A large component polishing method of multi-mobile robot cooperative operation

Abstract

The application discloses a polishing method for polishing large components by multiple mobile robots, and comprises the following steps: obtaining the surface topography of a workpiece; setting a reference point; dividing the polishing processing area; performing coordinate transformation; performing first-path polishing; performing coordinate correction; and performing next-path polishing processing.The application can save a large amount of processing time, and the mobile robot has the characteristics of small size, unlimited processing range and fast movement, is not limited by the size and shape of the processed component, and does not need to move the workpiece or use a large machine tool.The application provides an optimization algorithm based on the cooperative work of multiple robots, and realizes low-cost and high-precision positioning of the mobile robot.The application provides a laser ranging positioning method based on monocular recognition, which can improve the positioning accuracy of the mobile robot and reduce the distance deviation of the mobile robot in the positioning process.The application solves the position deviation through the optimization algorithm.

Description

Technical Field

[0001] This invention relates to polishing technology for large components, and in particular to a method for polishing large components using a multi-mobile-robot collaborative operation. Background Technology

[0002] With social development and technological advancements, large mechanical and optical components are increasingly widely used in aviation, aerospace, and energy fields. Typical applications include aircraft wing molding dies, high-resolution Earth observation system mirrors, optical components for large astronomical telescopes, and wind turbine blades. These components require polishing to achieve high-precision, high-quality surfaces. Existing polishing methods generally struggle to balance high processing accuracy and efficiency; multi-machine collaborative processing is the future trend.

[0003] Currently, polishing of large components is mostly based on traditional machine tools, combined with polishing heads and CNC trajectory planning. However, the size and shape of the workpiece are limited by the size of the machine tool, the number of machine tool motion axes, and spatial accessibility. Furthermore, the manufacturing cost of large multi-axis machine tools is high and the production cycle is lengthy. In recent years, robotic polishing based on robotic arms has developed rapidly, but robotic arms still have poor accessibility for ultra-large components, and the components need to be transported and installed to the processing station for processing. In addition, robot motion positioning still suffers from problems such as low accuracy and high cost.

[0004] Chinese patent CN201911009192.1 discloses a "Multi-robot Precision Machining System and Method for Large-Aperture Integral Optical Components" by Xin Qiang et al., which achieves precision machining of large-aperture integral optical components through a mobile robot machining system and modular machining tools. However, because the machining robot needs to move on a positioning guide rail, the robot's movement space is limited by the guide rail, making it unsuitable for machining various large optical components. Furthermore, this method requires the component to be machined to be placed within the machining area of ​​the machining robot.

[0005] Chinese patent CN202110031728.0 discloses "Apparatus and Method for Multi-Robot Collaborative Processing of Optical Components" by Yao Yongsheng et al., which sets the number and distribution of processing robots according to the size of the optical component for collaborative processing. Because the processing robots in this method are fixed to the ground, the larger the size of the optical component being processed, the more processing robots are needed, and the larger the volume becomes. Furthermore, the optical component in this method must be circular, and it cannot process optical components of other shapes.

[0006] Chinese patent CN202211326466.1 discloses "A Grinding and Polishing Actuator and its Working Method for a Curved Surface Moving Adsorption Processing Robot" by Tao Bo et al. This patent mainly solves problems such as feeding, constant force control and dust collection of the grinding and polishing actuator, but does not provide the positioning method or the method of multi-robot collaborative work, which are more critical for high-precision grinding and polishing of large components.

[0007] The article "Research on Key Technologies for Rapid Tracking Measurement with Laser Tracker" published by Zhang Yifei et al. describes a method for positioning with a laser tracker, but this method is costly and has high requirements for the measurement environment. Summary of the Invention

[0008] To address the aforementioned problems in the existing technology, this invention aims to design a polishing method for large components using multiple mobile robots in a collaborative manner. This method is not limited by the size or shape of the component being processed, does not require transporting the workpiece to a designated processing station, and has a certain level of positioning accuracy and low cost.

[0009] To achieve the above objectives, the technical solution of the present invention is as follows: a polishing method for large components by multiple mobile robots working together, wherein the mobile robots include a vehicle body moving module, a constant force polishing tool, a laser rangefinder camera, a three-axis displacement module, an omnidirectional wheel, a laser gyroscope, and a target ball;

[0010] The vehicle body moving module includes a vehicle frame, a drive module, and a transmission device, all of which are rigid structures.

[0011] The constant-force polishing tool is located at the center of the vehicle body moving module and is rigidly connected. During polishing, the constant-force polishing tool moves along the three-axis displacement module and completes the specified processing task on the workpiece's machining surface. The workpiece is a large component.

[0012] The laser rangefinder is located at the center of the vehicle body moving module and is rigidly connected to the vehicle body moving module. After the laser rangefinder identifies the center of the target ball through the monocular camera, it transmits the coordinates of the center of the target ball to the laser rangefinder. The laser rangefinder on the mobile robot adjusts its pose, aims at the center of the target ball, and performs pairwise distance measurements to obtain the actual distance between the laser rangefinder and the target.

[0013] The three-axis displacement module is rigidly connected to the vehicle body moving module and is symmetrical about the transverse centerline and the longitudinal centerline of the vehicle body moving module.

[0014] There are four omnidirectional wheels, which are installed on the lower part of the vehicle body moving module to enable the mobile robot to move on the workpiece.

[0015] The laser gyroscope is located next to the laser rangefinder and is used to measure the angle of rotation of the motion coordinate system relative to the workpiece coordinate system.

[0016] There are multiple target balls, located at a reference point or on the vehicle body moving module, used for laser ranging cameras to measure distances.

[0017] The polishing method includes the following steps:

[0018] Step 1: Obtain the surface morphology of the workpiece

[0019] Place the workpiece on the base, and establish the workpiece coordinate system with the center point of the base as the reference and the origin of the coordinate system. , The axial direction is the major axis direction of the workpiece. The axis is parallel to the workpiece surface and intersects perpendicular to it. The axis passes through the origin. Axis perpendicular to shaft and The plane formed by the axes passes through the origin of the coordinate system. Using structured light or coordinate measuring machine methods, the surface topography of the workpiece is obtained, acquiring the coordinates of each point on the workpiece surface. The coordinate values ​​are stored in the navigation control system as ideal coordinate values.

[0020] Step 2: Set the reference point

[0021] Based on the size of the workpiece, set at least one reference point at any position on the upper surface edge of the workpiece and record the coordinates of the reference point. Increase the number of reference points according to the accuracy requirements and place a target ball on each reference point.

[0022] Step 3: Divide the polishing processing area

[0023] Using a navigation control system, the area to be polished is broken down into... Each processing area, with a start and end point, is assigned to... A mobile robot is configured with a processing path, coordinate correction points for each path segment, and the orientation of the target pose based on the size of the processing area. The number of coordinate correction points is at least one, and the number of coordinate correction points is increased according to the accuracy requirements.

[0024] Step 4: Perform coordinate transformation

[0025] Will A mobile robot is placed on the workpiece at the starting point of the path, and a motion coordinate system is established at the position of the laser rangefinder camera on the mobile robot. The origin of the motion coordinate system is the center point of the upper surface of the mobile robot, and the direction of the major axis of the upper surface of the mobile robot is taken as... axis, The axis is parallel to the workpiece surface and intersects perpendicular to it. The axis passes through the origin. Axis perpendicular to shaft and The plane formed by the axes passes through the origin. The motion coordinate system is obtained using the following formula. To the workpiece coordinate system Rotation transformation matrix Translation matrix :

[0026]

[0027] Further obtain the motion coordinate system To the workpiece coordinate system coordinate transformation matrix :

[0028]

[0029] Further, the laser rangefinder camera in the workpiece coordinate system is obtained. Midpoint P and in the moving coordinate system Points O and P in the middle O = ( , ), and Satisfy the following relations:

[0030]

[0031] Based on this formula, coordinate transformation between the motion coordinate system and the workpiece coordinate system can be performed;

[0032] in, For the moving coordinate system Relative to the workpiece coordinate system of The angle through which the axis rotates, The angle through which the axis rotates, The axis rotates through an angle, with counterclockwise rotation defined as positive and clockwise as negative. The relative positions of the target sphere and the laser rangefinder camera are fixed, and the angle... Measured by a laser gyroscope.

[0033] Step 5: Polish the first path segment

[0034] The constant force polishing tool moves along the three-axis displacement module and repeatedly processes the workpiece on the first segment of the path until the specified processing task is completed.

[0035] Step 6: Perform coordinate correction

[0036] The mobile robot moves to the coordinate correction point to correct its position coordinates and pose. Specifically, after the laser rangefinder camera identifies the center of the target sphere, the pixel coordinates of the target center are transmitted to the laser rangefinder camera. The laser rangefinder camera on the mobile robot adjusts its pose, aims at the center of the target sphere, and performs pairwise distance measurements to obtain the actual distance between the laser rangefinder camera and the target. The actual position coordinates are calculated using an optimization algorithm, the formula of which is as follows:

[0037]

[0038]

[0039]

[0040]

[0041]

[0042]

[0043] ;

[0044] Seeking Distance deviation under the condition of taking the minimum value , = i and j both represent the mobile robot serial numbers. This refers to the distance deviation after each mobile robot has moved. If All are less than the minimum distance the mobile robot can move. If so, no correction is needed. There is more than If the position deviation is obtained, the mobile robot will correct it according to the corresponding position deviation in the x and y directions based on the actual coordinates.

[0045] in, It is the number of reference points, and This is a necessary condition for satisfying the formula when determining the number of reference points. This represents the actual distance between the coordinate correction point and the remaining mobile robots. The distance between any two mobile robots is calculated using a distance calculation formula, where... , , , , , Let be the coordinates of the laser rangefinder cameras of the i-th and j-th mobile robots in the workpiece coordinate system; and let be the pitch angle of the laser rangefinder camera relative to the target ball of the other mobile robot when the mobile robots are measuring distances pairwise. , obtained from the laser gyroscope; m is the distance between the laser rangefinder and the target ball between different mobile robots; s is the distance between the target ball and the laser rangefinder within the same mobile robot; To calculate the square of the difference between the measured distance and the actual distance, For all The minimum value after summation; These represent the coordinates of the mobile robot in the workpiece coordinate system and the ideal coordinates along the X-axis. f Y f Z f The difference in direction.

[0046] Step 7: Proceed to the next stage of polishing.

[0047] After each mobile robot corrects its position to the ideal coordinate position, the constant force polishing tool moves along the three-axis displacement module and repeatedly processes the workpiece on the next segment of the path until the specified processing task is completed.

[0048] If the next moving position of the mobile robot is the endpoint, polishing ends; otherwise, proceed to step 6.

[0049] Furthermore, in step 3, the navigation control system is a ROS navigation control system, a Python system, or a Coppeliasim system.

[0050] Furthermore, the ranging method of the laser ranging camera in step 6 includes monocular laser ranging or binocular laser ranging.

[0051] Furthermore, the number of mobile robots n in step 3 is at least 2, and its maximum value depends on the size of the workpiece.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] 1. The multi-mobile robot collaborative operation method of the present invention can save a lot of processing time. At the same time, the mobile robots have the characteristics of small size, unrestricted processing range and fast movement. They are not limited by the size and shape of the components being processed, and do not require moving the workpiece or using large machine tools.

[0054] 2. This invention provides an optimization algorithm based on multi-robot collaborative operation. This algorithm calculates the deviation between actual coordinates and ideal coordinates, thereby achieving low-cost and high-precision positioning of mobile robots.

[0055] 3. This invention provides a laser ranging and positioning method based on monocular recognition, which can improve the positioning accuracy of mobile robots and reduce the distance deviation of mobile robots during the positioning process.

[0056] 4. This invention provides a coordinate transformation method that enables a mobile robot to obtain the coordinates of the polishing point in the workpiece coordinate system in real time during the polishing path, and then solve the position deviation through an optimization algorithm. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of the structure of the present invention.

[0058] Figure 2 yes Figure 1 Top view.

[0059] Figure 3 This is a schematic diagram of a laser rangefinder camera.

[0060] Figure 4 This is a schematic diagram of the workpiece coordinate system.

[0061] Figure 5 This is a schematic diagram showing the relationship between the workpiece coordinate system and the motion system.

[0062] Figure 6 This is a flowchart of the present invention.

[0063] In the diagram: 1. Target ball, 2. Laser rangefinder camera, 3. Three-axis displacement module, 4. Vehicle body movement module, 5. Constant force polishing tool, 6. Omnidirectional wheel. Detailed Implementation

[0064] The invention will now be further described with reference to the accompanying drawings. Figure 1-6 As shown, a polishing method for large components using multiple mobile robots in a collaborative manner is described. The mobile robots include a vehicle body movement module 4, a constant force polishing tool 5, a laser rangefinder camera 2, a three-axis displacement module 3, an omnidirectional wheel 6, a laser gyroscope, and a target ball 1.

[0065] The vehicle body moving module 4 includes a vehicle body frame, a drive module, and a transmission device, all of which are rigid structures.

[0066] The constant force polishing tool 5 is located at the center of the vehicle body moving module 4 and is rigidly connected; during polishing, the constant force polishing tool 5 moves along the three-axis displacement module 3 and completes the specified processing task on the processing surface of the workpiece. The workpiece is a large component.

[0067] The laser rangefinder 2 is located at the center of the vehicle body moving module 4 and is rigidly connected to the vehicle body moving module 4. After the laser rangefinder 2 identifies the center of the target ball 1 through the monocular camera, it transmits the coordinates of the center of the target ball 1 to the laser rangefinder 2. The laser rangefinder 2 on the mobile robot adjusts its pose, aims at the center of the target ball 1, and performs pairwise distance measurements to obtain the actual distance between the laser rangefinder 2 and the target.

[0068] The three-axis displacement module 3 is rigidly connected to the vehicle body moving module 4, and is symmetrical about the transverse centerline and the longitudinal centerline of the vehicle body moving module 4.

[0069] There are four omnidirectional wheels 6, which are installed on the lower part of the vehicle body moving module 4 to enable the mobile robot to move on the workpiece.

[0070] The laser gyroscope is located next to the laser rangefinder camera 2 and is used to measure the angle of rotation of the motion coordinate system relative to the workpiece coordinate system.

[0071] There are multiple target balls 1, located on a reference point or on the vehicle body moving module 4, for ranging by the laser ranging camera 2.

[0072] The polishing method includes the following steps:

[0073] Step 1: Obtain the surface morphology of the workpiece

[0074] Place the workpiece on the base, and establish the workpiece coordinate system with the center point of the base as the reference and the origin of the coordinate system. , The axial direction is the major axis direction of the workpiece. The axis is parallel to the workpiece surface and intersects perpendicular to it. The axis passes through the origin. Axis perpendicular to shaft and The plane formed by the axes passes through the origin of the coordinate system. Using structured light or coordinate measuring machine methods, the surface topography of the workpiece is obtained, acquiring the coordinates of each point on the workpiece surface. The coordinate values ​​are stored in the navigation control system as ideal coordinate values.

[0075] Step 2: Set the reference point

[0076] Based on the size of the workpiece, set at least one reference point at any position on the upper surface edge of the workpiece and record the coordinates of the reference point. Increase the number of reference points according to the accuracy requirements and place a target ball 1 on each reference point.

[0077] Step 3: Divide the polishing processing area

[0078] Using a navigation control system, the area to be polished is broken down into... Each processing area, with a start and end point, is assigned to... A mobile robot is configured with a processing path, coordinate correction points for each path segment, and the orientation of the target pose based on the size of the processing area. The number of coordinate correction points is at least one, and the number of coordinate correction points is increased according to the accuracy requirements.

[0079] Step 4: Perform coordinate transformation

[0080] Will A mobile robot is placed on the workpiece at the starting point of the path, and a motion coordinate system is established at the position of the laser rangefinder camera 2 on the mobile robot. The origin of the motion coordinate system is the center point of the upper surface of the mobile robot, and the direction of the major axis of the upper surface of the mobile robot is taken as... axis, The axis is parallel to the workpiece surface and intersects perpendicular to it. The axis passes through the origin. Axis perpendicular to shaft and The plane formed by the axes passes through the origin. The motion coordinate system is obtained using the following formula. To the workpiece coordinate system Rotation transformation matrix Translation matrix :

[0081]

[0082] Further obtain the motion coordinate system To the workpiece coordinate system coordinate transformation matrix :

[0083]

[0084] Further, the laser rangefinder 2 was obtained in the workpiece coordinate system. Midpoint P and in the moving coordinate system Points O and P in the middle O=( , , and Satisfy the following relations:

[0085]

[0086] Based on this formula, coordinate transformation between the motion coordinate system and the workpiece coordinate system can be performed;

[0087] in, For the moving coordinate system Relative to the workpiece coordinate system of The angle through which the axis rotates, The angle through which the axis rotates, The angle through which the axis rotates is defined, with counterclockwise rotation being positive and clockwise rotation being negative. The target sphere 1 and the laser rangefinder camera 2 have fixed relative positions, and the angle... Measured by a laser gyroscope.

[0088] Step 5: Polish the first path segment

[0089] The constant force polishing tool 5 moves along the three-axis displacement module 3 and repeatedly processes the workpiece on the first segment of the path until the specified processing task is completed.

[0090] Step 6: Perform coordinate correction

[0091] The mobile robot moves to the coordinate correction point and corrects its position coordinates and pose. Specifically, after the center of the target sphere 1 is identified by the laser rangefinder camera 2, the pixel coordinates of the target sphere 1 center are transmitted to the laser rangefinder camera 2. The laser rangefinder camera 2 on the mobile robot adjusts its pose, aims at the center of the target sphere 1, and performs pairwise distance measurements to obtain the actual distance between the laser rangefinder camera 2 and the target. The actual position coordinates are calculated using an optimization algorithm, the formula of which is as follows:

[0092]

[0093]

[0094]

[0095]

[0096]

[0097]

[0098] ;

[0099] Seeking Distance deviation under the condition of taking the minimum value , = i and j both represent the mobile robot serial numbers. This refers to the distance deviation after each mobile robot has moved. If All are less than the minimum distance the mobile robot can move. If so, no correction is needed. There is more than If the position deviation is obtained, the mobile robot will correct it according to the corresponding position deviation in the x and y directions based on the actual coordinates.

[0100] in, It is the number of reference points, and This is a necessary condition for satisfying the formula when determining the number of reference points. This represents the actual distance between the coordinate correction point and the remaining mobile robots. The distance between any two mobile robots is calculated using a distance calculation formula, where... , , , , , Let be the coordinates of the laser rangefinder camera 2 of the i-th and j-th mobile robots in the workpiece coordinate system; and let be the pitch angle of the laser rangefinder camera 2 relative to the target sphere 1 of the other mobile robot when the mobile robots are measuring distances from each other. , obtained by laser gyroscope; m is the distance between laser ranging camera 2 and target ball 1 between different mobile robots; s is the distance between target ball 1 and laser ranging camera 2 within the same mobile robot; To calculate the square of the difference between the measured distance and the actual distance, For all The minimum value after summation; These represent the coordinates of the mobile robot in the workpiece coordinate system and the ideal coordinates along the X-axis. f Y f Z f The difference in direction.

[0101] Step 7: Proceed to the next stage of polishing.

[0102] After each mobile robot corrects its position to the ideal coordinate position, the constant force polishing tool 5 moves along the three-axis displacement module 3 and repeatedly processes the workpiece on the next segment of the path until the specified processing task is completed.

[0103] If the next moving position of the mobile robot is the endpoint, polishing ends; otherwise, proceed to step 6.

[0104] Furthermore, in step 3, the navigation control system is a ROS navigation control system, a Python system, or a Coppeliasim system.

[0105] Furthermore, the ranging method of the laser ranging camera 2 in step 6 includes monocular laser ranging or binocular laser ranging.

[0106] Furthermore, the number of mobile robots n in step 3 is at least 2, and its maximum value depends on the size of the workpiece.

[0107] This invention is not limited to this embodiment. Any equivalent concept or modification within the technical scope disclosed in this invention shall be included within the protection scope of this invention.

Claims

1. A polishing method for large components using a multi-mobile robot collaborative polishing process, characterized in that: The mobile robot includes a body movement module (4), a constant force polishing tool (5), a laser rangefinder camera (2), a three-axis displacement module (3), an omnidirectional wheel (6), a laser gyroscope, and a target ball (1). The vehicle body moving module (4) includes a vehicle body frame, a drive module and a transmission device, all of which are rigid structures; The constant force polishing tool (5) is located at the center of the vehicle body moving module (4) and is rigidly connected; the constant force polishing tool (5) moves along the three-axis displacement module (3) during polishing and completes the specified processing task on the processing surface of the workpiece; the workpiece is a large component; The laser rangefinder (2) is located at the center of the vehicle body moving module (4) and is rigidly connected to the vehicle body moving module (4); after the laser rangefinder (2) identifies the center of the target ball (1) through the monocular camera, it transmits the coordinates of the center of the target ball (1) to the laser rangefinder (2). The laser rangefinder (2) on the mobile robot adjusts its pose, aims at the center of the target ball (1), and performs pairwise distance measurements to obtain the actual distance between the laser rangefinder (2) and the target. The three-axis displacement module (3) is rigidly connected to the vehicle body moving module (4), and is symmetrical about the transverse centerline and about the longitudinal centerline of the vehicle body moving module (4); There are four omnidirectional wheels (6) installed on the lower part of the vehicle body moving module (4) to enable the mobile robot to move on the workpiece; The laser gyroscope is located next to the laser rangefinder (2) and is used to measure the angle of rotation of the motion coordinate system relative to the workpiece coordinate system. There are multiple target balls (1), located on the reference point or the vehicle body moving module (4), for the laser rangefinder (2) to measure distance; The polishing method includes the following steps: Step 1: Obtain the surface morphology of the workpiece Place the workpiece on the base, and establish the workpiece coordinate system with the center point of the base as the reference and the origin of the coordinate system. , The axial direction is the direction of the major axis of the workpiece. The axis is parallel to the workpiece surface and intersects perpendicular to it. The axis passes through the origin. Axis perpendicular to shaft and The plane formed by the axes passes through the origin of the coordinate system; the surface morphology of the workpiece is obtained using structured light or coordinate measuring machine methods, acquiring the information at various points on the workpiece surface. The coordinate values ​​are stored in the navigation and control system as ideal coordinate values; Step 2: Set the reference point According to the size of the workpiece, at least one reference point is set at any position on the upper surface edge of the workpiece, and the coordinates of the reference point are recorded. The number of reference points is increased according to the accuracy requirements, and a target ball is placed on each reference point (1). Step 3: Divide the polishing processing area Using a navigation control system, the area to be polished is broken down into... Each processing area, with a start and end point, is assigned to... A mobile robot is used, and the processing path, coordinate correction points of each path segment, and the direction of the target pose are set according to the size of the processing area. The number of coordinate correction points is at least 1, and the number of coordinate correction points is increased according to the accuracy requirements. Step 4: Perform coordinate transformation Will A mobile robot is placed on the workpiece at the starting point of the path, and a motion coordinate system is established at the position of the laser rangefinder (2) of the mobile robot. The origin of the motion coordinate system is the center point of the upper surface of the mobile robot, and the direction of the major axis of the upper surface of the mobile robot is taken as... axis, The axis is parallel to the workpiece surface and intersects perpendicular to it. The axis passes through the origin. Axis perpendicular to shaft and The plane formed by the axes passes through the origin; The motion coordinate system is obtained through the following formula. To the workpiece coordinate system Rotation transformation matrix Translation matrix : Further obtain the motion coordinate system To the workpiece coordinate system coordinate transformation matrix : Further, the laser rangefinder (2) is positioned in the workpiece coordinate system. Midpoint P and in the moving coordinate system Points O and P in the middle O=( , , and Satisfy the following relations: Based on this formula, coordinate transformation between the motion coordinate system and the workpiece coordinate system can be performed; in, For the moving coordinate system Relative to the workpiece coordinate system of The angle through which the axis rotates, The angle through which the axis rotates, The angle through which the axis rotates is defined, with counterclockwise rotation being positive and clockwise rotation being negative; among them, the relative positions of the target ball (1) and the laser rangefinder (2) are fixed, and the angle is defined. Measured by a laser gyroscope; Step 5: Polish the first path segment The constant force polishing tool (5) moves along the three-axis displacement module (3) and repeatedly processes the workpiece on the first segment of the path until the specified processing task is completed. Step 6: Perform coordinate correction The mobile robot moves to the coordinate correction point and corrects its position coordinates and pose. Specifically, after the laser rangefinder (2) identifies the center of the target ball (1), the pixel coordinates of the center of the target ball (1) are transmitted to the laser rangefinder (2). The laser rangefinder (2) on the mobile robot adjusts its pose, aims at the center of the target ball (1), and performs pairwise distance measurements to obtain the actual distance between the laser rangefinder (2) and the target. The actual position coordinates are calculated using an optimization algorithm. The optimization algorithm formula is as follows: ; Seeking Distance deviation under the condition of taking the minimum value , = , i, j All of these represent the serial numbers of the mobile robots. That is, the distance deviation after each mobile robot has moved; if All are less than the minimum distance the mobile robot can move. If, then no correction is needed; if There is more than If the position deviation is such that the mobile robot follows the corresponding coordinates based on the obtained actual coordinates. x and y Correct for directional positional deviations; in, It is the number of reference points, and This is a necessary condition for satisfying the formula when determining the number of reference points; This represents the actual distance between the coordinate correction point and the other mobile robots. The distance between any two mobile robots is the calculated distance; the calculated distance is obtained by the distance calculation formula, where... , , , , , The first i The mobile robot and the first j The coordinates of the laser rangefinder (2) of the mobile robot in the workpiece coordinate system; the pitch angle of the laser rangefinder (2) relative to the target ball (1) of the other mobile robot when the mobile robots measure distances from each other is . This information is obtained from a laser gyroscope. m The distance between the laser rangefinder camera (2) and the target ball (1) between different mobile robots; s The distance between the target ball (1) and the laser rangefinder (2) in the same mobile robot; To calculate the square of the difference between the measured distance and the actual distance, For all The minimum value after summation; These represent the coordinates of the mobile robot in the workpiece coordinate system and its ideal coordinates along... X f Y f Z f The difference in direction; Step 7: Proceed to the next stage of polishing. After each mobile robot is corrected to the ideal coordinate position, the constant force polishing tool (5) moves along the three-axis displacement module (3) and repeatedly processes the workpiece on the next segment of the path until the specified processing task is completed. If the next moving position of the mobile robot is the endpoint, polishing ends; otherwise, proceed to step 6.

2. The polishing method for large components using multi-mobile robots in collaborative polishing according to claim 1, characterized in that: In step 3, the navigation control system is a ROS navigation control system, Python, or Coppeliasim system.

3. The polishing method for large components using multi-mobile robots in collaborative polishing according to claim 1, characterized in that: The ranging method of the laser ranging camera (2) in step 6 includes monocular laser ranging or binocular laser ranging.

4. The polishing method for large components using multi-mobile robots in collaborative polishing according to claim 1, characterized in that: The number of mobile robots in step 3 n It is at least 2, and its maximum value depends on the size of the workpiece.

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