An adaptive control method and system for curved surface flexible polishing

Abstract

The application provides a self-adaptive control method and system for curved surface flexible polishing, relates to the technical field of material polishing, and is applied to a curved surface flexible polishing device.The self-adaptive control method comprises the following steps: before polishing, first detection data of a curved surface to be polished is acquired by a first detection module; based on the first detection data, the working parameters of a polishing module are adjusted; in the polishing process, the curved surface is detected again by a second detection module to acquire second detection data; and based on the second detection data, the working parameters of each corresponding polishing unit in the polishing module are adjusted.The application performs one detection before polishing and one detection in the polishing process, thereby adjusting the working of the polishing module and the polishing unit, has good adaptability to different curved surfaces, and realizes the response to local deviations of the curved surface appearance through the detection adjustment in the polishing process.

Description

Technical Field

[0001] This invention relates to the field of material polishing technology, and in particular to an adaptive control method and system for flexible polishing of curved surfaces. Background Technology

[0002] Traditional surface polishing relies heavily on manual operation or robotic arms with fixed trajectories, which suffers from problems such as uneven polishing pressure, difficulty in real-time adjustment of contact force, and poor adaptability to the geometric complexity of curved surfaces. Existing automated polishing systems mostly use pre-programmed paths and fixed pressure parameters, which cannot cope with local deviations in the surface morphology of the workpiece. Summary of the Invention

[0003] One of the objectives of this invention is to provide an adaptive control method and system for flexible polishing of curved surfaces to solve the aforementioned technical problems.

[0004] This invention provides an adaptive control method for flexible polishing of curved surfaces, applied to a flexible polishing device. The flexible polishing device includes: a fixing module for fixing the curved surface to be polished, a polishing module, a rotation module, and a telescopic module. The polishing module includes: a polishing work platform and two telescopic mechanisms symmetrically arranged at both ends of the polishing work platform. Multiple polishing mechanisms are arrayed on the polishing work platform. Each polishing mechanism includes at least one second detection module and at least one polishing unit, with each polishing unit corresponding to one of the second detection modules. Before polishing, the first detection data of the first detection module is obtained to detect the curved surface to be polished; Based on the first detection data, adjust the operating parameters of the polishing module; During the polishing process, the curved surface is subjected to secondary inspection by the second inspection module to obtain second inspection data; Based on the second detection data, adjust the working parameters of each corresponding polishing unit in the polishing module; The first detection data includes the position data of each sampling point of the curve of the surface on the preset working plane; the second detection data includes: contact force data and / or temperature data.

[0005] Preferably, after the fixed module fixes the curved surface to be polished, the telescopic module moves to bring the curved surface fixed on the fixed module close to the polishing module, and the rotating module moves to rotate the curved surface fixed on the fixed module; one end of the telescopic mechanism is hinged to one end of the polishing work platform, and the other end is fixedly mounted on the fixed frame; the working parameters of the polishing module include: the telescopic amount of the telescopic mechanism; the working parameters of the polishing unit include: the working force.

[0006] Preferably, the first detection module includes a laser rangefinder sensor, which is configured on one side of the polishing module and located above the fixed module; the telescopic module moves the fixed curved surface on the fixed module to approach the polishing module before passing under the laser rangefinder sensor.

[0007] Preferably, the adaptive control method for flexible polishing of curved surfaces further includes: After polishing is completed, the third detection data of the first detection module's re-detection of the curved surface is obtained; Based on the third-party detection data and a pre-configured standard analysis library, determine whether to perform repolishing; When necessary, determine the location of the area that needs to be processed again on the curved surface and use the corresponding part of the data in the third detection data as the area data; Adjust the operating parameters of the polishing module based on the regional data.

[0008] Preferably, the adaptive control method for flexible polishing of curved surfaces further includes: During the polishing process, the control parameters of the telescopic module and / or rotating module are determined based on the working parameters of the polishing module and the polishing unit.

[0009] This invention also provides an adaptive control system for flexible polishing of curved surfaces, applied to a flexible polishing device. The flexible polishing device includes: a fixing module for fixing the curved surface to be polished, a polishing module, a rotation module, and a telescopic module. The polishing module includes: a polishing work platform and two telescopic mechanisms symmetrically arranged at both ends of the polishing work platform. Multiple polishing mechanisms are arrayed on the polishing work platform. Each polishing mechanism includes at least one second detection module and at least one polishing unit, with each polishing unit corresponding to one of the second detection modules. The system includes: a first detection module, a first adjustment module, a second detection module, and a second adjustment module. Before polishing, the first detection module acquires first detection data of the curved surface to be polished. The first adjustment module adjusts the working parameters of the polishing module based on the first detection data. During polishing, the second detection module performs a second detection on the curved surface to acquire second detection data. The second adjustment module adjusts the working parameters of each corresponding polishing unit in the polishing module based on the second detection data. The first detection data includes the position data of each sampling point of the curve of the surface on the preset working plane; the second detection data includes: contact force data and / or temperature data.

[0010] Preferably, after the fixed module fixes the curved surface to be polished, the telescopic module moves to bring the curved surface fixed on the fixed module close to the polishing module, and the rotating module moves to rotate the curved surface fixed on the fixed module; one end of the telescopic mechanism is hinged to one end of the polishing work platform, and the other end is fixedly mounted on the fixed frame; the working parameters of the polishing module include: the telescopic amount of the telescopic mechanism; the working parameters of the polishing unit include: the working force.

[0011] Preferably, the first detection module includes a laser rangefinder sensor, which is configured on one side of the polishing module and located above the fixed module; the telescopic module moves the fixed curved surface on the fixed module to approach the polishing module before passing under the laser rangefinder sensor.

[0012] Preferably, the adaptive control system for flexible polishing of curved surfaces further includes: a third detection module, an analysis module, and a rework control module; After polishing is completed, the third detection module obtains the third detection data of the first detection module's re-inspection of the curved surface; the analysis module determines whether to perform re-polishing based on the third detection data and the pre-configured standard analysis library; when necessary, the rework control module determines the location of the area that needs to be reprocessed on the curved surface and uses the corresponding part of the data in the third detection data as the area data; and adjusts the working parameters of the polishing module based on the area data.

[0013] Preferably, the adaptive control system for flexible polishing of curved surfaces further includes: a coordination control module, used to determine the control parameters of the telescopic module and / or the rotation module based on the working parameters of the polishing module and the polishing unit during the polishing process.

[0014] The beneficial effects of this invention are as follows: An inspection is performed before and during polishing to adjust the operation of the polishing module and polishing unit, which has good adaptability to different curved surfaces. Furthermore, the inspection and adjustment during polishing can address local deviations in the surface morphology.

[0015] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of an adaptive control method for flexible polishing of curved surfaces according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the curved surface flexible polishing device in an embodiment of the present invention; Figure 3 This is a schematic diagram of the polishing mechanism of the curved flexible polishing device in an embodiment of the present invention; Figure 4 This is a schematic diagram of the polishing unit of the curved flexible polishing device in an embodiment of the present invention; Figure 5 This is a schematic diagram of an adaptive control system for flexible polishing of curved surfaces according to an embodiment of the present invention. Detailed Implementation

[0018] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0019] Example 1: This embodiment of the invention provides an adaptive control method for flexible polishing of curved surfaces, applied to a flexible polishing device for curved surfaces, such as... Figure 1 As shown, it includes: Step 1: Before polishing, obtain the first detection data of the surface to be polished by the first detection module; The first detection data includes the position data of each sampling point of the curve of the surface on the preset working plane; that is, the surface morphology of the surface is fully understood through the first detection data. Step 2: Based on the first detection data, adjust the working parameters of the polishing module; The working parameters of the polishing module include: the extension and retraction of the telescopic mechanism. By controlling the extension and retraction of the telescopic mechanisms on both sides of the polishing module, the posture of the polishing work platform is adjusted, thereby adjusting the contact angle between the polishing unit and the curved surface. The specific adjustment control is as follows: the position data of each sampling point are arranged according to the spatial position relationship of the sampling points to form a dataset; after normalizing the dataset, an analysis set is obtained; the analysis set is matched with each standard dataset in the pre-configured first control library; the working parameters corresponding to the standard datasets matched with the analysis set are retrieved; and then the polishing module is adjusted according to the retrieved working parameters. The first control library is pre-analyzed and configured by professionals, and the standard datasets and working parameters in the first control library are associated one-to-one. Step 3: During the polishing process, the curved surface is subjected to secondary inspection by the second inspection module to obtain the second inspection data; The second set of test data includes: contact force data and / or temperature data; the material and temperature of the curved surface are understood through the contact force data and temperature data. Step 4: Based on the second detection data, adjust the working parameters of each corresponding polishing unit in the polishing module; The working parameters of the polishing unit include: working force; taking into account the material and temperature of the curved surface, the polishing process is monitored and adjusted to address local deviations in the surface morphology; based on the second detection data, the working parameters of each corresponding polishing unit in the polishing module are adjusted, specifically including: sampling the second detection data based on a pre-configured sampling time interval to obtain sampled data; when the sampled data reaches a preset quantity threshold, feature extraction is performed on the sampled data to obtain feature parameters; based on the feature parameters, the working parameters of the corresponding polishing unit are retrieved from the pre-configured second control library; the feature parameters include: parameters representing the average, maximum, and minimum values ​​of the contact force, and parameters representing the average, maximum, and minimum values ​​of the temperature; the sampling time interval ranges from 1 to 200 ms; the quantity threshold ranges from 2 to 100; the second control library is also pre-configured by professionals, and the working parameters of the polishing units in the second control library are associated with the feature parameters one-to-one; Among them, such as Figures 2 to 4 As shown, the curved surface flexible polishing device includes: a fixing module 10 for fixing the curved surface 20 to be polished, a polishing module 11, a rotating module 14, a first detection module 12, and a telescopic module 13; the first detection module 12 is disposed on one side of the polishing module and above the fixing module 10; the fixing module 10 passes directly below the first detection module 12 under the action of the telescopic module 13; the polishing module 11 includes: a polishing work platform 11-2 and two telescopic mechanisms 11-1 symmetrically disposed at both ends of the polishing work platform 11-2; a plurality of polishing mechanisms 11-3 are arrayed on the polishing work platform 11-2; each polishing mechanism 11-3 includes at least one second detection module 15 and at least one polishing unit 16, and the polishing unit 16 is configured in a one-to-one correspondence with the second detection module 15; the curved surface to be polished is the curved surface on the workpiece, and fixing the workpiece with the fixing module is a mature existing technology, which will not be described in detail here; for example: there are screw holes on the workpiece, the fixing module is configured as a column and one end is provided with a bolt; the fixing is achieved by the engagement of the screw holes and the bolts; After the fixed module secures the curved surface to be polished, the telescopic module moves to bring the curved surface fixed on the fixed module closer to the polishing module, and the rotating module moves to rotate the curved surface fixed on the fixed module. One end of the telescopic mechanism is hinged to one end of the polishing work platform, and the other end is fixedly mounted on the fixed frame (not shown in the figure). The specific workflow is as follows: the curved surface is fixed to the fixed module, the telescopic module extends, and the rotating module rotates. During the extension of the telescopic module, the first detection module detects the curved surface. Based on the detection by the first detection module, the posture of the polishing module is adjusted to control the contact angle between the polishing unit and the curved surface. When the polishing unit contacts the curved surface, the rotating module continues to rotate to achieve the desired contact angle between the polishing unit and the curved surface. Relative motion ensures the effective execution of the polishing action. During the polishing process, the contact force and temperature are monitored by a second detection module in the polishing mechanism located on the polishing platform. The working parameters of the polishing unit are controlled based on the detected data to achieve differentiated polishing of local differences in the curved surface, thereby coordinating overall polishing consistency. To ensure the effectiveness of the detection and adjustment during the polishing process, a rotation speed threshold needs to be configured. Only when the rotation speed of the rotating module is less than or equal to the rotation speed threshold will the working parameters of each corresponding polishing unit in the polishing module be adjusted based on the second detection data; otherwise, no adjustment is made. The rotation speed threshold is configured within the range of 1 to 100 rpm. To achieve the detection of the first detection data, the first detection module includes: a laser rangefinder sensor, configured on one side of the polishing module and located above the fixed module; the telescopic module moves the curved surface fixed on the fixed module close to the polishing module before passing under the laser rangefinder sensor. To achieve a full scan of the curved surface, when the telescopic module moves the curved surface under the first detection module, the telescopic module extends towards the polishing module by a preset length for each rotation of the rotating module; the preset length can be configured to any value between 0.1 and 3 mm. To enable the monitoring of the second detection data, the second detection module includes a temperature detection unit and a contact force detection unit; wherein, the temperature detection unit includes a temperature sensor; and the contact force detection unit includes a six-dimensional force / torque sensor.

[0020] Multiple polishing units are configured on the polishing work platform of the polishing module. Each polishing unit is hinged on the polishing work platform. When polishing larger workpieces, multiple polishing mechanisms are in contact with the curved surface at the same time. Since the polishing mechanism is hinged on the polishing work platform, due to the contact action, the polishing unit of each polishing mechanism will adaptively align with the corresponding position of the curved surface. That is, the central axis of each polishing unit and the vector in the vertical direction on the curved surface at the contact position coincide. In addition, such as Figure 3As shown, the polishing mechanism 11-3 includes at least one second detection module 15 and at least one polishing unit 16; the second detection module 15 includes a temperature detection unit 15-2 and a contact force detection unit 15-1; the two ends of the polishing unit 16 are configured in an arc shape; as shown Figure 4 As shown, the polishing unit 16 includes a base 16-2 and a polishing body 16-1; the polishing body 16-1 is disposed in the receiving cavity 16-3 of the base 16-2; the cross-section of the polishing body 16-1 is configured as an I-shape; protrusions are provided on both sides of the polishing body 16-1 near the upper surface; the protrusions and the receiving cavity are sealed; a step is provided at the opening of the receiving cavity 16-3 to limit the polishing body 16-1 from sliding off the base 16-2; at least one oil inlet or air inlet (not shown in the figure) is provided on the upper end face of the receiving cavity 16-3, and the working force of the polishing body 16-1, that is, the working force of the polishing unit 16, is controlled by injecting hydraulic oil or compressed air into the receiving cavity 16-3 through the oil inlet or air inlet.

[0021] Example 2: This embodiment of the invention provides an adaptive control method for flexible polishing of curved surfaces, applied to a flexible polishing device for curved surfaces, including: Before polishing, the first detection data of the first detection module is obtained to detect the curved surface to be polished; Based on the first detection data, adjust the operating parameters of the polishing module; During the polishing process, the curved surface is subjected to secondary inspection by the second inspection module to obtain second inspection data; Based on the second detection data, adjust the working parameters of each corresponding polishing unit in the polishing module; To enable post-polishing inspection and re-polishing control, the adaptive control method for flexible surface polishing also includes: After polishing is completed, the third detection data of the first detection module's re-detection of the curved surface is obtained; Based on the third-party detection data and a pre-configured standard analysis library, determine whether to perform repolishing; When necessary, determine the location of the area that needs to be processed again on the curved surface and use the corresponding part of the data in the third detection data as the area data; Adjust the operating parameters of the polishing module based on the regional data.

[0022] The process of determining whether to perform further polishing based on the third detection data and a pre-configured standard analysis library includes: grouping the third detection data according to each action of the scaling module and averaging the data; arranging the average values ​​in order to form a dataset; matching the dataset with the standard dataset in the standard analysis library; if the match is found, further polishing is not required; otherwise, it is required. When necessary, determine the location of the area requiring further processing on the curved surface and use the corresponding portion of the third detection data as the area data, including: The dataset and the standard dataset are split accordingly to obtain a data subset and a standard data subset. The splitting rule is to extract the data from the Nth to Mth position of the dataset as the data subset; at the same time, extract the data from the Nth to Mth position of the standard dataset as the standard data subset; where M is greater than N, and the difference between M and N is greater than or equal to 2. Calculate the similarity between a subset of data and a standard subset of data; Find the set of all data subsets with similarity less than or equal to a preset threshold to obtain the dataset corresponding to the region that needs to be processed again. Integrate the data in the dataset to correspond to the data in the third detection data to obtain the region data. The standard dataset corresponds to the data obtained by the first detection module after the qualified polished surface is detected. The average value is then calculated by grouping the data according to each action of the scaling module. The average values ​​are then arranged in order to form the dataset.

[0023] Example 3: This embodiment of the invention provides an adaptive control method for flexible polishing of curved surfaces, applied to a flexible polishing device for curved surfaces, including: Before polishing, the first detection data of the first detection module is obtained to detect the curved surface to be polished; Based on the first detection data, adjust the operating parameters of the polishing module; During the polishing process, the curved surface is subjected to secondary inspection by the second inspection module to obtain second inspection data; Based on the second detection data, adjust the working parameters of each corresponding polishing unit in the polishing module; To ensure polishing results, the adaptive control method for flexible polishing of curved surfaces also includes: During the polishing process, the control parameters of the telescopic module and / or rotating module are determined based on the working parameters of the polishing module and the polishing unit.

[0024] The telescopic module and / or rotation module are controlled by the working parameters of the polishing module and the polishing unit to ensure the polishing effect through coordinated polishing actions. Specifically, this can be done through a coordinated control table, by substituting the working parameters of the polishing module and the polishing unit into the query to obtain the control parameters of the telescopic module and / or rotation module.

[0025] Example 4: This embodiment of the invention provides an adaptive control method for flexible polishing of curved surfaces, applied to a flexible polishing apparatus for curved surfaces, comprising: Before polishing, the first detection data of the first detection module is obtained to detect the curved surface to be polished; Based on the first detection data, adjust the operating parameters of the polishing module; During the polishing process, the curved surface is subjected to secondary inspection by the second inspection module to obtain second inspection data; Based on the second detection data, adjust the working parameters of each corresponding polishing unit in the polishing module; To achieve precision in polishing the curved surfaces of smaller workpieces (where a single polishing body is sufficient to cover the curved surface), the surface of the polishing body can be configured as an arc, with each polishing mechanism having a different degree of curvature. Based on the initial detection data, the operating parameters of the polishing module are adjusted, including: The first control library's call analysis library and the corresponding first control library for each polishing mechanism are configured in advance. First, the surface shape is analyzed based on the first detection data, that is, the average value of the detected position after each movement of the telescopic mechanism is taken. Using the first average value as a reference value, the difference between the average value and the reference value is calculated sequentially, and then the difference values ​​are arranged to form a call analysis set. The call analysis set is matched with the call standard set corresponding to each first control library in the call analysis library. The first detection data is analyzed again using the first control library corresponding to the matching call standard set to obtain the working parameters of the polishing module. Among them, the call standard set uses the length of each movement of the telescopic mechanism as the sampling interval, and points are sampled on the surface of the polishing body from one end of the polishing body to obtain data points. The height difference between the extracted data points and the first data point is calculated respectively, and the height differences are arranged to form a call standard set.

[0026] Example 5: The present invention also provides an adaptive control system for flexible polishing of curved surfaces, applied to a flexible polishing device for curved surfaces, such as... Figure 5 As shown, it includes: a first detection module 1, a first adjustment module 2, a second detection module 3, and a second adjustment module 4; before polishing, the first detection module 1 acquires first detection data from the first detection module to detect the curved surface to be polished; the first adjustment module 2 adjusts the working parameters of the polishing module based on the first detection data; during the polishing process, the second detection module 3 performs a second detection on the curved surface through the second detection module to acquire second detection data; the second adjustment module 4 adjusts the working parameters of each corresponding polishing unit in the polishing module based on the second detection data; The curved surface flexible polishing device includes: a fixing module for fixing the curved surface to be polished, a polishing module, a rotating module, and a telescopic module; the polishing module includes: a polishing work platform and two telescopic mechanisms symmetrically arranged at both ends of the polishing work platform, and multiple polishing mechanisms are arrayed on the polishing work platform. Each polishing mechanism includes at least one second detection module and at least one polishing unit, and the polishing unit is configured in a one-to-one correspondence with the second detection module. The first detection data includes the position data of each sampling point of the curve of the surface on the preset working plane; the second detection data includes: contact force data and / or temperature data.

[0027] After the fixed module fixes the curved surface to be polished, the telescopic module moves to bring the curved surface fixed on the fixed module closer to the polishing module, and the rotating module moves to rotate the curved surface fixed on the fixed module. One end of the telescopic mechanism is hinged to one end of the polishing work platform, and the other end is fixedly set on the fixed frame. The working parameters of the polishing module include the telescopic amount of the telescopic mechanism. The working parameters of the polishing unit include the working force.

[0028] The first detection module includes a laser rangefinder sensor, which is configured on one side of the polishing module and located above the fixed module; the telescopic module moves the fixed curved surface on the fixed module to approach the polishing module before passing under the laser rangefinder sensor.

[0029] To enable re-inspection after surface polishing, the adaptive control system for flexible surface polishing also includes: a third inspection module, an analysis module, and a rework control module. After polishing is completed, the third detection module obtains the third detection data of the first detection module's re-inspection of the curved surface; the analysis module determines whether to perform re-polishing based on the third detection data and the pre-configured standard analysis library; when necessary, the rework control module determines the location of the area that needs to be reprocessed on the curved surface and uses the corresponding part of the data in the third detection data as the area data; and adjusts the working parameters of the polishing module based on the area data.

[0030] To achieve coordinated control of the polishing module, rotation module, and telescopic module, the adaptive control system for flexible surface polishing further includes: a coordination control module, used to determine the control parameters of the telescopic module and / or rotation module based on the working parameters of the polishing module and the polishing unit during the polishing process.

[0031] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An adaptive control method for flexible polishing of curved surfaces, applied to a flexible polishing apparatus for curved surfaces, wherein, The curved surface flexible polishing device includes: a fixing module for fixing the curved surface to be polished, a polishing module, a rotating module, a first detection module, and a telescopic module; the polishing module includes: a polishing work platform and two telescopic mechanisms symmetrically arranged at both ends of the polishing work platform; multiple polishing mechanisms are arrayed on the polishing work platform; each polishing mechanism includes at least one second detection module and at least one polishing unit, with each polishing unit corresponding to one of the second detection modules; characterized in that it includes: Before polishing, the first detection data of the first detection module is obtained to detect the curved surface to be polished; Based on the first detection data, adjust the operating parameters of the polishing module; During the polishing process, the curved surface is subjected to secondary inspection by the second inspection module to obtain second inspection data; Based on the second detection data, adjust the working parameters of each corresponding polishing unit in the polishing module; The first detection data includes the position data of each sampling point of the curve of the surface on the preset working plane; the second detection data includes: contact force data and / or temperature data.

2. The adaptive control method for flexible polishing of curved surfaces as described in claim 1, characterized in that, After the fixed module fixes the curved surface to be polished, the telescopic module moves to bring the curved surface fixed on the fixed module closer to the polishing module, and the rotating module moves to rotate the curved surface fixed on the fixed module. One end of the telescopic mechanism is hinged to one end of the polishing work platform, and the other end is fixedly mounted on the fixed frame. The working parameters of the polishing module include: the extension and retraction amount of the telescopic mechanism; the working parameters of the polishing unit include: the working force.

3. The adaptive control method for flexible polishing of curved surfaces as described in claim 2, characterized in that, The first detection module includes a laser rangefinder sensor, which is configured on one side of the polishing module and located above the fixed module; the telescopic module moves the fixed curved surface on the fixed module to approach the polishing module before passing under the laser rangefinder sensor.

4. The adaptive control method for flexible polishing of curved surfaces as described in claim 1, characterized in that, Also includes: After polishing is completed, the third detection data of the first detection module's re-detection of the curved surface is obtained; Based on the third-party detection data and a pre-configured standard analysis library, determine whether to perform repolishing; When necessary, determine the location of the area that needs to be processed again on the curved surface and use the corresponding part of the data in the third detection data as the area data; Adjust the operating parameters of the polishing module based on the regional data.

5. The adaptive control method for flexible polishing of curved surfaces as described in claim 1, characterized in that, Also includes: During the polishing process, the control parameters of the telescopic module and / or rotating module are determined based on the working parameters of the polishing module and the polishing unit.

6. An adaptive control system for flexible polishing of curved surfaces, applied to a flexible polishing apparatus for curved surfaces, wherein, A curved surface flexible polishing device includes: a fixing module for fixing the curved surface to be polished, a polishing module, a rotating module, and a telescopic module; the polishing module includes: a polishing work platform and two telescopic mechanisms symmetrically arranged at both ends of the polishing work platform; multiple polishing mechanisms are arrayed on the polishing work platform, each polishing mechanism including at least one second detection module and at least one polishing unit, with each polishing unit corresponding to one of the second detection modules; characterized in that it includes: a first detection module, a first adjustment module, a second detection module, and a second adjustment module; before polishing, the first detection module acquires first detection data of the curved surface to be polished; the first adjustment module adjusts the working parameters of the polishing module based on the first detection data; during the polishing process, the second detection module performs a second detection on the curved surface to acquire second detection data; the second adjustment module adjusts the working parameters of each corresponding polishing unit in the polishing module based on the second detection data; The first detection data includes the position data of each sampling point of the curve of the surface on the preset working plane; the second detection data includes: contact force data and / or temperature data.

7. The adaptive control system for flexible polishing of curved surfaces as described in claim 6, characterized in that, After the fixed module fixes the curved surface to be polished, the telescopic module moves to bring the curved surface fixed on the fixed module closer to the polishing module, and the rotating module moves to rotate the curved surface fixed on the fixed module. One end of the telescopic mechanism is hinged to one end of the polishing work platform, and the other end is fixedly mounted on the fixed frame. The working parameters of the polishing module include: the extension and retraction amount of the telescopic mechanism; the working parameters of the polishing unit include: the working force.

8. The adaptive control system for flexible polishing of curved surfaces as described in claim 7, characterized in that, The first detection module includes a laser rangefinder sensor, which is configured on one side of the polishing module and located above the fixed module; the telescopic module moves the fixed curved surface on the fixed module to approach the polishing module before passing under the laser rangefinder sensor.

9. The adaptive control system for flexible polishing of curved surfaces as described in claim 6, characterized in that, It also includes: a third detection module, an analysis module, and a resumption of work control module; After polishing is completed, the third detection module obtains the third detection data of the first detection module's re-inspection of the curved surface; the analysis module determines whether to perform re-polishing based on the third detection data and the pre-configured standard analysis library; when necessary, the rework control module determines the location of the area that needs to be reprocessed on the curved surface and uses the corresponding part of the data in the third detection data as the area data; and adjusts the working parameters of the polishing module based on the area data.

10. The adaptive control system for flexible polishing of curved surfaces as described in claim 6, characterized in that, Also includes: The coordination control module is used to determine the control parameters of the telescopic module and / or rotation module based on the working parameters of the polishing module and the polishing unit during the polishing process.

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