Autonomous mobile robot milling platform and control method thereof

Abstract

The application provides an autonomous mobile robot milling platform and a control method thereof, which comprises an AGV mobile platform and an expandable flexible tooling system; the AGV mobile platform comprises a platform vehicle body, a platform rudder wheel and an electric control locking module; the platform rudder wheel and the electric control locking module are arranged on the platform vehicle body, the platform vehicle body moves through the platform rudder wheel, and the electric control locking module is used for fixing the platform vehicle body; a processing device is arranged on the platform vehicle body; the expandable flexible tooling system comprises an expandable positioning tooling, a work station surface calibration module and a work station surface area identification module; the work station surface calibration module is arranged on the expandable positioning tooling, the work station surface area identification module is arranged on one side of the expandable positioning tooling, and the expandable positioning tooling is used for placing a workpiece. The application realizes high-precision flexible multi-station processing of long parts while greatly reducing the single machine size and manufacturing cost of the mobile robot milling platform.

Description

Technical Field

[0001] This invention relates to the field of robotic milling technology, specifically to an autonomous mobile robotic milling platform and its control method. Background Technology

[0002] Robots are widely used in industrial production due to their ease of programming and expansion, greatly improving work efficiency. Robot-assisted milling equipment is highly flexible and can process a wide range of parts sizes. In recent years, it has been widely used in the highly flexible manufacturing of parts with many varieties and small batches. For the application of robot-assisted milling, high-precision end-effector positioning and adaptive programming are the key factors. Its basic principle is to calibrate the robot's movement and positioning accuracy through manual teaching or measurement, overcoming the defect of poor absolute positioning accuracy of robots and greatly improving the accuracy of robot machining trajectory positioning mapping.

[0003] Currently, the processing of long and large parts mainly adopts the method of large gantry milling machines or multi-station fixed processing robots to assist in processing. This method is costly and not conducive to flexible expansion and flexible production. It can only complete a certain amount of specific processing tasks and cannot adapt to the prospect of widespread application of robot-assisted milling.

[0004] Patent document CN206937333U discloses a robotic flexible curved surface milling production device, including: a loading bin, a unloading bin, a worktable, a tool holder, industrial robot components, and a control system. The loading and unloading bins are used to store blanks and workpieces, the worktable is used to clamp workpieces and complete machining tasks, and the tool holder is used to house the electric spindle and vacuum chuck. The industrial robot automatically loads and unloads workpieces of various specifications via the vacuum chuck and completes curved surface milling via the electric spindle. However, this patent document still has the drawback of only being able to complete a limited number of specific machining tasks. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of this invention is to provide an autonomous mobile robot milling platform and its control method.

[0006] An autonomous mobile robot milling platform provided by the present invention includes: an AGV mobile platform and an expandable flexible tooling system;

[0007] The AGV mobile platform includes a platform body, a platform steering wheel, and an electronically controlled locking module; the platform steering wheel and the electronically controlled locking module are mounted on the platform body, the platform body moves via the platform steering wheel, and the electronically controlled locking module is used to fix the platform body; a processing device is mounted on the platform body.

[0008] The expandable flexible tooling system includes an expandable positioning tooling, a workstation surface calibration module, and a workstation surface area marking module; the workstation surface calibration module is disposed on the expandable positioning tooling, and the workstation surface area marking module is disposed on one side of the expandable positioning tooling; the expandable positioning tooling is used to place the workpiece.

[0009] Preferably, the processing apparatus includes a reference base and a processing robot;

[0010] The processing robot is mounted on the reference base, and the reference base is mounted on the platform vehicle body.

[0011] Preferably, the machining apparatus further includes a high-speed electric spindle and a cutting tool;

[0012] The high-speed electric spindle is mounted on the machining end of the machining robot, and the cutting tool is mounted on the high-speed electric spindle.

[0013] Preferably, the processing apparatus further includes an auxiliary scanning measuring head;

[0014] The auxiliary scanning measuring head is installed at the processing end of the processing robot.

[0015] Preferably, the processing apparatus further includes a micro-lubrication nozzle and a micro-lubrication device;

[0016] The micro-lubrication nozzle is installed at the processing end of the processing robot, and the micro-lubrication device is installed on the platform body. The micro-lubrication device is connected to the micro-lubrication nozzle.

[0017] Preferably, the processing device further includes a robot controller and a vehicle motion controller;

[0018] The robot controller and the vehicle motion controller are mounted on the platform vehicle body;

[0019] The robot controller is electrically connected to the processing robot, and the vehicle motion controller is electrically connected to the platform steering wheel and the electrically controlled locking module.

[0020] Preferably, the processing apparatus further includes a control center component;

[0021] The control center component is electrically connected to the robot controller and the vehicle motion controller.

[0022] Preferably, the processing device further includes an electrical control cabinet;

[0023] The electrical control cabinet is electrically connected to the control center component, the robot controller, and the vehicle motion controller.

[0024] Preferably, the expandable positioning fixture includes an adhesive ground surface and marking lines marked by the workstation area marking module;

[0025] The marking lines are placed around the surface that can be adhered to, and the marking lines are used to mark the stopping and working area of ​​the AGV mobile platform.

[0026] The present invention also provides a control method for an autonomous mobile robot milling platform, used in the above-mentioned autonomous mobile robot milling platform, specifically including the following steps:

[0027] Step 1: Obtain the digital models of the AGV mobile platform, the expandable flexible tooling system, and the workpiece through the control center component of the processing device. Based on the obtained digital models, formulate the movement strategy of the AGV mobile platform and the initial processing program of the processing robot of the processing device.

[0028] Step 2: According to the movement strategy of the AGV mobile platform established in Step 1, the platform steering wheel is controlled by the control center component of the processing device and the vehicle motion controller. The platform steering wheel drives the AGV mobile platform to move to the processing stop area marked by the workstation area marking module.

[0029] Step 3: After the AGV mobile platform arrives at the designated processing station, the platform steering wheel is controlled by the control center component of the processing device and the vehicle motion controller. The platform steering wheel lowers the AGV mobile platform and places it on the ground. The electronic locking module is then controlled to automatically lock the AGV mobile platform on the ground.

[0030] Step 4: After the AGV mobile platform is moved and positioned at the current processing position, according to the processing program of the processing robot of the processing device, the robot controller of the processing device is started through the control center component. The robot controller controls the movement of the processing robot to move the auxiliary scanning measurement head of the end processing device to the workstation surface calibration module corresponding to the current processing position. The auxiliary scanning measurement head is started to scan through the control center component, and the robot controller controls the movement of the processing robot to move the auxiliary scanning measurement head of the end to complete the scanning measurement of the workstation surface calibration module corresponding to the current processing position and the part of the workpiece adjacent to the workstation surface calibration module.

[0031] Step 5: Obtain the measurement point cloud data of the workstation surface calibration module stored in the scanning field of view through the control center component, match the measurement point cloud data of the workstation surface calibration module with the theoretical digital model of the calibration module corresponding to the scanning measurement program of the processing robot, and obtain the offset of the current physical calibration module relative to the theoretical digital model of the calibration module under the current processing robot field of view;

[0032] Step 6: Based on the offset of the physical calibration module on the tooling, obtain the updated workpiece machining pose through the control center component, correct the machining program of the machining robot based on the updated workpiece machining pose, and process the workpiece according to the corrected machining program.

[0033] Step 7: After the current machining station is completed, the AGV mobile platform is controlled by the control center component to move to the next machining station. By scanning and measuring the workstation surface calibration module and autonomously aligning the machining robot's pose, the milling program of the machining robot at the current machining station is updated, and the machining robot is controlled to complete the machining task at the next machining station.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. This invention addresses the bottleneck of low machining accuracy and reliance on high-precision positioning chassis in mobile milling robots by proposing an autonomous mobile robot milling platform. Based on the multi-station machining process of long and large parts, an intelligent control method for autonomous mobile robot milling is proposed, which greatly reduces the single-machine size and manufacturing cost of the mobile robot milling platform while achieving high-precision flexible multi-station machining of long and large parts.

[0036] 2. This invention proposes a flexible autonomous mobile robot milling platform for machining long and large parts. It can autonomously arrange the machining positions and is suitable for mobile machining of large parts, reducing the size and cost of special machines.

[0037] 3. This invention adopts an autonomous alignment method based on robot end-effector scanning measurement. It can autonomously identify the machining position and autonomously align the robot's current machining position. It can achieve machining platform alignment and part milling program update under non-precise positioning autonomous movement without the need for a high-precision mobile vehicle. It changes the machining method based on absolute positioning accuracy and improves the accuracy of robot milling. This invention can greatly reduce the cost per unit while improving the machining accuracy of mobile robots.

[0038] 4. This invention is composed of an expandable flexible tooling system, combined with an autonomous mobile AGV mobile platform, which can be freely combined and is suitable for multi-station processing of parts of different sizes; at the same time, since the autonomous mobile robot milling processing platform does not require precise positioning and does not rely on a specific track, it can greatly improve the efficiency of flexible assembly lines. Attached Figure Description

[0039] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0040] Figure 1 This is a schematic diagram of the structure of the autonomous mobile robot milling platform of the present invention;

[0041] Figure 2 This is a three-dimensional structural diagram of the AGV mobile platform and expandable positioning fixture of the present invention.

[0042] The diagram shows:

[0043] AGV Mobile Platform 1, Processing Robot 302

[0044] Platform body 101, high-speed electric spindle 303

[0045] Platform steering wheel 102, cutting tool 304

[0046] Electrically controlled locking module 103 Auxiliary scanning measuring head 305

[0047] Expandable Flexible Tooling System 2 Micro-lubrication Nozzle 306

[0048] Expandable positioning fixture 201, micro-lubrication device 307

[0049] 2011 Robot Controller 308 (Can Adhere to Ground)

[0050] Marking line 2012, vehicle motion controller 309

[0051] Workstation calibration module 202 Control center component 310

[0052] Workstation area identification module 203, electrical control cabinet 311

[0053] Processing device 3 Workpiece 4

[0054] Reference base 301 Detailed Implementation

[0055] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0056] Example 1:

[0057] like Figure 1 and Figure 2As shown, this embodiment provides an autonomous mobile robot milling platform, including: an AGV mobile platform 1 and an expandable flexible tooling system 2. The AGV mobile platform 1 includes a platform body 101, a platform steering wheel 102, and an electrically controlled locking module 103. The platform steering wheel 102 and the electrically controlled locking module 103 are mounted on the platform body 101. The platform body 101 moves via the platform steering wheel 102. The electrically controlled locking module 103 is used to fix the platform body 101. A processing device 3 is mounted on the platform body 101.

[0058] The expandable flexible tooling system 2 includes an expandable positioning tooling 201, a workstation surface calibration module 202, and a workstation surface area marking module 203. The workstation surface calibration module 202 consists of a tool position three-way alignment measurement module and a spatial stereoscopic scanning standard module, used to calibrate and calibrate the position of the processing device 3 relative to the expandable flexible tooling system 2 after the AGV mobile platform 1 stops. The workstation surface calibration module 202 is set on the expandable positioning tooling 201, and the workstation surface area marking module 203 is set on one side of the expandable positioning tooling 201. The workstation surface area marking module 203 consists of a region outline drawn on the ground and an identification code, used to mark the movement stopping point and working position of the AGV mobile platform 1. The workstation surface calibration module 202 and the workstation surface area marking module 203 are used in pairs and distributed around the expandable positioning tooling 201. The expandable positioning tooling 201 is used to place the workpiece 4.

[0059] The expandable positioning fixture 201 includes a work surface area marking module 203 marking an adsorbable ground 2011 and marking lines 2012. The adsorbable ground 2011 is composed of a high-precision horizontal worktable located in the ground. The marking lines 2012 are set around the adsorbable ground 2011 to mark the stopping work area of ​​the AGV mobile platform 1.

[0060] The processing device 3 includes a reference base 301 and a processing robot 302. The processing robot 302 is mounted on the reference base 301, and the reference base 301 is mounted on the platform vehicle body 101.

[0061] The machining apparatus 3 also includes a high-speed electric spindle 303 and a cutting tool 304. The high-speed electric spindle 303 is mounted on the machining end of the machining robot 302, and the cutting tool 304 is mounted on the high-speed electric spindle 303. The machining apparatus 3 also includes an auxiliary scanning measuring head 305, which is mounted on the machining end of the machining robot 302.

[0062] The processing device 3 also includes a robot controller 308 and a vehicle motion controller 309, which are mounted on the platform vehicle body 101. The robot controller 308 is electrically connected to the processing robot 302, and the vehicle motion controller 309 is electrically connected to the platform steering wheel 102 and the electrically controlled locking module 103. The processing device 3 also includes a control center assembly 310, which is electrically connected to the robot controller 308 and the vehicle motion controller 309. The processing device 3 also includes an electrical control cabinet 311, which is electrically connected to the control center assembly 310, the robot controller 308, and the vehicle motion controller 309.

[0063] The processing device 3 also includes a micro-lubrication nozzle 306 and a micro-lubrication device 307. The micro-lubrication nozzle 306 is installed at the processing end of the processing robot 302, and the micro-lubrication device 307 is installed on the platform body 101. The micro-lubrication device 307 is connected to the micro-lubrication nozzle 306.

[0064] This embodiment also provides a control method for an autonomous mobile robot milling platform, used in the aforementioned autonomous mobile robot milling platform, specifically including the following steps:

[0065] Step 1: Obtain the digital models of the AGV mobile platform 1, the expandable flexible tooling system 2, and the workpiece 4 through the control center component 310 of the processing device 3, and formulate the movement strategy of the AGV mobile platform 1 and the processing program of the processing robot 302 of the processing device 3 based on the obtained digital models.

[0066] Step 2: According to the movement strategy of AGV mobile platform 1 established in Step 1, the platform steering wheel 102 is controlled by the control center component 310 and the vehicle motion controller 309 of the processing device 3, and the platform steering wheel 102 drives the AGV mobile platform 1 to move to the processing stop area marked by the workstation area marking module 203.

[0067] Step 3: After the AGV mobile platform 1 arrives at the designated processing station, the platform steering wheel 102 is controlled by the control center component 310 and the vehicle motion controller 309 of the processing device 3. The platform steering wheel 102 lowers the AGV mobile platform 1 and places it on the ground, and the electronic locking module 103 is controlled to automatically lock the AGV mobile platform 1 on the ground.

[0068] The AGV mobile platform 1's positioning accuracy calibration and standardization process is as follows: First, the control center component 310, based on the position information marked by the workstation surface area marking module 203, formulates the movement strategy of the AGV mobile platform 1 and controls the AGV mobile platform 1 to move to the area marked by the workstation surface area marking module 203, achieving initial fixed-point positioning; then, the control center component 310 controls the processing robot 302 of the processing device 3 to move the end tool 304 to the initial calibration point of the tool position three-way alignment measurement module in the workstation surface calibration module 202. Stop; then, the control center component 310 controls the tool position three-way alignment measurement module to measure the three-way offset of the current tool relative to the theoretical initial calibration point, thereby obtaining the actual position of the processing device 3 relative to the workstation surface calibration module 202 at the current stopping position of the AGV mobile platform 1. The processing robot 302 resets its working coordinate system relative to the expandable positioning fixture 201 and the fixed workstation surface calibration module 202 according to the measured offset; thus, the secondary calibration and alignment of the processing point of the non-precise mobile AGV mobile platform 1 is realized.

[0069] Step 4: After the AGV mobile platform 1 is moved and positioned at the current processing position, according to the processing program of the processing robot 302 of the processing device 3, the robot controller 308 of the processing device 3 is started by the control center component 310. The robot controller 308 controls the movement of the processing robot 302 to move the auxiliary scanning measurement head 305 of the end processing device 3 to the workstation surface calibration module 202 corresponding to the current processing position. The auxiliary scanning measurement head 305 is started by the control center component 310, and the auxiliary scanning measurement head 306 at the end of the processing robot 302 is moved by the robot controller 308 to complete the scanning measurement of the workstation surface calibration module 202 corresponding to the current processing position and a part of the workpiece 4 adjacent to the workstation surface calibration module 202.

[0070] Step 5: The control center component 310 acquires the measurement point cloud data of the workstation surface calibration module 202 stored in the scanning field of view. The measurement point cloud data of the workstation surface calibration module 202 is matched with the theoretical digital model of the calibration module corresponding to the scanning measurement program of the processing robot 302 to obtain the offset of the current physical calibration module relative to the theoretical digital model of the calibration module under the current field of view of the processing robot 302. Thus, the offset of the workpiece 4 placed on the current expandable positioning fixture 201 relative to the workstation surface calibration module 202 is obtained, thereby realizing the calibration of the workpiece pose measurement.

[0071] Step 6: Based on the offset of the physical calibration module on the tooling, the updated workpiece 4 machining pose is obtained through the control center component 310, and the machining program of the machining robot 302 is corrected according to the updated workpiece 4 machining pose. The workpiece 4 is then machined according to the corrected machining program.

[0072] Step 7: After the current processing position is completed, the AGV mobile platform 1 is controlled by the control center component 310 to move to the next processing position. The milling program of the processing robot 302 at the current processing position is updated by scanning and measuring the workstation surface calibration module 202 and autonomously aligning the position of the processing robot 302. The processing robot 302 is then controlled to complete the processing task at the next processing position.

[0073] Example 2:

[0074] Those skilled in the art can understand this embodiment as a more specific description of Embodiment 1.

[0075] This embodiment provides an autonomous mobile robot milling platform, comprising an AGV mobile platform and an expandable flexible tooling system. The AGV mobile platform includes an AGV mobile platform body, an AGV mobile platform steering wheel (which can lift the upper processing platform up and down, and lower the processing platform to the ground after it is in position), and an electrically controlled locking module (which automatically locks the processing platform after it moves to the position and is placed on the ground).

[0076] The autonomous mobile robot milling platform provided in this embodiment also includes a machining platform reference base on the mobile platform body, a machining robot, a high-speed electric spindle, cutting tools, an auxiliary scanning and measuring head, a micro-lubrication device, a micro-lubrication nozzle, a robot controller, a vehicle motion control center, an electrical control cabinet, and a control center; the expandable flexible tooling system includes expandable positioning tooling, a workpiece calibration module, a workpiece, and a workpiece surface area marking module (including a ground-adhesive marking line).

[0077] This embodiment also provides an autonomous mobile robot milling platform and its intelligent control method. First, in the machining preparation stage, the robot milling platform control center acquires the AGV mobile platform, flexible tooling system, and workpiece digital model. Based on the aforementioned digital model, it formulates the AGV mobile platform movement strategy and the initial robot machining program. Then, according to the AGV mobile platform movement strategy, the robot milling platform control center controls the AGV mobile platform's steering wheel to move the AGV mobile platform to the machining stop area marked by the workstation area marking module. After reaching the designated machining station, the vehicle motion control center controls the AGV mobile platform's steering wheel to lower the AGV mobile platform and place it on the ground. Then, it controls the electronic locking module to automatically lock the machining platform on the ground to ensure reliable positioning during machining. This realizes the flexible autonomous movement and positioning of the autonomous mobile robot milling platform and the initial positioning of the machining station.

[0078] During the machining process, after the AGV mobile platform is positioned at the current machining station, the robot milling platform control center controls the robot controller to start according to the robot machining program. First, the robot controller controls the movement of the machining robot to move the end effector auxiliary scanning and measuring device to the calibration module corresponding to the current machining station. Then, the platform control center controls the auxiliary scanning and measuring device to start scanning, and through the robot controller controlling the movement of the machining robot to move the end effector auxiliary scanning and measuring device, the scanning and measurement of the calibration module corresponding to the current machining station is completed, thus completing the scanning and measurement of the calibration module under non-precise positioning and without pre-calibration; robot milling machining. The platform control center acquires the calibration module measurement point cloud data stored in the scanning field of view. It matches the calibration module measurement point cloud data with the theoretical numerical model of the calibration module corresponding to the robot scanning measurement program to obtain the offset of the current physical calibration module relative to the theoretical numerical model of the calibration module under the current robot field of view, thereby realizing the pose alignment of the non-precise positioning machining robot. Based on this, the robot milling machining platform control center obtains the updated part machining pose according to the offset of the physical calibration module on the tooling, and corrects the initial robot machining program according to the updated part machining pose, thus realizing the update of the milling machining program after the non-precise positioning milling machining robot autonomously aligns.

[0079] After the current machining station is completed, the robot milling machining platform control center controls the AGV mobile platform to move to the next machining station. Through the scanning measurement of the calibration module and the robot's autonomous posture correction, the milling machining program of the current machining station is updated, thereby controlling the machining robot to complete the machining task at the next machining station, thus realizing high-precision machining of ultra-large parts by mobile robot milling.

[0080] This invention enables high-precision, flexible, multi-station machining of large and long parts while significantly reducing the single-machine size and manufacturing cost of mobile robot milling platforms.

[0081] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0082] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A control method for an autonomous mobile robotic milling platform, characterized in that, An autonomous mobile robotic milling platform is used. Includes: AGV mobile platform (1) and scalable flexible tooling system (2); The AGV mobile platform (1) includes a platform body (101), a platform steering wheel (102), and an electronically controlled locking module (103); the platform steering wheel (102) and the electronically controlled locking module (103) are mounted on the platform body (101), the platform body (101) moves via the platform steering wheel (102), and the electronically controlled locking module (103) is used to fix the platform body (101); a processing device (3) is mounted on the platform body (101). The expandable flexible tooling system (2) includes an expandable positioning tooling (201), a workstation surface calibration module (202), and a workstation surface area marking module (203); the workstation surface calibration module (202) is disposed on the expandable positioning tooling (201), and the workstation surface area marking module (203) is disposed on one side of the expandable positioning tooling (201); the expandable positioning tooling (201) is used to place the workpiece (4). The processing device (3) includes a reference base (301) and a processing robot (302); The processing robot (302) is mounted on the reference base (301), and the reference base (301) is mounted on the platform vehicle body (101); The processing device (3) also includes a high-speed electric spindle (303) and a cutting tool (304). The high-speed electric spindle (303) is disposed at the machining end of the machining robot (302), and the cutting tool (304) is disposed on the high-speed electric spindle (303); The processing device (3) also includes an auxiliary scanning measuring head (305); The auxiliary scanning measuring head (305) is disposed at the processing end of the processing robot (302); The processing device (3) also includes a micro-lubrication nozzle (306) and a micro-lubrication device (307). The micro-lubrication nozzle (306) is disposed at the processing end of the processing robot (302), and the micro-lubrication device (307) is disposed on the platform body (101). The micro-lubrication device (307) is connected to the micro-lubrication nozzle (306). The control method includes the following steps: Step 1: Obtain the digital models of the AGV mobile platform (1), the expandable flexible tooling system (2), and the workpiece (4) through the control center component (310) of the processing device (3), and formulate the movement strategy of the AGV mobile platform (1) and the processing program of the processing robot (302) of the processing device (3) based on the obtained digital models. Step 2: According to the movement strategy of the AGV mobile platform (1) established in Step 1, the platform steering wheel (102) is controlled by the control center component (310) and the vehicle motion controller (309) of the processing device (3), and the AGV mobile platform (1) is driven to move to the processing stop area marked by the work station area marking module (203) through the platform steering wheel (102); Step 3: After the AGV mobile platform (1) arrives at the designated processing station, the platform steering wheel (102) is controlled by the control center component (310) and the vehicle motion controller (309) of the processing device (3). The AGV mobile platform (1) is lowered and placed on the ground by the platform steering wheel (102), and the electric locking module (103) is controlled to automatically lock the AGV mobile platform (1) on the ground. Step 4: After the AGV mobile platform (1) is moved and placed at the current processing position, according to the processing program of the processing robot (302) of the processing device (3), the robot controller (308) of the processing device (3) is started by the control center component (310). The robot controller (308) controls the movement of the processing robot (302) to drive the auxiliary scanning measurement head (305) of the end processing device (3) to move to the work station surface calibration module (202) corresponding to the current processing position. The auxiliary scanning measurement head (305) is started to scan by the control center component (310), and the auxiliary scanning measurement head (306) is controlled by the robot controller (308) to complete the scanning measurement of the work station surface calibration module (202) corresponding to the current processing position and the part of the workpiece (4) adjacent to the work station surface calibration module (202). Step 5: Obtain the measurement point cloud data of the workstation surface calibration module (202) stored in the scanning field of view through the control center component (310), match the measurement point cloud data of the workstation surface calibration module (202) with the theoretical digital model of the calibration module corresponding to the scanning measurement program of the processing robot (302), and obtain the offset of the current physical calibration module relative to the theoretical digital model of the calibration module under the current field of view of the processing robot (302); Step 6: Based on the offset of the physical calibration module on the tooling, the updated workpiece (4) machining pose is obtained through the control center component (310), and the machining program of the machining robot (302) is corrected according to the updated workpiece (4) machining pose. The workpiece (4) is then machined according to the corrected machining program. Step 7: After the current processing position is completed, the AGV mobile platform (1) is controlled by the control center component (310) to move to the next processing position. The milling program of the current processing position processing robot (302) is updated by scanning and measuring the work station surface calibration module (202) and the pose of the processing robot (302) is autonomously corrected. The processing robot (302) is then controlled to complete the processing task at the next processing position.

2. The control method for the autonomous mobile robot milling platform according to claim 1, characterized in that, The processing device (3) also includes a robot controller (308) and a vehicle motion controller (309). The robot controller (308) and the vehicle motion controller (309) are mounted on the platform vehicle body (101); The robot controller (308) is electrically connected to the processing robot (302), and the vehicle motion controller (309) is electrically connected to the platform steering wheel (102) and the electric locking module (103).

3. The control method for the autonomous mobile robot milling platform according to claim 2, characterized in that, The processing device (3) also includes a control center component (310); The control center component (310) is electrically connected to the robot controller (308) and the vehicle motion controller (309).

4. The control method for the autonomous mobile robot milling platform according to claim 3, characterized in that, The processing device (3) also includes an electrical control cabinet (311); The electrical control cabinet (311) is electrically connected to the control center component (310), the robot controller (308), and the vehicle motion controller (309).

5. The control method for the autonomous mobile robot milling platform according to claim 1, characterized in that, The expandable positioning fixture (201) includes an adsorbable ground surface (2011) and a marking line (2012) marked by a work surface area marking module (203). The marking line (2012) is set around the adsorbable ground (2011) and is used to mark the parking and working area of ​​the AGV mobile platform (1).

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