Robust control system and disassembly robot for harsh environments
By coordinating the control of the track linear walking module, the contact vertical tool setting module, and the laser ranging module, combined with vibration damping adjustment and Kalman filtering algorithm, the positioning and cutting accuracy problems of the disassembly robot in harsh environments are solved, improving the accuracy and stability of disassembly operations.
Patent Information
- Application Number
- CN202610066509.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-19
- Publication Date
- 2026-06-09
AI Technical Summary
In harsh environments with high dust concentration, frequent vibration, and large temperature and humidity fluctuations, disassembly robots suffer from low positioning accuracy, inaccurate cutting depth control, difficulty in precise docking, and poor adaptability to cutting trajectories, resulting in low disassembly accuracy, insufficient efficiency, and potential safety hazards.
The system employs a track-based linear motion module, a contact-type vertical tool setting module, and a laser ranging module working in tandem. Combined with a control module, it generates a cutting motion trajectory and achieves precise positioning and cutting control through vibration damping adjustment and dynamic compensation using a Kalman filter algorithm.
It significantly improves the accuracy, stability and efficiency of dismantling operations in harsh environments, ensuring the positioning accuracy and cutting depth control of the dismantling robot in harsh environments, and reducing the risk of equipment failure.
Smart Images
Figure CN122172776A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robot control technology, and in particular to a robust control system and disassembly robot for harsh environments. Background Technology
[0002] In industrial dismantling and scrap equipment recycling, dismantling robots need to operate in harsh environments with high dust concentrations, frequent vibrations, and large temperature and humidity fluctuations. These scenarios place stringent demands on the positioning accuracy, cutting depth control accuracy, and operational stability of dismantling robots, which ultimately rely on the control system's ability to coordinate and control key aspects such as walking positioning, actuator calibration, and depth detection.
[0003] In existing technologies, the positioning accuracy of disassembly robots is easily affected by vibration, and the lack of dynamic adaptation to environmental interference during the execution of movement commands makes it difficult for the robot to accurately stop in the work area; the poor adaptability between the cutting trajectory generated by the disassembly robot and the actual workpiece can easily lead to low disassembly accuracy, insufficient work efficiency, and even equipment failure or safety hazards. Summary of the Invention
[0004] This invention aims to at least partially solve one of the technical problems in the aforementioned technologies. Therefore, the purpose of this invention is to propose a robust control system and disassembly robot for harsh environments, improving the positioning accuracy of the disassembly robot, eliminating the influence of vibration interference, enabling the disassembly robot to accurately dock in the work area, and simultaneously improving the accuracy, stability, and efficiency of disassembly operations in harsh environments.
[0005] To achieve the above objectives, embodiments of the present invention propose a robust control system for harsh environments, comprising: Track linear travel module, used for: Collect the coordinates of the work area and transmit them to the control module; Receive movement instructions generated by the control module and move to the work area; The contact-type vertical tool setting module is used to receive calibration commands generated by the control module and calibrate the Z-axis perpendicularity reference coordinates of the execution end; The laser ranging module is used to emit a laser beam to the surface of the workpiece to be disassembled, obtain the real-time distance from the surface of the workpiece to be disassembled to the execution end, and calculate the cutting depth parameters. The control module is connected to the track linear motion module, the contact vertical tool setting module, and the laser ranging module, respectively. It is used to generate the cutting motion trajectory based on the Z-axis verticality reference coordinates and the cutting depth parameters and send it to the execution end.
[0006] According to some embodiments of the present invention, a track linear travel module includes: The walking module is used to collect the coordinates of the work area and transmit them to the control module; it also receives movement commands generated by the control module and moves to the work area to execute the movement commands. The vibration damping adjustment module is used to adjust the vibration damping when executing movement commands; The speed control module is used to collect the walking speed through the encoder and control the deviation from the movement command speed within a first preset range.
[0007] According to some embodiments of the present invention, a contact-type vertical tool setting module includes: a wear-resistant probe, a spring buffer mechanism, a displacement sensor, and a signal amplification module; wherein, When the wear-resistant probe comes into contact with the actuator, the spring buffer mechanism generates compression, triggering the displacement sensor to collect displacement data, which is then processed by the signal amplification module and transmitted to the control module. The control module generates calibration instructions based on the amplified signal and calibrates the Z-axis perpendicularity reference coordinates of the execution end.
[0008] According to some embodiments of the present invention, the wear-resistant probe is made of WC-Co cemented carbide and its surface is treated with a titanium nitride coating.
[0009] According to some embodiments of the present invention, the contact-type vertical tool setting module further includes a cleaning module for cleaning the wear-resistant probe.
[0010] According to some embodiments of the present invention, a laser ranging module includes a first transmitting head and a second transmitting head; wherein the first transmitting head and the second transmitting head synchronously emit laser beams to the surface of the workpiece to be disassembled, respectively collect the real-time distance from the surface of the workpiece to be disassembled to the execution end and transmit it to the control module; The control module performs a difference check on the two sets of real-time distances. If the difference is less than the preset difference, it is taken as valid data and the cutting depth parameter is calculated. Otherwise, a re-distance measurement command is generated and transmitted to the laser ranging module.
[0011] According to some embodiments of the present invention, the control module is further configured to: It receives the change data of the cutting depth parameter sent by the laser ranging module and the vibration feedback data of the track linear travel module; The comprehensive deviation value is determined based on the change data and vibration feedback data; The compensation amount is calculated based on the comprehensive deviation value, and the displacement of the actuator and the moving speed of the track linear travel module are dynamically adjusted based on the compensation amount.
[0012] According to some embodiments of the present invention, the control module determines a comprehensive deviation value based on change data and vibration feedback data, including: Obtain the initial states of the execution end and the walking module, determine the displacement deviation of the execution end and the speed deviation of the walking module, and set the initial covariance matrix; State prediction is performed based on changing data and vibration feedback data, and the prediction covariance matrix is calculated. Calculate the Kalman gain based on the predicted covariance matrix, update the state variables and covariance matrix, and output the overall deviation value.
[0013] According to some embodiments of the present invention, the compensation amount is calculated based on the comprehensive deviation value using an incremental PID algorithm.
[0014] According to some embodiments of the present invention, a disassembly robot includes a robust control system for harsh environments as described above.
[0015] This invention proposes a robust control system and disassembly robot for harsh environments. A linear motion module accurately acquires the coordinates of the work area and reliably moves the robot, ensuring its positioning accuracy in harsh conditions. A contact-type vertical tool setting module calibrates the Z-axis verticality reference coordinates of the actuator, providing a precise positional reference for the cutting operation. A laser ranging module acquires real-time distance and calculates the cutting depth parameters, ensuring accurate cutting depth control. The control module integrates data from all modules to generate a suitable cutting motion trajectory, achieving coordinated control of walking positioning, verticality calibration, depth detection, and trajectory generation, significantly improving the accuracy, stability, and efficiency of disassembly operations in harsh environments.
[0016] 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.
[0017] 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
[0018] 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 block diagram of a robust control system for harsh environments according to an embodiment of the present invention; Figure 2 This is a block diagram of a track linear travel module according to an embodiment of the present invention; Figure 3 This is a block diagram of a contact-type vertical tool setting module according to an embodiment of the present invention. Detailed Implementation
[0019] 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.
[0020] like Figure 1 As shown, this embodiment of the invention proposes a robust control system for harsh environments, comprising: Track linear travel module, used for: Collect the coordinates of the work area and transmit them to the control module; Receive movement instructions generated by the control module and move to the work area; The contact-type vertical tool setting module is used to receive calibration commands generated by the control module and calibrate the Z-axis perpendicularity reference coordinates of the execution end; The laser ranging module is used to emit a laser beam to the surface of the workpiece to be disassembled, obtain the real-time distance from the surface of the workpiece to be disassembled to the execution end, and calculate the cutting depth parameters. The control module is connected to the track linear motion module, the contact vertical tool setting module, and the laser ranging module, respectively. It is used to generate the cutting motion trajectory based on the Z-axis verticality reference coordinates and the cutting depth parameters and send it to the execution end.
[0021] The working principle of the above technical solution is as follows: The track linear travel module collects the coordinate data of the working area and transmits it to the control module; the control module generates movement commands based on the coordinate data and controls the track linear travel module to move to the working area. First, the contact-type vertical tool setting module establishes an absolute physical reference: The contact-type vertical tool setting module receives the calibration command generated by the control module, drives the wear-resistant probe to the calibration position directly below the actuator (such as the cutting head), and the actuator descends and makes physical contact with the wear-resistant probe; it triggers the displacement sensor to collect displacement data, which is processed by the signal amplification module and fed back to the control module; the control module calculates the Z-axis perpendicularity reference coordinates of the actuator based on the displacement data, that is, the vertical reference position between the actuator and the surface of the workpiece to be disassembled. This reference can effectively eliminate absolute errors caused by actuator installation errors, mechanical deformation, and long-term wear, providing a stable and reliable physical reference anchor point for subsequent cutting operations. Based on the establishment of an absolute physical benchmark, a laser ranging module performs relative real-time correction: the laser ranging module emits a laser beam to the surface of the workpiece to be disassembled, and obtains the real-time distance data from the workpiece surface to the execution end by calculating the laser flight time. Combined with the established Z-axis perpendicularity absolute benchmark, the cutting depth parameter is determined according to the real-time distance and the preset disassembly target (such as the cutting depth). This process can dynamically compensate for dynamic errors caused by small workpiece displacement, environmental vibration, temperature and humidity fluctuations, etc. during the operation. The contact-type vertical tool setting module and the laser ranging module complement each other. The contact-type vertical tool setting module provides a static absolute benchmark, solving the problem of long-term, systematic absolute deviation; the laser ranging module provides dynamic real-time correction, solving the problem of instantaneous, random dynamic deviation, ensuring the operation accuracy in harsh environments. If only the laser ranging module is relied upon, without the anchoring of an absolute physical benchmark, its measurement results are easily affected by the cumulative errors such as initial installation deviation and mechanical deformation, and the basic accuracy of cutting perpendicularity and depth cannot be guaranteed. If only the contact-type vertical tool setting module is relied upon, it cannot cope with dynamic interference during the operation and it is difficult to correct real-time deviations. Both are indispensable. Finally, the control module integrates the Z-axis perpendicularity reference coordinates with the real-time corrected cutting depth parameters, and simultaneously calls the pre-stored workpiece contour data and cutting process parameters. It generates a suitable cutting motion trajectory through the Cartesian space trajectory interpolation algorithm and sends it to the execution end, driving the execution end to complete the disassembly and cutting operation according to the trajectory.
[0022] The beneficial effects of the above technical solution are as follows: the track-based linear motion module accurately collects the coordinates of the work area and moves reliably, ensuring the positioning accuracy of the disassembly robot in harsh environments; the contact-type vertical tool setting module calibrates the Z-axis verticality reference coordinates of the execution end, providing a precise position reference for the cutting operation; the laser ranging module obtains real-time distance and calculates the cutting depth parameters, ensuring the accuracy of cutting depth control; the control module integrates the data from each module to generate a suitable cutting motion trajectory, realizing coordinated control of walking positioning, verticality calibration, depth detection, and trajectory generation, significantly improving the accuracy, stability, and efficiency of disassembly operations in harsh environments.
[0023] like Figure 2 As shown, according to some embodiments of the present invention, a track linear travel module includes: The walking module is used to collect the coordinates of the work area and transmit them to the control module; it also receives movement commands generated by the control module and moves to the work area to execute the movement commands. The vibration damping adjustment module is used to adjust the vibration damping when executing movement commands; The speed control module is used to collect the walking speed through the encoder and control the deviation from the movement command speed within a first preset range.
[0024] The working principle of the above technical solution is as follows: The vibration damping adjustment module uses a magnetorheological damper as the core actuator. It has a magnetorheological fluid chamber, an electromagnetic coil, a piston, and an inlet and outlet oil passage with damping holes. The electromagnetic valve is connected in series with the inlet and outlet oil passage to control the flow state of the magnetorheological fluid. When executing movement commands, the vibration sensor detects the ambient vibration amplitude in real time. The control module outputs a corresponding current signal to the electromagnetic coil according to the vibration level, and adjusts the flow resistance of the magnetorheological fluid through the electromagnetic valve: when the vibration amplitude is ≤0.02g (low vibration), the damping is adjusted to 10-15 N·s / m to ensure movement efficiency; when 0.02g < vibration amplitude ≤0.06g (medium vibration), the electromagnetic valve reduces the flow orifice and applies a weak magnetic field, increasing the shear yield strength of the magnetorheological fluid, and the damping is increased to 15-20 N·s / m to suppress vibration transmission; if the vibration amplitude is >0.06g (high vibration, such as rough roads or equipment resonance), the electromagnetic valve further reduces the flow orifice and strengthens the magnetic field, the magnetorheological fluid becomes a high-viscosity semi-solid, and the damping is adjusted to 20-25 N·s / m to rapidly attenuate vibration and avoid vibration affecting positioning accuracy; during the adjustment process, the damping adjustment module responds in real time through the electromagnetic valve. The first preset range is ±0.01m / min. The speed control module dynamically corrects the motor's output power through a PWM adjustment algorithm, keeping the deviation from the movement command speed within a first preset range.
[0025] The beneficial effects of the above technical solution are as follows: the vibration damping adjustment module adjusts the damping according to different environmental vibrations, which helps to suppress vibration and improve the stability of the walking module's movement; at the same time, the speed deviation is limited to the first preset range, which helps to ensure the controllability of the movement process and avoids the impact of speed fluctuations on the operation.
[0026] like Figure 3 As shown, according to some embodiments of the present invention, a contact-type vertical tool setting module includes: a wear-resistant probe, a spring buffer mechanism, a displacement sensor, and a signal amplification module; wherein, When the wear-resistant probe comes into contact with the actuator, the spring buffer mechanism generates compression, triggering the displacement sensor to collect displacement data, which is then processed by the signal amplification module and transmitted to the control module. The control module generates calibration instructions based on the amplified signal and calibrates the Z-axis perpendicularity reference coordinates of the execution end.
[0027] The working principle and beneficial effects of the above technical solution are as follows: The control module calls the pre-stored spring compression-displacement deviation mapping model, combines it with the wear-resistant probe's own reference height parameters, calculates the current actual Z-axis position of the execution end, compares it with the theoretical perpendicularity reference value, determines the Z-axis perpendicularity deviation, and finally generates a calibration command to drive the execution end to adjust to the ideal Z-axis perpendicularity reference coordinates and store them, thus completing the entire calibration process. This reduces problems such as cutting surface tilt and uneven depth caused by perpendicularity deviation, and improves the overall disassembly operation accuracy.
[0028] According to some embodiments of the present invention, the wear-resistant probe is made of WC-Co cemented carbide and its surface is treated with a titanium nitride coating.
[0029] According to some embodiments of the present invention, the contact-type vertical tool setting module further includes a cleaning module for cleaning the wear-resistant probe.
[0030] The working principle and beneficial effects of the above technical solution are as follows: it facilitates the cleanliness of the wear-resistant probe, thereby reducing errors when contacting the actuator and improving the accuracy of the acquired signal.
[0031] According to some embodiments of the present invention, a laser ranging module includes a first transmitting head and a second transmitting head; wherein the first transmitting head and the second transmitting head synchronously emit laser beams to the surface of the workpiece to be disassembled, respectively collect the real-time distance from the surface of the workpiece to be disassembled to the execution end and transmit it to the control module; The control module performs a difference check on the two sets of real-time distances. If the difference is less than the preset difference, it is taken as valid data and the cutting depth parameter is calculated. Otherwise, a re-distance measurement command is generated and transmitted to the laser ranging module.
[0032] The working principle of the above technical solution is as follows: The first and second transmitting heads synchronously emit laser beams to the surface of the workpiece to be disassembled, respectively collecting the real-time distance from the surface of the workpiece to the execution end and transmitting it to the control module; the difference between the two sets of real-time distances is checked. If the difference is less than a preset difference (the preset difference is a value calibrated based on the maximum permissible deviation under harsh conditions), it is determined that neither set of data has been severely interfered with and is valid data. Otherwise, it is determined that at least one set of data has interference or error, generating a re-rangement command and transmitting it to the laser ranging module. For valid data, the average of the two sets of real-time distances is calculated.
[0033] The beneficial effects of the above technical solution are: the differential verification mechanism of the dual transmitters can effectively eliminate abnormal data, improve data reliability, and resist interference from harsh environments.
[0034] According to some embodiments of the present invention, the control module is further configured to: It receives the change data of the cutting depth parameter sent by the laser ranging module and the vibration feedback data of the track linear travel module; The comprehensive deviation value is determined based on the change data and vibration feedback data; The compensation amount is calculated based on the comprehensive deviation value, and the displacement of the actuator and the moving speed of the track linear travel module are dynamically adjusted based on the compensation amount.
[0035] The working principle of the above technical solution is as follows: receiving the change data of the cutting depth parameter sent by the laser ranging module and the vibration feedback data of the track linear walking module; calculating the comprehensive deviation value through adaptive Kalman filtering and dynamic weight allocation based on the change data and vibration feedback data, calculating the compensation amount using an incremental PID algorithm, and dynamically adjusting the displacement of the execution end and the moving speed of the track linear walking module according to the compensation amount.
[0036] The beneficial effects of the above technical solution are: it facilitates the adjustment of the displacement of the actuator and the moving speed of the linear motion module based on the change data of the cutting depth parameter and the vibration feedback data of the linear motion module, thereby improving the operation accuracy.
[0037] According to some embodiments of the present invention, the control module determines a comprehensive deviation value based on change data and vibration feedback data, including: Obtain the initial states of the execution end and the walking module, determine the displacement deviation of the execution end and the speed deviation of the walking module, and set the initial covariance matrix; State prediction is performed based on changing data and vibration feedback data, and the prediction covariance matrix is calculated. Calculate the Kalman gain based on the predicted covariance matrix, update the state variables and covariance matrix, and output the overall deviation value.
[0038] The working principle of the above technical solution is as follows: An initial state vector is determined based on the initial states of the actuator and the walking module. The displacement deviation and velocity deviation are both set to 0, i.e., the initial state vector... The initial covariance matrix was determined based on noise calibration experiments conducted before the system left the factory. Based on the displacement-velocity dynamics relationship, the state estimate from the previous cycle was used... (Optimal state estimation for k-1 periods) Predict the state of the current k periods. ,Right now: ,in, The state transition matrix is determined based on the changing data and vibration feedback data; it is a 2×2 matrix. ,in, For the filtering period, the displacement deviation = displacement deviation of the previous period + velocity deviation × time.
[0039] Calculate the covariance of the predicted state based on the state transition matrix: ;in, for The transpose of the matrix; The covariance is for a period of k-1. The covariance is for period k. This is the process noise covariance matrix, used to characterize random vibration disturbances under harsh environments.
[0040] The Kalman gain K is used to balance the confidence of the predicted state with the confidence of the observed data.
[0041] ; in, The Kalman gain for the k-th cycle; for The transpose of the matrix; The observation matrix; The noise covariance matrix is measured to characterize the impact of dusty environments on laser ranging accuracy.
[0042] By combining the observation vector with the Kalman gain, the predicted state is... Corrected to the optimal state estimate for the current period That is, the comprehensive deviation value; ; in, This is the observation vector for the k-th period; , The depth change data collected by the laser ranging module is a direct observation reflecting the displacement deviation of the actuator. The vibration feedback conversion data collected by the track walking module reflects the indirect impact of velocity deviation on displacement.
[0043] The beneficial effects of the above technical solution are as follows: it integrates the displacement deviation of the execution end and the speed deviation of the walking module to improve the accuracy of estimation; it dynamically balances the reliability of prediction and observation by real-time calculation of the prediction covariance matrix and Kalman gain; it avoids the influence of observation data of dust and vibration in harsh environments; it dynamically adapts to environmental interference; it has strong robustness; and it is easy to accurately determine the comprehensive deviation value.
[0044] According to some embodiments of the present invention, the compensation amount is calculated based on the comprehensive deviation value using an incremental PID algorithm.
[0045] The working principle and beneficial effects of the above technical solution are as follows: The initial parameters of the incremental PID are set as follows: the proportional coefficient is initially set to 2.8-3.5, with the upper limit used when depth deviation dominates and the lower limit used when vibration deviation dominates, for rapid response to comprehensive deviation; a larger proportional coefficient results in more sensitive adjustment. The integral coefficient is initially set to 0.12-0.3, with an integral limit of ±0.003mm, to eliminate long-term static deviation. The derivative coefficient is initially set to 0.06-0.15, with the upper limit used when vibration fluctuations are large, to suppress sudden deviation changes and reduce oscillations during adjustment. Simultaneously, a filter period T=0.03s is defined, consistent with the Kalman filter period, to ensure synchronization between deviation sampling and compensation calculation. The control module continuously collects the historical sequence of comprehensive deviation values according to the filter period: the current period's comprehensive deviation value e(k), the previous period's comprehensive deviation value e(k-1), and the comprehensive deviation values e(k-2) of the two previous periods. The incremental compensation increment is calculated based on the incremental PID algorithm. ; in, For the increase in compensation amount; This is the proportionality coefficient; The integral coefficient; This refers to the differential coefficient. The control module adjusts the PID parameters in real time based on the dominant type of the comprehensive deviation value, avoiding the problem of poor adaptability of fixed parameters and facilitating accurate determination of the compensation amount. For example, if the depth deviation accounts for >60%: increase Kp (+0.2-0.3) and decrease Kd (-0.02-0.03) to prioritize and quickly correct the cutting depth error; if the vibration deviation accounts for >60%: decrease Kp (-0.1-0.2) and increase Kd (+0.03-0.05) to suppress the compensation oscillation caused by vibration; if the deviation persists for >100ms without being eliminated: increase Ki (+0.02) to accelerate the elimination of static deviation.
[0046] According to some embodiments of the present invention, a disassembly robot includes a robust control system for harsh environments as described above.
[0047] The beneficial effects of the above technical solution are as follows: the track-based linear motion module accurately collects the coordinates of the work area and moves reliably, ensuring the positioning accuracy of the disassembly robot in harsh environments; the contact-type vertical tool setting module calibrates the Z-axis verticality reference coordinates of the execution end, providing a precise position reference for the cutting operation; the laser ranging module obtains real-time distance and calculates the cutting depth parameters, ensuring the accuracy of cutting depth control; the control module integrates the data from each module to generate a suitable cutting motion trajectory, realizing coordinated control of walking positioning, verticality calibration, depth detection, and trajectory generation, significantly improving the accuracy, stability, and efficiency of disassembly operations in harsh environments.
[0048] 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. A robust control system for harsh environments, characterized in that, include: Track linear travel module, used for: Collect the coordinates of the work area and transmit them to the control module; Receive movement instructions generated by the control module and move to the work area; The contact-type vertical tool setting module is used to receive calibration commands generated by the control module and calibrate the Z-axis perpendicularity reference coordinates of the execution end; The laser ranging module is used to emit a laser beam to the surface of the workpiece to be disassembled, obtain the real-time distance from the surface of the workpiece to be disassembled to the execution end, and calculate the cutting depth parameters. The control module is connected to the track linear motion module, the contact vertical tool setting module, and the laser ranging module, respectively. It is used to generate the cutting motion trajectory based on the Z-axis verticality reference coordinates and the cutting depth parameters and send it to the execution end.
2. The robust control system for harsh environments as described in claim 1, characterized in that, The track-based linear motion module includes: The walking module is used to collect the coordinates of the work area and transmit them to the control module; it also receives movement commands generated by the control module and moves to the work area to execute the movement commands. The vibration damping adjustment module is used to adjust the vibration damping when executing movement commands; The speed control module is used to collect the walking speed through the encoder and control the deviation from the movement command speed within a first preset range.
3. The robust control system for harsh environments as described in claim 1, characterized in that, The contact-type vertical tool setting module includes: a wear-resistant probe, a spring buffer mechanism, a displacement sensor, and a signal amplification module; among which, When the wear-resistant probe comes into contact with the actuator, the spring buffer mechanism generates compression, triggering the displacement sensor to collect displacement data, which is then processed by the signal amplification module and transmitted to the control module. The control module generates calibration instructions based on the amplified signal and calibrates the Z-axis perpendicularity reference coordinates of the execution end.
4. The robust control system for harsh environments as described in claim 3, characterized in that, The wear-resistant probe is made of WC-Co cemented carbide and its surface is treated with a titanium nitride coating.
5. The robust control system for harsh environments as described in claim 3, characterized in that, The contact-type vertical tool setting module also includes a cleaning module for cleaning the wear-resistant probe.
6. The robust control system for harsh environments as described in claim 1, characterized in that, The laser ranging module includes a first transmitter and a second transmitter; wherein the first transmitter and the second transmitter synchronously emit laser beams to the surface of the workpiece to be disassembled, respectively collect the real-time distance from the surface of the workpiece to be disassembled to the execution end and transmit it to the control module; The control module performs a difference check on the two sets of real-time distances. If the difference is less than the preset difference, it is taken as valid data and the cutting depth parameter is calculated. Otherwise, a re-distance measurement command is generated and transmitted to the laser ranging module.
7. The robust control system for harsh environments as described in claim 2, characterized in that, The control module is also used for: It receives the change data of the cutting depth parameter sent by the laser ranging module and the vibration feedback data of the track linear travel module; The comprehensive deviation value is determined based on the change data and vibration feedback data; The compensation amount is calculated based on the comprehensive deviation value, and the displacement of the actuator and the moving speed of the track linear travel module are dynamically adjusted based on the compensation amount.
8. The robust control system for harsh environments as described in claim 7, characterized in that, The control module determines the comprehensive deviation value based on the change data and vibration feedback data, including: Obtain the initial states of the execution end and the walking module, determine the displacement deviation of the execution end and the speed deviation of the walking module, and set the initial covariance matrix; State prediction is performed based on changing data and vibration feedback data, and the prediction covariance matrix is calculated. Calculate the Kalman gain based on the predicted covariance matrix, update the state variables and covariance matrix, and output the overall deviation value.
9. The robust control system for harsh environments as described in claim 7, characterized in that, The compensation amount is calculated based on the comprehensive deviation value using an incremental PID algorithm.
10. A disassembly robot, characterized in that, Including a robust control system for harsh environments as described in any one of claims 1-9.