A carbon block grinding method, device, equipment and storage medium

Abstract

The present invention discloses a method, device, equipment and storage medium for carbon block grinding. The method includes: generating a grinding path for the carbon block to be ground according to the three-dimensional point cloud data of the carbon block to be ground and the standard three-dimensional carbon block model; controlling the robotic arm to grind the carbon block to be ground according to the grinding path, and traversing all path points in the grinding path during the grinding process to obtain the current end pose of the robotic arm. If it is determined that the robotic arm has not reached the current target path point for grinding, the current forces in each direction at the end of the robotic arm are obtained, and the position offsets of the current forces and the target grinding forces in each direction are calculated according to the respective current forces and the preset target grinding force; controlling the robotic arm to adjust according to the target pose and continue grinding until the current target path point for grinding is reached. Through the present invention, the automation of carbon block grinding can be realized, and the carbon block grinding efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular, to a method, device, equipment and storage medium for grinding carbon blocks. Background Art

[0002] Anode carbon block is a material used in the electrochemical process and is widely used as an important material in the aluminum electrolysis industry. It is usually used as the anode material in the electrolytic cell. When manufacturing, high-purity graphite is first sintered into a square shape, and then surface treatment is continued to meet the usage requirements. However, its cleaning and grinding have always been a technical problem.

[0003] The current technical status is to rely on manual cleaning and grinding, which is inefficient and costly. The grinding effect of manual grinding is not good, and during manual cleaning and grinding, the on-site production environment is noisy, hot and has serious dust pollution, which will have a negative impact on the health of workers. Summary of the Invention

[0004] The present invention provides a method, device, equipment and storage medium for grinding carbon blocks to solve the technical problem of manually grinding carbon blocks.

[0005] To solve the above technical problem, an embodiment of the present invention provides a method for grinding carbon blocks, including:

[0006] Obtaining three-dimensional point cloud data of the carbon block to be ground, and generating a grinding path of the carbon block to be ground according to the three-dimensional point cloud data and a preset standard three-dimensional carbon block model;

[0007] Controlling the robotic arm to grind the carbon block to be ground according to the grinding path, traversing all path points in the grinding path during the grinding process, obtaining the current end pose of the robotic arm, and judging whether the robotic arm reaches the target path point of the current grinding according to the current end pose;

[0008] If it is judged that the robotic arm has reached the target path point of the current grinding, controlling the robotic arm to grind the next path point; if it is judged that the robotic arm has not reached the target path point of the current grinding, obtaining the current forces in each direction at the end of the robotic arm, and calculating the position offsets of the current forces and the target grinding forces in each direction according to the current forces and the preset target grinding forces;

[0009] Calculating the target pose of the robotic arm according to the position offset, controlling the robotic arm to adjust according to the target pose and continue grinding until the target path point of the current grinding is reached.

[0010] As a preferred solution, the generating a grinding path of the carbon block to be ground according to the three-dimensional point cloud data and a preset standard three-dimensional carbon block model includes:

[0011] Determine the position information and attitude information of the carbon block to be polished in the current space according to the three-dimensional point cloud data of the carbon block to be polished;

[0012] Generate discrete path points of the carbon block to be polished according to the position information and attitude information of the carbon block to be polished in the current space and the edge contour of the preset standard three-dimensional carbon block model;

[0013] Interpolate the discrete path points according to the preset path planning constraints to generate interpolated path points of the carbon block to be polished, and add transition path points at preset positions; wherein, the path planning constraints include: the working space of the robotic arm, the carbon block polishing beat, the joint speed of the robotic arm, and the acceleration of the robotic arm;

[0014] Generate a polishing path for the carbon block to be polished according to the discrete path points, interpolated path points, and transition path points.

[0015] As a preferred solution, the determining the position and attitude information of the carbon block to be polished in the current space according to the three-dimensional point cloud data includes:

[0016] Preprocess the three-dimensional point cloud data; wherein, the preprocessing includes: denoising and filtering;

[0017] Extract the carbon block features of the preprocessed three-dimensional point cloud data; wherein, the carbon block features include: edges and corner points;

[0018] Match the carbon block features with a preset feature template to obtain a corresponding template matching result;

[0019] Calculate the position and attitude information of the carbon block to be polished in the current space according to the carbon block features and the template matching result.

[0020] As a preferred solution, the obtaining the current forces in each direction at the end of the robotic arm and calculating the position offsets in each direction of the current forces and the preset target polishing forces includes:

[0021] Obtain the current forces in each direction at the end of the robotic arm;

[0022] Calculate the deviations in each direction of the current forces and the preset target polishing forces according to the current forces in each direction at the end of the robotic arm and the preset target polishing forces in each direction;

[0023] ]>Calculate the position offsets in each direction of the current forces and the preset target polishing forces according to the deviations in each direction of the current forces and the preset target polishing forces.

[0024] As a preferred solution, calculating the deviation between the current force and the target polishing force in each direction according to the current force at the end of the robotic arm in each direction and the target polishing force preset in each direction includes:

[0025] Taking the base of the polishing robot as the origin, a three-dimensional robot base coordinate system is established;

[0026] Taking the robot base coordinate system as the reference coordinate system, converting the current force at the end of the robotic arm in each direction and the target polishing force preset in each direction into forces in the reference coordinate system;

[0027] Calculating the deviation between the current force and the target polishing force in each direction in the reference coordinate system.

[0028] As a preferred solution, calculating the position offset between the current force and the target polishing force in each direction according to the deviation between the current force and the target polishing force in each direction includes:

[0029] According to the deviation between the current force and the target polishing force in each direction and the preset MBK model based on admittance control, calculating the position offset between the current force and the target polishing force in each direction.

[0030] As a preferred solution, the position offset between the current force and the target polishing force in each direction is calculated by the following formula:

[0031] ;

[0032] where Fe is the deviation between the current force and the target polishing force in each direction, Xe is the position offset between the current force and the target polishing force in each direction, T is the period of admittance control, M is the inertial response of admittance control; B is the damping coefficient of admittance control, and K is the elastic coefficient of admittance control.

[0033] Based on the above embodiments, another embodiment of the present invention provides a carbon block polishing device, including: a polishing path generation module, a path point traversal module, a position offset calculation module, and a target pose adjustment module;

[0034] The polishing path generation module is configured to obtain the three-dimensional point cloud data of the carbon block to be polished, and generate a polishing path for the carbon block to be polished according to the three-dimensional point cloud data and a preset standard three-dimensional carbon block model;

[0035] The path point traversal module is configured to control the robotic arm to polish the carbon block to be polished according to the polishing path, traverse all path points in the polishing path during the polishing process, obtain the current end pose of the robotic arm, and determine whether the robotic arm reaches the target path point of the current polishing according to the current end pose;

[0036] The position offset calculation module is configured to, if it is determined that the robotic arm has reached the target path point of the current grinding, control the robotic arm to perform grinding on the next path point; if it is determined that the robotic arm has not reached the target path point of the current grinding, obtain the current forces in all directions at the end of the robotic arm, and calculate the position offsets in all directions between the current forces and the preset target grinding forces based on the current forces and the preset target grinding forces.

[0037] The target pose adjustment module is configured to calculate the target pose of the robotic arm based on the position offset, control the robotic arm to adjust according to the target pose and continue grinding until it reaches the target path point of the current grinding.

[0038] Based on the above embodiments, another embodiment of the present invention provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, the carbon block grinding method described in the above embodiments of the present invention is implemented.

[0039] Based on the above embodiments, another embodiment of the present invention provides a storage medium, which includes a stored computer program. When the computer program runs, the device where the storage medium is located is controlled to execute the carbon block grinding method described in the above embodiments of the present invention.

[0040] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0041] The present invention provides a carbon block grinding method, which obtains the three-dimensional point cloud data of the carbon block to be ground, generates the grinding path of the carbon block to be ground based on the three-dimensional point cloud data and a preset standard three-dimensional carbon block model; controls a robotic arm to grind the carbon block to be ground according to the grinding path, traverses all path points in the grinding path during the grinding process, obtains the current end pose of the robotic arm, and determines whether the robotic arm has reached the target path point of the current grinding according to the current end pose; if it is determined that the robotic arm has reached the target path point of the current grinding, controls the robotic arm to perform grinding on the next path point; if it is determined that the robotic arm has not reached the target path point of the current grinding, obtains the current forces in all directions at the end of the robotic arm, and calculates the position offsets in all directions between the current forces and the preset target grinding forces based on the current forces and the preset target grinding forces; calculates the target pose of the robotic arm based on the position offset, controls the robotic arm to adjust according to the target pose and continue grinding until it reaches the target path point of the current grinding.

[0042] Through the present invention, the automation and intelligentization of the carbon block grinding process can be realized. The realization of the automated carbon block grinding technology can significantly improve the efficiency of carbon block grinding and production, reduce labor costs, and at the same time improve the working environment and ensure the physical health of workers. Description of the Drawings

[0043] Figure 1 is a schematic flowchart of a carbon block grinding method provided by an embodiment of the present invention;

[0044] Figure 2 is the overall flowchart of the carbon block grinding of the present invention;

[0045] Figure 3 is a schematic diagram of the six-degree-of-freedom pose of the carbon block;

[0046] Figure 4 is a schematic diagram of the grinding path of the carbon block to be ground;

[0047] Figure 5 is a schematic layout diagram of the robotic arm flange, sensor, grinding tool and the carbon block to be ground;

[0048] Figure 6 is a schematic structural diagram of a carbon block grinding device provided by an embodiment of the present invention. Detailed Embodiments

[0049] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art without making creative efforts based on the embodiments in the present application belong to the scope of protection of the present application.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above description of the drawings are intended to cover non-exclusive inclusion.

[0051] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of the present application, "a plurality" means more than two unless otherwise specifically defined.

[0052] Reference to "embodiment" in this specification means that the specific features, structures, or characteristics described in connection with the embodiment may be included in at least one embodiment of this application. The phrase appearing at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0053] In the description of the embodiments of this application, the term "and / or" is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this text generally represents an "or" relationship between the associated objects before and after.

[0054] In the description of the embodiments of this application, the term "plurality" refers to two or more (including two). Similarly, "multiple groups" refers to two or more groups (including two groups), and "multiple pieces" refers to two or more pieces (including two pieces).

[0055] In the description of the embodiments of this application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of this application can be understood according to specific situations.

[0056] Embodiment 1

[0057] Please refer to Figure 1 , which is a schematic flow chart of a carbon block grinding method provided by an embodiment of the present invention, including the following specific steps:

[0058] S1. Obtain the three-dimensional point cloud data of the carbon block to be ground, and generate the grinding path of the carbon block to be ground according to the three-dimensional point cloud data and a preset standard three-dimensional carbon block model;

[0059] Preferably, generating a grinding path for the carbon block to be ground according to the three-dimensional point cloud data and a preset standard three-dimensional carbon block model includes: determining the position information and attitude information of the carbon block to be ground in the current space according to the three-dimensional point cloud data of the carbon block to be ground; generating discrete path points of the carbon block to be ground according to the position information and attitude information of the carbon block to be ground in the current space and the edge contour of the preset standard three-dimensional carbon block model; performing interpolation on the discrete path points according to preset path planning constraints to generate interpolation path points of the carbon block to be ground, and adding transition path points at preset positions; wherein, the path planning constraints include: the working space of the robotic arm, the carbon block grinding beat, the joint speed of the robotic arm, and the acceleration of the robotic arm; generating a grinding path for the carbon block to be ground according to the discrete path points, interpolation path points, and transition path points.

[0060] Preferably, determining the position and attitude information of the carbon block to be ground in the current space according to the three-dimensional point cloud data includes: preprocessing the three-dimensional point cloud data; wherein, the preprocessing includes: denoising and filtering; extracting the carbon block features of the preprocessed three-dimensional point cloud data; wherein, the carbon block features include: edges and corner points; matching the carbon block features with a preset feature template to obtain a corresponding template matching result; calculating the position and attitude information of the carbon block to be ground in the current space according to the carbon block features and the template matching result.

[0061] Specifically, please refer to Figure 2 , which is the overall flowchart of the carbon block grinding of the present invention. The carbon block grinding process of the present invention is as follows:

[0062] Step1: Please refer to Figure 3 , which is a schematic diagram of the six-degree-of-freedom pose of the carbon block. During the carbon block grinding process, first, it is necessary to obtain the three-dimensional point cloud data of the carbon block to be ground through a sensor, and then determine the six-degree-of-freedom pose of the carbon block, that is, its position information and attitude information in the current space. Specifically, it is divided into the following four steps:

[0063] The first step: Use a 3D camera to scan the carbon block to be ground, obtain the three-dimensional point cloud data on its surface, and transmit it to the computer system;

[0064] The second step: Preprocess the three-dimensional point cloud data, including operations such as denoising and filtering, to improve the data quality and accuracy. Then extract the features of the carbon block from the processed point cloud data, such as edges, corner points, etc., for subsequent pose recognition;

[0065] The third step: Use the template matching technology of OpenCV to match the extracted features with a preset template to find the best matching result;

[0066] Step 4: Through the GCIP precise matching algorithm, combine the results of template matching and the data extracted from features to calculate the position and attitude information of the carbon block in space, including the six-degree-of-freedom parameters of position and attitude.

[0067] Through the above steps, ensuring the accurate identification of the position and attitude of the carbon block can provide key positioning information for the subsequent compliant grinding of the carbon block, realizing precise automated grinding operations.

[0068] Step 2: The second step in the process of grinding the carbon block is to plan the grinding path of the robotic arm. This step involves planning the grinding path based on the shape information and position information of the carbon block obtained in the previous step, combined with the grinding requirements and equipment limitations. It is specifically divided into the following three steps:

[0069] Step 1: Determine the current grinding task (upper surface grinding, side surface grinding, global grinding), combine the shape information and position information of the carbon block obtained in Step 1 and the edge contour of the preset standard three-dimensional carbon block model to generate discrete path points;

[0070] Step 2: Determine the path planning constraints, including parameters such as the working space of the robotic arm, grinding rhythm requirements, joint speed and acceleration of the robotic arm, etc.;

[0071] Step 3: Conduct global path planning. First, according to the path planning constraints, interpolate the path points in Step 1 at a certain step size, and use the method of quintic polynomial planning to determine the time, speed, acceleration, etc. of each path point. Then add transition points. On the one hand, the transition points can ensure the safe movement of the robotic arm during the grinding process and avoid other surrounding equipment to prevent collisions. On the other hand, they can also ensure a smooth transition from the current grinding surface to the next grinding surface, avoiding problems such as "large-scale" adjustments of the robotic arm or exceeding the arm reach and stopping due to joint angle and speed constraints of the robotic arm, singularities, etc. Finally, generate the grinding path of the carbon block to be ground as shown in Figure 4 the grinding path of the carbon block to be ground as shown.

[0072] Through the above steps, the computer can conduct path planning based on the information of the carbon block and various limiting conditions, and finally generate a path suitable for grinding the carbon block, ensuring that the grinding effect meets the requirements and the operation is within the safe range of the equipment.

[0073] In a specific embodiment, the carbon block grinding method described in the present invention is applicable to carbon blocks with this type of grinding requirement: taking the model of a clean carbon block as the standard, grinding the carbon block as clean as possible.

[0074] At this time, the generation method of the grinding path of the carbon block is as follows:

[0075] a) Establish a clean three-dimensional carbon block model without any carbon slag;

[0076] b) Visually acquire the point cloud data of the carbon block to be polished, and use template matching technology to determine the 6D pose of the carbon block to be polished;

[0077] c) Generate a polishing path according to the 6D pose to be polished and the edge contour of the three-dimensional carbon block model. (For example, there is a three-dimensional cube model. If the pose of its center point is known, its contour can be known).

[0078] S2. Control the robotic arm to polish the carbon block to be polished according to the polishing path, traverse all path points in the polishing path during the polishing process, obtain the current end pose of the robotic arm, and judge whether the robotic arm has reached the target path point of the current polishing according to the current end pose;

[0079] Step3: The third step in the carbon block polishing process is to traverse the path points, obtain the current end pose from the robotic arm, and judge whether the current path point has been reached. If not, execute Step4. If all path points have been completed, the system will end the polishing task. This step involves the real-time position monitoring of the end effector of the robotic arm, reading the state feedback of the robot, obtaining the current position (Positioncurrent) and attitude (Eulercurrent) of the robotic arm, and comparing them with the pre-planned path points. Through accurate position judgment, it can be ensured that the robotic arm can move accurately along the predetermined path.

[0080] S3. If it is judged that the robotic arm has reached the target path point of the current polishing, control the robotic arm to polish the next path point; if it is judged that the robotic arm has not reached the target path point of the current polishing, obtain the current forces in each direction at the end of the robotic arm, and calculate the position offsets of the current forces and the target polishing forces in each direction according to the current forces and the preset target polishing forces.

[0081] Preferably, the obtaining the current forces in each direction at the end of the robotic arm and calculating the position offsets of the current forces and the target polishing forces in each direction according to the current forces and the preset target polishing forces includes: obtaining the current forces in each direction at the end of the robotic arm; calculating the deviations of the current forces and the target polishing forces in each direction according to the current forces in each direction at the end of the robotic arm and the preset target polishing forces in each direction; calculating the position offsets of the current forces and the target polishing forces in each direction according to the deviations of the current forces and the target polishing forces in each direction.

[0082] Preferably, calculating the deviation between the current force and the target polishing force in each direction according to the current force at the end of the robotic arm in each direction and the target polishing force preset in each direction includes: taking the base of the polishing robot as the origin, establishing a three-dimensional robot base coordinate system; using the robot base coordinate system as the reference coordinate system, converting the current force at the end of the robotic arm in each direction and the target polishing force preset in each direction into the forces in the reference coordinate system; calculating the deviation between the current force and the target polishing force in each direction in the reference coordinate system.

[0083] Preferably, calculating the position offset between the current force and the target polishing force in each direction according to the deviation between the current force and the target polishing force in each direction includes: calculating the position offset between the current force and the target polishing force in each direction according to the deviation between the current force and the target polishing force in each direction and the preset MBK model based on admittance control.

[0084] Preferably, the position offset between the current force and the target polishing force in each direction is calculated by the following formula:

[0085] ;

[0086] where Fe is the deviation between the current force and the target polishing force in each direction, Xe is the position offset between the current force and the target polishing force in each direction, T is the period of admittance control, M is the inertial response of admittance control; B is the damping coefficient of admittance control, and K is the elastic coefficient of admittance control.

[0087] Step4: The fourth step in the carbon block polishing process is to calculate the robotic arm offset for polishing, which is specifically divided into the following four steps:

[0088] The first step: Obtain the current force (SensorFcurrent) from the sensor. Taking the robot base coordinate system (RBase) as the reference coordinate system, calculate the deviation between the current force in each direction and the target polishing force. The layout of the robotic arm flange, sensor, polishing tool, and the workpiece to be polished is as Figure 5 shown.

[0089] The forces in the three axial directions obtained from the sensor here are based on the sensor coordinate system (RSensor) as the reference. As shown in the following formula, it is necessary to convert them to RBase;

[0090] ;

[0091] The target grinding force refers to the predetermined force applied to the carbon block surface during the desired grinding process. The magnitude of this force is set according to the specific grinding requirements and process parameters. The direction is based on the carbon block coordinate system (RObject) as shown in the following formula, which needs to be converted to RBase;

[0092] ;

[0093] Calculate the deviation between the current force and the target grinding force in each direction of the robot base coordinate system (RBase) as shown in the following formula:

[0094] ;

[0095] Step 2: Using the deviation between the current force and the target grinding force obtained in the previous step, the position offset in each direction is calculated using the admittance control method shown in the following formula:

[0096] ;

[0097] Where Fe represents the deviation of the current force in a certain direction, Xe represents the position offset (Positione) required to maintain the grinding force in this direction, and T represents the period of admittance control. Taking the x direction of the RBase coordinate system as an example, the calculation is shown in the following formula:

[0098] ;

[0099] After the initial system setup is complete, the preparation phase before actual carbon block grinding begins. Adjusting the mass coefficient M controls the inertial response of the carbon block grinding system to external forces. Properly adjusting the damping coefficient B reduces system oscillation and overshoot during the grinding process, improving system stability and accuracy, thereby ensuring smoothness and consistency in carbon block grinding. Adjusting the elastic coefficient K alters the pressure applied by the carbon block grinding system to the carbon block surface, achieving a more precise grinding effect. Properly adjusting the elastic coefficient also reduces tool wear and extends tool life. After the carbon block grinding system is debugged and optimized, these parameters are no longer adjusted.

[0100] Step 3: Based on the position offset obtained in the previous step and the current robot arm posture, the target position of the robot arm is calculated, and the posture remains unchanged, as shown in the following formula:

[0101] ;

[0102] Step 4: By comparing the target pose with the current path point, determine whether each direction has reached the target point. If a direction has reached the target point, the target value of that direction is set as the current value to achieve stable adjustment and final positioning of the robot arm movement.

[0103] This series of steps ensures precise control of the force and pose of the robotic arm during the grinding process to achieve high-quality grinding of the carbon block surface.

[0104] S4. Calculate the target pose of the robotic arm based on the position offset, and control the robotic arm to adjust according to the target pose and continue grinding until the target path point of the current grinding is reached.

[0105] Step5: In the fifth step of the carbon block grinding process, the calculated target pose of the robotic arm is sent to the robotic arm controller. After receiving the target pose information, the robotic arm controller realizes precise pose adjustment and grinding actions, and then returns to Step3 to start the tasks of the next grinding cycle.

[0106] In a specific embodiment, the carbon block grinding method of the present invention is applicable to carbon blocks with this type of grinding requirement: taking the model of a clean carbon block as a standard, grinding the carbon block as clean as possible.

[0107] At this time, the grinding strategy of the carbon block is as follows:

[0108] a) The path point sequence is generated based on the standard and clean three-dimensional carbon block model.

[0109] b) Only use whether the pose of the end of the robotic arm reaches the target path point of the current grinding as the termination condition for each path point.

[0110] c) In this process, each step of the robotic arm is adjusted according to the current force feedback. When the force is large, it moves slower, and when the force is small, it moves faster. That is to say, the target path point of the robotic arm remains unchanged, and the step size and speed of each step are adjusted in real time. However, in any case, it will reach each set target path point.

[0111] d) For example, if the carbon block is already worn but the path point has not been reached, grinding continues; if it has been grinding on hard carbon slag for a long time, regardless of the rhythm, grinding continues until it is finally ground to be consistent with the clean three-dimensional carbon block model.

[0112] It can be seen that the present invention provides a carbon block grinding method. Through the present invention, the following beneficial effects can be achieved:

[0113] 1. Based on the admittance control technology, the automation and intelligence of the carbon block grinding process are realized. Through real-time force control and trajectory adjustment, the force and pose of the tool during the grinding process can be accurately controlled, thereby improving the grinding effect and the tool life. This improvement makes the carbon block grinding more precise and avoids the problem of poor grinding effect caused by fixed cutting depth and trajectory in traditional methods.

[0114] 2. The steps for calculating and controlling the offset of the robotic arm are introduced. The cleaning trajectory can be generated according to the actual size of the carbon block, and the coking blocks that are particularly difficult to grind can be avoided, reducing tool wear and production costs. This improvement effectively solves the problem of poor adaptability of traditional equipment to changes in the carbon block structure, and improves the grinding efficiency and quality.

[0115] 3. The present invention can adapt to harsh production environments, improve the working environment, and ensure the health of workers. By reducing dust pollution and noise, the comfort of the production environment is improved, meeting the requirements of modern industrial safety and environmental protection. This improvement makes the carbon block grinding process more environmentally friendly, beneficial to the health of employees, and enhances the overall efficiency of the production site.

[0116] Through the combined effect of the above improvement points, the grinding effect of the present invention is better, the tool life is extended, the system stability is improved, the adaptability is strong, and it is environmentally friendly and healthy. These advantages directly solve the problems faced by current carbon block grinding, and achieve multiple benefits such as improving production efficiency, reducing costs, and improving the working environment.

[0117] Embodiment 2

[0118] Please refer to Figure 6 , which is a schematic structural diagram of a carbon block grinding device provided by an embodiment of the present invention. The device includes: a grinding path generation module, a path point traversal module, a position offset calculation module, and a target pose adjustment module;

[0119] The grinding path generation module is used to obtain the three-dimensional point cloud data of the carbon block to be ground, and generate the grinding path of the carbon block to be ground according to the three-dimensional point cloud data and a preset standard three-dimensional carbon block model;

[0120] The path point traversal module is used to control the robotic arm to grind the carbon block to be ground according to the grinding path, and traverse all path points in the grinding path during the grinding process, obtain the current end pose of the robotic arm, and judge whether the robotic arm reaches the target path point of the current grinding according to the current end pose;

[0121] The position offset calculation module is used to, if it is judged that the robotic arm has reached the target path point of the current grinding, control the robotic arm to grind the next path point; if it is judged that the robotic arm has not reached the target path point of the current grinding, obtain the current forces in each direction at the end of the robotic arm, and calculate the position offsets of the current forces and the target grinding forces in each direction according to the current forces and the preset target grinding forces;

[0122] The target pose adjustment module is used to calculate the target pose of the robotic arm according to the position offset, control the robotic arm to adjust according to the target pose and continue to grind until the target path point of the current grinding is reached.

[0123] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the attached drawings of the device embodiments provided by the present invention, the connection relationships between the modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art can understand and implement without creative efforts.

[0124] Those skilled in the art can clearly understand that for the convenience and simplicity, the specific working process of the device described above can refer to the corresponding process in the foregoing method embodiments, and will not be elaborated here.

[0125] Embodiment III

[0126] Correspondingly, an embodiment of the present invention provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the carbon block grinding method described in the foregoing embodiments of the present invention.

[0127] The electronic device can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The device may include, but is not limited to, a processor and a memory.

[0128] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor is the control center of the device, and connects various parts of the entire device through various interfaces and lines.

[0129] Embodiment IV

[0130] Accordingly, an embodiment of the present invention provides a storage medium, which includes a stored computer program. When the computer program runs, it controls the device where the storage medium is located to execute the carbon block grinding method described in the above-mentioned embodiment of the present invention.

[0131] The memory can be used to store the computer program. By running or executing the computer program stored in the memory and calling the data stored in the memory, the various functions of the device can be realized. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function, etc.; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (FlashCard), at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0132] The storage medium is a computer-readable storage medium, and the computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be realized. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM), a random access memory (RAM), etc.

[0133] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A method for grinding carbon blocks, characterized in that, Including: Obtain the three-dimensional point cloud data of the carbon block to be polished, and generate the polishing path of the carbon block to be polished according to the three-dimensional point cloud data and a preset standard three-dimensional carbon block model; Control the robotic arm to polish the carbon block to be polished according to the polishing path, traverse all path points in the polishing path during the polishing process, obtain the current end pose of the robotic arm, and judge whether the robotic arm has reached the target path point of the current polishing according to the current end pose; If it is judged that the robotic arm has reached the target path point of the current polishing, control the robotic arm to polish the next path point; If it is judged that the robotic arm has not reached the target path point of the current polishing, obtain the current forces in all directions at the end of the robotic arm, and calculate the position offsets of the current forces and the target polishing forces in all directions according to the current forces and a preset target polishing force; Calculate the target pose of the robotic arm according to the position offsets, control the robotic arm to adjust according to the target pose and continue to polish until the target path point of the current polishing is reached.

2. The carbon block grinding method according to claim 1, characterized in that, The generating the polishing path of the carbon block to be polished according to the three-dimensional point cloud data and a preset standard three-dimensional carbon block model includes: Determine the position information and pose information of the carbon block to be polished in the current space according to the three-dimensional point cloud data of the carbon block to be polished; Generate discrete path points of the carbon block to be polished according to the position information and pose information of the carbon block to be polished in the current space and the edge contour of the preset standard three-dimensional carbon block model; Interpolate the discrete path points according to preset path planning constraints to generate interpolated path points of the carbon block to be polished, and add transition path points at preset positions; wherein, the path planning constraints include: the working space of the robotic arm, the carbon block polishing beat, the joint speed of the robotic arm, and the acceleration of the robotic arm; Generate the polishing path of the carbon block to be polished according to the discrete path points, interpolated path points and transition path points.

3. The carbon block grinding method according to claim 2, characterized in that, The determining the position and pose information of the carbon block to be polished in the current space according to the three-dimensional point cloud data includes: Preprocess the three-dimensional point cloud data; wherein, the preprocessing includes: denoising and filtering; Extract the carbon block features of the preprocessed three-dimensional point cloud data; wherein, the carbon block features include: edges and corner points; Match the carbon block features with a preset feature template to obtain a corresponding template matching result; Calculate the position and pose information of the carbon block to be polished in the current space according to the carbon block features and the template matching result.

4. The carbon block grinding method according to claim 1, characterized in that, The obtaining the current forces in all directions at the end of the robotic arm and calculating the position offsets of the current forces and the target polishing forces in all directions according to the current forces and a preset target polishing force includes: Obtain the current forces in all directions at the end of the robotic arm; Calculate the deviations of the current forces and the target polishing forces in all directions according to the current forces in all directions at the end of the robotic arm and the target polishing forces in all preset directions; Calculate the position offsets of the current forces and the target polishing forces in all directions according to the deviations of the current forces and the target polishing forces in all directions.

5. The carbon block grinding method according to claim 4, characterized in that, Calculating the deviation between the current force and the target grinding force in each direction according to the current force in each direction at the end of the robotic arm and the target grinding force in each preset direction, including: Taking the base of the grinding robot as the origin, a three-dimensional robot base coordinate system is established; Using the robot base coordinate system as the reference coordinate system, converting the current force in each direction at the end of the robotic arm and the target grinding force in each preset direction into forces in the reference coordinate system; Calculating the deviation between the current force and the target grinding force in each direction in the reference coordinate system.

6. The carbon block grinding method according to claim 5, characterized in that, Calculating the position offset between the current force and the target grinding force in each direction according to the deviation between the current force and the target grinding force in each direction, including: According to the deviation between the current force and the target grinding force in each direction and the preset MBK model based on admittance control, calculating the position offset between the current force and the target grinding force in each direction.

7. A carbon block grinding device, characterized in that, Including: A grinding path generation module, a path point traversal module, a position offset calculation module, and a target pose adjustment module; The grinding path generation module is used to obtain the three-dimensional point cloud data of the carbon block to be ground, and generate the grinding path of the carbon block to be ground according to the three-dimensional point cloud data and the preset standard three-dimensional carbon block model; The path point traversal module is used to control the robotic arm to grind the carbon block to be ground according to the grinding path, traverse all path points in the grinding path during the grinding process, obtain the current end pose of the robotic arm, and judge whether the robotic arm has reached the target path point of the current grinding according to the current end pose; The position offset calculation module is used to, if it is judged that the robotic arm has reached the target path point of the current grinding, control the robotic arm to grind the next path point; If it is judged that the robotic arm has not reached the target path point of the current grinding, obtain the current force in each direction at the end of the robotic arm, and calculate the position offset between the current force and the target grinding force in each direction according to each current force and the preset target grinding force; The target pose adjustment module is used to calculate the target pose of the robotic arm according to the position offset, control the robotic arm to adjust according to the target pose and continue grinding until the target path point of the current grinding is reached.

8. An electronic device, characterized in that, Including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the carbon block grinding method according to any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium includes a stored computer program, wherein when the computer program runs, it controls the device where the storage medium is located to execute the carbon block grinding method according to any one of claims 1 to 6.

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