Automatic control method and system for electrical equipment

Abstract

The invention provides an electrical equipment automation control method and system, and the method comprises the steps: collecting a surface image of an object in real time, carrying out the defect recognition of the surface image, and generating surface defect data and / or edge defect data; analyzing the surface defect data to determine a single-sided defect or a double-sided defect, generating an inclination adjustment instruction according to the single-sided defect, and generating a horizontal adjustment instruction according to the double-sided defect; when the edge defect data exist, determining a to-be-determined force application surface group based on the edge defect data, and generating a single adjustment instruction according to the to-be-determined force application surface group; the updated force application point of the double-arm robot is determined according to the inclination adjustment instruction, the horizontal adjustment instruction or the single adjustment instruction, the double-arm robot is controlled to act based on the updated force application point, the force application condition of the double-arm robot on the object can be adjusted, the stress degree of the object is changed, and therefore the stability of the object is improved.

Description

Technical Field

[0001] The present invention relates to data processing technologies, and in particular, to an electrical equipment automatic control method and system. Background Art

[0002] In modern industrial production processes, electrical equipment is widely used in various links. Especially during the product processing, for example, on a production line, electrical equipment is used to grasp items and transport and move the products in order to improve the processing efficiency of the products.

[0003] In the prior art, when grasping an item, due to inaccurate force application positions or forces of the equipment, phenomena such as depressions or protrusions may appear on the surface of the grasped item, affecting the force stability of the item, and thus causing damage to the product. Therefore, it is necessary to detect and adjust the corresponding item in order to set appropriate grasping positions and grasping forces to improve the force stability of the item.

[0004] Therefore, how to perform high-precision defect detection on an item and generate targeted adjustment instructions to improve the force stability of the item has become an urgent problem to be solved. Summary of the Invention

[0005] An embodiment of the present invention provides an electrical equipment automatic control method and system, which can perform high-precision defect detection on an item and generate targeted adjustment instructions to improve the force stability of the item.

[0006] In a first aspect of an embodiment of the present invention, an electrical equipment automatic control method is provided, including: collecting a surface image of an item in real time, performing defect recognition on the surface image to generate surface defect data and / or edge defect data; analyzing the surface defect data to determine single-sided defects or double-sided defects, generating an inclination adjustment instruction according to the single-sided defects, and generating a horizontal adjustment instruction according to the double-sided defects; when there is edge defect data, determining a to-be-determined force application surface group based on the edge defect data, and generating a single adjustment instruction according to the to-be-determined force application surface group; determining an updated force application point of a dual-arm robot according to the inclination adjustment instruction, the horizontal adjustment instruction or the single adjustment instruction, and controlling the actions of the dual-arm robot based on the updated force application point.

[0007] Optionally, in a possible implementation manner of the first aspect, the collecting a surface image of an item in real time, performing defect recognition on the surface image to generate surface defect data and / or edge defect data includes: determining a preset clamping force of each clamping arm of the dual-arm robot according to the item, and a current force application surface group, and clamping the pre-set force application surface group of the item based on the preset clamping force; When the article is higher than the set ground clearance height, control the acquisition device to acquire the surface of the pre-set force application surface group to obtain a surface image; Perform defect recognition on the surface image to generate surface defect data and / or edge defect data.

[0008] Optionally, in a possible implementation manner of the first aspect, performing defect recognition on the surface image to generate surface defect data and / or edge defect data includes: Extract the image center of the surface image and multiple edge contour lines; Obtain the two end points of the edge contour line, generate a comparison straight line according to the two end points, extract multiple vertical distances between the edge contour line and the comparison straight line, and generate edge defect data when the vertical distance is greater than a preset value; Copy the edge contour line to generate a moving line, move the moving line a set distance in the moving direction with the image center as the moving direction, and generate an edge area according to the moved moving line and the corresponding edge contour line; Use the data outside the edge area in the surface image as the surface area. If there are depressions or protrusions in the surface area, use the corresponding surface area as the surface defect data.

[0009] Optionally, in a possible implementation manner of the first aspect, parsing the surface defect data to determine a single-sided defect or a double-sided defect, and generating an inclination adjustment instruction according to the single-sided defect includes: Determine the surface defect data corresponding to the current force application surface group. If there is one surface defect data, generate a single-sided defect, and generate an inclination adjustment instruction according to the single-sided defect; Respond to the inclination adjustment instruction to use the force application surface corresponding to the single-sided defect as the upward inclined surface, and use the other force application surface as the downward inclined surface; Obtain the area ratio of the surface defect data relative to the force application surface, generate an adjustment coefficient according to the area ratio, and calculate and determine the inclination angle based on the adjustment coefficient for a preset adjustment angle; Incline the upward inclined surface upward and the downward inclined surface downward so that the current angle between the bottom surface of the article and the horizontal plane is equal to the inclination angle.

[0010] Optionally, in a possible implementation manner of the first aspect, determining the updated force application points of the dual-arm robot according to the inclination adjustment instruction, and controlling the actions of the dual-arm robot based on the updated force application points includes: Obtain the current force application points of the dual-arm robot, use the current force application points corresponding to the upward inclined surface as the upward moving points, and use the current force application points corresponding to the downward inclined surface as the downward moving points; Determine the upper edge line of the upward inclined surface and the upper midpoint of the upper edge line, and move the upward moving point to the upper midpoint by a preset distance to obtain an upper force application point; Determine the lower edge line of the downward inclined surface and the lower midpoint of the lower edge line, and move the upward moving point to the lower midpoint to obtain a lower force application point; Determine the updated force application point of the dual-arm robot according to the upper force application point and the lower force application point, and control the actions of the dual-arm robot based on the updated force application point.

[0011] Optionally, in a possible implementation manner of the first aspect, it further includes: Obtain the initial force application value of the dual-arm robot, perform a reduction process on the initial force application value according to the adjustment coefficient to obtain an upper force application value, and perform an increase process on the initial force application value according to the adjustment coefficient to obtain a lower force application value; Control the action of the upper force application point based on the upper force application value, and control the action of the lower force application point based on the lower force application value.

[0012] Optionally, in a possible implementation manner of the first aspect, generating a horizontal adjustment instruction according to the double-sided defect, determining the updated force application point of the dual-arm robot according to the horizontal adjustment instruction, and controlling the actions of the dual-arm robot based on the updated force application point includes: Determine the surface defect data corresponding to the current force application surface group. If there are two pieces of surface defect data, generate a double-sided defect, and generate a horizontal adjustment instruction according to the double-sided defect; Rotate the item 90 degrees clockwise in the horizontal direction based on the horizontal adjustment instruction to obtain an updated force application surface group, determine the updated force application point of the dual-arm robot according to the updated force application surface group, and control the actions of the dual-arm robot based on the updated force application point.

[0013] Optionally, in a possible implementation manner of the first aspect, when there is edge defect data, determining the to-be-determined force application surface group based on the edge defect data includes: When there is edge defect data, determine the position information corresponding to the edge defect data. The position information includes upper and lower defects and / or left and right defects. The upper and lower defects include upper edge defects and / or lower edge defects, and the left and right defects include left edge defects and / or right edge defects; Determine the surface of the item adjacent to the upper edge defect or the lower edge defect according to the upper and lower defects as the first adjusted force application surface, use the force application surface facing the first adjusted force application surface as the second adjusted force application surface, and determine the to-be-determined force application surface group according to the first adjusted force application surface and the second adjusted force application surface; Determine the surface of the article adjacent to the left defect or the right defect as the third adjustment force application surface according to the left and right defects, use the force application surface facing the third force application surface as the fourth adjustment force application surface, and determine the to-be-determined force application surface group according to the third adjustment force application surface and the fourth adjustment force application surface.

[0014] Optionally, in a possible implementation manner of the first aspect, the generating a single adjustment instruction according to the to-be-determined force application surface group includes: If the single adjustment instruction corresponds to an up-down defect, determine the central axis of the article parallel to the to-be-determined force application surface as the rotation axis according to the single adjustment instruction, and after performing a 90° clockwise rotation adjustment based on the rotation axis, control the article to rotate 90° clockwise in the horizontal direction; If the single adjustment instruction corresponds to a left-right defect, determine a 90° clockwise rotation adjustment of the article in the horizontal direction according to the single adjustment instruction.

[0015] In a second aspect of the embodiments of the present invention, there is provided an electrical equipment automation control system, including: an identification module, configured to collect a surface image of an article in real time, perform defect identification on the surface image, and generate surface defect data and / or edge defect data; A generation module, configured to analyze the surface defect data to determine a single-sided defect or a double-sided defect, generate an inclination adjustment instruction according to the single-sided defect, and generate a horizontal adjustment instruction according to the double-sided defect; A determination module, configured to, when there is edge defect data, determine a to-be-determined force application surface group based on the edge defect data, and generate a single adjustment instruction according to the to-be-determined force application surface group; A control module, configured to determine updated force application points of the dual-arm robot according to the inclination adjustment instruction, the horizontal adjustment instruction, or the single adjustment instruction, and control the actions of the dual-arm robot based on the updated force application points.

[0016] In a third aspect of the embodiments of the present invention, there is provided an electronic device, including: a memory, a processor, and a computer program, where the computer program is stored in the memory, and the processor runs the computer program to execute the method according to the first aspect of the present invention and various possible methods involved in the first aspect.

[0017] In a fourth aspect of the embodiments of the present invention, there is provided a readable storage medium, where a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, it is used to implement the method according to the first aspect of the present invention and various possible methods involved in the first aspect.

[0018] The beneficial effects of the present invention are as follows: 1. The present invention can accurately identify surface defects of an object and generate targeted adjustment instructions to reduce the degree of object defects and improve the stability of the object. First, the present invention can use a dual-arm robot to clamp a preset force application surface group of the object with a preset clamping force. When the object reaches the set height above the ground, a surface image is acquired by a collection device. By extracting the image center and multiple edge contour lines, the perpendicular distance between the edge contour line and a comparison straight line is calculated to identify edge defects. At the same time, the edge area is determined by processing the edge contour line, and then the depression or protrusion in the surface area is identified as a surface defect. Through a comprehensive and detailed defect identification method, the accuracy of defect identification is greatly improved, facilitating subsequent adjustment of the force applied by the robotic arm, thereby improving the stability of the object.

[0019] 2. The present invention can analyze the identified defects to generate targeted adjustment instructions to improve the stability of the object. Among them, after identifying the defects, the present invention can accurately analyze the surface defect data, determine whether it is a single-sided defect or a double-sided defect, and generate corresponding tilt adjustment instructions or horizontal adjustment instructions accordingly. For a single-sided defect, by determining the upward and downward inclined surfaces and combining the area ratio of the surface defect data relative to the force application surface to generate an adjustment coefficient, and then calculating the tilt angle to achieve precise adjustment. For a double-sided defect, a horizontal adjustment instruction is directly generated for horizontal rotation adjustment. The method of generating specific adjustment instructions for different defect types significantly improves the pertinence and effectiveness of the adjustment. In actual production, it can quickly and accurately adjust the force on the object according to different defect situations, improving the stability of the object.

[0020] 3. The present invention can control the force application of the dual-arm robot through instructions to improve the stability of the held object. Among them, according to the generated adjustment instructions, the present invention can accurately determine the updated force application points of the dual-arm robot. For the tilt adjustment instruction, by determining the midpoints of the edge lines of the upward and downward inclined surfaces, the current force application point is moved to the corresponding position to obtain the upper and lower force application points, and then the robot's actions are controlled. At the same time, the initial force application value is adjusted up or down according to the adjustment coefficient to obtain the upper and lower force application values respectively, achieving precise force application. For the horizontal adjustment instruction, the updated force application points can also be determined according to the updated force application surface group to control the robot's actions. Compared with the traditional random or rough force application control, the update of the force application points and the adjustment of the force application intensity of the present invention greatly improve the accuracy and stability of the robot's force application. During the process of adjusting the object, it can ensure that the object is uniformly stressed, avoid damage to the object caused by improper force application, and ensure the smooth progress of the production process and the stability of the product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a flowchart of an automatic control method for an electrical device provided by the present invention; Figure 2A structural schematic diagram of an electrical equipment automation control system provided by the present invention; Figure 3 A hardware structural schematic diagram of an electronic device provided by the present invention. Specific implementation manners

[0022] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0024] It should be understood that in various embodiments of the present invention, the magnitude of the serial numbers of the processes does not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logics, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0025] It should be understood that in the present invention, "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] It should be understood that in the present invention, "a plurality of" means two or more. "And / or" is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the front and rear associated objects. "Including A, B, and C", "including A, B, C" means that all of A, B, and C are included, "including A, B, or C" means including any one of A, B, and C, and "including A, B, and / or C" means including any one or any two or all three of A, B, and C.

[0027] It should be understood that in the present invention, "B corresponding to A", "B corresponding to A relatively", "A corresponding to B relatively" or "B corresponding to A relatively" means that B is associated with A, and B can be determined according to A. Determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information. The matching of A and B means that the similarity between A and B is greater than or equal to a preset threshold.

[0028] Depending on the context, as used herein, "if" can be interpreted as "when...", "while...", "in response to determining", or "in response to detecting".

[0029] The technical solution of the present invention will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in some embodiments.

[0030] Such as Figure 1 As shown, the present invention provides an automatic control method for electrical equipment, including: S1, real-time collecting the surface image of an article, identifying defects in the surface image, and generating surface defect data and / or edge defect data.

[0031] It can be understood that in order to determine the type of defect on the surface of the article, so as to collect the image of the article, identify the defect by collecting the image, provide basic data for the subsequent processing of the article, and through real-time collection, so as to generate targeted adjustment instructions according to the identified defect data subsequently, thereby improving the stability of the article.

[0032] Through real-time collection, defects that may exist on the surface of the article can be discovered in time, providing a basis for subsequent precise adjustment. Among them, the surface defect data and the edge defect data respectively correspond to different types of defect conditions on the surface of the article, preparing for subsequent targeted processing.

[0033] Among them, the article to be collected is the article to be adjusted and analyzed, such as an article box for containing articles. The surface image is the image captured by collecting the surface of the article. The surface defect data is the image of the defect on the surface of the article, such as the surface image of the depression on the surface of the article. The edge defect data is the image data of the bending of the edge of the article in the surface image.

[0034] In some embodiments, the specific implementation manner in step S1 (real-time collecting the surface image of the article, identifying defects in the surface image, and generating surface defect data and / or edge defect data) includes: S11, determining the preset clamping force of each clamping arm of the dual-arm robot according to the article, and the current force application surface group, and clamping the preset force application surface group of the article based on the preset clamping force.

[0035] It is understandable that, according to the characteristics of the item (such as shape, material, weight, etc.), the appropriate preset clamping force of each clamping arm of the dual-arm robot is determined to ensure stable clamping without damaging the item. At the same time, the current force application surface group is determined, that is, the surface in contact with the item when the robot clamps the item is clarified. Then, the preset clamping force is used to clamp the preset force application surface group to achieve the preliminary fixation of the item and provide a stable basis for subsequent operations.

[0036] Among them, the dual-arm robot is a humanoid robot with two arms, the clamping arm is a robotic arm that can clamp items, the preset clamping force is the force for clamping items set in advance, the force application surface group is the combination of the surfaces in contact with the item when the robot clamps the item. Usually, when clamping an item, the two arms need to apply force to clamp two surfaces respectively, so the corresponding two force-receiving surfaces can be used as the force application surface group, and the preset force application surface group is the initial force-receiving surface set in advance. For example, it can be the surfaces of the item corresponding to the left and right directions.

[0037] S12, when the item is higher than the set ground height, control the acquisition device to collect the surface of the preset force application surface group to obtain a surface image.

[0038] It is understandable that in order to avoid the interference of the collected image by surrounding environmental factors (such as ground debris, reflection, etc.) when the item is at a lower position and ensure the quality of the surface image of the preset force application surface group collected, only when the item is lifted to a height greater than the set ground height, will the acquisition device be controlled to perform image acquisition, so as to provide clear and effective image data for subsequent accurate defect identification.

[0039] Among them, the set ground height is the ground height set in advance.

[0040] It is not difficult to understand that there are corresponding cameras on the two arms, the top and the feet of the dual-arm robot, so that the clamped item can be comprehensively imaged, thereby improving the accuracy of subsequent defect identification.

[0041] S13, perform defect identification on the surface image to generate surface defect data and / or edge defect data.

[0042] It is understandable that after obtaining the surface image of the preset force application surface group, the image is deeply analyzed. Through specific image recognition algorithms and technologies, it is detected whether there are surface defects in the image, such as depressions or protrusions on the force-receiving surface of the item, and edge defects, such as bends on the edge of the item. If the corresponding defects are detected, the corresponding surface defect data or edge defect data is generated for subsequent further processing and adjustment of the item to meet the standards of item quality or operation requirements.

[0043] In some embodiments, the specific implementation manner of step S13 (performing defect recognition on the surface image to generate surface defect data and / or edge defect data) includes: S131, extracting the image center of the surface image and a plurality of edge contour lines.

[0044] It can be understood that the image center is the center point of the surface image, and the edge contour line is the boundary line of the article, that is, the geometric representation of the article edge. By extracting the edge contour line, the boundary of the article can be clearly defined. In actual operation, image processing algorithms such as edge detection algorithms and Canny edge detection can be used to find the edge contour line of the article in the image, and at the same time, the image center is determined by calculating the pixel distribution of the image, which is convenient for subsequent identification of edge defects and surface defects.

[0045] S132, obtaining two end points of the edge contour line, generating a comparison straight line according to the two end points, extracting a plurality of vertical distances between the edge contour line and the comparison straight line, and generating edge defect data when the vertical distance is greater than a preset value.

[0046] It can be understood that by obtaining two end points of the edge contour line, a comparison straight line is generated. The comparison straight line represents the straight line state of the edge under ideal conditions. Therefore, a plurality of vertical distances between the edge contour line and the comparison straight line can be calculated. These vertical distances reflect the deviation degree of the edge contour line from the ideal straight line. When the vertical distance is greater than the preset value, it means that the actual shape of the edge deviates too much from the ideal straight line. At this time, it can be determined that there is an edge defect, and the corresponding edge defect data is generated. These data record information such as the position and degree of the edge defect, providing a basis for subsequent processing.

[0047] Among them, the comparison straight line is a straight line for standard comparison of the edge contour line, that is, a straight line segment formed by connecting two end points. The vertical distance is the perpendicular distance from the contour point on the edge contour line to the comparison straight line, and the preset value is a pre-set reference value.

[0048] S133, copying the edge contour line to generate a moving line, moving the moving line by a set distance in the moving direction of the image center, and generating an edge region according to the moved moving line and the corresponding edge contour line.

[0049] It can be understood that since the edge of the article has a certain width distance, the edge contour line can be copied to obtain a moving line, and the moving line is moved in the direction of the image center, and the region enclosed by the moving line and the edge contour line is used as the edge region.

[0050] Among them, the moving line is the line for area movement, that is, the copied line segment of the edge contour line. The moving direction is the direction in which the moving line moves, that is, the direction from the edge contour line to the center of the image. The set moving distance is the preset moving distance. The edge area is the area corresponding to the item boundary.

[0051] It is not difficult to understand that the purpose of dividing the edge area is to accurately distinguish the edge area and the surface area in the follow-up, so as to more accurately identify surface defects.

[0052] S134, use the data outside the edge area in the surface image as the surface area. If there are depressions or protrusions in the surface area, use the corresponding surface area as surface defect data.

[0053] It can be understood that after dividing the edge area, the remaining part is the surface area. Thus, the surface area can be inspected to check whether there are depressions or protrusions in the surface area. Among them, this can be achieved by analyzing the gray value of the image, etc. When it is detected that there are depressions or protrusions in the surface area, mark the corresponding surface area as surface defect data. These data also record information such as the position and characteristics of the surface defects, providing key data for subsequent processing of surface defects.

[0054] It is worth mentioning that when it is determined that there are depressions or protrusions in the surface area, the data in the historical deformation database can be called to match the current surface image, so as to determine similar cases, and thus determine the defect situation on the surface of the item.

[0055] S2, analyze the surface defect data to determine single-sided defects or double-sided defects, generate a tilt adjustment instruction according to the single-sided defects, and generate a horizontal adjustment instruction according to the double-sided defects.

[0056] It can be understood that by analyzing the surface defect data, it is judged whether there is a defect on only one surface (single-sided defect) or there are defects on two surfaces (double-sided defect) of the item. Different types of defects require different adjustment strategies. Single-sided defects need to be processed by tilting the item, so a tilt adjustment instruction is generated. While double-sided defects may be more suitable to be solved by horizontal adjustment, so a horizontal adjustment instruction is generated, providing a basis for controlling the actions of the dual-arm robot in the follow-up.

[0057] Among them, a single-sided defect means that there is a defect on only one surface, a double-sided defect means that there are defects on two surfaces, a tilt adjustment instruction is an adjustment instruction for tilting and clamping the item, and a horizontal adjustment instruction is an instruction for adjusting the item in the horizontal direction.

[0058] In some embodiments, the specific implementation manner in step S2 (analyze the surface defect data to determine single-sided defects or double-sided defects, and generate a tilt adjustment instruction according to the single-sided defects) includes: S21. Determine the surface defect data corresponding to the current force - applying surface group. If there is one piece of surface defect data, generate a single - surface defect, and generate an inclination adjustment instruction based on the single - surface defect.

[0059] It can be understood that in order to determine the surface defect situation corresponding to the current force - applying surface group and generate corresponding adjustment instructions, first find the surface defect data related to the current force - applying surface group. When there is only one surface with surface defect data, it is determined as a single - surface defect. Based on the determination result of this single - surface defect, an inclination adjustment instruction is generated. This instruction will guide the subsequent inclination operation of the item to try to solve the single - surface defect problem.

[0060] S22. In response to the inclination adjustment instruction, use the force - applying surface corresponding to the single - surface defect as the upward - inclined surface, and use the other force - applying surface as the downward - inclined surface.

[0061] It can be understood that after receiving the inclination adjustment instruction, clarify the directions of the two force - applying surfaces of the item during the inclination operation, that is, set the force - applying surface with a single - surface defect as the upward - inclined surface, which means this surface will incline upward during the subsequent inclination process, and the other force - applying surface is used as the downward - inclined surface and will incline downward, so as to accurately control the inclination direction and degree of the item subsequently.

[0062] Among them, the upward - inclined surface is the surface that inclines upward, that is, the force - applying surface that generates the single - surface defect, and the downward - inclined surface is the surface opposite to the force - applying surface corresponding to the single - surface defect.

[0063] S23. Obtain the area ratio of the surface defect data to the force - applying surface, generate an adjustment coefficient according to the area ratio, and calculate and determine the inclination angle based on the adjustment coefficient for the preset adjustment angle.

[0064] It can be understood that in order to perform the inclination operation more accurately, it is necessary to determine the appropriate inclination angle. First, the area ratio of the surface defect data on the corresponding force - applying surface can be calculated. This ratio reflects the severity of the defect, and thus an adjustment coefficient can be generated according to the area ratio. The adjustment coefficient is related to the area ratio, and the larger the area ratio, the larger the adjustment coefficient. Then, calculate the preset adjustment angle according to the adjustment coefficient to obtain the final inclination angle. This calculation method considers the actual situation of the defect, making the inclination angle more in line with the actual needs.

[0065] Among them, the area ratio is the ratio of the area where the surface defect occurs to the entire force - applying surface, the adjustment coefficient is the calculated coefficient value of the adjustment angle, the preset adjustment angle is the pre - set adjustment angle, and the inclination angle is the angle for inclining and adjusting the item.

[0066] It is not difficult to understand that when the calculated tilt angle is greater than a certain preset angle, the maximum preset angle is used as the adjustment angle. For example, when the preset angle is 60°, but the calculated angle is greater than 60°, 60° can be used as the tilt angle.

[0067] S24, tilt the upward inclined surface upward and the downward inclined surface downward so that the current angle between the bottom surface of the article and the horizontal plane is equal to the tilt angle.

[0068] It can be understood that according to the determined upward inclined surface and downward inclined surface, and the calculated tilt angle, the dual-arm robot is controlled to tilt the article. By making the current angle between the bottom surface of the article and the horizontal plane reach the tilt angle, the tilt adjustment of the article is realized, and it is expected to improve the single-sided defect condition of the article through such a tilt operation. For example, when the tilt angle is 30°, the article can be tilted so that the angle between the ground of the article and the horizontal plane is equal to the tilt angle.

[0069] S3, when there is edge defect data, determine the to-be-determined force application surface group based on the edge defect data, and generate a single adjustment instruction according to the to-be-determined force application surface group.

[0070] It can be understood that in the case where edge defects of the article are detected, the edge defect data can be analyzed to determine a suitable to-be-determined force application surface group. The to-be-determined force application surface group will be the object of force application by the dual-arm robot during subsequent adjustment operations, and then a single adjustment instruction is generated according to the situation of the to-be-determined force application surface group. This instruction is used to guide the dual-arm robot to make targeted adjustments to the article to improve the edge defect problem.

[0071] Among them, the to-be-determined force application surface group is the surface on which the adjusted article is stressed, and the single adjustment instruction is an adjustment instruction for a single dimension.

[0072] In some embodiments, the specific implementation manner in step S3 (when there is edge defect data, determine the to-be-determined force application surface group based on the edge defect data) includes: S31, when there is edge defect data, determine the position information corresponding to the edge defect data. The position information includes up-and-down defects and / or left-and-right defects. The up-and-down defects include upper edge defects and / or lower edge defects, and the left-and-right defects include left edge defects and / or right edge defects.

[0073] It can be understood that after detecting the edge defect data, first, the specific position of the edge defect on the article should be clarified. The position information is subdivided into up-and-down defects and left-and-right defects. Further, the up-and-down defects are divided into upper edge defects and lower edge defects, and the left-and-right defects are divided into left edge defects and right edge defects. The detailed position division helps to more accurately determine the surface that needs to be stressed and adjusted later.

[0074] Among them, the position information is the regional position corresponding to the defect data. The upper and lower defects are the defects generated at the upper and lower edges of the article, the left and right defects are the defects generated at the left and right edges, the upper edge defect is the defect generated at the upper boundary, the lower edge defect is the defect generated at the lower edge, the left edge defect is the defect generated at the left boundary line corresponding to the current placement orientation of the article, and the right edge defect is the defect generated at the right boundary line corresponding to the current placement orientation of the article.

[0075] S32. Determine the surface of the article adjacent to the upper edge defect or the lower edge defect as the first adjustment force application surface according to the upper and lower defects, use the force application surface opposite to the first adjustment force application surface as the second adjustment force application surface, and determine the to-be-determined force application surface group according to the first adjustment force application surface and the second adjustment force application surface.

[0076] It can be understood that when there are upper and lower defects, select the surface of the article adjacent to the defect as the first adjustment force application surface, and the surface opposite to it as the second adjustment force application surface. These two surfaces together constitute the to-be-determined force application surface group. Because applying appropriate forces to these two surfaces may effectively adjust the defects on the upper and lower edges. By this way, the to-be-determined force application surface group is determined, providing a clear force application object for generating subsequent adjustment instructions.

[0077] Among them, the first adjustment force application surface is the surface of the article after the first force application adjustment, the second adjustment force application surface is the surface of the article after the second force application adjustment, and the to-be-applied force surface group is the combination of the first adjustment force application surface and the second adjustment force application surface.

[0078] It is not difficult to understand that when there are defects on the upper and lower edges of the article, since the surfaces of the article between the upper edge defect and the lower edge defect are adjacent to both the upper edge defect and the lower edge defect, in order to improve the accuracy of subsequent selection of the force application surface, thus, the surface of the article between the two defect edges is not considered as the first adjustment force application surface.

[0079] S33. Determine the surface of the article adjacent to the left edge defect or the right edge defect as the third adjustment force application surface according to the left and right defects, use the force application surface opposite to the third force application surface as the fourth adjustment force application surface, and determine the to-be-determined force application surface group according to the third adjustment force application surface and the fourth adjustment force application surface.

[0080] It can be understood that, similarly, when there are left and right defects, the surface of the article adjacent to the left edge defect or the right edge defect is used as the third adjustment force application surface, and the opposite surface is used as the fourth adjustment force application surface. The to-be-determined force application surface group composed of these two surfaces can provide a basis for applying force to deal with the left and right edge defects, facilitating subsequent targeted adjustment operations.

[0081] S4. Determine the updated force application points of the dual-arm robot according to the tilt adjustment instruction, the horizontal adjustment instruction or the single adjustment instruction, and control the actions of the dual-arm robot based on the updated force application points.

[0082] It is understandable that determining the new force application points of the dual-arm robot according to the generated instructions and controlling the dual-arm robot to perform action adjustment are the execution links of the entire automatic control process. The various adjustment instructions generated previously (tilt, horizontal, single adjustment instructions) ultimately need to be converted into the specific actions of the dual-arm robot. The new force application points of the robot are determined through these instructions, that is, the force application points are updated, and the robot operates based on these updated force application points, so as to realize the adjustment of the item to solve the surface defect or edge defect problems of the item surface.

[0083] Among them, updating the force application point is the force application position after adjusting and updating the position points for clamping the item.

[0084] In some embodiments, the specific implementation manner in step S4 (determining the updated force application points of the dual-arm robot according to the tilt adjustment instruction and controlling the actions of the dual-arm robot based on the updated force application points) includes: S41, obtaining the current force application points of the dual-arm robot, taking the current force application points corresponding to the upward inclined surface as the upward moving points, and taking the current force application points corresponding to the downward inclined surface as the downward moving points.

[0085] It is understandable that after receiving the tilt adjustment instruction, it is first necessary to clarify the current force application position of the robot on the item, that is, the current force application point. Combining the previously determined upward inclined surface and downward inclined surface, the current force application points corresponding to the upward inclined surface are marked as upward moving points, and the current force application points corresponding to the downward inclined surface are marked as downward moving points, so as to move the item in the direction according to the determined upward moving points and downward moving points subsequently.

[0086] S42, determining the upper edge line of the upward inclined surface and the upper midpoint of the upper edge line, and moving the upward moving points to the upper midpoint by a preset distance to obtain the upper force application points.

[0087] It is understandable that after clarifying the upward moving points, a new position needs to be determined for them. Thus, the upper edge line of the upward inclined surface can be determined, and then the midpoint of the upper edge line, that is, the upper midpoint, is calculated. The upward moving points are moved towards this upper midpoint by a preset distance. This preset distance is preset according to the actual situation. The position obtained after moving is the upper force application point, which is a part of the updated force application point.

[0088] Among them, the upper edge line is the upper boundary line of the upward inclined surface, the upper midpoint is the central position point of the upper edge line, the preset distance is the preset moving distance, and the upper force application point is the new force application position point corresponding to the upper edge line determined after moving.

[0089] S43. Determine the lower edge line of the downward inclined surface and the lower midpoint of the lower edge line, and move the upward moving point to the lower midpoint to obtain the lower force application point.

[0090] It can be understood that, similar to determining the upper force application point, for the downward inclined surface, first determine its lower edge line and the midpoint of the lower edge line (lower midpoint). However, here the upward moving point is moved to the position of the lower midpoint to obtain the lower force application point, which is also an important part of updating the force application point.

[0091] Among them, the lower edge line is the lower boundary line of the downward inclined surface, the lower midpoint is the central position point of the lower edge line, the preset distance is the pre-set moving distance, and the lower force application point is the new force application position point corresponding to the lower edge line determined after moving.

[0092] S44. Determine the updated force application point of the dual-arm robot according to the upper force application point and the lower force application point, and control the movement of the dual-arm robot based on the updated force application point.

[0093] It can be understood that combining the upper force application point and the lower force application point obtained previously constitutes the updated force application point of the dual-arm robot. The dual-arm robot will adjust its own actions according to these updated force application points, and apply force at the new force application points to make the item tilt according to the requirements of the tilt adjustment instruction, thereby attempting to improve the single-sided defect situation of the item.

[0094] In some embodiments, the specific implementation manner in step S4 (generating a single adjustment instruction according to the to-be-determined force application surface group) includes: S45. If the single adjustment instruction corresponds to upper and lower defects, determine the central axis parallel to the to-be-determined force application surface of the item as the rotation axis, and after performing a clockwise 90° rotation adjustment based on the rotation axis, control the item to rotate 90° clockwise in the horizontal direction.

[0095] It can be understood that when the single adjustment instruction is for upper and lower defects, first use the central axis parallel to the to-be-determined force application surface as the rotation axis. Such a selection of the rotation axis can ensure a better adjustment effect on the upper and lower edge defects during the rotation process. Thus, a clockwise 90° rotation adjustment can be performed in the vertical direction according to this rotation axis, and then the item is controlled to rotate 90° clockwise in the horizontal direction. Through this series of rotation operations, the reference placement position of the item is changed, avoiding defects on the corresponding upper and lower edges of the item caused by the clamping force application of the dual-arm robot, and improving the stability of the item.

[0096] Among them, the rotation axis is the central axis in the direction of rotating the item.

[0097] S46. If the single adjustment instruction corresponds to left and right defects, determine a 90° clockwise rotation adjustment of the article in the horizontal direction according to the single adjustment instruction.

[0098] It can be understood that when the single adjustment instruction is for left and right defects, directly control the article to rotate 90° clockwise in the horizontal direction. Through the rotation operation in the horizontal direction, the left and right defects may be improved to a certain extent. That is, by changing the horizontal placement direction of the article, the force-bearing situation of the sides of the article is adjusted, creating conditions for repairing the side defects.

[0099] In some embodiments, it further includes: A1. Obtain the initial force application value of the dual-arm robot, perform a reduction process on the initial force application value according to the adjustment coefficient to obtain the upper force application value, and perform an increase process on the initial force application value according to the adjustment coefficient to obtain the lower force application value.

[0100] It can be understood that on the basis of having determined the relevant parameters for tilt adjustment (such as the adjustment coefficient) and the upper and lower force application points, first, the force application value of the dual-arm robot in the initial state can be obtained, that is, the initial force application value. Then, according to the adjustment coefficient calculated based on the area ratio of the surface defect data relative to the force application surface, different processes are performed on the initial force application value. That is, for the upper force application point, the initial force application value is reduced according to the adjustment coefficient. In this way, the obtained upper force application value can make the upper force application point apply a relatively small force in subsequent operations. Since the upper force application point corresponds to the upward inclined surface with a single-sided defect, a smaller force can more finely adjust the tilt angle of the article and avoid excessive influence on the article. For the lower force application point, the initial force application value is increased according to the adjustment coefficient to obtain the lower force application value. The larger lower force application value helps to stabilize the tilt posture of the article and, in cooperation with the force application situation of the upper force application point, jointly realizes the accurate tilt adjustment of the article.

[0101] Among them, the initial force application value is a reference value for the robot to apply force, the upper force application value is the value after reducing and adjusting the initial force application value, and the lower force application value is the value after increasing and adjusting the initial force application value.

[0102] A2. Control the action of the upper force application point based on the upper force application value, and control the action of the lower force application point based on the lower force application value.

[0103] It can be understood that the upper force application point is made to act according to the upper force application value, that is, the upper force application point applies a force to the article according to the magnitude of the adjusted force, so as to realize the upward tilting operation. Similarly, the lower force application point acts according to the lower force application value and applies a corresponding force to the article to realize the downward tilting operation. By making the upper and lower force application points act according to the corresponding force application values respectively, the article can accurately reach the previously calculated tilting angle, better adjust the article with a single-sided defect, improve the accuracy and effect of article processing, and at the same time ensure the stability and safety of the article during the operation process.

[0104] In some embodiments, the specific implementation manner of step S4 (generating a horizontal adjustment instruction according to the double-sided defect, determining the updated force application points of the dual-arm robot according to the horizontal adjustment instruction, and controlling the dual-arm robot to act based on the updated force application points) includes: S47, determining the surface defect data corresponding to the current force application surface group. If there are two pieces of surface defect data, generating a double-sided defect, and generating a horizontal adjustment instruction according to the double-sided defect.

[0105] It can be understood that the surface defect data corresponding to the current force application surface group can be determined through image recognition. When it is found that there are surface defect data on both surfaces, it can be determined that the article has a double-sided defect. Therefore, after determining the double-sided defect, according to the characteristics of the double-sided defect type, a horizontal adjustment instruction is generated. Since the double-sided defect is a defect caused by force application on both surfaces, it may need to be solved through horizontal adjustment, such as changing the horizontal placement direction of the article. For example, rotating the article horizontally by 90°, and adjusting the current left and right defect surfaces to the current front and rear surfaces, so that the defect can be better processed. Therefore, generating the horizontal adjustment instruction provides a clear direction for subsequent operations.

[0106] Among them, the horizontal adjustment instruction is an information instruction for horizontally adjusting the article.

[0107] S48, rotating the article 90 degrees clockwise in the horizontal direction based on the horizontal adjustment instruction to obtain an updated force application surface group, determining the updated force application points of the dual-arm robot according to the updated force application surface group, and controlling the dual-arm robot to act based on the updated force application points.

[0108] It can be understood that after obtaining the horizontal adjustment instruction, according to the instruction requirements, the dual-arm robot is controlled to perform a 90-degree clockwise rotation operation on the article in the horizontal direction. After such rotation, the force application surface group of the article changes, forming an updated force application surface group. The updated force application surface group determines the new force application positions and methods of the dual-arm robot. According to this updated force application surface group, the updated force application points of the dual-arm robot are further determined.

[0109] Among them, the updated force application point is the position where the robot actually applies force. Thus, the actions of the dual-arm robot are controlled based on the updated force application point, enabling the robot to accurately perform a horizontal rotation operation on the item, thereby improving the double-sided defect situation of the item. The method for adjusting the item posture by adjusting the force application point and the force application method helps to improve the effectiveness and accuracy of item defect handling.

[0110] As Figure 2 shown, an embodiment of the present invention provides a schematic structural diagram of an electrical equipment automation control system. The electrical equipment automation control system includes: An identification module, configured to collect the surface image of the item in real time, perform defect identification on the surface image, and generate surface defect data and / or edge defect data.

[0111] A generation module, configured to analyze the surface defect data to determine single-sided defects or double-sided defects, generate an inclination adjustment instruction according to the single-sided defects, and generate a horizontal adjustment instruction according to the double-sided defects.

[0112] A determination module, configured to, when there is edge defect data, determine a to-be-determined force application surface group based on the edge defect data, and generate a single adjustment instruction according to the to-be-determined force application surface group.

[0113] A control module, configured to determine the updated force application point of the dual-arm robot according to the inclination adjustment instruction, the horizontal adjustment instruction, or the single adjustment instruction, and control the actions of the dual-arm robot based on the updated force application point.

[0114] Referring to Figure 3 , it is a schematic hardware structure diagram of an electronic device provided by an embodiment of the present invention. The electronic device 30 includes: a processor 31, a memory 32, and a computer program; among them The memory 32 is used to store the computer program. The memory can also be a flash memory. The computer program is, for example, an application program, a functional module, etc. that implement the above method.

[0115] The processor 31 is configured to execute the computer program stored in the memory to implement each step performed by the device in the above method. Specifically, reference can be made to the relevant descriptions in the foregoing method embodiments.

[0116] Optionally, the memory 32 can be either independent or integrated with the processor 31.

[0117] When the memory 32 is a device independent of the processor 31, the device may further include: A bus 33, used to connect the memory 32 and the processor 31.

[0118] The present invention also provides a readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, it is used to implement the methods provided by the above various embodiments.

[0119] Among them, the readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The computer storage medium can be any available medium that can be accessed by a general or special-purpose computer. For example, the readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). In addition, the ASIC can be located in a user device. Of course, the processor and the readable storage medium can also exist as discrete components in a communication device. The readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0120] The present invention also provides a program product, which includes execution instructions stored in a readable storage medium. At least one processor of the device can read the execution instructions from the readable storage medium, and the execution of the execution instructions by at least one processor causes the device to implement the methods provided by the above various embodiments.

[0121] In the above embodiments of the device, it should be understood that the processor can be a central processing unit (CPU for short), and can also be other general-purpose processors, digital signal processors (DSP for short), application specific integrated circuits (ASIC for short), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in combination with the present invention can be directly embodied as being completed by the execution of the hardware processor, or can be completed by a combination of hardware and software modules in the processor.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic control method for an electrical device, characterized in that, Including: Collecting the surface image of the article in real time, identifying defects in the surface image, and generating surface defect data and / or edge defect data; Analyzing the surface defect data to determine single-sided defects or double-sided defects, generating an inclination adjustment instruction according to the single-sided defects, and generating a horizontal adjustment instruction according to the double-sided defects; When there is edge defect data, determining a to-be-applied force surface group based on the edge defect data, and generating a single adjustment instruction according to the to-be-applied force surface group; Determining the updated force application points of the dual-arm robot according to the inclination adjustment instruction, horizontal adjustment instruction or single adjustment instruction, and controlling the actions of the dual-arm robot based on the updated force application points.

2. The machine data adjustment method according to claim 1, wherein The collecting the surface image of the article in real time, identifying defects in the surface image, and generating surface defect data and / or edge defect data includes: Determining the preset clamping force of each clamping arm of the dual-arm robot according to the article, and the current force application surface group, and clamping the preset force application surface group of the article based on the preset clamping force; When the article is higher than the set ground clearance, controlling the acquisition device to collect the surface of the preset force application surface group to obtain a surface image; Identifying defects in the surface image, and generating surface defect data and / or edge defect data.

3. The method for adjusting machine data according to claim 1 or 2, characterized in that, Identifying defects in the surface image, and generating surface defect data and / or edge defect data includes: Extracting the image center of the surface image, and a plurality of edge contour lines; Obtaining two end points of the edge contour line, generating a comparison straight line according to the two end points, extracting a plurality of vertical distances between the edge contour line and the comparison straight line, and generating edge defect data when the vertical distance is greater than a preset value; Copying the edge contour line to generate a moving line, moving the moving line by a set distance in the moving direction of the image center, and generating an edge area according to the moved moving line and the corresponding edge contour line; Taking the data outside the edge area in the surface image as the surface area, and if there is a depression or protrusion in the surface area, taking the corresponding surface area as the surface defect data.

4. The machine data adjustment method according to claim 1, wherein The analyzing the surface defect data to determine single-sided defects or double-sided defects, and generating an inclination adjustment instruction according to the single-sided defects includes: Determining the surface defect data corresponding to the current force application surface group, if there is one surface defect data, generating a single-sided defect, and generating an inclination adjustment instruction according to the single-sided defect; Responding to the inclination adjustment instruction, taking the force application surface corresponding to the single-sided defect as the upward inclined surface, and taking the other force application surface as the downward inclined surface; Obtaining the area ratio of the surface defect data relative to the force application surface, generating an adjustment coefficient according to the area ratio, and calculating and determining the inclination angle based on the adjustment coefficient for the preset adjustment angle; Tilting the upward inclined surface upward and tilting the downward inclined surface downward so that the current angle between the bottom surface of the article and the horizontal plane is equal to the inclination angle.

5. The machine data adjustment method according to claim 4, wherein Determining the updated force application points of the dual-arm robot according to the inclination adjustment instruction, and controlling the actions of the dual-arm robot based on the updated force application points includes: Obtaining the current force application points of the dual-arm robot, taking the current force application points corresponding to the upward inclined surface as the upward moving points, and taking the current force application points corresponding to the downward inclined surface as the downward moving points; Determine the upper edge line of the upward inclined surface and the upper midpoint of the upper edge line, and move the upward moving point to the upper midpoint by a preset distance to obtain an upper force application point; Determine the lower edge line of the downward inclined surface and the lower midpoint of the lower edge line, and move the upward moving point to the lower midpoint to obtain a lower force application point; Determine the updated force application point of the dual-arm robot according to the upper force application point and the lower force application point, and control the action of the dual-arm robot based on the updated force application point.

6. The machine data adjustment method according to claim 5, wherein It further includes: Obtain the initial force application value of the dual-arm robot, reduce the initial force application value according to the adjustment coefficient to obtain an upper force application value, and increase the initial force application value according to the adjustment coefficient to obtain a lower force application value; Control the action of the upper force application point based on the upper force application value, and control the action of the lower force application point based on the lower force application value.

7. The machine data adjustment method according to claim 1, wherein Generate a horizontal adjustment instruction according to the double-sided defect, determine the updated force application point of the dual-arm robot according to the horizontal adjustment instruction, and control the action of the dual-arm robot based on the updated force application point, including: Determine the surface defect data corresponding to the current force application surface group. If there are two surface defect data, generate a double-sided defect, and generate a horizontal adjustment instruction according to the double-sided defect; Rotate the item 90 degrees clockwise in the horizontal direction based on the horizontal adjustment instruction to obtain an updated force application surface group, determine the updated force application point of the dual-arm robot according to the updated force application surface group, and control the action of the dual-arm robot based on the updated force application point.

8. The machine data adjustment method according to claim 1, characterized in that When there is edge defect data, determine the to-be-determined force application surface group based on the edge defect data, including: When there is edge defect data, determine the position information corresponding to the edge defect data. The position information includes upper and lower defects and / or left and right defects. The upper and lower defects include upper edge defects and / or lower edge defects, and the left and right defects include left edge defects and / or right edge defects; According to the upper and lower defects, determine the item surface adjacent to the upper edge defect or the lower edge defect as the first adjustment force application surface, use the force application surface opposite to the first adjustment force application surface as the second adjustment force application surface, and determine the to-be-determined force application surface group according to the first adjustment force application surface and the second adjustment force application surface; According to the left and right defects, determine the item surface adjacent to the left edge defect or the right edge defect as the third adjustment force application surface, use the force application surface opposite to the third force application surface as the fourth adjustment force application surface, and determine the to-be-determined force application surface group according to the third adjustment force application surface and the fourth adjustment force application surface.

9. The machine data adjustment method according to claim 8, characterized in that, The generating a single adjustment instruction according to the to-be-determined force application surface group includes: If the single adjustment instruction corresponds to upper and lower defects, determine the central axis parallel to the to-be-determined force application surface of the item as the rotation axis according to the single adjustment instruction, and after performing a 90° clockwise rotation adjustment based on the rotation axis, control the item to rotate 90° clockwise in the horizontal direction; If the single adjustment instruction corresponds to left and right defects, determine a 90° clockwise rotation adjustment of the item in the horizontal direction according to the single adjustment instruction.

10. The automated control system for an electrical device according to claim 1, characterized in that, It includes: An identification module for collecting the surface image of the item in real time, performing defect identification on the surface image, and generating surface defect data and / or edge defect data; A generation module, configured to parse the surface defect data to determine single-sided defects or double-sided defects, generate an inclination adjustment instruction according to the single-sided defects, and generate a horizontal adjustment instruction according to the double-sided defects; A determination module, configured to, when there is edge defect data, determine a to-be-applied force surface group based on the edge defect data, and generate a single adjustment instruction according to the to-be-applied force surface group; A control module, configured to determine updated force application points of the dual-arm robot according to the inclination adjustment instruction, the horizontal adjustment instruction or the single adjustment instruction, and control the actions of the dual-arm robot based on the updated force application points.

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