Polishing device and polishing robot polishing matching method

Abstract

The invention discloses a polishing device and polishing robot polishing matching method, and belongs to the field of industrial robot equipment. Comprising the steps that automatic positioning and path planning are conducted on the grinding robot, specifically, the grinding robot conducts grinding construction operation according to path planning, the grinding effect is monitored in real time in the grinding process, and the grinding strategy is adjusted in a self-adaptive mode. A solution is provided for solving the problems that a grinding robot cannot keep contact pressure, the grinding angle and strength of the grinding robot cannot be automatically adjusted according to the concave-convex condition of the wall surface, and the grinding quality is not uniform due to the non-uniform strength.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot equipment, and more particularly to a grinding device and a grinding robot grinding cooperation method. Background Art

[0002] With the development of the construction industry, the use of intelligent construction robots is becoming more and more widespread. In traditional manual grinding operations, operators need to rely on personal skills and experience to control the grinding pressure and angle, which is not only time-consuming and labor-intensive, but also difficult to ensure the uniformity and accuracy of grinding. In order to improve the efficiency and quality of grinding operations, robotic automated grinding technology has emerged. Robotic grinding systems usually include advanced force control systems, flexible grinding devices, visual assistance systems, and complex software algorithms to achieve precise control of the grinding process.

[0003] However, the existing grinding robots do not have a built-in pressure control system, and cannot guarantee the pressure consistency of the wall grinding. In addition, the existing grinding robots are not suitable for grinding irregular walls, and it is difficult to guarantee the grinding quality.

[0004] Therefore, how to provide a grinding device and a grinding robot grinding cooperation method that can solve the above problems is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] In view of this, the present invention provides a grinding device and a grinding robot grinding cooperation method, which are used to solve the technical problems existing in the above-mentioned prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A grinding coordination method of a grinding device and a grinding robot, wherein the grinding device and the grinding robot are mechanically installed, comprising:

[0008] Automatic positioning and path planning for the polishing robot:

[0009] The polishing robot performs polishing operations according to path planning, monitors the polishing effect in real time during the polishing process, and adaptively adjusts the polishing strategy.

[0010] Preferably, the automatic positioning and path planning of the polishing robot includes:

[0011] Use sensors and depth cameras in the polishing robot to collect environmental data;

[0012] Identify the collected environmental data, extract the characteristic points and characteristic lines in the environmental data, and use the polishing robot to match the characteristic points and characteristic lines to determine the position change relative to the wall;

[0013] The SLAM algorithm is used to process the collected environmental data to realize the automatic positioning of the polishing robot, obtain the current position of the polishing robot and build and update the environmental map;

[0014] According to the current position of the polishing robot and the construction of an updated environmental map, the target position is set, and the movement trajectory of the polishing robot is generated using a heuristic search algorithm based on the target position to achieve path planning.

[0015] Preferably, the polishing robot performs polishing operations according to path planning, uses a high-definition camera and a sensor to monitor the polishing during the polishing process, and adaptively adjusts the polishing strategy, including:

[0016] During the polishing process, high-definition cameras and sensors are used to monitor the polishing effect in real time and obtain effect evaluation results;

[0017] The polishing robot formulates a repair strategy and makes adaptive adjustments based on the effect evaluation results;

[0018] During the grinding process, the grinding robot is subjected to constant pressure control so that the contact pressure between the grinding device of the grinding robot and the wall surface remains consistent.

[0019] Preferably, during the polishing process, a high-definition camera and a sensor are used to monitor the polishing effect in real time, and an effect evaluation result is obtained, including:

[0020] The grinding process is captured using a depth camera on the end effector of the grinding robot to obtain an image;

[0021] Preprocess the collected images, including denoising, contrast enhancement, and brightness and contrast adjustment;

[0022] Extracting feature information from the preprocessed image, wherein the feature information includes edges and textures;

[0023] Use convolutional neural networks to perform image classification and recognition, image comparison and pattern matching, analyze the extracted feature information, identify uneven areas or omitted parts during the polishing process, and identify different levels of polishing quality;

[0024] Based on the image analysis results, the sanding quality is evaluated and a heat map is displayed showing uneven sanding or problem areas.

[0025] Preferably, the repair strategies formulated by the polishing robot include: pressure adjustment strategy, angle adjustment strategy, speed adjustment strategy, polishing mode switching strategy, multi-level polishing strategy, and special processing strategy.

[0026] Preferably, during the polishing process, the polishing robot is subjected to constant pressure control so that the contact pressure between the polishing device of the polishing robot and the wall surface remains consistent, including:

[0027] The force control system of the grinding robot monitors the contact force between the grinding device and the wall in real time through the built-in force sensor or current sensor;

[0028] According to the force control model, the expected pressure value and the actual measured pressure value, the force control system adjusts the controller parameters through the adaptive law to calculate the actual contact force F actual , tracking the expected contact force F desired Convert into corresponding control instructions;

[0029] According to the control instructions, the actuator of the grinding robot will adjust the position and posture of the grinding device accordingly to change the contact pressure between it and the wall.

[0030] Preferably, the force control model expression is:

[0031]

[0032] In the formula, K p and K d are the proportional and differential gains in the PID algorithm, x desired and x actual are the expected and actual positions, respectively. and are the expected and actual speeds, F feedbac is a feedback-based force control term.

[0033] Preferably, according to the force control model, the expected pressure value and the actual measured pressure value, the force control system PID control algorithm and the adaptive control rate adjust the controller parameters to calculate the actual contact force F actual , tracking the expected contact force F desired Converted into corresponding control instructions, including:

[0034] Set the desired contact force F desired ;

[0035] Use PID control algorithm and adaptive control rate to adjust controller parameters and calculate proportional gain K p and integral gain K i , so that the actual contact force F actual To track the expected contact force F desired ;

[0036] K p =K p0 +γ p e(t);

[0037] K i =K i0 +γ i ∫e(t)dt;

[0038] In the formula, K p0 and K i0 is the initial gain value, γ p and γ i is the adaptation rate, e(t) = F desired -F actual , represents the force error between the expected contact force and the actual contact force;

[0039] In each control cycle, the polishing robot reads the force sensor data, calculates the force error e(t), and updates the controller parameters according to the adaptive law, which is expressed as:

[0040]

[0041]

[0042] In the formula, K d is the differential gain, is the rate of change of the force error, u(t) is the output control, and based on the output control, the grinding robot is cyclically controlled and the motion parameters of the grinding robot are dynamically adjusted.

[0043] Preferably, the motion parameters of the polishing robot include: speed, acceleration and trajectory.

[0044] Preferably, the grinding device is a flexible structure.

[0045] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a grinding device and a grinding robot grinding cooperation method, which solves the problems that the grinding robot cannot maintain contact pressure, cannot automatically adjust its grinding angle and strength according to the unevenness of the wall surface, and the uneven grinding quality caused by uneven strength. The beneficial effects are as follows:

[0046] (1) In the present invention, a built-in pressure control system is used to adjust and maintain a stable contact pressure during the grinding process. This system includes sensors and control algorithms to ensure that the pressure applied by the grinding device to the workpiece surface is always within a preset range.

[0047] (2) In the present invention, the contact force between the grinding device and the wall surface can be monitored and adjusted in real time through the force control system of the grinding robot, thereby ensuring that a constant force is maintained during the grinding process and avoiding uneven grinding quality due to uneven force. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0049] Figure 1 It is a schematic diagram of the method flow of the present invention. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] The object of the present invention is to provide a grinding device and a grinding robot grinding cooperation method, comprising:

[0052] Automatic positioning and path planning for the grinding robot: Establish a force control model based on the interaction between the grinding device, the grinding robot and the wall; obtain the force generated when the grinding device contacts the wall, and feed it back to the controller of the grinding robot in real time, and use PID feedback to control the force control system of the grinding robot; the grinding robot performs grinding operations according to the path planning, monitors the grinding effect in real time during the grinding process, and adjusts the grinding strategy adaptively. Provide solutions to problems such as the grinding robot's inability to maintain contact pressure, the inability to automatically adjust its grinding angle and force according to the unevenness of the wall surface, and uneven grinding quality caused by uneven force.

[0053] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] See also Figure 1 The embodiment of the present invention discloses a method for coordinating a grinding device and a grinding robot. The grinding device and the grinding robot are mechanically installed, including:

[0055] Automatic positioning and path planning for the polishing robot:

[0056] The polishing robot performs polishing operations according to path planning, monitors the polishing effect in real time during the polishing process, and adaptively adjusts the polishing strategy.

[0057] In a specific embodiment, the polishing robot uses SLAM (Simultaneous Localization and Mapping) technology and path planning, specifically:

[0058] 1. Connection between the grinding device and the grinding robot: The grinding device and the grinding robot are mechanically installed and directly installed as a module on the end effector of the wall grinding robot. This allows the grinding device to follow the movement of the robot to perform wall grinding operations.

[0059] In a specific embodiment, the automatic positioning and path planning includes: before the grinding robot performs the grinding operation, it is necessary to perform path planning for the grinding robot to ensure the efficiency and comprehensiveness of the grinding process.

[0060] a) Sensor data collection: Use the sensors and depth cameras in the polishing robot to continuously collect environmental data.

[0061] b) Feature extraction and matching: The collected data is identified to extract feature points and feature lines in the environment. The robot system then attempts to match these features between consecutive scans to determine the position change of the robot relative to the wall, which provides basic data for subsequent automatic positioning.

[0062] c) Automatic positioning: Based on feature extraction and matching, the SLAM algorithm is used to process the environmental data after feature extraction and matching to realize the automatic positioning of the polishing robot, obtain the current accurate position of the polishing robot and the construction and update of the environmental map. This environmental map is constructed based on the previously extracted feature points and feature lines, and is continuously updated as the robot moves. Automatic positioning is achieved through SLAM technology to determine the robot's position.

[0063] d) Path planning: According to the current position of the robot and the constructed environment map, the target position is set, and the A* algorithm is used to generate the moving trajectory of the polishing robot according to the target position to implement path planning and ensure that the planned path can efficiently and comprehensively cover the entire wall surface.

[0064] In a specific embodiment, the force control system of the polishing robot uses a six-dimensional force sensor installed between the end of the robotic arm and the polishing device to sense the force generated when the polishing device contacts the wall, and feeds this information back to the robot controller in real time. The PID feedback control algorithm is used to control the force control system of the polishing robot to ensure that any unevenness or uneven polishing of the wall that occurs during the polishing process can be resolved.

[0065] a) Establish a force control model: According to the interaction between the grinding device, the robot and the wall, a force control model is established. The model needs to consider the kinematic and dynamic characteristics of the robot and the mechanical characteristics of the grinding process.

[0066]

[0067] In the formula, K p and K d are the proportional and differential gains in the PID algorithm, x desired and x actual are the expected and actual positions, respectively. and are the expected and actual speeds, F feedbac is a feedback-based force control term.

[0068] b) Design force control algorithm: Set the expected contact force value according to the wall material and polishing requirements. Use the PID control algorithm to calculate the difference between the expected contact force and the actual contact force, and calculate the proportional gain K based on the difference. p , integral gain Ki and the rate of change of the difference, and output u(t) output control. The designed force control algorithm is deployed in the robot controller and the actual grinding operation is performed. The grinding contact force is monitored in real time and fed back to the system to achieve closed-loop control.

[0069] The desired contact force F can be set based on empirical values ​​derived from empirical information. desired ;

[0070] According to the contact force fed back by the six-dimensional force sensor, this contact force is set to the actual contact force F actual .

[0071] Use PID control algorithm and adaptive control rate to adjust controller parameters and calculate proportional gain K p and integral gain K i , so that the actual contact force F actual To track the expected contact force F desired ;

[0072] K p =K p0 +γ p e(t);

[0073] K i =K i0 +γ i ∫e(t)dt;

[0074] Among them, K p0 and K i0 is the initial gain value, γ p and γ i is the adaptation rate, e(t) = F desired -F actual , which represents the force error between the expected contact force and the actual contact force.

[0075] Specifically, implementing cyclic control includes: in each control cycle, reading force sensor data, calculating force error e(t), and updating controller parameters according to the adaptive law.

[0076]

[0077]

[0078] Among them, K d is the differential gain, is the rate of change of force error. u(t) is output control. PID adjusts the contact force according to the output control.

[0079] Specifically, adjusting the grinding parameters includes: dynamically adjusting the motion parameters (such as speed, acceleration, trajectory, etc.) of the robot according to the output control of the PID algorithm to maintain a constant contact force.

[0080] In a specific embodiment, the execution of the grinding task includes: the grinding robot performs grinding operations according to a planned path, and uses a high-definition camera and a sensor to monitor the grinding during the grinding process to ensure that the grinding is uniform and without omissions.

[0081] a) Grinding monitoring includes: real-time monitoring of the grinding effect during the grinding construction process

[0082] Use the depth camera on the end effector of the polishing robot to collect polishing data;

[0083] The acquired images are preprocessed, including denoising, contrast enhancement, brightness and contrast adjustment, etc., to facilitate subsequent analysis.

[0084] Feature extraction: Extract key feature information from video images through image processing technology, including edges, textures, etc., which are mainly used to evaluate the grinding quality.

[0085] Image analysis: Use convolutional neural network (CNN) to classify and identify images, compare images, and match patterns to analyze the extracted feature information. It can identify uneven areas or missing parts during the grinding process and identify different levels of grinding quality.

[0086] Result evaluation: Evaluation of the sanding quality based on image analysis. Heat map showing uneven sanding or problem areas.

[0087] b) Adaptive adjustment includes: once the problem area is identified, the robot will formulate a corresponding repair strategy according to the specific situation and make adaptive adjustments based on the evaluation results. If the sensor or high-definition camera detects that the wall is uneven or unevenly polished, the problem area will be transmitted to the force control system, and the system will adjust the polishing strategy based on the output control of the PID control algorithm.

[0088] Pressure adjustment strategy: For raised areas, you need to increase the sanding pressure to remove more wall material; while for recessed areas, you need to reduce the pressure to avoid damage or uneven sanding. This is where force control technology comes into play.

[0089] Angle Adjustment Strategy: Adjust the angle of the grinding device to best fit the contact surface based on the specific characteristics of the problem area, such as the direction and degree of protrusions or depressions.

[0090] Speed ​​adjustment strategy: Reduce the grinding speed on uneven areas to better control the grinding process and ensure quality. Speed ​​can be increased on flat areas to improve grinding efficiency.

[0091] Grinding mode switching strategy: For problem areas of different hardness or irregular shapes, it may be necessary to switch between grinding and polishing, or use different grinding modes (such as circular motion, linear motion)

[0092] Multi-level grinding strategy: Use grinding devices of different coarseness and fineness to perform multiple grinding passes, first coarse grinding to remove most of the protrusions, then gradually transition to fine grinding, and finally achieve a smooth effect.

[0093] Special treatment strategies: Walls with cracks, holes or other special conditions may need to be filled or repaired before the standard sanding process.

[0094] c) Constant pressure control includes: the grinding robot needs to maintain a constant contact pressure to ensure that during the actual grinding process, no matter how the position of the grinding robot changes, the contact pressure between the grinding device and the wall remains consistent.

[0095] Sensor feedback: The force control system monitors the contact force between the grinding device and the wall in real time through built-in force sensors or current sensors. These sensors convert force signals into electrical signals and transmit them to the control system.

[0096] Control algorithm calculation: According to the set expected pressure value and the actual measured pressure value, the force control system adjusts the controller parameters through the adaptive law, calculates the actual contact force Factual, tracks the expected contact force Fdesired and converts it into appropriate control instructions to adjust the position and posture of the grinding device.

[0097] Actuator response: Based on the control instructions, the robot's actuators (such as motors or cylinders) will adjust the position and posture of the grinding device accordingly to change the contact pressure between it and the wall.

[0098] Specifically, the grinding device is a flexible structure.

[0099] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0100] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for cooperating between a grinding device and a grinding robot, wherein the grinding device and the grinding robot are mechanically mounted, characterized in that: include: Automatic positioning and path planning for the polishing robot: The polishing robot performs polishing operations according to path planning, monitors the polishing effect in real time during the polishing process, and adaptively adjusts the polishing strategy.

2. A grinding device and a grinding robot grinding method according to claim 1, characterized in that: The automatic positioning and path planning of the polishing robot includes: Use sensors and depth cameras in the polishing robot to collect environmental data; Identify the collected environmental data, extract feature points and feature lines in the environmental data, and match the feature points and feature lines with the polishing robot to determine the position change relative to the wall; The collected environmental data is processed using the SLAM algorithm to achieve automatic positioning of the polishing robot, obtain the current position of the polishing robot and update the construction of the environmental map; According to the current position of the polishing robot and the construction of an updated environmental map, the target position is set, and the movement trajectory of the polishing robot is generated using a heuristic search algorithm based on the target position to achieve path planning.

3. The method for cooperating between a grinding device and a grinding robot according to claim 1, characterized in that: The polishing robot performs polishing operations according to path planning, uses high-definition cameras and sensors to monitor polishing during the polishing process, and adaptively adjusts the polishing strategy, including: During the polishing process, high-definition cameras and sensors are used to monitor the polishing effect in real time and obtain effect evaluation results; The polishing robot formulates a repair strategy and makes adaptive adjustments based on the effect evaluation results; During the grinding process, the grinding robot is subjected to constant pressure control so that the contact pressure between the grinding device of the grinding robot and the wall surface remains consistent.

4. A grinding device and a grinding robot grinding method according to claim 3, characterized in that: During the polishing process, a high-definition camera and a sensor are used to monitor the polishing effect in real time, and the effect evaluation results are obtained, including: The grinding process is captured using a depth camera on the end effector of the grinding robot to obtain an image; Preprocess the collected images, including denoising, contrast enhancement, and brightness and contrast adjustment; Extracting feature information from the preprocessed image, wherein the feature information includes edges and textures; Use convolutional neural networks to perform image classification and recognition, image comparison and pattern matching, analyze the extracted feature information, identify uneven areas or omitted parts during the grinding process, and identify different levels of grinding quality; Based on the image analysis results, the sanding quality is evaluated and a heat map is displayed showing uneven sanding or problem areas.

5. The method for cooperating between a grinding device and a grinding robot according to claim 3, characterized in that: The repair strategies formulated by the polishing robot include: pressure adjustment strategy, angle adjustment strategy, speed adjustment strategy, polishing mode switching strategy, multi-level polishing strategy, and special processing strategy.

6. The method for cooperating between a grinding device and a grinding robot according to claim 3, characterized in that: During the grinding process, the grinding robot is subjected to constant pressure control to keep the contact pressure between the grinding device of the grinding robot and the wall surface consistent, including: The force control system of the grinding robot monitors the contact force between the grinding device and the wall in real time through the built-in force sensor or current sensor; According to the force control model, the expected pressure value and the actual measured pressure value, the force control system adjusts the controller parameters through the PID control algorithm and adaptive control rate to calculate the actual contact force F. actual , tracking the expected contact force F desired Convert into corresponding control instructions; According to the control instructions, the actuator of the grinding robot will adjust the position and posture of the grinding device accordingly to change the contact pressure between it and the wall.

7. A grinding device and grinding robot grinding method according to claim 6, characterized in that: The force control model expression is: In the formula, K p and K d are the proportional and differential gains in the PID algorithm, x desired and x actual are the expected and actual positions, and are the expected and actual speeds, F feedbac is a feedback-based force control term.

8. A grinding device and grinding robot grinding method according to claim 7, characterized in that: According to the force control model, the expected pressure value and the actual measured pressure value, the force control system adjusts the controller parameters through the PID control algorithm and the adaptive control rate to calculate the actual contact force F actual , tracking the expected contact force F desired Converted into corresponding control instructions, including: Set the desired contact force F desired ; Use PID control algorithm and adaptive control rate to adjust controller parameters and calculate proportional gain K p and integral gain K i , so that the actual contact force F actual To track the expected contact force F desired ; K p =K p0 +g p e(t); K i =K i0 +γ i ∫e(t)dt; In the formula, K p0 and K i0 is the initial gain value, γ p and γ i is the adaptation rate, e(t) = F desired -F actual , represents the force error between the expected contact force and the actual contact force; In each control cycle, the polishing robot reads the force sensor data, calculates the force error e(t), and updates the controller parameters according to the adaptive law, which is expressed as: In the formula, K d is the differential gain, is the rate of change of the force error, u(t) is the output control, and based on the output control, the grinding robot is cyclically controlled and the motion parameters of the grinding robot are dynamically adjusted.

9. A grinding device and grinding robot grinding method according to claim 8, characterized in that: The motion parameters of the polishing robot include: speed, acceleration and trajectory.

10. A grinding device and grinding robot grinding cooperation method according to claim 1, characterized in that: The grinding device is a flexible structure.

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