834 results about "Visual guidance" patented technology

The invention discloses a grabbing control system for robot visual guidance, and belongs to the technical field of grabbing control systems.The grabbing control system comprises a visual perception module used for collecting workpiece images, extracting workpiece feature information and calculating accurate coordinates of workpieces in space; the robot main body module is used for receiving a system instruction to drive a carrier to move to a target position; the grabbing execution module is used for being in contact with the workpiece, grabbing the workpiece stably and transferring the workpiece to a designated position to be placed without damage; the system integration module is used for guaranteeing the safety, operability and stability of the feeding and discharging process; according to the system, workpiece information can be accurately collected, the posture of the grabbing execution end is analyzed based on the workpiece position, the grabbing posture is corrected in real time according to the grabbing dynamic state, and the workpiece grabbing precision and stability are improved.

The invention discloses a printed circuit board defect detection method and system based on cross-modal prompt learning and visual guidance, and the method comprises the following steps: obtaining a defect-free PCB image sample, and obtaining a training data set; constructing an initial printed circuit board detection model; training the initial printed circuit board detection model by using the training data set to obtain a printed circuit board detection model; and completing the defect detection of the printed circuit board by using the printed circuit board detection model. According to the method, a synthetic anomaly generation strategy based on a PCB structure and physical prior is provided, a two-channel storage library mechanism is introduced, and a synthetic anomaly sample most valuable for model training is screened out through a difficult case mining strategy, so that visual anomaly mode guidance is provided. According to the method, a double-constraint alignment optimization strategy combining comparison loss and triple loss is adopted, the mapping relation between vision and text features is adjusted, and cross-modal alignment and clear normal / abnormal boundaries are achieved. According to the method provided by the invention, the accuracy, the robustness and the generalization capability of PCB defect detection under the data sparse condition can be remarkably improved.

The invention relates to a tunnel illumination control method considering visual adaptability of a driver, and belongs to the technical field of tunnel illumination control, and the method comprises the following steps: S1, employing a volume scattering point location method to obtain visual adaptability parameters of visual adaptation states of all segments in a tunnel; s2, dynamically constructing a predictive visual adaptation model of the driver group based on the visual adaptation parameters, and outputting expected visual states of the drivers according to the predictive visual adaptation model; s3, according to the expected visual state, a parameter control mechanism is adopted to control target illumination parameters of all the sections of the tunnel; s4, according to the target lighting parameters, the working state of lighting equipment in a corresponding section in the tunnel is regulated and controlled, so that the light environment in the tunnel is matched with the dynamic visual adaptability of a driver, and safe visual guidance is achieved; the method has the beneficial effects that the target illumination parameters of all the sections of the tunnel are controlled by adopting a parameter control mechanism according to the expected visual state according to the target illumination parameters.

The invention discloses an enamel product and an intelligent spraying system thereof, and belongs to the technical field of enamel product spraying, and the enamel product comprises a high-precision visual guidance module, an environment intelligent control module and an auxiliary function module, the intelligent environment control module is used for monitoring and dynamically regulating and controlling parameters such as temperature and humidity and dust concentration of a spraying environment in real time, ensuring stable coating quality and reducing energy consumption, and the auxiliary function module is used for realizing accurate spraying track planning and quality control through process connection, safety guarantee and data collaboration. And high efficiency and reliability of the spraying process are guaranteed. On the basis that spraying of the enamel product is achieved, the quality of the whole process is improved, and comprehensive benefits can be optimized.

The invention provides a dexterous hand based on multi-modal fusion control, and relates to the technical field of automatic control, the dexterous hand comprises a palm module, a palm center vision sensing module, a finger module, a fingertip force sensing module and a multi-modal control module; the palm center visual sensing module is used for acquiring visual information of the dexterous hand in a working area; the finger module comprises at least two fingers; the fingertip force sensing module is used for detecting information of contact force applied to the fingertip position; and the multi-mode control module is used for controlling the dexterous hand to grab a target object based on the visual information and the contact force information. According to the dexterous hand based on multi-mode fusion control, data of two modes of visual information and contact force information are fused, so that the dexterous hand can adapt to different grabbing environments, intelligent closed-loop control of visual guidance and force sense regulation and control is realized, and the environmental adaptability and flexibility of the dexterous hand are improved.

The invention relates to the technical field of electromyographic signal monitoring, and discloses a guided monitoring method and system based on a wireless surface electromyographic analysis feedback instrument. The method comprises the following steps: acquiring electromyographic signal time sequence data and limb movement track space coordinate information when a target muscle group moves through a multi-channel wireless surface electromyographic sensor; muscle activation intensity and fatigue change features are extracted, a joint activity angle change sequence is calculated, and a muscle-joint collaborative activity feature matrix is generated through space-time alignment fusion; analyzing signal transduction delay and amplitude matching degree in the matrix, and evaluating the nerve driving coordination level; according to the deviation from the preset standard mode, generating a real-time biological feedback signal containing an action correction instruction and a muscle activation intensity adjustment parameter; and converting into a tactile vibration mode and a visual guidance mark to be output. According to the method, synchronous acquisition and fusion analysis of multi-dimensional motion information are realized, and visual guidance is provided through multi-modal feedback.

The invention relates to the technical field of robot visual guidance, in particular to an out-of-order target recognition and positioning method based on binocular laser three-dimensional scanning imaging, which comprises the following steps of: performing laser scanning on an object in a target area, and synchronously acquiring laser stripe images by adopting a binocular camera to obtain a target area image sequence; extracting a laser stripe center line of the target area image sequence to obtain auxiliary features; performing three-dimensional point cloud reconstruction on the auxiliary features to obtain original point cloud data; compensating the original point cloud data to obtain fused point cloud data; on the basis of a spherical multi-view sampling and positioning algorithm framework, off-line model point cloud features are constructed, and object recognition and pose matching are carried out on fused point cloud data; and visualizing an object identification and pose matching result. The method has the characteristics of stable identification and positioning results, high applicability in complex scenes, high identification accuracy and the like.

The invention provides a visual guidance type automatic disassembly method and system for a photovoltaic module, and relates to the technical field of module disassembly, and the method comprises the steps: obtaining real-time production data, constructing a multi-objective optimization decision model, and solving through an adaptive inertia weight particle swarm algorithm; verifying and dynamically optimizing the optimization scheme by adopting a deep reinforcement learning method in combination with a digital twinning environment; production line optimization control is realized and operation data is fed back to form a closed loop. According to the invention, the disassembly efficiency is improved, the energy consumption is reduced, the production quality is optimized, and intelligent automatic disassembly is realized.

The invention belongs to the technical field of ablation puncture navigation, and particularly relates to an ablation puncture surgery navigation system under AI visual guidance. Through cooperative work of the phase monitoring module, the channel construction module, the needle moving control module, the displacement prediction module and the feedback control module, an intelligent surgical navigation system is constructed, breathing phase information and multi-modal medical image data of a patient can be obtained in real time, and therefore a safe and optimized needle moving path is accurately planned, and the operation accuracy is improved. Meanwhile, through real-time monitoring and quantitative evaluation of parameters such as tissue deformation and pressure distribution in the needle moving process, potential operation risks can be found and corrected in time, smooth operation is ensured, in addition, the system can dynamically adjust the needle moving path and the puncture angle according to the real-time breathing state of a patient, and the operation safety is improved. The accuracy and the safety of the operation are further improved, so that intelligent management and personalized treatment in the ablation puncture operation process are realized.

The invention discloses a towel rack laser welding control method and welding device based on AI visual guidance, and relates to the field of laser welding. Time-space synchronization constraint conditions of the visual six-axis module and the welding six-axis module are established based on the welding seam point set, and a double-station alternating path is generated in combination with a path planning algorithm; the double-station alternating path is converted into a control instruction to be issued to a visual six-axis module and a welding six-axis module, and the welding six-axis module executes a welding task according to the control instruction; and laser welding characteristics are obtained in real time when the welding six-axis module executes a welding task, and a composite control model is constructed based on the laser welding characteristics so as to dynamically adjust welding parameters. According to the method, collaborative path generation, collision pre-judgment and local path optimization between the double modules are achieved, and the intelligent collaborative efficiency of the welding task, the performability of path planning and the stability of the welding process are effectively improved.

The invention discloses a tomato stem picking point attitude estimation method, and relates to a computer vision processing technology. The method comprises the following steps: detecting a long-range directional frame target, acquiring a color flow by a depth camera, and detecting position information and shielding conditions of fruits and fruit stems through a directional frame; visual guidance: matching fruit stems based on tomato growth constraint conditions, and visually guiding the mobile platform and the mechanical arm to move in a coupling manner until the fruit stems are observed when the fruit stems are not matched; detecting close-range key points, regulating and controlling a mechanical arm to a close-range observation position, identifying two points of a main stem and three points of a fruit stem through a key point detection model, and extracting point clouds; performing point cloud data processing, removing point cloud noise through point cloud filtering, and performing adaptive compensation on key points with depth anomaly by using a neighborhood mean value; calculating picking poses, and establishing the picking poses of the fruit stem shear points according to the three-dimensional information of the five key points; according to the method, the problem of tomato shielding in a greenhouse complex scene can be effectively solved, and the fruit stem shearing point pose is obtained.

The invention discloses an anesthesia nerve precise positioning method and system based on ultrasonic image auxiliary processing, and the method comprises the following steps: obtaining a real-time dynamic ultrasonic image sequence of a target region through an ultrasonic image data collection device, carrying out the multi-modal data fusion processing, and generating an enhanced ultrasonic image data set; performing three-dimensional semantic segmentation on the enhanced ultrasonic image data set based on a preset anesthesia nerve region segmentation model, and extracting morphological characteristics and spatial distribution information of a target nerve tissue; generating a three-dimensional navigation path grid based on the extracted morphological characteristics and spatial distribution information, and constructing a real-time visual guide interface; and dynamically optimizing a navigation path and a risk early warning strategy based on real-time operation feedback. The method has the following advantages and effects: a precise positioning method capable of fusing multi-scale neural features and dynamically optimizing a navigation path is provided, so that the key technical bottleneck of nerve ending visualization and real-time obstacle avoidance is solved.

The invention discloses a modular visual guidance robot feeding and discharging device, and relates to the technical field of robot-assisted feeding and discharging equipment, and the modular visual guidance robot feeding and discharging device comprises a visual module which is installed on a production line and is used for identifying the position of a workpiece and outputting coordinate information; the manipulator module is mounted on the production line, and a clamp connecting mechanism and an end effector are arranged at the tail end of the manipulator module; the clamp module is installed at the tail end of the mechanical arm module through a clamp connecting mechanism, and the clamp module is electrically connected with the tail end executor and used for grabbing a workpiece; and the control system module is electrically connected with the vision module, the manipulator module and the end effector and is used for controlling the manipulator module to act according to the coordinate information output by the vision module and controlling the clamp module to act through the end effector. The production requirements of diversified products on different production lines can be met, and the universality and adaptability of equipment are improved.

The invention relates to the technical field of artificial intelligence, and discloses a vision-guided automatic sorting and deviation rectifying method and system.The vision-guided automatic sorting and deviation rectifying system comprises a vision parameter processing module, a sorting strategy decision module and a deviation rectifying execution control module, a real-time judgment mechanism of dynamic and static resolution differences is established by setting a resolution collaborative correction end, and the deviation rectifying execution control module is established; a self-adaptive interpolation algorithm is adopted to adjust visual feature data, so that the system can eliminate imaging resolution deviation caused by ambient light and transmission vibration, the acquisition accuracy of material surface texture features is ensured, sorting identification errors caused by projection chromatic aberration are avoided, the environmental adaptability of the visual guidance system is improved, and the visual guidance system is more accurate in image quality. The position and posture coupling analysis end is arranged, the dynamic matching degree of the position and posture offset of the materials and the motion trail of the mechanical arm is monitored in real time, the grabbing angle offset is automatically corrected through a space coordinate compensation mechanism, and it is guaranteed that the relative space position of an end effector and the materials is in the optimal grabbing state all the time.

The invention discloses a visual guidance positioning system and method in the machine tool flexible shaft assembling process, and relates to the technical field of flexible shaft assembling, a visual system obtains three-dimensional pose data of the tail end of a flexible shaft and a target connector, a six-dimensional force sensor is combined to monitor contact force / torque in real time, the limitation of a single sensor is broken through, and the blind area of the single sensor is solved; visual and force sense coordinate systems are aligned in real time, and coordinate drifting caused by movement of the mechanical arm is eliminated; generating an approximation path based on the pose difference, introducing a compensation amount formula, inhibiting oscillation in combination with an attenuation coefficient, and improving the path smoothness; when the contact force exceeds the dynamic threshold value or the pose difference converges, path correction is automatically triggered, overload damage is avoided, and the assembly damage rate is effectively reduced. The method breaks through the limitation of traditional static path planning, has high precision, high reliability and complex working condition adaptability, and is especially suitable for precise instrument and heavy load machinery assembly scenes.

The invention discloses a pitaya robot system based on intelligent treatment and recuperation and a control method, and the system comprises a high-precision image collection and human body image collection and three-dimensional reconstruction module which is used for precisely recognizing and positioning a treatment region and acupoints; the core physician manipulation digitization module is used for finely capturing professional treatment manipulations and standardized recuperating manipulations of deep physicians for operating pitayas through a multi-dimensional sensor array and forming a manipulation model library; the intelligent strategy generation module based on artificial intelligence can call, fuse or optimize and generate an optimal execution scheme from a corresponding model library according to a mode selected by a user; and the high-precision and compliant force control robot execution module reproduces the digitized technique of the pitaya in a high-fidelity manner under the real-time closed-loop control of visual guidance and force sense feedback. Through the double-track parallel strategy, quantification, inheritance and popularization of the high-level pitaya therapy are achieved, and application of the high-level pitaya therapy is pushed to the wide field.

The invention relates to a visual guidance robot automatic control method, system and device and a medium. The method comprises the following steps: firstly, acquiring a target image sequence and extracting initial visual features, and processing the initial visual features through a deep learning algorithm to output a high-resolution image; calculating a distance switching value based on the high-resolution image, and if the distance switching value exceeds a preset threshold value, performing scale distortion correction on the high-resolution image to obtain a target image; multiple frames of time sequence data are fused through a Kalman filtering algorithm, image distortion real-time compensation and feature point track stability judgment are synchronously completed, and a target positioning precision estimated value is output; and finally, according to the target positioning precision estimated value, determining the position of a grabbing point through a posture mapping rule of mapping preset grabbing feature points in a target coordinate system to a robot-based coordinate system, and based on the position of the grabbing point, optimizing and fusing track parameters through a Kalman filtering algorithm to generate adaptive track parameters. The method improves the positioning precision and track following effect of automatic control of the robot.

The invention discloses a mechanical arm autonomous grabbing system and method based on visual guidance and visual touch fusion. The mechanical arm autonomous grabbing system at least comprises a visual semantic guidance and grabbing pose generation module, a smooth grabbing control module based on visual touch fusion and a dynamic planning module based on model prediction path integration. The visual module efficiently generates a six-degree-of-freedom grabbing pose from the point cloud data by using a deep learning network; the smooth grabbing control module monitors object slippage in real time and adaptively adjusts clamping force by fusing visual and tactile information, and stable grabbing of fragile or slippery objects is achieved. And the dynamic planning module adopts a model prediction path integral algorithm MPPI to realize collision-free path planning of the mechanical arm in a complex dynamic environment. The problems that an existing mechanical arm is insufficient in sensing capacity, poor in grabbing robustness and low in path planning efficiency in an unstructured scene are solved, and the autonomous operation capacity and safety of the mechanical arm in the scenes of accompanying, intelligent sorting and the like are remarkably improved.

The invention discloses a position and posture compensation method for guiding installation of a contact network cantilever based on 3D vision and an automatic installation system. The position and posture compensation method comprises the steps that the spatial transformation relation between a 3D vision sensor coordinate system and a robot coordinate system is determined; the robot is controlled to move, and the three-dimensional point cloud data of the to-be-installed cantilever component and the three-dimensional point cloud data of the field installation foundation are collected; the collected three-dimensional point cloud data is registered with a corresponding preset CAD model, and a first real-time pose of the cantilever component in a robot coordinate system and a second real-time pose of the installation foundation in the robot coordinate system are obtained through calculation; calculating a pose compensation transformation quantity based on a pre-stored theoretical mounting pose of the cantilever, the first real-time pose and the second real-time pose; and according to the pose compensation transformation amount, planning and executing a motion track of the robot, and completing butt joint installation. The method is high in compensation precision, robustness and adaptability and high in construction efficiency, and the problem of uncertainty in automatic installation is fundamentally solved.

The invention belongs to the technical field of unmanned aerial vehicle battery replacement, and provides an unmanned aerial vehicle automatic battery replacement method and system based on 3D visual guidance, and the method comprises the steps: constructing a target feature template of each region of a battery compartment and a feed battery based on obtained standard image data; performing multi-stage pyramid matching on the obtained to-be-matched point cloud data and the constructed target feature template, and reconstructing a point cloud data set and standard image data subjected to multi-stage pyramid matching; calculating the pose deviation value of the feed battery, and combining the pose deviation value of the feed battery to obtain the actual position of the feed battery; the target position and posture information are updated according to the feed battery posture deviation value, a mechanical arm is controlled to move to the target position according to the updated posture information, and the feed battery is grabbed and placed at the designated position; and controlling the mechanical arm to grab the fully-stored battery and then return to the specified image data acquisition position, controlling the 3D camera to carry out secondary scanning, repeating the steps, and putting the fully-stored battery into the battery compartment of the unmanned aerial vehicle to complete automatic battery replacement operation.

The invention relates to a vehicle driving assistance method and device and a vehicle, and is applied to the field of vehicle assistance control technology application. The vehicle driving assistance method comprises the steps that when a vehicle faces a narrow road section, track collision prediction can be conducted by obtaining surrounding environment information and state parameters of the vehicle, and corresponding visual guidance information is mapped to the road surface through a projection assembly of the vehicle based on a corresponding collision prediction result so as to guide a user to conduct vehicle control. Therefore, visual and understandable visual guidance information is displayed on the road surface, a driver is helped to accurately judge the vehicle driving path, the collision risk is avoided, and the understanding and operation burden of the driver is effectively reduced.

Techniques for displaying an extended reality (XR) indication of a potential collision between a portion of an object and a portion of a computer-assisted system include the following. The computer-assisted system comprises a sensor system configured to capture sensor data of an environment, and a control system communicably coupled to the sensor system. The control system is configured to: determine a pose of a portion of an object in the environment based on the sensor data, determine a pose of a portion of the computer-assisted system, determine at least one characteristic associated with a potential collision between the portion of the object and the portion of the computer-assisted system, select the potential collision for display based on the at least one characteristic, and cause an XR indication of the potential collision to be displayed to an operator via a display system.

The invention relates to the technical field of building automation and robots, and discloses a floor robot cutting system based on self-adaptive visual guidance. The technical problems that an existing floor cutting robot excessively depends on a preset path, and the adaptability is poor and the cutting precision is low when the actual working conditions that errors exist between on-site marking lines and design drawings and the ground is uneven exist are solved. An actual cutting datum line is captured and recognized in real time through a visual perception module carried on a robot body, and structured path information is generated; and then the self-adaptive control module dynamically plans and corrects the motion trail of the robot according to the deviation between the visual feedback information and the current pose of the robot so as to guide the cutting execution mechanism to accurately work, so that the accuracy loss caused by environment change and construction errors in a traditional scheme is effectively overcome, and the cutting efficiency is improved. And the operation precision, the field environment adaptability and the automation level of automatic floor cutting are remarkably improved.

The invention relates to the technical field of intelligent construction of road engineering, and discloses an expressway asphalt pavement construction data analysis and processing system, the system performs digital modeling on an asphalt mixture and anchors the asphalt mixture to a pavement three-dimensional coordinate by creating a material state vector including a static attribute, a dynamic state and a process resume, and the system adopts a heat transfer model to construct an asphalt pavement construction data analysis and processing system. And the predicted temperature of the target vector at the future interception moment of the road roller is updated in real time and forwards simulated. Meanwhile, the system calculates a dynamic compactability window according to the compaction history and the material type, compares the predicted temperature with the window, generates a feedforward control instruction of a standard, priority or waiting operation, converts the feedforward control instruction into visual guidance, and issues the visual guidance to the vehicle-mounted terminal, so that prospective control is realized. According to the invention, the conversion of construction control from passive lag to active feedforward is realized, the fineness of the compaction process is improved, and a reliable digital quality tracing mechanism is established.

The embodiment of the invention provides a pulmonary nodule automatic labeling method based on multi-modal semantic affinity iterative optimization, and belongs to the technical field of data processing, and the method specifically comprises the steps: obtaining a lung CT image and a text report; performing structured semantic analysis on the text report; performing visual feature extraction on the lung CT image; based on the key semantic information, performing semantic guidance processing on the depth visual feature representation to generate semantic enhanced visual guidance features; based on the semantic enhanced visual guidance features, calling a segmentation basic model, and generating a plurality of candidate segmentation masks by introducing an active variation mechanism; for each candidate segmentation mask, calculating a semantic matching degree score of the candidate segmentation mask; and comparing the semantic matching degree scores of all the candidate segmentation masks, and selecting the candidate segmentation mask with the highest score as a final pulmonary nodule labeling result to be output. Through the scheme of the invention, the labeling precision, adaptability and interpretability are improved.

The present invention provides a visual guidance system for a mobile grasping device, comprising a data acquisition and preprocessing module, the data acquisition and preprocessing module being used to acquire image data and preprocess the acquired image data, and transmitting the preprocessed image data to an instance segmentation module, the instance segmentation module being used to identify and segment a target object in the preprocessed image data, and outputting the pixel coordinate position and mask information of the target object to a three-dimensional positioning module, the three-dimensional positioning module being used to calculate the spatial position of the target object, and transmitting the spatial position information of the target object to an execution module, which accurately guides the grasping of the target object through the spatial position information of the target object. The visual guidance system for a mobile grasping device in the present invention can more accurately perform spatial positioning of the target object, and due to the use of technologies such as deep learning, instance segmentation, and spatial point cloud, the time required for the visual guidance system to adapt to the mobile grasping device is shorter.

Utilizing illuminated pathways to guide a user with cognitive impairment includes storing a predefined sequence of daily activities for the user; detecting a current location of the user in an indoor environment in real-time using at least one environmental sensor; activating selected light-emitting elements to create a first illuminated pathway between the current location and a first target location based on the predefined sequence of daily activities corresponding to the user; presenting at least one of task-specific audio and visual instructional content on a display device at the first target location for a current activity in the sequence; monitoring completion of the current activity through the at least one environmental sensor; deactivating the first illuminated pathway upon detecting arrival at the first target location; and advancing to a next activity in the sequence upon verifying completion of the current activity by illuminating a second pathway to a second target location.

The utility model relates to the technical field of traffic auxiliary management, in particular to electronic control equipment for assisting traffic assistant management, which comprises a mounting seat, a fixing frame, a first mounting frame, a fixing bolt, a first laser transmitter and the like. The number of the installation seats is two, the two installation seats are both provided with fixing frames, the installation seats are rotatably provided with first installation frames, the first installation frames are fixed to the installation seats through fixing bolts, the first installation frames are provided with first laser emitters, the installation seats are provided with second installation frames, and the second installation frames are provided with second laser emitters. Through the dual-mode design that the first laser transmitter projects a green light band when the green light is green and the second laser transmitter projects a red light band when the red light is red, visual guidance with high identification degree is provided for pedestrians, the green light band clearly marks a safe passing area, and the red light band clearly defines a passing forbidding boundary.

The invention discloses a flexible connecting piece high-precision micropore array punching method based on visual guidance. The method comprises the steps of fixing a flexible connecting piece, calibrating a visual system, collecting an image, preprocessing and extracting positioning features, converting coordinates, planning a punching position and compensating errors, controlling punching equipment to punch, detecting quality and the like. According to the method, through visual guidance and error compensation, the punching precision and quality of the micropore array of the flexible connecting piece are effectively improved, the problem that a traditional method is affected by factors such as installation deviation, material deformation and mechanical vibration is solved, and the method is suitable for high-precision machining of the flexible connecting piece.

The invention relates to the technical field of intelligent equipment, and provides a visual guidance method and system for intelligent auxiliary assembly, and the method comprises the steps: collecting an original image sequence, depth coordinate data and three-axis torque data of a current assembly object, and generating spatial configuration feature information; and carrying out stress state evaluation analysis on the spatial configuration feature information by utilizing the three-axis torque data to obtain a strategy candidate set and a plurality of assembly state transfer path sets, and carrying out strategy matching on all the assembly state transfer path sets by utilizing the strategy candidate set to obtain an assembly guide strategy. Through the strategy candidate set and the assembly state transfer path set, a high-adaptability assembly guide strategy is generated, the defects of the prior art in the aspects of coping with assembly step changes, error deviation and real-time regulation and control are overcome, and the defect that when assembly steps change and assembly deviation or error occurs to an assembly object, the assembly accuracy is improved. The problems that in the prior art, an adaptive dynamic guiding strategy is lacked, and an assembly scheme and a guiding mode cannot be adjusted in real time are solved.