Component Processing Control Method and System Based on Pose Adjustment

Abstract

The present invention discloses a component processing control method and system based on pose adjustment, which relates to the technical field of part processing. The method includes: obtaining a pose data set by performing real-time sensing and monitoring on a target component; retrieving the processing requirement information of the target component, and setting processing control parameters in combination with the pose data set; collecting data from the target component to generate pose change data and processing status data; performing pose analysis, and performing multi-dimensional pre-adjustment on the pose of the target component according to the analysis result to generate a multi-dimensional pose pre-adjustment parameter set; performing pose adjustment on the target component, synchronizing the adjustment result to a remote control terminal for feedback interaction, and performing intelligent processing control on the target component in combination with the processing status data. It solves the technical problem that the pose is inaccurate during the processing of electric tricycle components in the prior art, resulting in low processing accuracy and efficiency, and achieves the technical effect of improving processing accuracy and efficiency through intelligent control.

Description

Technical Field

[0001] The present invention relates to the technical field of part processing, and particularly to a part processing control method and system based on pose 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 tools, is experiencing unprecedented technological innovation and efficiency improvement. With the increasingly strict market requirements for product quality and the growing personalized needs of consumers, the machining accuracy and production efficiency of electric tricycle parts have become the key factors restricting its further development. Traditional part processing methods often rely on manual operation and empirical judgment, making it difficult to ensure the pose stability and precision control during the processing, resulting in uneven finished product quality 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] This application provides a part processing control method and system based on pose adjustment, which solves the technical problem of low machining accuracy and efficiency caused by inaccurate pose during the processing of electric tricycle parts in the prior art.

[0004] In view of the above problems, this application provides a part processing control method and system based on pose adjustment.

[0005] In the first aspect of this application, a part processing control method based on pose adjustment is provided. The method includes:

[0006] By performing real-time sensing and monitoring on the target part, a pose data set is obtained. The pose data set includes position data and direction data; the processing requirement information of the target part is retrieved, and processing control parameters are set in combination with the pose data set; the processing control parameters are executed to collect data from the target part, generating pose change data and processing status data; based on the pose change data, pose analysis is performed in combination with the position data and the direction data, and according to the analysis result, multi-dimensional pre-adjustment of the pose of the target part is performed to generate a multi-dimensional pose pre-adjustment parameter set; according to the pose change data, the pose adjustment module is activated to perform pose adjustment on the target part in combination with the multi-dimensional pose pre-adjustment parameter set, and the adjustment result is synchronized to the remote control terminal for feedback interaction, and intelligent processing control is performed on the target part in combination with the processing status data.

[0007] In the second aspect of this application, a part processing control system based on pose adjustment is provided. The system includes:

[0008] A data acquisition module, which is used to obtain a pose data set through real-time sensing and monitoring of target components. The pose data set includes position data and direction data; a parameter setting module, which is used to retrieve the processing requirement information of the target components and set processing control parameters in combination with the pose data set; a data collection module, which is used to execute the processing control parameters to collect data from the target components and generate pose change data and processing status data; an analysis module, which is used to perform pose analysis based on the pose change data, in combination with the position data and direction data, and perform multi-dimensional pre-adjustment on the pose of the target components according to the analysis results to generate a pose multi-dimensional pre-adjustment parameter set; a control module, which is used to activate the pose adjustment module according to the pose change data, perform pose adjustment on the target components in combination with the pose multi-dimensional pre-adjustment parameter set, synchronize the adjustment results to a remote control terminal for feedback interaction, and perform intelligent processing control on the target components in combination with the processing status data.

[0009] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0010] By performing real-time sensing and monitoring on the target components, a pose data set is obtained. The pose data set includes position data and direction data. Then, the processing requirement information of the target components is retrieved, and processing control parameters are set in combination with the pose data set. By executing the processing control parameters, data is collected from the target components to generate pose change data and processing status data. Then, based on the pose change data, pose analysis is performed in combination with the position data and direction data, and multi-dimensional pre-adjustment is performed on the pose of the target components according to the analysis results to generate a pose multi-dimensional pre-adjustment parameter set. Finally, the pose adjustment module is activated according to the pose change data, and pose adjustment is performed on the target components in combination with the pose multi-dimensional pre-adjustment parameter set. The adjustment results are synchronized to the remote control terminal for feedback interaction, and intelligent processing control is performed on the target components in combination with the processing status data. This solves the technical problem in the prior art that the pose is inaccurate during the processing of electric tricycle components, resulting in low processing accuracy and efficiency. Through intelligent control, the technical effect of improving processing accuracy and efficiency is achieved. Description of the Drawings

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0012] Figure 1 It is a schematic flowchart of a component processing control method based on pose adjustment provided for the embodiments of this application.

[0013] Figure 2 This is a schematic structural diagram of a component processing control system based on pose adjustment provided by an embodiment of the present application.

[0014] Explanation of reference numerals: data acquisition module 11, parameter setting module 12, data collection module 13, analysis module 14, control module 15. Specific embodiments

[0015] By providing a component processing control method and system based on pose adjustment, the present application solves the technical problem of low processing accuracy and efficiency caused by inaccurate pose during the processing of electric tricycle components in the prior art.

[0016] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0017] It should be noted that the terms "including" and "having" are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those clearly listed steps or units, but may include other steps or modules that are not clearly listed or are inherent to these processes, methods, products, or devices.

[0018] Embodiment 1, as Figure 1 shown, the present application provides a component processing control method based on pose adjustment, wherein the method includes:

[0019] By performing real-time sensing and monitoring on a target component, a pose data set is obtained, and the pose data set includes position data and direction data.

[0020] During the precision processing of electric tricycle components, by performing real-time sensing and monitoring on the target component to obtain the position data and direction data of the target component, and then forming a pose data set. Among them, the position data reflects the specific coordinate position of the component on the processing platform, including the three-dimensional coordinate values of the X, Y, and Z axes, and the direction data describes the orientation or pose of the component in space and can be represented by a rotation matrix.

[0021] Furthermore, by performing real-time sensing and monitoring on a target component to obtain a pose data set, the method includes:

[0022] The target component is subjected to real-time sensing and monitoring by a set of sensing devices 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; based on the real-time sensing data set, the rotation angle parameters of the target component are extracted, 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 pose data set.

[0023] Preferably, a set of sensing devices (including but not limited to laser rangefinders, gyroscopes, accelerometers, angle sensors, etc.) are used to perform all-round and high-precision real-time sensing and monitoring on the target component, and various physical quantity changes of the component in the moving or static state are used to form a real-time sensing data set; in order to unify the measurement standard, a spatial rectangular coordinate system with the processing platform as the reference can be constructed, and by synchronizing the relevant data in the real-time sensing data set (such as laser ranging data, image recognition data, etc.) to the constructed spatial rectangular coordinate system, the plane position (i.e., X, Y coordinates) and height (Z coordinate) of the target component in the coordinate system can be obtained, so as to obtain the complete position data; based on the real-time sensing data set, the rotation angle parameters of the target component, including angular velocity and acceleration, are extracted by using the measurement data of devices such as gyroscopes and accelerometers, which can reflect the dynamic characteristics of the component during rotation; the angular velocity and the acceleration are fused by using a Kalman filter, a complementary filter, etc. to eliminate noise, improve data accuracy, and calculate the actual rotation angle of the component; based on the rotation angle obtained by the fusion calculation, the direction data of the target component in the spatial rectangular coordinate system can be determined, and the direction data is usually represented in the form of a rotation matrix, which can intuitively reflect the orientation and pose of the component; the position data and the direction data are subjected to spatial alignment processing, that is, they are unified to the same spatial rectangular coordinate system, and then a complete pose data set is generated, and the pose data set contains the position information and direction information of the target component during the processing.

[0024] Retrieve the processing requirement information of the target component, and set the processing control parameters in combination with the pose data set.

[0025] Retrieve the processing requirement information of the target component from the database, including but not limited to processing dimensions, tolerance ranges, surface roughness requirements, material types, processing path planning, etc.; combine and analyze the processing requirement information with the pose data set to determine and set the processing control parameters.

[0026] Furthermore, the method for retrieving the processing requirement information of the target component and setting the processing control parameters in combination with the pose data set includes:

[0027] Determine the processing requirement information based on the processing type of the target component and the processing accuracy parameters; import the pose data set, extract the position data, and perform position analysis in combination with the processing requirements to generate a processing reference point; import the pose data set, extract the direction data, and perform direction analysis in combination with the processing requirements to generate a rotation angle; set the processing control parameters based on the processing reference point and the rotation angle.

[0028] Preferably, according to the processing type of the target component, such as turning, milling, drilling, grinding, etc., in combination with the processing accuracy parameters (such as dimensional tolerance, surface roughness, shape accuracy, etc.), to determine the processing requirement information; by importing the pose data set, to extract the position data; in combination with the processing requirements, analyze the position data, including but not limited to the geometric shape of the component, dimensional requirements, and processing path planning, etc., and generate a processing reference point according to the analysis results. The processing reference point is a reference point used for positioning and calibration during the processing, which ensures the accuracy and consistency of the processing operation; similarly, import the pose data set, to extract the direction data, in combination with the processing requirements, analyze the direction data, involving the orientation of the component, rotation path, and selection of the processing surface, etc., and generate a rotation angle according to the analysis results. The rotation angle will guide how the processing equipment rotates the component during the processing to meet the angle and pose requirements in the processing requirements; based on the processing reference point and the rotation angle, in combination with other parameters in the processing requirements (such as cutting speed, feed rate, cutting depth, etc.), set the processing control parameters. The processing control parameters are the key parameters for controlling the operation of the processing equipment and directly determine the stability of the processing process and the quality of the processing results.

[0029] Execute the processing control parameters to collect data from the target component, generating pose change data and processing status data.

[0030] According to the processing control parameters, such as cutting speed, feed rate, spindle speed, etc., control the processing equipment so as to collect data from the target component using sensors, generating pose change data and processing status data. For example, through high-precision sensors (such as laser trackers, gyroscopes, etc.), real-time monitor the position and direction changes of the target component during the processing, and then obtain the pose change data; by monitoring the changes in the operating state of the processing equipment (such as spindle speed, cutting force, vibration, etc.) and the processing environment (such as temperature, humidity, etc.), generate the processing status data.

[0031] Based on the pose change data, in combination with the position data and the direction data, perform pose analysis, and perform multi-dimensional pre-adjustment on the pose of the target component according to the analysis results, generating a set of multi-dimensional pre-adjustment parameters for the pose.

[0032] Based on the pose change data collected in real time, combined with the position data and the orientation data, in-depth pose analysis can be carried out, and the pose of the target component can be adjusted multidimensionally in advance according to the analysis results, generating a set of multidimensional pose pre-adjustment parameters.

[0033] Furthermore, based on the pose change data, combined with the position data and the orientation data for pose analysis, the method includes:

[0034] Extracting a set of spatial coordinate points of the target component based on the position data, constructing a rotation matrix based on the orientation data; retrieving the historical pose data record log to calculate the expected pose data of the target component; based on the set of spatial coordinate points, combined with the rotation matrix, generating the actual pose data of the target component according to the pose change data; constructing a polar coordinate system, synchronizing the expected pose data and the actual pose data to the polar coordinate system for deviation calculation, generating the analysis result.

[0035] Preferably, extracting a set of spatial coordinate points of the target component from the position data, these point sets represent the specific positions of the component in the processing space, such as the edges, contours, or the positions of key points and the center top points, which are the basis for constructing the pose of the component; based on the orientation data, constructing a rotation matrix representing the orientation of the component, 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; retrieving the historical pose data record log of the target component from the database, the historical pose data record log records the pose states of the component in past processing, including positions, orientations, and possible deviation information, etc.; using the historical data, combined with the current processing conditions (such as the state of the processing equipment, material properties, etc.), calculating the expected pose data of the target component, the expected pose data is the position and orientation states that the component should theoretically reach during processing; based on the set of spatial coordinate points and the rotation matrix, combined with the pose change data, generating the actual pose data of the target component, the actual pose data reflects the actual position and orientation states of the component during processing; for the convenience of deviation calculation, a polar coordinate system can be constructed, the polar coordinate system takes a certain fixed point as the origin, and uses the angle and radius as the coordinate axes, which can intuitively represent the points and directions in space; synchronizing the expected pose data and the actual pose data to the polar coordinate system, in the polar coordinate system, each pose point can be represented by the polar radius (the distance from the origin) and the polar angle (the angle with the positive direction of the X axis); in the polar coordinate system, calculating the deviation between the expected pose point and the actual pose point, which can be obtained by calculating the difference in polar radius and the difference in polar angle between the two points, and the deviation calculation result is the analysis result.

[0036] Furthermore, a polar coordinate system is constructed, and the expected pose data and the actual pose data are synchronized to the polar coordinate system for deviation calculation to generate the analysis result. The method includes:

[0037] Retrieve the spatial structure data of the target component to determine the coordinate origin; randomly generate a first ray based on the coordinate origin; construct the polar coordinate system according to the first ray and the coordinate origin; based on the polar coordinate system, perform coordinate transformation on the expected pose data and the actual pose data to determine a first set of initial polar coordinate points and a second set of initial polar coordinate points. There is a corresponding relationship between the first set of initial polar coordinate points and the expected pose data, and there is a corresponding relationship between the second set of initial polar coordinate points and the actual pose data;

[0038] Dynamically update the second set of initial polar coordinates according to the pose multi-dimensional pre-adjustment parameter set, and calculate the distance deviation between the updated result and the first set of initial polar coordinates according to the update time sequence to generate the analysis result.

[0039] Preferably, retrieve the spatial structure data of the target component from the database, including the dimensions, shape, key feature points, etc. of the component, in order to determine a suitable coordinate origin. The coordinate origin can be the geometric center of the component, a specific key point, or a fixed reference point during the processing; based on the coordinate origin, randomly generate a direction 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; construct the polar coordinate system according to the coordinate origin and the first ray (polar axis). In the polar coordinate system, any point can be determined by its distance from the origin (polar radius) and the angle with the polar axis (polar angle); convert the expected pose data and the actual pose data from the spatial rectangular coordinate system to the polar coordinate system, and obtain a first set of initial polar coordinate points (corresponding to the expected pose data) and a second set of initial polar coordinate points (corresponding to the actual pose data) by calculating the polar radius and polar angle of each point in the polar coordinate system; dynamically update the second set of initial polar coordinates according to the pose multi-dimensional pre-adjustment parameter set to reflect the pose changes during the actual processing; at each update time point, calculate the distance deviation between the updated second set of polar coordinate points and the first set of initial polar coordinate points, which can be obtained by calculating the difference in polar radius and the difference in polar angle between two points; generate the analysis result according to these deviation values, and the analysis result includes the magnitude, direction, etc. of the deviation.

[0040] Furthermore, based on the polar coordinate system, perform coordinate transformation on the expected pose data and the actual pose data to determine the first initial polar coordinate and the second initial polar coordinate. The method includes:

[0041] Extract the first set of spatial coordinate points and the second set of spatial coordinate points of the expected pose data and the actual pose data based on the spatial rectangular coordinate system; construct a conversion expression:

[0042] ; wherein, (x, y, z) are the spatial coordinate points of the target component, x is the abscissa of the spatial coordinate point, y is the ordinate of the spatial coordinate point, z is the vertical axis coordinate of the spatial coordinate point, (r, , ) are the polar coordinate points, r is the radial distance of the polar coordinate point, is the polar angle of the polar coordinate point, is the azimuth angle of the polar coordinate point; the first set of spatial coordinate points and the second set of spatial coordinate points are subjected to coordinate transformation through the conversion expression to obtain the first initial polar coordinates and the second initial polar coordinates.

[0043] Preferably, extract the first set of spatial coordinate points and the second set of spatial coordinate points of the expected pose data and the actual pose data from the spatial rectangular coordinate system; by constructing a conversion expression , so as to convert the point (x, y, z) in the spatial rectangular coordinate system into the point (r, , ) in the polar coordinate system, r is the radial distance of the polar coordinate point, is the polar angle of the polar coordinate point, is the azimuth angle of the polar coordinate point; use the conversion expression to perform coordinate transformation on each point in the first set of spatial coordinate points and the second set of spatial coordinate points to obtain the first initial polar coordinates and the second initial polar coordinates.

[0044] Activate the pose adjustment module according to the pose change data, perform pose adjustment on the target component in combination with the pose 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 state data.

[0045] The pose adjustment module is activated based on pose change data and is used to precisely adjust the pose of the target component. Based on the pose change data and a set of multi-dimensional pre-adjusted pose parameters, the pose adjustment module controls the machine tool, fixture, or other related equipment to adjust the pose of the target component. This adjustment process may be gradual and iterative until the pose of the target component meets the machining requirements. During or after the pose adjustment process, the adjustment results are synchronized in real time to a remote control terminal, such as a tablet or smartphone, for remote monitoring of the machining process, feedback on the adjustments, and interaction. This allows the operator to understand the pose status of the target component in real time and make further adjustments or issue commands as needed. After receiving the adjustment results, the remote control terminal provides feedback, including the current pose status of the target component, key parameters and steps in the adjustment process, and any possible error or warning messages. The operator can evaluate this feedback and decide whether further adjustments or other measures are necessary. 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.

[0046] Furthermore, 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, 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. The method includes:

[0047] 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 on the target component to adjust the posture, 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.

[0048] Preferably, a preset critical threshold is set according to factors such as processing requirements, component characteristics, and machine precision, etc., for determining whether the pose change has reached the degree that needs to be adjusted; if the pose change data is greater than or equal to the preset critical threshold, it indicates that the pose of the target component has deviated from the expected range and needs to be adjusted. At this time, a start command will be generated to activate the pose adjustment module; the pose adjustment module is activated according to the start command, and the pose multi-dimensional pre-adjustment parameter set is loaded through the pose adjustment module to adjust the pose of the target component, and the corresponding adjustment results are generated according to the adjustment time sequence, including pose 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 visually displayed in forms such as charts, images or animations, etc., for displaying the pose change, adjustment path and final adjustment state of the target component, so that the operator can intuitively understand the adjustment process and results; according to the visually displayed adjustment results, pose verification is performed to confirm whether the pose of the target component has reached the expected requirements or standards; if the verification passes, it indicates that the pose adjustment is successful, and a feedback result is generated; according to the feedback result and the processing state data, a processing control plan is formulated, including adjusting processing parameters, optimizing processing paths, controlling processing speeds, etc., to ensure that the correct pose of the target component and high-quality processing effects are maintained during the processing; according to the formulated processing control plan, intelligent processing control is performed on the target component.

[0049] In summary, the embodiments of the present application at least have the following technical effects:

[0050] By performing real-time sensing and monitoring on the target component, a pose data set is obtained, and the pose data set includes position data and direction data. Then, 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 target component is subjected to data collection by executing the processing control parameters to generate pose change data and processing state data. Then, based on the pose change data, pose analysis is performed in combination with the position data and direction data, and the pose of the target component is multi-dimensionally pre-adjusted according to the analysis results to generate a pose multi-dimensional pre-adjustment parameter set. Finally, the pose adjustment module is activated according to the pose change data, and the pose of the target component is adjusted in combination with the pose multi-dimensional pre-adjustment parameter set, and the adjustment results are synchronized to the remote control terminal for feedback interaction, and intelligent processing control is performed on the target component in combination with the processing state data. It solves the technical problem that the pose is inaccurate during the processing of electric tricycle components in the prior art, resulting in low processing accuracy and efficiency. Through intelligent control, the technical effects of improving processing accuracy and efficiency are achieved.

[0051] Embodiment 2, based on the same inventive concept as the component processing control method based on pose adjustment in the foregoing embodiment, such as Figure 2As shown in the figure, the present application provides a component processing control system based on pose adjustment. The system includes:

[0052] A data acquisition module 11, which is used to obtain a pose data set through real-time sensing and monitoring of the target component. The pose data set includes position data and direction data; a parameter setting module 12, which is used to retrieve the processing requirement information of the target component and set the processing control parameters in combination with the pose data set; a data collection module 13, which is used to perform data collection on the target component according to the processing control parameters to generate pose change data and processing status data; an analysis module 14, which is used to perform pose analysis based on the pose change data, in combination with the position data and direction data, and perform multi-dimensional pre-adjustment on the pose of the target component according to the analysis result to generate a pose multi-dimensional pre-adjustment parameter set; a control module 15, which is used to activate the pose adjustment module according to the pose change data, perform pose adjustment on the target component in combination with the pose 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.

[0053] Furthermore, the data acquisition module 1 is used to execute the following method:

[0054] Perform real-time sensing and monitoring of the target component through a group of sensing devices to obtain a real-time sensing data set; construct a space rectangular coordinate system, synchronize the real-time sensing data set to the space rectangular coordinate system to calculate the plane position, and determine the position data of the target component; extract the rotation angle parameters of the target component based on the real-time sensing data set, and the rotation angle parameters include angular velocity and acceleration; perform fusion calculation on the angular velocity and the acceleration to calculate the rotation angle, and determine the direction data of the target component; perform spatial alignment on the position data and the direction data to obtain the pose data set.

[0055] Furthermore, the analysis module 14 is used to execute the following method:

[0056] Extract the spatial coordinate point set of the target component based on the position data, and construct 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; generate the actual pose data of the target component based on the spatial coordinate point set, in combination with the rotation matrix according to the pose change data; construct a polar coordinate system, synchronize the expected pose data and the actual pose data to the polar coordinate system for deviation calculation, and generate the analysis result.

[0057] Furthermore, the analysis module 14 is used to execute the following method:

[0058] 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 according to the first ray and the coordinate origin; based on the polar coordinate system, perform coordinate transformation on the expected pose data and the actual pose data to determine a first set of initial polar coordinate points and a second set of initial polar coordinate points. The first set of initial polar coordinate points has a corresponding relationship with the expected pose data, and the second set of initial polar coordinate points has a corresponding relationship with the actual pose data; dynamically update the second set of initial polar coordinates according to the pose multi-dimensional pre-adjustment parameter set, and calculate the distance deviation between the updated result and the first set of initial polar coordinates according to the update time sequence to generate the analysis result.

[0059] Further, the analysis module 14 is used to execute the following method:

[0060] Extract the first set of spatial coordinate points and the second set of spatial coordinate points of the expected pose data and the actual pose 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 abscissa of the spatial coordinate point, y is the ordinate of the spatial coordinate point, z is the vertical axis coordinate of the spatial coordinate point, (r, , ) 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 angle of the polar coordinate point; perform coordinate transformation on the first set of spatial coordinate points and the second set of spatial coordinate points through the conversion expression to obtain the first set of initial polar coordinates and the second set of initial polar coordinates.

[0061] Further, the parameter setting module 12 is used to execute the following method:

[0062] Determine the processing requirement information based on the processing type of the target component combined with the processing accuracy parameters; import the pose data set, extract the position data and perform position analysis in combination with the processing requirements to generate a processing reference point; import the pose data set, extract and perform direction analysis in combination with the direction data and the processing requirements to generate a rotation angle; set the processing control parameters based on the processing reference point and the rotation angle.

[0063] Further, the control module 15 is used to execute the following method:

[0064] Determine whether the pose change data is greater than or equal to a preset critical threshold; if the pose change data is greater than or equal to the preset critical threshold, generate a start instruction, and activate the pose adjustment module according to the start instruction; load the multi-dimensional pre-adjustment parameter set of the pose through the pose adjustment module to configure multiple adjustment parameters; perform pose adjustment on the target component by executing the multiple adjustment parameters, and generate the adjustment result according to the adjustment time sequence; transmit the adjustment result to the remote control terminal for visual display of the pose adjustment parameters, and perform pose verification according to the visual adjustment result. When the verification is passed, generate a feedback result; formulate a processing control plan based on the feedback result combined with the processing state data to perform intelligent processing control on the target component.

[0065] It should be noted that the above order 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 description of specific embodiments of this specification has been made. The processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0066] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

[0067] This specification and the drawings are only exemplary descriptions of the present application and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications 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 equivalent technologies, the present application is intended to include these changes and modifications.

Claims

1. A component processing control method based on pose adjustment, characterized in that The method includes: Obtaining a pose data set by performing real-time sensing and monitoring on a target component, where the pose data set includes position data and orientation data; Retrieving the processing requirement information of the target component and setting processing control parameters in combination with the pose data set; Executing the processing control parameters to collect data from the target component, generating pose change data and processing status data; Based on the pose change data, performing pose analysis in combination with the position data and the orientation data, and performing multi-dimensional pre-adjustment on the pose of the target component according to the analysis result to generate a multi-dimensional pose pre-adjustment parameter set; Activating a pose adjustment module according to the pose change data, performing pose adjustment on the target component in combination with the multi-dimensional pose pre-adjustment parameter set, synchronizing the adjustment result to a remote control terminal for feedback interaction, and performing intelligent processing control on the target component in combination with the processing status data; Retrieving the processing requirement information of the target component and setting 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 in combination with the processing accuracy parameters; Importing the pose data set, extracting the position data, and performing position analysis in combination with the processing requirements to generate a processing reference point; Importing the pose data set, extracting and performing direction analysis in combination with the orientation data and the processing requirements to generate a rotation angle; Setting the processing control parameters based on the processing reference point and the rotation angle.

2. The component processing control method based on pose adjustment according to claim 1, wherein Obtaining a pose data set by performing real-time sensing and monitoring on a target component. The method includes: Performing real-time sensing and monitoring on the target component through a sensing 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 planar position, and determining the position data of the target component; Extracting the rotation angle parameters of the target component based on the real-time sensing data set, where the rotation angle parameters include angular velocity and acceleration; Performing fusion calculation on the angular velocity and the acceleration to calculate the rotation angle, and determining the orientation data of the target component; Performing spatial alignment on the position data and the orientation data to obtain the pose data set.

3. The component processing control method based on pose adjustment according to claim 2, wherein Based on the pose change data, performing pose analysis in combination with the position data and the orientation data. The method includes: Extracting a set of spatial coordinate points of the target component based on the position data and constructing a rotation matrix based on the orientation data; Retrieving the historical pose data record log to calculate the expected pose data of the target component; Based on the set of spatial coordinate points, generating the actual pose data of the target component according to the pose change data in combination with the rotation matrix; Constructing a polar coordinate system, synchronizing the expected pose data and the actual pose data to the polar coordinate system for deviation calculation to generate the analysis result.

4. The component processing control method based on pose adjustment according to claim 3, characterized in that Constructing a polar coordinate system, synchronizing the expected pose data and the actual pose data 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; Construct the polar coordinate system based on the first ray and in combination with the coordinate origin; Based on the polar coordinate system, perform coordinate transformation on the expected pose data and the actual pose data to determine a first set of initial polar coordinate points and a second set of initial polar coordinate points. There is a corresponding relationship between the first set of initial polar coordinate points and the expected pose data, and there is a corresponding relationship between the second set of initial polar coordinate points and the actual pose data; Dynamically update the second set of initial polar coordinates according to the pose multi-dimensional pre-adjustment parameter set, and calculate the distance deviation between the updated result and the first set of initial polar coordinates in the update time sequence to generate the analysis result.

5. The component processing control method based on pose adjustment according to claim 4, characterized in that, Based on the polar coordinate system, perform coordinate transformation on the expected pose data and the actual pose data to determine a first initial polar coordinate and a second initial polar coordinate. The method includes: Extract a first set of spatial coordinate points and a second set of spatial coordinate points of the expected pose data and the actual pose data based on the spatial rectangular coordinate system; Construct a conversion expression: ； Among them, (x, y, z) are the spatial coordinate points of the target component, x is the abscissa of the spatial coordinate point, y is the ordinate of the spatial coordinate point, z is the vertical axis coordinate of the spatial coordinate point, (r, , ) are the polar coordinate points, r is the radial distance of the polar coordinate point, is the polar angle of the polar coordinate point, is the azimuth angle of the polar coordinate point; Perform coordinate transformation on the first set of spatial coordinate points and the second set of spatial coordinate points through the conversion expression to obtain the first initial polar coordinate and the second initial polar coordinate.

6. The component processing control method based on pose adjustment according to claim 1, wherein, Activate the pose adjustment module according to the pose change data in combination with the pose multi-dimensional pre-adjustment parameter set to perform pose adjustment on the target component, 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. The method includes: Judge whether the pose change data is greater than or equal to a preset critical threshold; If the pose change data is greater than or equal to the preset critical threshold, generate a start command, and activate the pose adjustment module according to the start command; Load the pose multi-dimensional pre-adjustment parameter set through the pose adjustment module to configure multiple adjustment parameters; Perform pose adjustment on the target component by executing the multiple adjustment parameters, and generate the adjustment result according to the adjustment time sequence; Transmit the adjustment result to the remote control terminal for visual display of the pose adjustment parameters, perform pose 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 in combination with the processing status data to perform intelligent processing control on the target component.

7. A component processing control system based on pose adjustment, characterized in that, For implementing the component processing control method based on pose adjustment according to any one of claims 1-6, the system includes: A data acquisition module, which is used to obtain a pose data set through real-time sensing and monitoring of the target component. The pose data set includes position data and direction data; A parameter setting module, which is used to retrieve the processing requirement information of the target component and set processing control parameters in combination with the pose data set; A data collection module, which is used to perform data collection on the target component by executing the processing control parameters to generate pose change data and processing status data; An analysis module, which is used to perform pose analysis based on pose change data, combined with position data and direction data, and perform multi-dimensional pre-adjustment on the pose of the target component according to the analysis results to generate a multi-dimensional pre-adjustment parameter set for the pose; A control module, which is used to activate the pose adjustment module according to the pose change data, combine the multi-dimensional pre-adjustment parameter set for the pose to perform pose adjustment on the target component, 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 state data; The parameter setting module is used to execute the following method: Based on the processing type of the target component combined with the processing accuracy parameters, determine the processing requirement information; import the pose data set, extract the position data and perform position analysis in combination with the processing requirements to generate a processing reference point; import the pose data set, extract and combine the direction data and perform direction analysis in combination with the processing requirements to generate a rotation angle; set the processing control parameters based on the processing reference point and the rotation angle.

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