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CN-122008221-A - Intelligent assembly guiding and error correcting system based on man-machine cooperation

CN122008221ACN 122008221 ACN122008221 ACN 122008221ACN-122008221-A

Abstract

The invention discloses an intelligent assembly guiding and error correcting system based on man-machine cooperation, which relates to the field of intelligent assembly of man-machine cooperation and comprises a task instantiation module, a cognition intention state module, a man-machine cooperation strategy module and an operation mode pre-configuration module, wherein the task instantiation module is used for generating an assembly task instance aligned with a physical environment according to an assembly order and combining environment perception information, the cognition intention state module is used for collecting and processing multi-mode physiological and behavior signals of an operator in real time, identifying cognition intention states related to a current assembly task, the man-machine cooperation strategy module is used for dynamically generating an adaptive man-machine cooperation strategy based on the identified cognition intention states and the technological requirements of the current assembly task instance, and the operation mode pre-configuration module is used for generating guiding information facing the operator according to the man-machine cooperation strategy and pre-configuring a corresponding operation mode of a robot. The invention realizes the upgrade from one-way programming guidance to two-way self-adaptive collaboration, and effectively improves the intelligent level and collaboration efficiency of the assembly process.

Inventors

  • XU LI

Assignees

  • 淮安市高级职业技术学校

Dates

Publication Date
20260512
Application Date
20260317

Claims (10)

  1. 1. The intelligent assembly guiding and error correcting system based on man-machine cooperation is characterized by comprising a task instantiation module, a task management module and a task management module, wherein the task instantiation module is used for generating an assembly task instance aligned with a physical environment according to an assembly order and environmental perception information; the cognitive intention state module is used for collecting and processing multimode physiological and behavioral signals of an operator in real time and identifying the cognitive intention state related to the current assembly task; the man-machine cooperation strategy module dynamically generates an adaptive man-machine cooperation strategy based on the recognized cognitive intention state and the technological requirements of the current assembly task instance; The operation mode pre-configuration module is used for generating guiding information facing an operator according to the man-machine cooperation strategy and carrying out corresponding operation mode pre-configuration on the robot; The assembly module is used for controlling the end effector of the robot to grasp the workpiece in a self-adaptive mode, physically buffering the initial pose error in the grasping process, and cooperatively completing the precise alignment and assembly actions of the workpiece by an operator and the robot under the guidance of the man-machine cooperation strategy; and the experience segment module is used for carrying out real-time monitoring and abnormal early warning on key process parameters in the cooperative assembly execution process, carrying out multi-dimensional quality conformity inspection on the assembled parts, and packaging all-link data in the cooperative assembly process into experience segments.
  2. 2. The intelligent human-computer collaboration-based assembly guidance and error correction system of claim 1, wherein generating an assembly task instance aligned with a physical environment based on an assembly order in combination with environmental awareness information comprises the steps of: The industrial edge computing server calls a product digital twin model according to the assembly order, and drives the high-resolution 3D vision sensor to acquire color point cloud data of the workbench environment; the industrial edge computing server registers and marks the product digital twin model and the color point cloud data, and generates an assembly task instance aligned with the physical environment by combining a standard assembly sequence and process parameters.
  3. 3. The intelligent assembly guidance and error correction system based on human-computer collaboration of claim 2, wherein the steps of collecting and processing the multi-modal physiological and behavioral signals of the operator in real time, identifying the cognitive intent state associated with the current assembly task, comprises the steps of: The wearable biological signal acquisition head band, the augmented reality glasses and the directional microphone array acquire the multi-mode physiological and behavioral signals of an operator in real time, and the industrial edge computing server processes and fuses the signals; And identifying the cognitive intention state related to the current assembly task through a deep learning model.
  4. 4. The intelligent assembly guidance and error correction system based on human-machine collaboration of claim 3, wherein dynamically generating an adapted human-machine collaboration policy based on the identified cognitive intent state and the process requirements of the current assembly task instance comprises the steps of: the industrial edge computing server extracts the current process requirements from an assembly task instance aligned with the physical environment; and inputting the cognitive intention state and the process requirement of the current sub-step into a dynamic decision engine for evaluation and matching, and outputting an adaptive man-machine cooperation strategy by the dynamic decision engine according to the evaluation and matching result.
  5. 5. The intelligent assembly guidance and error correction system based on human-computer cooperation of claim 4, wherein generating guidance information for an operator according to the human-computer cooperation strategy and pre-configuring a corresponding operation mode of the robot comprises the following steps: The industrial edge computing server extracts corresponding guide content from an assembly task instance aligned with a physical environment according to a man-machine cooperation strategy, drives an augmented reality rendering engine to convert the guide content into virtual-real fusion visual prompts, and the augmented reality glasses project the virtual-real fusion visual prompts to an operator field of view; And generating a robot control instruction according to the man-machine cooperation strategy, and adjusting the cooperation robot to a specified operation mode by the robot controller according to the robot control instruction.
  6. 6. The intelligent assembly guidance and error correction system based on human-computer collaboration of claim 5, wherein the control of the robotic end effector to adaptively grasp the workpiece and physically buffer the initial pose error during the grasping process comprises the steps of: the robot controller drives the robot body to move to a workpiece grabbing point, the intelligent end effector receives grabbing instructions and contacts the surface of the workpiece in a low-rigidity mode, and the flexible contact surface array of the intelligent end effector generates self-adaptive deformation according to contact pressure distribution so as to envelop the workpiece; The intelligent end effector physically buffers the initial pose error through self-adaptive deformation in the process of enveloping the workpiece, and the intelligent end effector switches the local area of the contact surface to a high-rigidity mode according to the process requirement after the intelligent end effector is stably gripped.
  7. 7. The intelligent assembly guidance and error correction system based on human-computer cooperation of claim 6, wherein the precise alignment and assembly actions of the workpiece are completed by the cooperation of an operator and a robot under the guidance of the human-computer cooperation strategy, and the intelligent assembly guidance and error correction system comprises the following steps: When the man-machine cooperation strategy is a man-machine guiding and softening auxiliary mode, an operator manually guides the cooperation robot to move a workpiece to a rough assembly position, and a hand-eye vision system and a six-dimensional force/moment sensor of the cooperation robot acquire alignment deviation data and contact force data in real time; and calculating a robot tail end fine adjustment compensation instruction based on the alignment deviation data and the contact force data, wherein the robot controller executes the robot tail end fine adjustment compensation instruction to assist in completing precise alignment and assembly actions.
  8. 8. The intelligent assembly guidance and error correction system based on man-machine cooperation of claim 7, wherein the intelligent assembly guidance and error correction system is characterized by monitoring key process parameters and performing abnormal early warning in real time in the cooperative assembly execution process, and comprises the following steps: The six-dimensional force/moment sensor of the cooperative robot collects contact force and moment data in the assembling process in real time, the hand-eye vision system of the cooperative robot collects images and position data in the assembling process in real time, and the directional microphone array collects sound data in the assembling process; and carrying out fusion analysis on the contact force and moment data, the image and position data and the sound data, and comparing the contact force and moment data, the image and position data and the sound data with standard technological parameters, and triggering abnormal early warning when the industrial edge computing server detects that any parameter of the contact force and moment data, the image and position data and the sound data exceeds a preset threshold value.
  9. 9. The intelligent assembly guidance and error correction system based on human-computer collaboration of claim 8, wherein the multi-dimensional quality compliance test of the assembled parts comprises the steps of: Performing three-dimensional scanning on the assembled component to obtain point cloud data, accurately registering the obtained point cloud data with a standard three-dimensional model in a product digital twin model, and calculating an assembly clearance value of a critical dimension by an industrial edge calculation server based on a registration result; And comparing the assembly clearance value with a tolerance range specified in a standard operation instruction, and confirming that the assembly quality compliance test passes when the industrial edge computing server judges that the assembly clearance value is all within the tolerance range.
  10. 10. The intelligent assembly guidance and error correction system based on human-computer collaboration of claim 9, wherein the full-link data of the collaborative assembly process is packaged into experience fragments, and the intelligent assembly guidance and error correction system comprises the following steps: The industrial edge computing server collects multi-source time series data from the generation of assembly task instances aligned with the physical environment to the judgment of the passing of assembly quality consistency test, and performs time stamp alignment and structuring treatment on the multi-source time series data to form structured process data; And carrying out association labeling on the structured process data and the assembly quality consistency test passing result, and packaging the structured process data subjected to association labeling into full-link data experience fragments of the collaborative assembly process by the industrial edge computing server in a predefined packaging format.

Description

Intelligent assembly guiding and error correcting system based on man-machine cooperation Technical Field The invention relates to the field of intelligent assembly of man-machine cooperation, in particular to an intelligent assembly guiding and error correction system based on man-machine cooperation. Background In the field of man-machine cooperation intelligent assembly, the prior art can provide visual guidance through augmented reality and utilizes a cooperation robot to complete basic cooperation operations such as auxiliary handling, the prior system generally lacks the perception capability of real-time cognition state of an operator, and the cooperation strategy is always fixed or preprogrammed and cannot be dynamically adjusted according to the actual understanding depth and operation intention of the operator. This results in an insufficiently natural and smooth man-machine interaction, and when dealing with non-standard or complex assembly scenarios, situations may occur in which the guiding information is not matched with the manual operation intention, or even interferes with each other, limiting further improvements in the collaborative efficiency and the adaptive capacity. The invention aims to solve the core problems of stiff man-machine cooperation strategy and insufficient self-adaptation capability caused by lack of real-time perception and response to the cognitive intention of an operator in the prior art. Through real-time acquisition and analysis of multi-mode physiological and behavioral signals of an operator, cognitive intention is dynamically recognized, and an optimal man-machine cooperation strategy and a guiding mode are generated in real time according to the cognitive intention, and the system realizes model upgrading from one-way programming guiding to two-way self-adaptive cooperation. Disclosure of Invention The present invention has been made in view of the above-described problems occurring in the prior art. Therefore, the invention provides an intelligent assembly guiding and error correcting system based on man-machine cooperation, which solves the problem of insufficient man-machine cooperation self-adaption capability caused by incapability of sensing and responding to the cognitive intention of an operator in real time. In order to solve the technical problems, the invention provides the following technical scheme: The invention provides an intelligent assembly guiding and error correcting system based on man-machine cooperation, which comprises a task instantiation module, a task management module and a task management module, wherein the task instantiation module is used for generating an assembly task instance aligned with a physical environment according to an assembly order and environmental awareness information; the cognitive intention state module is used for collecting and processing multimode physiological and behavioral signals of an operator in real time and identifying the cognitive intention state related to the current assembly task; the man-machine cooperation strategy module dynamically generates an adaptive man-machine cooperation strategy based on the recognized cognitive intention state and the technological requirements of the current assembly task instance; The operation mode pre-configuration module is used for generating guiding information facing an operator according to the man-machine cooperation strategy and carrying out corresponding operation mode pre-configuration on the robot; The assembly module is used for controlling the end effector of the robot to grasp the workpiece in a self-adaptive mode, physically buffering the initial pose error in the grasping process, and cooperatively completing the precise alignment and assembly actions of the workpiece by an operator and the robot under the guidance of the man-machine cooperation strategy; and the experience segment module is used for carrying out real-time monitoring and abnormal early warning on key process parameters in the cooperative assembly execution process, carrying out multi-dimensional quality conformity inspection on the assembled parts, and packaging all-link data in the cooperative assembly process into experience segments. The intelligent assembly guiding and error correcting system based on man-machine cooperation is used for generating an assembly task instance aligned with a physical environment according to an assembly order and by combining environment perception information, and comprises the following steps: The industrial edge computing server calls a product digital twin model according to the assembly order, and drives the high-resolution 3D vision sensor to acquire color point cloud data of the workbench environment; the industrial edge computing server registers and marks the product digital twin model and the color point cloud data, and generates an assembly task instance aligned with the physical environment by combining a standard assembly sequence and pr