complete the posture adjustment by setting a preset first posture adjustment time and a preset second posture adjustment time, thereby achieving accurate determination of the re-planning of the posture adjustment planned path, and further achieving the accuracy of the control of the posture adjustment process and improving the posture adjustment efficiency.

[0047] Furthermore, the method of the present invention can adjust the unit angle feedback adjustment times to a corresponding value according to the difference between the actual posture adjustment time and the preset posture adjustment time by setting a preset first posture adjustment time difference, a preset second posture adjustment time difference, a preset first unit angle feedback adjustment times adjustment coefficient, a preset second unit angle feedback adjustment times adjustment coefficient and a preset unit angle feedback adjustment times, thereby improving the adjustment accuracy of the unit angle feedback adjustment times and further achieving the accuracy of the control of the posture adjustment process and the improvement of the posture adjustment efficiency.

[0048] The system of the present invention can detect relevant parameters in the posture adjustment process and make corresponding judgments and adjustments based on the detection results by setting up a detection module, a data preprocessing module, a central control module and a control module, thereby further achieving the accuracy of the control of the posture adjustment process and improving the posture adjustment efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a flow chart of a control method of a multi-degree-of-freedom AI intelligent posture adjustment device according to an embodiment of the present invention;

[0050] Figure 2 This is a specific flow chart of step S5 of the control method of the multi-degree-of-freedom AI intelligent posture adjustment device according to an embodiment of the present invention;

[0051] Figure 3 This is an overall structural block diagram of the system of the control method of the multi-degree-of-freedom AI intelligent posture adjustment device according to an embodiment of the present invention;

[0052] Figure 4 This is a structural block diagram of a detection module of a system of a control method for a multi-degree-of-freedom AI intelligent posture adjustment device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0054] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0055] See also Figure 1 As shown, it is a flow chart of the control method of the multi-degree-of-freedom AI intelligent posture adjustment device of the present invention, a control method of the multi-degree-of-freedom AI intelligent posture adjustment device, comprising:

[0056] Step S1, before adjusting the posture of the component, the central control module checks various parameters in the system to determine the number of parameters that need to be reset and determines whether to adjust the detection parameter sending frequency of the detection module to the corresponding value according to the difference between the average error rate in the historical posture adjustment process and the preset error rate average value when the parameters of the corresponding items in the system are reset;

[0057] Step S2, the sensor in the detection module obtains the detection parameters, and when the central control module completes the adjustment of the detection parameter sending frequency, the number of measurement points of the component to be adjusted is adjusted according to the difference between the actual number of edges and corners of the component to be adjusted and the preset number of edges and corners, and after the adjustment is completed, a spatial rectangular coordinate system is established according to the corresponding parameters of the posture adjustment device and the component to be adjusted detected by the detection module;

[0058] Step S3, the central control module controls the detection module to obtain the measurement points of the component to be adjusted according to the original posture of the component to be adjusted, and substitutes each measurement point of the component to be adjusted into the spatial rectangular coordinate system to generate corresponding coordinates for each measurement point of the component to be adjusted;

[0059] Step S4, when the central control module completes the generation of the coordinates of the measurement points of each component to be adjusted in the component to be adjusted, it calls the attitude adjustment algorithm to plan the attitude adjustment path of the attitude adjustment device for the component to be adjusted. When the central control module adjusts the attitude of the component to be adjusted according to the planned attitude adjustment path, it adjusts the attitude adjustment speed of the attitude adjustment device according to the difference between the actual impact force of the component to be adjusted detected by the force sensor arranged in the detection module and the preset impact force of the component to be adjusted;

[0060] Step S5, when the detection module completes the posture adjustment of the to-be-adjusted structure, it measures the current coordinates of the measurement points of each component to be adjusted in the to-be-adjusted component again, and the central control module determines whether to perform a secondary posture adjustment on the component to be adjusted according to the coordinates; when the central control module completes the adjustment of the posture adjustment speed and the posture adjustment device completes the posture adjustment of the component to be adjusted, the central control module determines whether to re-plan the route according to the time taken to complete the posture adjustment, and when the determination is completed, adjusts the number of unit angle feedback adjustments to a corresponding value according to the difference between the actual posture adjustment time and the preset posture adjustment time.

[0061] The method of the present invention can adjust the detection parameter sending frequency of the detection module to a corresponding value according to the difference between the error rate average value in the historical posture adjustment process and the preset error rate average value by setting a preset error rate average value, can adjust the number of measurement points of the posture adjustment component to be adjusted according to the difference between the actual number of edges of the component to be adjusted and the preset number of edges of the component to be adjusted, and establish a coordinate system according to the corresponding parameters of the posture adjustment device and the component to be adjusted detected by the detection module after the adjustment is completed, can adjust the posture adjustment speed according to the difference between the actual impact force of the component to be adjusted detected by the force sensor arranged in the detection module and the preset impact force of the component to be adjusted, can determine whether to re-plan the posture adjustment path of the posture adjustment device for the component to be adjusted according to the time taken to complete the posture adjustment, and adjust the unit angle feedback adjustment number to a corresponding value according to the difference between the actual time taken for the posture adjustment and the preset posture adjustment time when the determination is completed, thereby improving the accuracy of the control of the posture adjustment device and the posture adjustment process and the efficiency of the posture adjustment, and achieving the improvement of the accuracy of the control of the posture adjustment process and the improvement of the posture adjustment efficiency.

[0062] Please continue reading Figure 1 As shown, in step S1, before the posture adjustment component is adjusted, the central control module makes a preliminary judgment on whether to adjust the detection parameter sending frequency of the detection module according to the error rate average value D in the historical posture adjustment process, and the central control module is provided with a preset first error rate average value D1 and a preset second error rate average value D2, wherein D1<D2,

[0063] If D≤D1, the central control module determines that the average value of the actual error rate in the historical posture adjustment process is within the allowable range and controls the posture adjustment device to perform normal posture adjustment on the posture adjustment component;

[0064] If D1<D≤D2, the central control module determines that the actual error rate average value in the historical posture adjustment process exceeds the allowable range, calculates the difference △D between the actual error rate average value in the historical posture adjustment process and the preset error rate average value, and adjusts the detection parameter sending frequency of the detection module to the corresponding value according to △D, and sets △D=D-D1;

[0065] If D>D2, the central control module determines that the average value of the actual error rate in the historical posture adjustment process exceeds the allowable range, the posture adjustment device cannot move the component to be adjusted to the corresponding position, and the central control module issues a maintenance notice.

[0066] Specifically, the average error rate refers to the average value of the coordinate adjustment error rate of the measurement points of multiple adjustment cycles of the component to be adjusted. The average error rate is recorded as P, and P is set to X / N, where X is the coordinate adjustment error rate of the measurement points of multiple adjustment cycles, and N is the number of adjustment cycles. Set X=Σ[(Y2-Y1 / Y0)+(Y3-Y2 / Y0)+…+(Y N -Y N-1 / Y0)], where (Y i -Y i-1 ) is the difference between the distance between the target measurement point and the original position and the distance between the final measurement point and the original position reached by the actual component to be adjusted, i = 2, 3, 4,,, N, Y0 is the difference between the allowable distance between the target measurement point and the original position and the distance between the final measurement point and the original position reached by the actual component to be adjusted, Y N -Y N-1 / Y0 is the error rate of the N-1th posture adjustment, and Σ is the weighted summation symbol.

[0067] The method of the present invention can make a preliminary judgment on whether to adjust the detection parameter sending frequency of the detection module according to the error rate average values ​​in the historical posture adjustment process by setting a preset first error rate average value and a preset second error rate average value, thereby improving the judgment on the precise adjustment of the detection parameter sending frequency and further realizing the accuracy of the control of the posture adjustment process and improving the posture adjustment efficiency.

[0068] Please continue reading Figure 1 As shown, when the central control module completes the preliminary judgment on whether to adjust the detection parameter sending frequency of the detection module and the error rate average value D in the historical posture adjustment process satisfies D1<D≤D2, the central control module adjusts the detection parameter sending frequency of the detection module to the corresponding value according to the difference △D between the actual error rate average value and the preset error rate average value in the historical posture adjustment process, and the central control module is provided with a preset first error rate average value difference △D1, a preset second error rate average value difference △D2, a preset first detection parameter sending frequency adjustment coefficient α1, a preset second detection parameter sending frequency adjustment coefficient α2 and a preset detection parameter sending frequency F0, wherein △D1<△D2, 1<α1<α2,

[0069] If △D≤△D1, the central control module determines that the difference between the actual error rate average value and the preset error rate average value in the historical posture adjustment process is within the allowable range and does not adjust the detection parameter sending frequency;

[0070] If △D1<△D≤△D2, the central control module determines that the difference between the actual error rate average value and the preset error rate average value in the historical posture adjustment process exceeds the allowable range and uses α1 to adjust the detection parameter sending frequency. The adjusted detection parameter sending frequency is recorded as F1, and F1=α1×F0 is set;

[0071] If △D>△D2, the central control module determines that the difference between the actual error rate average value and the preset error rate average value in the historical posture adjustment process exceeds the allowable range and uses α2 to adjust the detection parameter sending frequency. The adjusted detection parameter sending frequency is recorded as F2, and F2=α2×F0 is set.

[0072] The method of the present invention can adjust the detection parameter sending frequency of the detection module to a corresponding value according to the difference between the actual error rate average value and the preset error rate average value in the historical posture adjustment process by setting a preset first error rate average value difference, a preset second error rate average value difference, a preset first detection parameter sending frequency adjustment coefficient, a preset second detection parameter sending frequency adjustment coefficient and a preset detection parameter sending frequency, thereby improving the ability to accurately adjust the detection parameter sending frequency before posture adjustment, and further achieving the accuracy of the control of the posture adjustment process and the improvement of the posture adjustment efficiency.

[0073] Please continue reading Figure 1 As shown, when the central control module completes the adjustment of the detection parameter sending frequency, the central control module determines whether to adjust the number of measurement points of the component to be adjusted according to the actual number of edges and corners E of the component to be adjusted detected by the visual detector arranged in the detection module. The central control module is provided with a preset number of edges and corners E1 of the first component to be adjusted and a preset number of edges and corners E2 of the second component to be adjusted, wherein E1<E2,

[0074] If E≤E1, the central control module determines that the actual number of edges and corners of the component to be adjusted is within the allowable range and controls the attitude adjustment device to adjust the component to be adjusted normally;

[0075] If E1<E≤E2, the central control module determines that the actual number of edges and corners of the component to be adjusted exceeds the allowable range, calculates the difference △E between the actual number of edges and corners of the component and the preset number of edges and corners of the component, and adjusts the number of measuring points of the component to be adjusted to the corresponding value according to △E, and sets △E=E-E1;

[0076] If E>E2, the central control module determines that the actual number of edges and corners of the component to be adjusted exceeds the allowable range, and the attitude adjustment device cannot meet the requirement for the number of measurement points of the component to be adjusted, and the central control module issues a notification to replace the attitude adjustment device.

[0077] The method of the present invention can determine whether to adjust the number of measuring points of the component to be adjusted according to the number of edges and corners of the component to be adjusted detected by the visual detector arranged in the detection module by setting a preset number of edges and corners of the first component and a preset number of edges and corners of the second component, thereby realizing the determination of the precise adjustment of the number of measuring points of the component to be adjusted of the component to be adjusted, and further realizing the accuracy of the control of the attitude adjustment process and the improvement of the attitude adjustment efficiency.

[0078] Please continue reading Figure 1 As shown, when the central control module completes the judgment on whether to adjust the number of measurement points of the component to be adjusted and the actual number of corners E of the component to be adjusted satisfies E1<E≤E2, the central control module adjusts the number of measurement points of the component to be adjusted according to the difference △E between the actual number of corners of the component to be adjusted and the preset number of corners of the component to be adjusted, and the central control module is provided with a preset first corner number difference △E1 of the component to be adjusted, a preset second corner number difference △E2 of the component to be adjusted, a preset first corner number adjustment coefficient K1 of the component to be adjusted, a preset second corner number adjustment coefficient K2 of the component to be adjusted, and a preset number Q0 of measurement points of the component to be adjusted, wherein △E1<△E2, 1<K1<K2,

[0079] If △E≤△E1, the central control module determines that the difference between the actual number of corners of the component to be adjusted and the preset number of corners of the component to be adjusted is within the allowable range and does not adjust the number of measurement points of the component to be adjusted;

[0080] If △E1<△E≤△E2, the central control module determines that the difference between the actual number of edges and corners of the component to be adjusted and the preset number of edges and corners of the component to be adjusted exceeds the allowable range, and uses K1 to adjust the number of measuring points of the component to be adjusted. The adjusted number of measuring points of the component to be adjusted is recorded as Q1, and Q1=K1×Q0 is set;

[0081] If △E>△E2, the central control module determines that the difference between the actual number of edges and corners of the component to be adjusted and the preset number of edges and corners of the component to be adjusted exceeds the allowable range and uses K2 to adjust the number of measurement points of the component to be adjusted. The adjusted number of measurement points of the component to be adjusted is recorded as Q2, and Q2=K2×Q0 is set.

[0082] The method of the present invention can adjust the number of measurement points of the component to be adjusted according to the difference between the actual number of edges of the component to be adjusted and the preset number of edges of the component to be adjusted, thereby achieving precise adjustment of the number of measurement points of the component to be adjusted of the component to be adjusted, and further achieving the accuracy of the control of the attitude adjustment process and the improvement of the attitude adjustment efficiency.

[0083] Please continue reading Figure 1 As shown, when the posture adjustment device is adjusting the posture of a large posture adjustment component, the central control module determines whether to adjust the posture adjustment speed according to the impact force F of the posture adjustment component to be adjusted received by the posture adjustment device detected by the force sensor arranged in the detection module. The central control module is provided with a preset first impact force F1 of the posture adjustment component to be adjusted and a preset second impact force F2 of the posture adjustment component to be adjusted, wherein F1<F2,

[0084] If F≤F1, the central control module determines that the impact force of the posture adjustment device on the posture adjustment component actually detected is within the allowable range and controls the posture adjustment device to perform normal posture adjustment on the posture adjustment component;

[0085] If F1<F≤F2, the central control module determines that the impact force of the posture adjustment component to be adjusted that is actually detected on the posture adjustment device exceeds the allowable range, calculates the difference △F between the actual impact force of the posture adjustment component to be adjusted and the preset impact force of the posture adjustment component to be adjusted, and adjusts the posture adjustment speed to a corresponding value according to △F, setting △F=F-F1;

[0086] If F>F2, the central control module determines that the impact force of the component to be adjusted received by the attitude adjustment device actually detected exceeds the allowable range, and the attitude adjustment device cannot accurately send the component to be adjusted to the corresponding position, and the central control module issues a notice to stop the operation of the attitude adjustment device and conduct an inspection.

[0087] The method of the present invention sets a preset first impact force of the component to be adjusted and a preset second impact force of the component to be adjusted. It can determine whether to adjust the speed of the posture adjustment process according to the impact force of the component to be adjusted received by the posture adjustment device detected by the force sensor arranged in the detection module, thereby improving the ability to accurately adjust the posture adjustment speed, improving the efficiency of the posture adjustment, and further achieving the accuracy of the control of the posture adjustment process and the improvement of the posture adjustment efficiency.

[0088] Please continue reading Figure 1As shown, when the central control module completes the judgment on whether to adjust the posture adjustment speed and the impact force F of the posture adjustment component to be adjusted by the posture adjustment device satisfies F1<F≤F2, the central control module adjusts the posture adjustment speed according to the difference △F between the actual impact force of the posture adjustment component and the preset impact force of the posture adjustment component, and the central control module is provided with a preset first posture adjustment component impact force difference △F1, a preset second posture adjustment component impact force difference △F2, a preset first posture adjustment speed adjustment coefficient β1, a preset posture adjustment speed adjustment coefficient β2 and a preset posture adjustment speed V0, wherein △F1<△F2, 0<β1<β2<1,

[0089] If ΔF≤ΔF1, the central control module determines that the difference between the actual impact force of the component to be adjusted and the preset impact force of the component to be adjusted is within the allowable range and does not adjust the attitude adjustment speed;

[0090] If △F1<△F≤△F2, the central control module determines that the difference between the actual impact force of the component to be adjusted and the preset impact force of the component to be adjusted exceeds the allowable range and uses β2 to adjust the adjustment speed. The adjusted adjustment speed is recorded as V1, and V1=β2×V0 is set;

[0091] If △F>△F2, the central control module determines that the difference between the actual impact force of the component to be adjusted and the preset impact force of the component to be adjusted exceeds the allowable range and uses β1 to adjust the adjustment speed. The adjusted adjustment speed is recorded as V2, and V2=β1×V0 is set.

[0092] The method of the present invention can adjust the attitude adjustment speed according to the difference between the actual impact force of the component to be adjusted and the preset impact force of the component to be adjusted by setting a preset first impact force difference of the component to be adjusted, a preset second impact force difference of the component to be adjusted, a preset first attitude adjustment speed adjustment coefficient, a preset attitude adjustment speed adjustment coefficient and a preset attitude adjustment speed, thereby improving the ability to adjust the attitude adjustment speed and the efficiency of attitude adjustment, and further achieving the accuracy of control of the attitude adjustment process and the improvement of the attitude adjustment efficiency.

[0093] See also Figure 2 As shown, it is a flow chart of step S5 of the control method of the multi-degree-of-freedom AI posture adjustment device according to an embodiment of the present invention. When the central control module completes the adjustment of the posture adjustment speed, the central control module determines whether to re-plan the posture adjustment path of the posture adjustment device for the posture adjustment component according to the time T used to complete the posture adjustment. The central control module is provided with a preset first posture adjustment time T1 and a preset second posture adjustment time T2, wherein T1<T2,

[0094] If T<T1, the central control module determines that the actual posture adjustment time is within the allowable range and does not re-plan the posture adjustment path of the posture adjustment device for the posture adjustment component;

[0095] If T1<T<T2, the central control module determines that the actual posture adjustment time exceeds the allowable range, calculates the difference △T between the actual posture adjustment time and the preset posture adjustment time, and adjusts the unit angle feedback adjustment times to the corresponding value according to △T, setting △T=T-T1;

[0096] If T>T2, the central control module determines that the actual time used for posture adjustment exceeds the allowable range, and the posture adjustment path of the posture adjustment component to be adjusted by the posture adjustment device cannot complete the posture adjustment of the posture adjustment component within the specified time, and the central control module uses the posture adjustment algorithm to re-plan the posture adjustment path.

[0097] The method of the present invention can determine whether to re-plan the posture adjustment path based on the time taken to complete the posture adjustment by setting a preset first posture adjustment time and a preset second posture adjustment time, thereby achieving accurate determination of the re-planning of the posture adjustment planned path, and further achieving the accuracy of the control of the posture adjustment process and improving the posture adjustment efficiency.

[0098] Please continue reading Figure 2 As shown, when the central control module completes the judgment on whether to re-plan the posture adjustment path and the time T used to complete the posture adjustment satisfies T1<T<T2, the central control module adjusts the unit angle feedback adjustment times to a corresponding value according to the difference △T between the actual posture adjustment time and the preset posture adjustment time. The central control module is provided with a preset first posture adjustment time difference △T1, a preset second posture adjustment time difference △T2, a preset first unit angle feedback adjustment times adjustment coefficient γ1, a preset second unit angle feedback adjustment times adjustment coefficient γ2 and a preset unit angle feedback adjustment times S0, wherein △T1<△T2, 0<γ1<γ2<1,

[0099] If △T≤△T1, the central control module determines that the difference between the actual posture adjustment time and the preset posture adjustment time is within the allowable range and does not adjust the number of unit angle feedback adjustment times;

[0100] If △T1<△T≤△T2, the central control module determines that the difference between the actual posture adjustment time and the preset posture adjustment time exceeds the allowable range and uses γ2 to adjust the unit angle feedback adjustment times. The adjusted unit angle feedback adjustment times are recorded as S1, and S1=γ2×S0 is set;

[0101] If △T>△T2, the central control module determines that the difference between the actual posture adjustment time and the preset posture adjustment time exceeds the allowable range and uses γ1 to adjust the unit angle feedback adjustment times. The adjusted unit angle feedback adjustment times are recorded as S2, and S2=γ1×S0 is set.

[0102] The method of the present invention can adjust the unit angle feedback adjustment times to a corresponding value according to the difference between the actual posture adjustment time and the preset posture adjustment time by setting a preset first posture adjustment time difference, a preset second posture adjustment time difference, a preset first unit angle feedback adjustment times adjustment coefficient, a preset second unit angle feedback adjustment times adjustment coefficient and a preset unit angle feedback adjustment times, thereby improving the adjustment accuracy of the unit angle feedback adjustment times and further achieving the accuracy of the control of the posture adjustment process and the improvement of the posture adjustment efficiency.

[0103] See also Figure 3 and Figure 4 As shown, they are respectively an overall structural block diagram of a control system of a control method for a multi-degree-of-freedom AI intelligent posture adjustment device according to an embodiment of the present invention and a structural block diagram of a detection module. The control system of the control method for a multi-degree-of-freedom AI intelligent posture adjustment device includes:

[0104] A detection module is used to control the sensors provided on the posture adjustment device to perform corresponding detection on the operating parameters during the posture adjustment process and send the detection results to the data preprocessing module and the central control module;

[0105] A data preprocessing module, which is used together with the detection module to receive the detection parameters sent by the detection module, perform preliminary analysis on the detection parameters, and send the detection parameters after preliminary analysis to the central control module;

[0106] A central control module, which is connected to the detection module, the data preprocessing module and the control module, is used to receive data sent by each module, further analyze and process the data, and determine whether to adjust the corresponding parameters of the posture adjustment device according to the analysis and processing results;

[0107] The control module is connected to the central control module and is used to receive instructions sent by the central control module and control the posture adjustment device to perform corresponding posture adjustment operations according to the instructions.

[0108] The system of the present invention can detect relevant parameters in the posture adjustment process and make corresponding judgments and adjustments based on the detection results by setting up a detection module, a data preprocessing module, a central control module and a control module, thereby further achieving the accuracy of the control of the posture adjustment process and improving the posture adjustment efficiency.

[0109] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0110] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method for a multi-degree-of-freedom AI intelligent posture adjustment device, characterized in that: include: Step S1, before adjusting the posture of the component, the central control module checks various parameters in the system to determine the number of parameters that need to be reset and determines whether to adjust the detection parameter sending frequency of the detection module to the corresponding value according to the difference between the average error rate in the historical posture adjustment process and the preset error rate average value when the parameters of the corresponding items in the system are reset; Step S2, the sensor in the detection module obtains the detection parameters, and when the central control module completes the adjustment of the detection parameter sending frequency, the number of measurement points of the component to be adjusted is adjusted according to the difference between the actual number of edges and corners of the component to be adjusted and the preset number of edges and corners, and after the adjustment is completed, a spatial rectangular coordinate system is established according to the corresponding parameters of the posture adjustment device and the component to be adjusted detected by the detection module; Step S3, the central control module controls the detection module to obtain the measurement points of the component to be adjusted according to the original posture of the component to be adjusted, and substitutes each measurement point of the component to be adjusted into the spatial rectangular coordinate system to generate corresponding coordinates for each measurement point of the component to be adjusted; Step S4, when the central control module completes the generation of the coordinates of the measurement points of each component to be adjusted in the component to be adjusted, it calls the attitude adjustment algorithm to plan the attitude adjustment path of the attitude adjustment device for the component to be adjusted. When the central control module adjusts the attitude of the component to be adjusted according to the planned attitude adjustment path, it adjusts the attitude adjustment speed of the attitude adjustment device according to the difference between the actual impact force of the component to be adjusted detected by the force sensor arranged in the detection module and the preset impact force of the component to be adjusted; Step S5, when the detection module completes the posture adjustment of the posture adjustment structure, it measures the current coordinates of the measurement points of each component to be adjusted in the component to be adjusted again, and the central control module determines whether to perform a secondary posture adjustment on the component to be adjusted according to the coordinates; when the central control module completes the adjustment of the posture adjustment speed and the posture adjustment device completes the posture adjustment of the component to be adjusted, the central control module determines whether to re-plan the route according to the time taken to complete the posture adjustment, and adjusts the number of unit angle feedback adjustments to the corresponding value according to the difference between the actual posture adjustment time and the preset posture adjustment time when the determination is completed; In step S1, before the posture adjustment component is adjusted, the central control module makes a preliminary judgment on whether to adjust the detection parameter sending frequency of the detection module according to the error rate average value D in the historical posture adjustment process. The central control module is provided with a preset first error rate average value D1 and a preset second error rate average value D2, wherein D1<D2, If D≤D1, the central control module determines that the average value of the actual error rate in the historical posture adjustment process is within the allowable range and controls the posture adjustment device to perform normal posture adjustment on the component to be adjusted; If D1<D≤D2, the central control module determines that the actual error rate average value in the historical posture adjustment process exceeds the allowable range, calculates the difference △D between the actual error rate average value in the historical posture adjustment process and the preset error rate average value, and adjusts the detection parameter sending frequency of the detection module to the corresponding value according to △D, setting △D=D-D1; If D>D2, the central control module determines that the average value of the actual error rate in the historical posture adjustment process exceeds the allowable range, the posture adjustment device cannot move the component to be adjusted to the corresponding position, and the central control module issues a maintenance notice; When the central control module completes the preliminary judgment on whether to adjust the detection parameter sending frequency of the detection module and the error rate average value D in the historical posture adjustment process satisfies D1<D≤D2, the central control module adjusts the detection parameter sending frequency of the detection module to the corresponding value according to the difference △D between the actual error rate average value and the preset error rate average value in the historical posture adjustment process, and the central control module is provided with a preset first error rate average value difference △D1, a preset second error rate average value difference △D2, a preset first detection parameter sending frequency adjustment coefficient α1, a preset second detection parameter sending frequency adjustment coefficient α2 and a preset detection parameter sending frequency F0, wherein △D1<△D2, 1<α1<α2, If △D≤△D1, the central control module determines that the difference between the actual error rate average value and the preset error rate average value in the historical posture adjustment process is within the allowable range and does not adjust the detection parameter sending frequency; If △D1<△D≤△D2, the central control module determines that the difference between the actual error rate average value and the preset error rate average value in the historical posture adjustment process exceeds the allowable range and uses α1 to adjust the detection parameter sending frequency. The adjusted detection parameter sending frequency is recorded as F1, and F1=α1×F0 is set; If △D>△D2, the central control module determines that the difference between the actual error rate average value and the preset error rate average value in the historical posture adjustment process exceeds the allowable range and uses α2 to adjust the detection parameter sending frequency. The adjusted detection parameter sending frequency is recorded as F2, and F2=α2×F0 is set.

2. The control method of the multi-degree-of-freedom AI intelligent posture adjustment device according to claim 1 is characterized in that: When the central control module completes the adjustment of the detection parameter sending frequency, the central control module determines whether to adjust the number of measurement points of the component to be adjusted according to the actual number of edges and corners E of the component to be adjusted detected by the visual detector arranged in the detection module. The central control module is provided with a preset number of edges and corners E1 of the first component to be adjusted and a preset number of edges and corners E2 of the second component to be adjusted, wherein E1<E2, If E≤E1, the central control module determines that the actual number of edges and corners of the component to be adjusted is within the allowable range and controls the attitude adjustment device to adjust the component to be adjusted normally; If E1<E≤E2, the central control module determines that the actual number of edges and corners of the component to be adjusted exceeds the allowable range, calculates the difference △E between the actual number of edges and corners of the component and the preset number of edges and corners of the component, and adjusts the number of measuring points of the component to be adjusted to the corresponding value according to △E, setting △E=E-E1; If E>E2, the central control module determines that the actual number of edges and corners of the component to be adjusted exceeds the allowable range, and the attitude adjustment device cannot meet the requirement for the number of measurement points of the component to be adjusted, and the central control module issues a notification to replace the attitude adjustment device.

3. The control method of the multi-degree-of-freedom AI intelligent posture adjustment device according to claim 2 is characterized in that: When the central control module completes the determination of whether to adjust the number of measurement points of the component to be adjusted and the actual number of corners E of the component to be adjusted satisfies E1<E≤E2, the central control module adjusts the number of measurement points of the component to be adjusted according to the difference △E between the actual number of corners of the component to be adjusted and the preset number of corners of the component to be adjusted, and the central control module is provided with a preset first corner number difference △E1 of the component to be adjusted, a preset second corner number difference △E2 of the component to be adjusted, a preset first measurement point number adjustment coefficient K1 of the component to be adjusted, a preset second measurement point number adjustment coefficient K2 of the component to be adjusted, and a preset number of measurement points Q0 of the component to be adjusted, wherein △E1<△E2, 1<K1<K2, If △E≤△E1, the central control module determines that the difference between the actual number of corners of the component to be adjusted and the preset number of corners of the component to be adjusted is within the allowable range and does not adjust the number of measurement points of the component to be adjusted; If △E1<△E≤△E2, the central control module determines that the difference between the actual number of edges and corners of the component to be adjusted and the preset number of edges and corners of the component to be adjusted exceeds the allowable range, and uses K1 to adjust the number of measuring points of the component to be adjusted. The adjusted number of measuring points of the component to be adjusted is recorded as Q1, and Q1=K1×Q0 is set; If △E>△E2, the central control module determines that the difference between the actual number of edges and corners of the component to be adjusted and the preset number of edges and corners of the component to be adjusted exceeds the allowable range and uses K2 to adjust the number of measurement points of the component to be adjusted. The adjusted number of measurement points of the component to be adjusted is recorded as Q2, and Q2=K2×Q0 is set.

4. The control method of the multi-degree-of-freedom AI intelligent posture adjustment device according to claim 3 is characterized in that: When the posture adjustment device is adjusting the posture of a large posture adjustment component, the central control module determines whether to adjust the posture adjustment speed according to the impact force F of the posture adjustment component to be adjusted received by the posture adjustment device detected by the force sensor arranged in the detection module. The central control module is provided with a preset first impact force F1 of the posture adjustment component to be adjusted and a preset second impact force F2 of the posture adjustment component to be adjusted, wherein F1<F2. If F≤F1, the central control module determines that the impact force of the posture adjustment device on the posture adjustment component actually detected is within the allowable range and controls the posture adjustment device to perform normal posture adjustment on the posture adjustment component; If F1<F≤F2, the central control module determines that the impact force of the posture adjustment component to be adjusted that is actually detected on the posture adjustment device exceeds the allowable range, calculates the difference △F between the actual impact force of the posture adjustment component to be adjusted and the preset impact force of the posture adjustment component to be adjusted, and adjusts the posture adjustment speed to the corresponding value according to △F, setting △F=F-F1; If F>F2, the central control module determines that the impact force of the component to be adjusted received by the attitude adjustment device actually detected exceeds the allowable range, and the attitude adjustment device cannot accurately send the component to be adjusted to the corresponding position, and the central control module issues a notice to stop the operation of the attitude adjustment device and conduct an inspection.

5. The control method of the multi-degree-of-freedom AI intelligent posture adjustment device according to claim 4 is characterized in that: When the central control module completes the judgment on whether to adjust the posture adjustment speed and the impact force F of the posture adjustment component to be adjusted by the posture adjustment device satisfies F1<F≤F2, the central control module adjusts the posture adjustment speed according to the difference △F between the actual impact force of the posture adjustment component and the preset impact force of the posture adjustment component, and the central control module is provided with a preset first posture adjustment component impact force difference △F1, a preset second posture adjustment component impact force difference △F2, a preset first posture adjustment speed adjustment coefficient β1, a preset posture adjustment speed adjustment coefficient β2 and a preset posture adjustment speed V0, wherein △F1<△F2, 0<β1<β2<1, If ΔF≤ΔF1, the central control module determines that the difference between the actual impact force of the component to be adjusted and the preset impact force of the component to be adjusted is within the allowable range and does not adjust the attitude adjustment speed; If △F1<△F≤△F2, the central control module determines that the difference between the actual impact force of the component to be adjusted and the preset impact force of the component to be adjusted exceeds the allowable range and uses β2 to adjust the adjustment speed. The adjusted adjustment speed is recorded as V1, and V1=β2×V0 is set; If △F>△F2, the central control module determines that the difference between the actual impact force of the component to be adjusted and the preset impact force of the component to be adjusted exceeds the allowable range and uses β1 to adjust the adjustment speed. The adjusted adjustment speed is recorded as V2, and V2=β1×V0 is set.

6. The control method of the multi-degree-of-freedom AI intelligent posture adjustment device according to claim 5 is characterized in that: When the central control module completes the adjustment of the posture adjustment speed, the central control module determines whether to re-plan the posture adjustment path of the posture adjustment device for the posture adjustment component according to the time T used to complete the posture adjustment. The central control module is provided with a preset first posture adjustment time T1 and a preset second posture adjustment time T2, wherein T1<T2, If T<T1, the central control module determines that the actual posture adjustment time is within the allowable range and does not re-plan the posture adjustment path of the posture adjustment device for the posture adjustment component; If T1<T<T2, the central control module determines that the actual posture adjustment time exceeds the allowable range, calculates the difference △T between the actual posture adjustment time and the preset posture adjustment time, and adjusts the unit angle feedback adjustment times to the corresponding value according to △T, setting △T=T-T1; If T>T2, the central control module determines that the actual time used for posture adjustment exceeds the allowable range, and the posture adjustment path of the posture adjustment component to be adjusted by the posture adjustment device cannot complete the posture adjustment of the posture adjustment component within the specified time, and the central control module uses the posture adjustment algorithm to re-plan the posture adjustment path.

7. The control method of the multi-degree-of-freedom AI intelligent posture adjustment device according to claim 6 is characterized in that: When the central control module completes the judgment on whether to re-plan the posture adjustment path and the time T used to complete the posture adjustment satisfies T1<T<T2, the central control module adjusts the unit angle feedback adjustment times to a corresponding value according to the difference △T between the actual posture adjustment time and the preset posture adjustment time. The central control module is provided with a preset first posture adjustment time difference △T1, a preset second posture adjustment time difference △T2, a preset first unit angle feedback adjustment times adjustment coefficient γ1, a preset second unit angle feedback adjustment times adjustment coefficient γ2 and a preset unit angle feedback adjustment times S0, wherein △T1<△T2, 0<γ1<γ2<1, If △T≤△T1, the central control module determines that the difference between the actual posture adjustment time and the preset posture adjustment time is within the allowable range and does not adjust the number of unit angle feedback adjustment times; If △T1<△T≤△T2, the central control module determines that the difference between the actual posture adjustment time and the preset posture adjustment time exceeds the allowable range and uses γ2 to adjust the unit angle feedback adjustment times. The adjusted unit angle feedback adjustment times are recorded as S1, and S1=γ2×S0 is set; If △T>△T2, the central control module determines that the difference between the actual attitude adjustment time and the preset attitude adjustment time exceeds the allowable range and uses γ1 to adjust the unit angle feedback adjustment times. The adjusted unit angle feedback adjustment times are recorded as S2, and S2=γ1×S0 is set.

8. A control system for a multi-degree-of-freedom AI intelligent posture adjustment device using the method described in any one of claims 1 to 7, characterized in that: include: A detection module is used to control the sensors provided on the posture adjustment device to perform corresponding detection on the operating parameters during the posture adjustment process and send the detection results to the data preprocessing module and the central control module; A data preprocessing module, which is used together with the detection module to receive the detection parameters sent by the detection module, perform preliminary analysis on the detection parameters, and send the detection parameters after preliminary analysis to the central control module; A central control module, which is connected to the detection module, the data preprocessing module and the control module, is used to receive data sent by each module, further analyze and process the data, and determine whether to adjust the corresponding parameters of the posture adjustment device according to the analysis and processing results; The control module is connected to the central control module and is used to receive instructions sent by the central control module and control the posture adjustment device to perform corresponding posture adjustment operations according to the instructions.

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