Part machining control method and system based on pose adjustment

Abstract

The invention discloses a part machining control method and system based on pose adjustment, and relates to the technical field of part machining. The method comprises the following steps: performing real-time sensing monitoring on a target part to obtain a pose data set; the machining demand information of the target part is called, and machining control parameters are set in combination with the pose data set; performing data acquisition on the target part to generate pose change data and processing state data; performing pose analysis, performing multi-dimensional pre-adjustment on the pose of the target part according to an analysis result, and generating a pose multi-dimensional pre-adjustment parameter set; and performing pose adjustment on the target part, synchronizing an adjustment result to the remote control terminal for feedback interaction, and performing intelligent processing control on the target part in combination with the processing state data. The technical problem that in the prior art, the machining precision and efficiency are low due to inaccurate poses in the machining process of electric tricycle parts is solved, and the technical effect of improving the machining precision and efficiency is achieved through intelligent control.

Description

Technical Field

[0001] The present invention relates to the technical field of parts processing, and in particular to a parts processing control method and system based on posture adjustment. Background Art

[0002] In the rapidly developing modern manufacturing industry, the production of electric tricycles, as an important branch in the field of transportation, is experiencing unprecedented technological innovation and efficiency improvement. With the increasingly stringent market requirements for product quality and the growing demand for personalization by consumers, the processing accuracy and production efficiency of electric tricycle parts have become key factors restricting their further development. Traditional parts processing methods often rely on manual operation and experience judgment, and it is difficult to ensure the stability and precision control of the posture during the processing, resulting in uneven quality of finished products and low production efficiency. In addition, the lack of an intelligent processing control system also makes it difficult to monitor and adjust the production process in real time, and it is impossible to respond to emergencies or optimize the production process in a timely manner. Summary of the invention

[0003] The present application provides a component processing control method and system based on posture adjustment, which solves the technical problem in the prior art that inaccurate posture during the processing of electric three-wheel component parts leads to low processing accuracy and efficiency.

[0004] In view of the above problems, the present application provides a component processing control method and system based on posture adjustment.

[0005] In a first aspect of the present application, a component processing control method based on posture adjustment is provided, the method comprising: By performing real-time sensor monitoring on the target component, a posture data set is obtained, and the posture data set includes position data and direction data; the processing requirement information of the target component is retrieved, and the processing control parameters are set in combination with the posture data set; the processing control parameters are executed to collect data on the target component to generate posture change data and processing status data; based on the posture change data, posture analysis is performed in combination with the position data and the direction data, and the posture of the target component is multi-dimensionally pre-adjusted according to the analysis result to generate a posture multi-dimensional pre-adjustment parameter set; according to the posture change data, a posture adjustment module is activated to adjust the posture of the target component in combination with the posture multi-dimensional pre-adjustment parameter set, and the adjustment result is synchronized to the remote control terminal for feedback interaction, and the target component is intelligently processed and controlled in combination with the processing status data.

[0006] The second aspect of the present application provides a component processing control system based on posture adjustment, the system comprising: A data acquisition module, the data acquisition module is used to obtain a posture data set by real-time sensing monitoring of the target component, and the posture data set includes position data and orientation data; a parameter setting module, the parameter setting module is used to retrieve the processing requirement information of the target component, and set the processing control parameters in combination with the posture data set; a data acquisition module, the data acquisition module is used to execute the processing control parameters to collect data on the target component, and generate posture change data and processing status data; an analysis module, the analysis module is used to perform posture analysis based on the posture change data in combination with the position data and the orientation data, and perform multi-dimensional pre-adjustment of the posture of the target component according to the analysis results to generate a posture multi-dimensional pre-adjustment parameter set; a control module, the control module is used to activate the posture adjustment module according to the posture change data, and adjust the posture of the target component in combination with the posture multi-dimensional pre-adjustment parameter set, synchronize the adjustment results to the remote control terminal for feedback interaction, and perform intelligent processing control on the target component in combination with the processing status data.

[0007] One or more technical solutions provided in this application have at least the following technical effects or advantages: By real-time sensing monitoring of the target parts, a posture data set is obtained, which includes position data and direction data. Then, the processing requirement information of the target parts is retrieved, and the processing control parameters are set in combination with the posture data set. Data of the target parts is collected by executing the processing control parameters to generate posture change data and processing status data. Then, based on the posture change data, posture analysis is performed in combination with the position data and direction data, and the posture of the target parts is pre-adjusted in multiple dimensions according to the analysis results to generate a posture multi-dimensional pre-adjustment parameter set. Finally, according to the posture change data, the posture adjustment module is activated to adjust the posture of the target parts in combination with the posture multi-dimensional pre-adjustment parameter set, and the adjustment results are synchronized to the remote control terminal for feedback interaction, and the target parts are intelligently processed and controlled in combination with the processing status data. The technical problem of low processing accuracy and efficiency caused by inaccurate posture in the processing of electric three-wheeled parts in the prior art is solved, and the technical effect of improving processing accuracy and efficiency is achieved through intelligent control. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0009] Figure 1 A schematic flow chart of a method for controlling component processing based on posture adjustment provided in an embodiment of the present application.

[0010] Figure 2 A schematic diagram of the structure of a component processing control system based on posture adjustment provided in an embodiment of the present application.

[0011] Description of the accompanying drawings: data acquisition module 11, parameter setting module 12, data collection module 13, analysis module 14, control module 15. DETAILED DESCRIPTION

[0012] The present application solves the technical problem in the prior art of low machining accuracy and efficiency caused by inaccurate posture during machining of electric three-wheeled parts by providing a parts machining control method and system based on posture adjustment.

[0013] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0014] It should be noted that the terms "including" and "having" are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or modules that are not explicitly listed or are inherent to these processes, methods, products or devices.

[0015] Embodiment 1, as Figure 1 As shown, the present application provides a component processing control method based on posture adjustment, wherein the method includes: By performing real-time sensing monitoring on target components, a posture data set is obtained, where the posture data set includes position data and orientation data.

[0016] During the precision machining of electric tricycle parts, real-time sensing monitoring of target parts is performed to obtain the position data and orientation data of target parts, thereby forming a pose data set. Among them, the position data reflects the specific coordinate position of the parts on the machining platform, including the three-dimensional coordinate values ​​of the X, Y, and Z axes, and the orientation data describes the orientation or posture of the parts in space, which can be represented by a rotation matrix.

[0017] Furthermore, by performing real-time sensing monitoring on the target components, a pose data set is obtained, and the method includes: The target component is monitored in real time by a sensing device group to obtain a real-time sensing data set; a spatial rectangular coordinate system is constructed, and the real-time sensing data set is synchronized to the spatial rectangular coordinate system to calculate the plane position, and the position data of the target component is determined; the rotation angle parameters of the target component are extracted based on the real-time sensing data set, and the rotation angle parameters include angular velocity and acceleration; the angular velocity and the acceleration are fused to calculate the rotation angle, and the direction data of the target component is determined; the position data and the direction data are spatially aligned to obtain the posture data set.

[0018] Preferably, a sensor device group (including but not limited to laser rangefinders, gyroscopes, accelerometers, angle sensors, etc.) is used to perform all-round, high-precision real-time sensor monitoring of the target parts, and the changes in various physical quantities of the parts in motion or at rest form a real-time sensor data set; in order to unify the measurement standard, a spatial rectangular coordinate system based on the processing platform can be constructed, and the relevant data in the real-time sensor data set (such as laser rangefinder data, image recognition data, etc.) can be synchronized to the constructed spatial rectangular coordinate system to obtain the plane position (i.e., X, Y coordinates) and height (Z coordinate) of the target parts in the coordinate system, thereby obtaining complete position data; based on the real-time sensor data set, the measurement data of devices such as gyroscopes and accelerometers are used to extract The rotation angle parameters of the target parts include angular velocity and acceleration, which can reflect the dynamic characteristics of the parts during rotation; the angular velocity and acceleration are fused using Kalman filters, complementary filters, etc. to eliminate noise, improve data accuracy, and calculate the actual rotation angle of the parts; based on the rotation angle obtained by the fusion calculation, the orientation data of the target parts in the spatial rectangular coordinate system can be determined. The orientation data is usually represented in the form of a rotation matrix, which can intuitively reflect the orientation and posture of the parts; the position data and orientation data are spatially aligned, that is, they are unified into the same spatial rectangular coordinate system, and then a complete pose data set is generated. The pose data set contains the position information and orientation information of the target parts during the processing process.

[0019] The processing requirement information of the target component is retrieved, and the processing control parameters are set in combination with the pose data set.

[0020] The processing requirement information of the target parts is retrieved from the database, including but not limited to processing dimensions, tolerance range, surface roughness requirements, material type, processing path planning, etc.; the processing requirement information is combined with the pose data set for analysis to determine and set the processing control parameters.

[0021] Furthermore, the processing requirement information of the target component is retrieved, and the processing control parameters are set in combination with the pose data set. The method includes: Based on the processing type of the target component and the processing accuracy parameters, the processing requirement information is determined; the posture data set is imported, the position data is extracted, and the position analysis is performed in combination with the processing requirements to generate a processing reference point; the posture data set is imported, the direction data is extracted, and the direction analysis is performed in combination with the processing requirements to generate a rotation angle; the processing control parameters are set based on the processing reference point and the rotation angle.

[0022] Preferably, according to the processing type of the target parts, such as turning, milling, drilling, grinding, etc., combined with processing accuracy parameters (such as dimensional tolerance, surface roughness, shape accuracy, etc.), the processing requirement information is determined; by importing the pose data set to extract the position data; in combination with the processing requirements, the position data is analyzed, including but not limited to the geometric shape of the parts, size requirements and processing path planning, etc., and according to the analysis results, the processing reference point is generated. The processing reference point is a reference point used for positioning and calibration during the processing process, which ensures the accuracy and consistency of the processing operation; similarly, the pose data set is imported to extract the direction data, and in combination with the processing requirements, the direction data is analyzed, involving the orientation of the parts, the rotation path and the selection of the processing surface, etc., and according to the analysis results, the rotation angle is generated. The rotation angle will guide the processing equipment on how to rotate the parts during the processing process to meet the angle and posture requirements in the processing requirements; based on the processing reference point and the rotation angle, combined with other parameters in the processing requirements (such as cutting speed, feed rate, cutting depth, etc.), the processing control parameters are set. The processing control parameters are key parameters for controlling the operation of the processing equipment, which directly determine the stability of the processing process and the quality of the processing results.

[0023] The processing control parameters are executed to collect data on the target parts to generate posture change data and processing status data.

[0024] According to the processing control parameters, such as cutting speed, feed rate, spindle speed, etc., the processing equipment is controlled so that the sensors can be used to collect data on the target parts and generate posture change data and processing status data. For example, the position and direction changes of the target parts during the processing process are monitored in real time by high-precision sensors (such as laser trackers, gyroscopes, etc.) to obtain posture change data; the processing status data is generated by monitoring the operating status of the processing equipment (such as spindle speed, cutting force, vibration, etc.) and the changes in the processing environment (such as temperature, humidity, etc.).

[0025] Based on the posture change data, posture analysis is performed in combination with the position data and the direction data, and multi-dimensional pre-adjustment of the posture of the target component is performed according to the analysis result to generate a posture multi-dimensional pre-adjustment parameter set.

[0026] Based on the real-time collected posture change data, combined with the position data and orientation data, in-depth posture analysis can be performed, and the posture of the target parts can be pre-adjusted in multiple dimensions according to the analysis results to generate a multi-dimensional pre-adjustment parameter set for the posture.

[0027] Furthermore, based on the posture change data, the posture analysis is performed in combination with the position data and the direction data, and the method includes: Based on the position data, a spatial coordinate point set of the target component is extracted, and a rotation matrix is ​​constructed based on the direction data; the historical posture data record log is retrieved to calculate the expected posture data of the target component; based on the spatial coordinate point set, the actual posture data of the target component is generated according to the posture change data in combination with the rotation matrix; a polar coordinate system is constructed, and the expected posture data and the actual posture data are synchronized to the polar coordinate system for deviation calculation to generate the analysis result.

[0028] Preferably, the spatial coordinate point sets of the target component are extracted from the position data. These point sets represent the specific positions of the component in the processing space, such as edges, contours, or key positions, and the positions of the center top points, which are the basis for constructing the component posture; based on the direction data, a rotation matrix representing the direction of the component is constructed. The rotation matrix describes the rotation of the component in three-dimensional space relative to a certain reference coordinate system (such as the machine tool coordinate system), including the rotation angles around the X, Y, and Z axes; the historical posture data record log of the target component is retrieved from the database. The historical posture data record log records the posture state of the component in the past processing process, including position, direction, and possible deviation information; using historical data, combined with current processing conditions (such as processing equipment status, material properties, etc.), the expected posture data of the target component is calculated, and the expected posture data The data is the position and orientation state that the component should reach in theory during the processing; based on the spatial coordinate point set and the rotation matrix, combined with the posture change data, the actual posture data of the target component is generated. The actual posture data reflects the actual position and orientation state of the component during the processing; in order to facilitate the deviation calculation, a polar coordinate system can be constructed. The polar coordinate system takes a fixed point as the origin and angles and radii as coordinate axes, which can intuitively represent points and directions in space; the expected posture data and the actual posture data are synchronized to the polar coordinate system. In the polar coordinate system, each posture point can be represented by the polar diameter (the distance from the origin) and the polar angle (the angle with the positive direction of the X-axis); in the polar coordinate system, the deviation between the expected posture point and the actual posture point is calculated, which can be obtained by calculating the polar diameter difference and polar angle difference between the two points. The deviation calculation result is the analysis result.

[0029] Furthermore, a polar coordinate system is constructed, and the expected posture data and the actual posture data are synchronized to the polar coordinate system for deviation calculation to generate the analysis result. The method includes: Retrieving the spatial structure data of the target component and determining the coordinate origin; randomly generating a first ray based on the coordinate origin; constructing the polar coordinate system according to the first ray and in combination with the coordinate origin; performing coordinate conversion on the expected posture data and the actual posture data based on the polar coordinate system to determine a first initial polar coordinate point set and a second initial polar coordinate point set, wherein the first initial polar coordinate point set corresponds to the expected posture data, and the second initial polar coordinate point set corresponds to the actual posture data; The second initial polar coordinates are dynamically updated according to the multi-dimensional pre-adjustment parameter set of the posture, and the distance deviation with the first initial polar coordinates is calculated according to the update result and the update timing to generate the analysis result.

[0030] Preferably, the spatial structure data of the target component, including the size, shape, key feature points, etc. of the component, are retrieved from the database to determine a suitable coordinate origin, which can be the geometric center of the component, a specific key point, or a fixed reference point in the processing process; based on the coordinate origin, a direction is randomly generated as the direction of the first ray, and the direction of the first ray will be used as the reference direction of the polar coordinate system; a polar coordinate system is constructed according to the coordinate origin and the first ray (polar axis), in which any point can be determined by its distance to the origin (polar diameter) and the angle with the polar axis (polar angle); the expected posture data and the actual posture data are compared. The data is converted from the spatial rectangular coordinate system to the polar coordinate system. By calculating the polar diameter and polar angle of each point in the polar coordinate system, the first initial polar coordinate point set (corresponding to the expected posture data) and the second initial polar coordinate point set (corresponding to the actual posture data) are obtained; the second initial polar coordinate is dynamically updated according to the posture multi-dimensional pre-adjustment parameter set to reflect the posture changes in the actual processing process; at each update time point, the distance deviation between the updated second polar coordinate point set and the first initial polar coordinate point set is calculated, which can be obtained by calculating the difference in polar diameter and polar angle between the two points; based on these deviation values, the analysis results are generated, and the analysis results include the size and direction of the deviation.

[0031] Furthermore, based on the polar coordinate system, the expected posture data and the actual posture data are subjected to coordinate conversion to determine a first initial polar coordinate and a second initial polar coordinate, and the method includes: Extract the first spatial coordinate point set and the second spatial coordinate point set of the expected posture data and the actual posture data based on the spatial rectangular coordinate system; construct a conversion expression: ; Where (x, y, z) is the spatial coordinate point of the target component, x is the horizontal coordinate of the spatial coordinate point, y is the vertical coordinate of the spatial coordinate point, and z is the vertical coordinate of the spatial coordinate point. , ) is the polar coordinate point, r is the radial distance of the polar coordinate point, is the polar angle of the polar coordinate point, is the azimuth of the polar coordinate point; the first spatial coordinate point set and the second spatial coordinate point set are transformed by the transformation expression to obtain the first initial polar coordinates and the second initial polar coordinates.

[0032] Preferably, a first spatial coordinate point set and a second spatial coordinate point set of the expected posture data and the actual posture data are extracted from the spatial rectangular coordinate system; by constructing a conversion expression , in order to transform a point (x, y, z) in a rectangular coordinate system into a point (r, , ), r is the radial distance of the polar coordinate point, is the polar angle of the polar coordinate point, is the azimuth of the polar coordinate point; and the conversion expression is used to perform coordinate conversion on each point in the first spatial coordinate point set and the second spatial coordinate point set to obtain the first initial polar coordinates and the second initial polar coordinates.

[0033] According to the posture change data, the posture adjustment module is activated to adjust the posture of the target component in combination with the posture multi-dimensional pre-adjustment parameter set, the adjustment result is synchronized to the remote control terminal for feedback interaction, and the target component is intelligently processed and controlled in combination with the processing status data.

[0034] The posture adjustment module is activated based on the posture change data. The posture adjustment module is used to accurately adjust the posture of the target component. According to the posture change data and the multi-dimensional pre-adjustment parameter set of the posture, the posture adjustment module adjusts the posture of the target component by controlling the machine tool, fixture or other related equipment. The adjustment process may be gradual and iterative until the posture of the target component meets the processing requirements. During the posture adjustment process or after the adjustment is completed, the adjustment results are synchronized in real time to the remote control terminal, such as a tablet computer, smart phone and other devices, for remote monitoring of the processing process, receiving adjustment feedback and interacting. In this way, the operator can understand the posture status of the target component in real time and make further adjustments or issue instructions as needed. After receiving the adjustment results, the remote control terminal will interact with feedback, including displaying the current posture status of the target component, the key parameters and steps in the adjustment process, and possible errors or warning messages. The operator can evaluate based on these feedback information and decide whether further adjustments or other measures are needed. After the posture adjustment is completed, the target parts are intelligently processed and controlled in combination with the processing status data (such as cutting force, temperature, vibration, etc.). That is to say, the system will automatically adjust the processing parameters (such as cutting speed, feed rate, cutting depth, etc.) according to the processing status data collected in real time to ensure the stability of the processing process and the consistency of the processing quality.

[0035] Further, according to the posture change data, the posture adjustment module is activated to adjust the posture of the target component in combination with the posture multi-dimensional pre-adjustment parameter set, the adjustment result is synchronized to the remote control terminal for feedback interaction, and the target component is intelligently processed and controlled in combination with the processing state data, the method includes: Determine whether the posture change data is greater than or equal to a preset critical threshold; if the posture change data is greater than or equal to the preset critical threshold, generate a start instruction, and activate the posture adjustment module according to the start instruction; load the posture multi-dimensional pre-adjustment parameter set through the posture adjustment module to configure multiple adjustment parameters; execute the multiple adjustment parameters to adjust the posture of the target component, and generate the adjustment result according to the adjustment sequence; transmit the adjustment result to the remote control terminal for visual display of the posture adjustment parameters, perform posture verification according to the visual adjustment result, and generate a feedback result when the verification passes; formulate a processing control plan based on the feedback result and the processing status data to perform intelligent processing control on the target component.

[0036] Preferably, a preset critical threshold is set according to factors such as processing requirements, component characteristics and machine accuracy to determine whether the posture change has reached a level that requires adjustment; if the posture change data is greater than or equal to the preset critical threshold, it means that the posture of the target component has deviated from the expected range and needs to be adjusted. At this time, a startup instruction is generated to activate the posture adjustment module; the posture adjustment module is activated according to the startup instruction, and the posture multi-dimensional pre-adjustment parameter set is loaded through the posture adjustment module to adjust the posture of the target component, and generate corresponding adjustment results according to the adjustment sequence, including posture data before and after adjustment, adjustment parameters, adjustment time and other information; the adjustment results are transmitted to the remote control terminal. On the remote control terminal, the adjustment results are visualized in the form of charts, images or animations to display the posture changes, adjustment paths and final adjustment status of the target parts, so that the operator can intuitively understand the adjustment process and results; based on the visually displayed adjustment results, posture verification is performed to confirm whether the posture of the target parts has met the expected requirements or standards; if the verification passes, it means that the posture adjustment is successful, and a feedback result is generated; a processing control plan is formulated based on the feedback results and processing status data, including adjusting processing parameters, optimizing processing paths, controlling processing speeds, etc., to ensure that the correct posture of the target parts and high-quality processing effects are maintained during the processing; according to the formulated processing control plan, the target parts are intelligently processed and controlled.

[0037] In summary, the embodiments of the present application have at least the following technical effects: By real-time sensing monitoring of the target parts, a posture data set is obtained, which includes position data and direction data. Then, the processing requirement information of the target parts is retrieved, and the processing control parameters are set in combination with the posture data set. Data of the target parts is collected by executing the processing control parameters to generate posture change data and processing status data. Then, based on the posture change data, posture analysis is performed in combination with the position data and direction data, and the posture of the target parts is pre-adjusted in multiple dimensions according to the analysis results to generate a posture multi-dimensional pre-adjustment parameter set. Finally, according to the posture change data, the posture adjustment module is activated to adjust the posture of the target parts in combination with the posture multi-dimensional pre-adjustment parameter set, and the adjustment results are synchronized to the remote control terminal for feedback interaction, and the target parts are intelligently processed and controlled in combination with the processing status data. The technical problem of low processing accuracy and efficiency caused by inaccurate posture in the processing of electric three-wheeled parts in the prior art is solved, and the technical effect of improving processing accuracy and efficiency is achieved through intelligent control.

[0038] Embodiment 2 is based on the same inventive concept as the component processing control method based on posture adjustment in the above embodiment. Figure 2 As shown, the present application provides a component processing control system based on posture adjustment, wherein the system includes: A data acquisition module 11, the data acquisition module 11 is used to obtain a posture data set by real-time sensing monitoring of the target component, and the posture data set includes position data and orientation data; a parameter setting module 12, the parameter setting module 12 is used to retrieve the processing requirement information of the target component, and set the processing control parameters in combination with the posture data set; a data acquisition module 13, the data acquisition module 13 is used to execute the processing control parameters to collect data on the target component, and generate posture change data and processing status data; an analysis module 14, the analysis module 14 is used to perform posture analysis based on the posture change data in combination with the position data and the orientation data, and perform multi-dimensional pre-adjustment of the posture of the target component according to the analysis results to generate a posture multi-dimensional pre-adjustment parameter set; a control module 15, the control module 15 is used to activate the posture adjustment module according to the posture change data, and adjust the posture of the target component in combination with the posture multi-dimensional pre-adjustment parameter set, synchronize the adjustment results to the remote control terminal for feedback interaction, and perform intelligent processing control on the target component in combination with the processing status data.

[0039] Furthermore, the data acquisition module 11 is used to execute the following method: The target component is monitored in real time by a sensing device group to obtain a real-time sensing data set; a spatial rectangular coordinate system is constructed, and the real-time sensing data set is synchronized to the spatial rectangular coordinate system to calculate the plane position, and the position data of the target component is determined; the rotation angle parameters of the target component are extracted based on the real-time sensing data set, and the rotation angle parameters include angular velocity and acceleration; the angular velocity and the acceleration are fused to calculate the rotation angle, and the direction data of the target component is determined; the position data and the direction data are spatially aligned to obtain the posture data set.

[0040] Furthermore, the analysis module 14 is used to perform the following method: Based on the position data, a spatial coordinate point set of the target component is extracted, and a rotation matrix is ​​constructed based on the direction data; the historical posture data record log is retrieved to calculate the expected posture data of the target component; based on the spatial coordinate point set, the actual posture data of the target component is generated according to the posture change data in combination with the rotation matrix; a polar coordinate system is constructed, and the expected posture data and the actual posture data are synchronized to the polar coordinate system for deviation calculation to generate the analysis result.

[0041] Furthermore, the analysis module 14 is used to perform the following method: Retrieve the spatial structure data of the target component and determine the coordinate origin; randomly generate a first ray based on the coordinate origin; construct the polar coordinate system based on the first ray in combination with the coordinate origin; based on the polar coordinate system, perform coordinate conversion on the expected posture data and the actual posture data to determine a first initial polar coordinate point set and a second initial polar coordinate point set, wherein the first initial polar coordinate point set corresponds to the expected posture data, and the second initial polar coordinate point set corresponds to the actual posture data; dynamically update the second initial polar coordinates according to the posture multi-dimensional pre-adjustment parameter set, calculate the distance deviation with the first initial polar coordinates according to the update result and the update sequence, and generate the analysis result.

[0042] Furthermore, the analysis module 14 is used to perform the following method: Extract the first spatial coordinate point set and the second spatial coordinate point set of the expected posture data and the actual posture data based on the spatial rectangular coordinate system; construct a conversion expression: ; Where (x, y, z) is the spatial coordinate point of the target component, x is the horizontal coordinate of the spatial coordinate point, y is the vertical coordinate of the spatial coordinate point, and z is the vertical coordinate of the spatial coordinate point. , ) is the polar coordinate point, r is the radial distance of the polar coordinate point, is the polar angle of the polar coordinate point, is the azimuth of the polar coordinate point; the first spatial coordinate point set and the second spatial coordinate point set are transformed by the transformation expression to obtain the first initial polar coordinates and the second initial polar coordinates.

[0043] Furthermore, the parameter setting module 12 is used to execute the following method: Based on the processing type of the target component and the processing accuracy parameters, the processing requirement information is determined; the posture data set is imported, the position data is extracted, and the position analysis is performed in combination with the processing requirements to generate a processing reference point; the posture data set is imported, the direction data is extracted, and the direction analysis is performed in combination with the processing requirements to generate a rotation angle; the processing control parameters are set based on the processing reference point and the rotation angle.

[0044] Furthermore, the control module 15 is used to execute the following method: Determine whether the posture change data is greater than or equal to a preset critical threshold; if the posture change data is greater than or equal to the preset critical threshold, generate a start instruction, and activate the posture adjustment module according to the start instruction; load the posture multi-dimensional pre-adjustment parameter set through the posture adjustment module to configure multiple adjustment parameters; execute the multiple adjustment parameters to adjust the posture of the target component, and generate the adjustment result according to the adjustment sequence; transmit the adjustment result to the remote control terminal for visual display of the posture adjustment parameters, perform posture verification according to the visual adjustment result, and generate a feedback result when the verification passes; formulate a processing control plan based on the feedback result and the processing status data to perform intelligent processing control on the target component.

[0045] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above-mentioned specific embodiments of this specification are described. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0046] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

[0047] This specification and drawings are merely exemplary illustrations of the present application and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application intends to include these modifications and variations.

Claims

1. A component processing control method based on posture adjustment, characterized in that: The method comprises: By performing real-time sensing monitoring on the target component, a posture data set is obtained, wherein the posture data set includes position data and orientation data; Retrieving the processing requirement information of the target component, and setting the processing control parameters in combination with the pose data set; Execute the processing control parameters to collect data on the target parts and generate posture change data and processing status data; Based on the posture change data, the posture analysis is performed in combination with the position data and the direction data, and the posture of the target component is pre-adjusted in multiple dimensions according to the analysis result to generate a posture multi-dimensional pre-adjustment parameter set; According to the posture change data, the posture adjustment module is activated to adjust the posture of the target component in combination with the posture multi-dimensional pre-adjustment parameter set, the adjustment result is synchronized to the remote control terminal for feedback interaction, and the target component is intelligently processed and controlled in combination with the processing status data.

2. The component processing control method based on posture adjustment according to claim 1, characterized in that: The pose data set is obtained by real-time sensing monitoring of the target parts, and the method includes: Perform real-time sensing monitoring on target components through a sensor device group to obtain a real-time sensing data set; Constructing a spatial rectangular coordinate system, synchronizing the real-time sensing data set to the spatial rectangular coordinate system to calculate the plane position, and determining the position data of the target component; Extracting rotation angle parameters of target components based on the real-time sensing data set, wherein the rotation angle parameters include angular velocity and acceleration; The angular velocity and the acceleration are combined to calculate the rotation angle, and the direction data of the target component is determined; The position data and the direction data are spatially aligned to obtain the posture data set.

3. The component processing control method based on posture adjustment according to claim 2, characterized in that: Based on the posture change data, posture analysis is performed in combination with the position data and the direction data, the method comprising: Extracting a spatial coordinate point set of a target component based on the position data, and constructing a rotation matrix based on the direction data; Retrieve the historical pose data record log to calculate the expected pose data of the target component; Based on the spatial coordinate point set, in combination with the rotation matrix, the actual posture data of the target component is generated according to the posture change data; A polar coordinate system is constructed, and the expected posture data and the actual posture data are synchronized to the polar coordinate system for deviation calculation to generate the analysis result.

4. The component processing control method based on posture adjustment according to claim 3 is characterized in that: Constructing a polar coordinate system, synchronizing the expected posture data and the actual posture data to the polar coordinate system for deviation calculation, and generating the analysis result, the method includes: Retrieve the spatial structure data of the target component and determine the coordinate origin; Randomly generate a first ray based on the coordinate origin; Constructing the polar coordinate system according to the first ray and combining the coordinate origin; Based on the polar coordinate system, coordinate conversion is performed on the expected posture data and the actual posture data to determine a first initial polar coordinate point set and a second initial polar coordinate point set, wherein the first initial polar coordinate point set corresponds to the expected posture data, and the second initial polar coordinate point set corresponds to the actual posture data; The second initial polar coordinates are dynamically updated according to the multi-dimensional pre-adjustment parameter set of the posture, and the distance deviation with the first initial polar coordinates is calculated according to the update result and the update timing to generate the analysis result.

5. The component processing control method based on posture adjustment according to claim 4, characterized in that: Based on the polar coordinate system, the expected posture data and the actual posture data are coordinate-converted to determine a first initial polar coordinate and a second initial polar coordinate, the method comprising: Extracting a first spatial coordinate point set and a second spatial coordinate point set of the expected posture data and the actual posture data based on the spatial rectangular coordinate system; Construct the transformation expression: ； Among them, (x, y, z) is the spatial coordinate point of the target component, x is the horizontal coordinate of the spatial coordinate point, y is the vertical coordinate of the spatial coordinate point, and z is the vertical coordinate of the spatial coordinate point. , ) is the polar coordinate point, r is the radial distance of the polar coordinate point, is the polar angle of the polar coordinate point, is the azimuth of the polar coordinate point; The first spatial coordinate point set and the second spatial coordinate point set are transformed by the transformation expression to obtain the first initial polar coordinates and the second initial polar coordinates.

6. The component processing control method based on posture adjustment according to claim 1, characterized in that: Retrieving the processing requirement information of the target component and setting the processing control parameters in combination with the pose data set, the method includes: Determining the processing requirement information based on the processing type of the target component and the processing accuracy parameter; Importing the pose data set, extracting the position data, performing position analysis based on processing requirements, and generating processing reference points; Import the pose data set, extract and combine the direction data with the processing requirements to perform direction analysis, and generate a rotation angle; The processing control parameters are set based on the processing reference point and the rotation angle.

7. The component processing control method based on posture adjustment according to claim 1, characterized in that: According to the posture change data, the posture adjustment module is activated to adjust the posture of the target component in combination with the posture multi-dimensional pre-adjustment parameter set, the adjustment result is synchronized to the remote control terminal for feedback interaction, and the target component is intelligently processed and controlled in combination with the processing state data. The method includes: Determine whether the posture change data is greater than or equal to a preset critical threshold; If the posture change data is greater than or equal to the preset critical threshold, a start instruction is generated, and the posture adjustment module is activated according to the start instruction; Loading the posture multi-dimensional pre-adjustment parameter set through the posture adjustment module to configure multiple adjustment parameters; Executing the plurality of adjustment parameters on the target component to adjust the posture, and generating the adjustment result according to the adjustment sequence; The adjustment result is transmitted to the remote control terminal for visual display of posture adjustment parameters, posture verification is performed according to the visual adjustment result, and feedback result is generated when the verification passes; Based on the feedback results and the processing status data, a processing control plan is formulated to perform intelligent processing control on the target parts.

8. A component processing control system based on posture adjustment, characterized in that: A system for implementing the component processing control method based on posture adjustment according to any one of claims 1 to 7, the system comprising: A data acquisition module, wherein the data acquisition module is used to obtain a posture data set by performing real-time sensing monitoring on the target component, and the posture data set includes position data and orientation data; A parameter setting module, which is used to retrieve the processing requirement information of the target parts and set the processing control parameters in combination with the posture data set; A data acquisition module, wherein the data acquisition module is used to execute processing control parameters to collect data on target parts and generate posture change data and processing status data; An analysis module, wherein the analysis module is used to perform posture analysis based on posture change data in combination with position data and orientation data, and to perform multi-dimensional pre-adjustment of the posture of the target component according to the analysis result to generate a posture multi-dimensional pre-adjustment parameter set; The control module is used to activate the posture adjustment module according to the posture change data, adjust the posture of the target component in combination with the posture multi-dimensional pre-adjustment parameter set, synchronize the adjustment result to the remote control terminal for feedback interaction, and perform intelligent processing control on the target component in combination with the processing status data.

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