A safety monitoring and trajectory correction method, device, equipment and medium in a carbon block polishing process

Abstract

The application discloses a kind of safety monitoring and trajectory correction method, device, equipment and medium in carbon block polishing process, the method includes: in polishing process, all path points in the polishing path are traversed, if mechanical arm end has not reached current path point, whether the current polishing force in each direction of mechanical arm end exceeds the first abnormal force of preset damage mechanical arm is judged;If exceed, stop current polishing task;If not exceed, whether exceed the second abnormal force of preset wear carbon block is judged;If exceed, the position of current path point is corrected;If not exceed, whether exceed preset polishing task requirement force is judged;If exceed, the abnormal residue monitoring and abnormal residue processing of current path point are carried out;If not exceed, the target pose of mechanical arm is calculated, control mechanical arm continues to polish to be polished carbon block.By the application, the safety and effectiveness of polishing process can be improved, and carbon block damage can be avoided.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a method, apparatus, equipment and medium for safety monitoring and trajectory correction during the grinding process of carbon blocks. Background Technology

[0002] Anode carbon blocks are a key electrochemical reaction material, typically used as the anode in electrolytic cells. These carbon blocks are formed into square blocks through a high-purity graphite sintering process, but they also require specialized surface treatment to meet specific usage standards.

[0003] The minute variations in shape and size during the production of anode carbon blocks make it impossible to use uniform model parameters or rely solely on visual algorithms to determine accurate work trajectories. This uncertainty in the trajectory, coupled with the inherent rigidity of the robotic arm, can lead to inappropriate grinding or even damage to the carbon blocks. While current technology can provide current protection for the robotic arm, it cannot effectively prevent potential damage to the carbon blocks. Therefore, the current cutting depth is not precisely defined according to theoretical values, but rather a reduction in the cutting depth to prevent damage to the carbon blocks. However, this also sacrifices some grinding quality, and when the grinding effect is unsatisfactory, worker intervention is still required for subsequent processing. This not only increases process complexity but may also pose health risks to operators.

[0004] Especially for anode carbon blocks that expand, deform, or coke after roasting, or for safety issues arising from inaccurate grinding paths, current mechanized solutions are insufficient to provide satisfactory solutions, failing to meet actual market and production needs, and reducing the lifespan of grinding tools. The core of these problems lies in the lack of technology that can monitor changes in force or torque acting on the carbon block in real time during grinding. This technology would automatically identify whether the tool will damage the carbon block and adjust the grinding path based on feedback, avoiding excessive force that could damage the carbon block and over-grinding, thereby improving production efficiency. Summary of the Invention

[0005] This invention provides a method, apparatus, equipment, and medium for safety monitoring and trajectory correction during carbon block grinding, in order to solve the technical problem that existing technologies cannot monitor the force acting on the carbon block in real time during grinding, so as to automatically identify whether the tool will damage the carbon block and adjust the grinding trajectory based on feedback.

[0006] To address the aforementioned technical problems, embodiments of the present invention provide a method for safety monitoring and trajectory correction during the carbon block grinding process, comprising:

[0007] Obtain the grinding path of the carbon block to be ground, and grind the carbon block to be ground according to the grinding path; wherein, the grinding path consists of a number of path points, and the path points are the grinding endpoints at the end of the robotic arm.

[0008] During the polishing process, all path points in the polishing path are traversed. When a path point is reached, it is determined whether the end of the robotic arm has reached the current path point.

[0009] If the end effector of the robotic arm has reached the current path point, the robotic arm is controlled to continue polishing with the next path point as the endpoint; if the end effector of the robotic arm has not yet reached the current path point, the current polishing force in each direction of the end effector of the robotic arm is obtained, and it is determined whether the current polishing force in each direction of the end effector of the robotic arm exceeds the preset first abnormal force that could damage the robotic arm.

[0010] If the first abnormal force is exceeded, the current grinding task is stopped; if the first abnormal force is not exceeded, it is determined whether the current grinding force in each direction at the end of the robotic arm exceeds the preset second abnormal force for the wear carbon block.

[0011] If the second abnormal force is exceeded, the position of the current path point is corrected; if the second abnormal force is not exceeded, it is determined whether the current grinding force in each direction of the robotic arm end exceeds the preset grinding task requirement force.

[0012] If the grinding task demand is exceeded, irregular residue monitoring and processing are performed at the current path point; if the grinding task demand is not exceeded, the target pose of the robotic arm is calculated based on the current pose of the end effector and the pose of the current path point, and the robotic arm is controlled to continue grinding the carbon block to be ground based on the target pose.

[0013] As a preferred embodiment, the generation of the grinding path for the carbon block to be ground includes:

[0014] Obtain point cloud data of the carbon block to be polished, and generate the point cloud edge contour of the carbon block to be polished based on the point cloud data.

[0015] The preset cutting depth of the carbon block to be ground is obtained, and the grinding path of the carbon block to be ground is generated based on the point cloud edge contour and the cutting depth of the carbon block; wherein, the cutting depth is the depth to which the tool at the end of the robotic arm removes material from the surface of the carbon block during the carbon block grinding process.

[0016] As a preferred embodiment, generating the point cloud edge contour of the carbon block to be polished based on the point cloud data includes:

[0017] The point cloud data is subjected to feature recognition, and the recognized features are subjected to curvature analysis and surface normal calculation to obtain the edges and corners of the carbon block to be polished.

[0018] Based on the edges and corners of the carbon block to be polished, the boundary line of the carbon block to be polished is reconstructed and smoothed to obtain the point cloud edge contour of the carbon block to be polished.

[0019] As a preferred solution, if the end effector of the robotic arm has reached the current path point, the robotic arm is controlled to continue polishing with the next path point as the endpoint, including:

[0020] If the end effector of the robotic arm has reached the current path point, then increment the current path point number by one;

[0021] Determine whether the current path point number exceeds the total number of path point sequences in the polishing path; if it does not exceed the total number, control the robotic arm to continue polishing with the next path point as the endpoint; if it exceeds the total number, determine that all path points in the polishing path have been polished and end the polishing task.

[0022] As a preferred option, if the second anomaly force is exceeded, the position of the current path point is corrected, including:

[0023] If the second abnormal force is exceeded, the preset counter number is incremented by one, and it is determined whether the current number of the counter is greater than the preset count number.

[0024] If the count is greater than 0, the counter is set to 0, the robotic arm is controlled to return to the starting point before grinding begins, and the grinding path is replanned; if the count is not greater than 0, the position of the current path point is corrected, and the position of the current path point is moved back a preset distance along the grinding direction.

[0025] As a preferred option, if the grinding task's requirements are exceeded, then irregular debris monitoring and processing will be performed at the current path point, including:

[0026] If the grinding task is exceeded, it is determined that there are irregularly shaped debris at the current path point, and it is confirmed whether the preset timer has been started.

[0027] If not started, the timer will start from the current moment; if started, it will be determined whether the timer's timing duration exceeds the preset timing duration.

[0028] If the target position is not exceeded, it is determined that the irregular residue in the current path point can be polished. Based on the current pose of the end of the robotic arm and the pose of the current path point, the target pose of the robotic arm is calculated, and the robotic arm is controlled to continue polishing the carbon block to be polished based on the target pose.

[0029] If the target value is exceeded, it is determined that the irregularly shaped residue in the current path point cannot be polished. The timer is set to 0 and the timing is turned off. The robotic arm is controlled to return to the starting point before polishing begins. The range of the irregularly shaped residue is detected, and the nearest path point that crosses the irregularly shaped residue is selected from the path point sequence of the polishing path according to the range as the current path point. The robotic arm is then controlled to continue polishing with the current path point as the endpoint.

[0030] As a preferred embodiment, the step of calculating the target pose of the robotic arm based on the current pose of the end effector and the pose of the current path point, and controlling the robotic arm to continue grinding the carbon block to be ground based on the target pose, includes:

[0031] Calculate the initial target pose of the robotic arm based on the current pose of the end effector and the pose of the current path point.

[0032] Determine whether each direction of the initial target pose exceeds the current path point. If none of the directions of the initial target pose exceed the current path point, then the initial target pose is taken as the target pose of the robotic arm. If any direction of the initial target pose exceeds the current path point, then the pose of the current path point in the corresponding direction is taken as the target pose of the robotic arm.

[0033] Based on the above embodiments, another embodiment of the present invention provides a safety monitoring and trajectory correction device during the carbon block grinding process, comprising:

[0034] The module includes a grinding path acquisition module, a path point traversal module, a first anomaly detection module, a second anomaly detection module, a third anomaly detection module, and a robotic arm target pose calculation module.

[0035] The grinding path acquisition module is used to acquire the grinding path of the carbon block to be ground, and to grind the carbon block to be ground according to the grinding path; wherein, the grinding path consists of a number of path points, and the path points are the grinding endpoints at the end of the robotic arm.

[0036] The path point traversal module is used to traverse all path points in the grinding path during the grinding process. When each path point is traversed, it is determined whether the end of the robotic arm has reached the current path point.

[0037] The first anomaly judgment module is used to control the robotic arm to continue grinding if the end of the robotic arm has reached the current path point; if the end of the robotic arm has not yet reached the current path point, it obtains the current grinding force in each direction of the end of the robotic arm and determines whether the current grinding force in each direction of the end of the robotic arm exceeds the preset first abnormal force that could damage the robotic arm.

[0038] The second abnormality judgment module is used to stop the current grinding task if the first abnormal force is exceeded; if the first abnormal force is not exceeded, it determines whether the current grinding force in each direction of the end of the robotic arm exceeds the preset second abnormal force of the wear carbon block.

[0039] The third anomaly detection module is used to correct the position of the current path point if the second abnormal force is exceeded; if the second abnormal force is not exceeded, it determines whether the current grinding force in each direction of the robotic arm end exceeds the preset grinding task requirement force.

[0040] The target pose calculation module of the robotic arm is used to monitor and process irregularly shaped residues at the current path point if the grinding task force is exceeded; if the grinding task force is not exceeded, the target pose of the robotic arm is calculated based on the current pose of the end effector and the pose of the current path point, and the robotic arm is controlled to continue grinding the carbon block to be ground based on the target pose.

[0041] Based on the above embodiments, another embodiment of the present invention provides an electronic device, the device including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements the safety monitoring and trajectory correction method in the carbon block grinding process described in the above embodiments of the invention.

[0042] Based on the above embodiments, another embodiment of the present invention provides a storage medium, the storage medium including a stored computer program, wherein, when the computer program is running, it controls the device where the storage medium is located to execute the safety monitoring and trajectory correction method in the carbon block grinding process described in the above embodiments of the invention.

[0043] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0044] This invention provides a safety monitoring and trajectory correction method during carbon block grinding. The method involves acquiring the grinding path of the carbon block to be ground and grinding it according to that path. During grinding, all path points along the grinding path are traversed. Upon reaching each path point, it is determined whether the end effector of the robotic arm has reached that point. If the end effector has reached the current path point, the robotic arm continues grinding with the next path point as the endpoint. If the end effector has not yet reached the current path point, the current grinding force in each direction of the end effector is acquired, and it is determined whether the current grinding force in each direction exceeds a preset first abnormal force that could damage the robotic arm. If the first abnormal force is exceeded... If the current grinding force does not exceed the first abnormal force, then it is determined whether the current grinding force in each direction of the robotic arm end exceeds the preset second abnormal force for the worn carbon block. If it exceeds the second abnormal force, the position of the current path point is corrected. If it does not exceed the second abnormal force, then it is determined whether the current grinding force in each direction of the robotic arm end exceeds the preset grinding task requirement force. If it exceeds the grinding task requirement force, then irregular residue monitoring and irregular residue treatment are performed on the current path point. If it does not exceed the grinding task requirement force, then the target pose of the robotic arm is calculated based on the current pose of the robotic arm end and the pose of the current path point, and the robotic arm is controlled to continue grinding the carbon block to be ground based on the target pose.

[0045] This invention monitors the force on the end effector of a robotic arm in real time, acquiring the current grinding force in each direction. It monitors whether this current grinding force will damage the robotic arm and wear down the carbon blocks, and automatically stops the grinding task and handles corresponding anomalies based on the monitoring results, ensuring the safety and effectiveness of the grinding process. Furthermore, it can calculate the target pose of the robotic arm based on the current pose of the end effector and the pose of the current path point, performing grinding trajectory correction to ensure operational safety and prevent carbon block damage. This invention allows for dynamic adjustment of strategies and motion commands during the grinding process, optimizing grinding effects, extending tool life, and automatically handling anomalies, improving the overall stability of the system and maximizing the yield of carbon blocks during production. Attached Figure Description

[0046] Figure 1 This is a flowchart illustrating a safety monitoring and trajectory correction method during the carbon block grinding process according to an embodiment of the present invention;

[0047] Figure 2 This is a flowchart illustrating the overall technical solution of the present invention;

[0048] Figure 3 This is a layout diagram of the 3D camera;

[0049] Figure 4 This is a schematic diagram of the grinding path point sequence of the carbon block to be ground;

[0050] Figure 5 This is a schematic diagram of the path generation method of the polishing method of the present invention;

[0051] Figure 6 This is a schematic diagram showing the layout of the robotic arm flange, sensors, grinding tools, and carbon blocks.

[0052] Figure 7 This is a schematic diagram of a safety monitoring and trajectory correction device for the carbon block grinding process provided in an embodiment of the present invention. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0055] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0056] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0057] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0058] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0059] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0060] Example 1

[0061] Please refer to Figure 1The above is a flowchart illustrating a safety monitoring and trajectory correction method during carbon block grinding, according to an embodiment of the present invention, including the following specific steps:

[0062] S1. Obtain the grinding path of the carbon block to be ground, and grind the carbon block to be ground according to the grinding path; wherein, the grinding path consists of several path points, and the path points are the grinding endpoints at the end of the robotic arm.

[0063] Preferably, the generation of the grinding path for the carbon block to be ground includes: acquiring point cloud data of the carbon block to be ground, generating the point cloud edge contour of the carbon block to be ground based on the point cloud data; acquiring a preset cutting depth for the carbon block to be ground, and generating the grinding path for the carbon block to be ground based on the point cloud edge contour and the cutting depth; wherein, the cutting depth is the depth to which the tool at the end of the robotic arm removes material from the surface of the carbon block during the carbon block grinding process.

[0064] Preferably, generating the point cloud edge contour of the carbon block to be polished based on the point cloud data includes: performing feature recognition on the point cloud data, and performing curvature analysis and surface normal calculation on the recognized features to obtain the edges and corners of the carbon block to be polished; reconstructing the boundary line of the carbon block to be polished based on the edges and corners of the carbon block to be polished, and smoothing the boundary line to obtain the point cloud edge contour of the carbon block to be polished.

[0065] Specifically, the key terms appearing in this invention will first be explained:

[0066] Anode carbon blocks: a key electrochemical reaction material, typically used as the anode in electrolytic cells. These carbon blocks are formed into square blocks through a high-purity graphite sintering process, but they also require specialized surface treatment to meet specific usage standards.

[0067] Irregularly shaped residues: During the production and processing of anode carbon blocks, due to factors such as unevenness of raw materials, inappropriate setting of processing parameters, aging of equipment, or operational errors, by-products or residues with irregular shapes and inconsistent sizes that are difficult to grind by machines may be generated.

[0068] Wear on carbon blocks: This refers to irregularities, dents, or chipped corners on the surface of carbon blocks caused by grinding errors during the polishing process. Although this is an unavoidable part of the process, excessive wear will lead to resource waste, increase the defect rate, and may affect the performance of the final product.

[0069] Depth of cut: This refers to the depth to which the tool removes material from the surface of the carbon block during a single grinding cycle. It is a crucial parameter for measuring the amount of material removed during grinding, directly affecting the efficiency of the grinding operation and the final surface quality of the carbon block. The depth of cut needs to be carefully adjusted based on the material of the carbon block, the required surface finish, and the characteristics of the grinding tool to ensure the desired grinding effect is achieved while avoiding unnecessary damage or excessive wear to the carbon block.

[0070] Robotic arm Home Point: This refers to the preset position that the robotic arm returns to before the start of an operation or after the completion of a task. It is the starting point or return point of the robotic arm, where it can perform operations such as initialization, reset, calibration, or rest.

[0071] Please refer to Figure 2 Here is a flowchart of the overall technical solution of the present invention, which specifically includes the following steps:

[0072] Step 1: During the carbon block polishing process, such as Figure 3 The diagram shows the layout of the 3D cameras. In one specific embodiment, three 3D cameras (top, top left, and bottom right) can be used to collect point cloud data of the carbon block to be polished, obtaining its contour information. The specific steps are as follows:

[0073] Step 1: Multi-view Data Acquisition: First, three 3D cameras scan the target carbon block from different angles, capturing point cloud data covering all surfaces of the carbon block. Each camera works independently to ensure high-quality 3D information is acquired from various perspectives, covering the top surface, sides, and potentially hidden areas of the carbon block, thus avoiding information omissions from a single perspective.

[0074] Step 2: Point Cloud Data Processing: First, the point cloud data collected in the previous step is stitched and integrated. Specifically, by identifying common feature points between different datasets, the point cloud data from different cameras are uniformly converted to the robot base coordinate system (R). Base This allows for seamless data stitching. Then, a point cloud fusion method is used to optimize the continuity and consistency of the data. Specifically, the point clouds in overlapping areas are merged, duplicate points are removed, and gaps are filled to enhance the density and detail of the model, aiming to restore the true surface morphology of the carbon block to the greatest extent possible.

[0075] Step 3: Obtain the edge contour of the point cloud: First, curvature analysis and surface normal calculation are performed to detect the edges and corners of the carbon block; then, the minimum spanning tree algorithm is used to reconstruct the continuous boundary lines, and the detected boundaries are smoothed to improve the accuracy of boundary recognition; finally, through the above feature recognition and boundary reconstruction process, the edge contour of the point cloud of the carbon block to be processed can be accurately identified, providing a precise grinding benchmark for the automated grinding system.

[0076] Step 2: In the second stage of the carbon block grinding process, the grinding path for the robotic arm is generated. This stage, based on the point cloud edge contour obtained in the previous step, and considering the type of carbon block and the requirements of the grinding task (top surface grinding, side grinding, or keyway grinding, etc.), selects the appropriate cutting depth and generates the grinding path. This specifically includes the following three steps:

[0077] Step 1: Task Parameter Determination: Determine the workspace of the robotic arm, determine the grinding depth based on process requirements, and determine the grinding posture (Euler) of the corresponding grinding task in the robot base coordinate system. Base Key parameters such as )

[0078] Step 2: Generate grinding trajectory: Based on the edge contour of the point cloud obtained in Step 1, the requirements of the grinding task and the cutting depth, set key points and generate the initial grinding trajectory of the carbon block.

[0079] Step 3: Setting Path Interpolation Points: Taking into account all the above information and constraints, using the robot base coordinate system as the reference, position interpolation is performed on the initial grinding trajectory. i Base ), and set the corresponding posture (Euler) based on the current position, the robotic arm's spatial constraints, and the grinding task requirements. i Base ), generating as Figure 4 The sequence of grinding path points for the carbon block to be ground is shown.

[0080] The path consists of key points and interpolation points, designed to meet the requirements of the grinding effect while ensuring that the entire grinding operation is carried out smoothly within the safe working range of the robotic arm, thus guaranteeing the safety of equipment operation.

[0081] In one specific embodiment, the polishing method of the present invention can be applied to polishing requirements where safety is desired, and the edge of the point cloud obtained visually (with additional cutting depth) is used as the standard, so that even if it is not completely clean, the polishing rhythm is not affected.

[0082] Please refer to Figure 5 The diagram illustrates the path generation method of the grinding method of the present invention. First, the point cloud of the carbon block to be ground is obtained visually. Then, a series of points are connected into a line along the edge of the point cloud. Based on this line, the cutting depth is set (for example, the entire height of this line is reduced by 5mm) as the grinding path.

[0083] S2. During the polishing process, all path points in the polishing path are traversed. When a path point is reached, it is determined whether the end of the robotic arm has reached the current path point.

[0084] Step 3: In the third stage of the carbon block grinding process, a path point traversal operation is performed, and the movement of the robotic arm is adjusted to accurately complete the predetermined grinding path. First, the status feedback of the robot system is read in real time to obtain the current flange position based on the robot's base coordinate system. and posture Then calculate the current position of the tool's end point as follows: and posture

[0085]

[0086] S3. If the end of the robotic arm has reached the current path point, control the robotic arm to continue polishing with the next path point as the endpoint; if the end of the robotic arm has not yet reached the current path point, obtain the current polishing force in each direction of the end of the robotic arm, and determine whether the current polishing force in each direction of the end of the robotic arm exceeds the preset first abnormal force that could damage the robotic arm.

[0087] Preferably, if the end effector of the robotic arm has reached the current path point, the robotic arm is controlled to continue polishing with the next path point as the endpoint. This includes: if the end effector of the robotic arm has reached the current path point, the current path point number is incremented by one; it is determined whether the current path point number exceeds the total number of path point sequences in the polishing path; if it does not exceed the total number of path points, the robotic arm is controlled to continue polishing with the next path point as the endpoint; if it exceeds the total number of path points, it is determined that all path points in the polishing path have been polished, and the polishing task is terminated.

[0088] Then determine whether the location corresponding to the current target path point has been reached. and posture If the target is not reached, proceed to Step 4. If the target is reached, increment the path point number by 1, and then check if the path point number exceeds the sequence length. If it does not exceed the length, set the current target path point to the point with the corresponding number in the path point sequence, and proceed to Step 4. If it exceeds the length, it means all points have been completed, and the system will terminate the grinding operation. Step 4: In the fourth stage of the carbon block grinding process, the force on the end effector of the robotic arm is monitored for safety, and the grinding trajectory is corrected based on the force feedback information and work requirements. The specific implementation steps are as follows:

[0089] Step 4-1: Transform the monitored data and standards to a unified coordinate system. The layout of the robotic arm flange, sensors, grinding tools, and carbon blocks is as follows: Figure 6 As shown.

[0090] (1) The forces in the current three axes obtained from the sensor here. Based on the sensor coordinate system (R) Sensor As a reference, as shown in the following formula, it needs to be transformed to the base coordinate system (R). Base )Down;

[0091]

[0092] (2) Refine the task requirements This refers to the pre-set desired force applied to the surface of the carbon block during the polishing process. The magnitude of this force needs to be set according to the specific polishing requirements and process parameters, and the direction is based on the carbon block coordinate system (R). Object As a reference, as shown in the following formula, it needs to be transformed to the base coordinate system (R). Base );

[0093]

[0094] (3) First abnormal force (F) Error This refers to the force that can damage the robotic arm. It is a scalar quantity that is used to detect whether the absolute value of the force in the current three directions is greater than this value.

[0095] (4) Second abnormal force (F) Object This refers to the force that can wear down the carbon block. It is a scalar value, and we need to check whether the force in all three directions is greater than this value.

[0096] Step 4-2: Perform abnormal safety monitoring and monitor the current grinding force in real time. Do they exceed the first abnormal force (F) in each direction? Error Ensure operational safety. If the force exceeds the limit, immediately stop the grinding task and sound an alarm to prevent accidents. If the abnormal force is not exceeded, proceed to step 4-3.

[0097] S4. If the first abnormal force is exceeded, stop the current grinding task; if the first abnormal force is not exceeded, determine whether the current grinding force in each direction at the end of the robotic arm exceeds the preset second abnormal force for the worn carbon block.

[0098] Step 4-3: Monitor the wear of carbon blocks and monitor the current grinding force in real time. Do they exceed the second abnormal force (F) of the worn carbon block in each direction? Object To prevent damage to the carbon block, if the wear force does not exceed the limit, proceed to Step 4-4. If it does exceed the limit (the wear force is determined by an "OR" check; exceeding the limit in any direction is considered an error, regardless of the number of directions exceeded), increment the counter by 1, then check if the counter is greater than 3. If it is, it indicates that the edge contour measurement of the carbon block's point cloud is inaccurate, so the counter is set to 0, the robotic arm returns to the Home point, and Step 1 is resumed to re-detect the boundary and plan the grinding trajectory. If the wear force does not exceed the limit, the position of the current target path point is corrected. Specifically, if the force in a certain direction is greater than the force that wears down the carbon block, set the position of the current target path point and move back 5mm in that direction, then proceed to Step 5.

[0099] S5. If the second abnormal force is exceeded, the position of the current path point is corrected; if the second abnormal force is not exceeded, it is determined whether the current grinding force in each direction of the robotic arm end exceeds the preset grinding task requirement force.

[0100] Preferably, if the second abnormal force is exceeded, the position of the current path point is corrected, including: if the second abnormal force is exceeded, the number of the preset counter is incremented by one, and it is determined whether the current number of the counter is greater than the preset count; if it is greater, the count of the counter is set to 0, the robotic arm is controlled to return to the starting point before the grinding begins, and the grinding path is replanned; if it is not greater, the position of the current path point is corrected, and the position of the current path point is moved back a preset distance along the grinding direction.

[0101] Step 4-4: Monitor irregularly shaped residues and monitor the current grinding force (F) in real time. C Base Does it exceed the required force (F) for the polishing task? T B a a r s g e et If the timeout is within 2 seconds, proceed to Step 4-5. If it is, check if the timer is started. If not, start timing from the current moment. If it is started, it means the previous cycle exceeded the task requirements. Check if the time exceeds 2 seconds. If so, determine that the irregularly shaped debris cannot be polished, set the timer to 0, stop timing, and control the robotic arm to return to the Home point. Detect the debris's range using the vision system, select the nearest path point beyond the debris from the path point sequence, set it as the current target path point, and set the path point number to the corresponding number. Proceed to Step 6. If it does not exceed 2 seconds, proceed to Step 5.

[0102] Step 4-5: Set the carbon block wear counter and irregular residue timer to 0, turn off the timing, and proceed to Step 5.

[0103] These steps and scenario adjustments are designed to ensure the safety and effectiveness of the sanding process, avoiding frequent downtime or returns to the home point due to unexpected situations, and automating the handling of encountered situations to the greatest extent possible.

[0104] S6. If the grinding task requirement is exceeded, irregular residue monitoring and processing are performed at the current path point; if the grinding task requirement is not exceeded, the target pose of the robotic arm is calculated based on the current pose of the end effector and the pose of the current path point, and the robotic arm is controlled to continue grinding the carbon block to be ground based on the target pose.

[0105] Preferably, if the grinding task requirement is exceeded, irregular debris monitoring and processing are performed on the current path point, including: if the grinding task requirement is exceeded, it is determined that irregular debris exists at the current path point, and it is determined whether a preset timer has been started; if it has not been started, the timer is started from the current moment; if it has been started, it is determined whether the timer's timing time exceeds the preset timing duration; if it has not exceeded, it is determined that the irregular debris in the current path point can be ground, and the target pose of the robotic arm is calculated based on the current pose of the robotic arm end and the pose of the current path point, and the robotic arm is controlled to continue grinding the carbon block to be ground based on the target pose; if it exceeds, it is determined that the irregular debris in the current path point cannot be ground, the timer is set to 0 and the timing is turned off, the robotic arm is controlled to return to the starting point before grinding, the range of the irregular debris is detected, and the nearest path point that crosses the irregular debris is selected from the path point sequence of the grinding path as the current path point based on the range, and the robotic arm is controlled to continue grinding with the current path point as the endpoint.

[0106] Preferably, the step of calculating the target pose of the robotic arm based on the current pose of the robotic arm end effector and the pose of the current path point, and controlling the robotic arm to continue grinding the carbon block to be ground based on the target pose, includes: calculating the initial target pose of the robotic arm based on the current pose of the robotic arm end effector and the pose of the current path point; determining whether each direction of the initial target pose exceeds the current path point; if none of the directions of the initial target pose exceed the current path point, then the initial target pose is used as the target pose of the robotic arm; if any direction of the initial target pose exceeds the current path point, then the pose of the current path point in the corresponding direction is used as the target pose of the robotic arm.

[0107] Step 5: The fifth stage of the carbon block grinding process. Specifically, this step calculates the target pose of the robotic arm based on the current robotic arm pose, the pose of the current target path point, and the step size of the robotic arm movement, as shown below:

[0108] Step 5-1: Based on the current position of the tool's end and current path point The current direction vector is calculated using the following formula:

[0109]

[0110] Then, based on the process requirements, the step size for the robotic arm movement is selected, and the position interpolation (Delta) is calculated as follows:

[0111] Delta = Step * Vector Unit ;

[0112] Finally, the target position of the robotic arm's movement is calculated.

[0113]

[0114] Step 5-2: Determine whether the target position of the robotic arm movement in Step 5-1 exceeds the current target path point in each direction. If it does, set the target value of the path in that direction as the target value of the robotic arm movement to ensure that the target position of the robotic arm movement does not exceed the current target path point in any direction, thereby achieving stable adjustment and final positioning of the robotic arm movement.

[0115] Step 5-3: Set the pose of the current target path point as the target pose of the robotic arm movement. Combine the target position of the robotic arm obtained in Step 5-2 to determine the target pose of the robotic arm movement.

[0116] Step 6: In the sixth stage of the carbon block grinding process, the target pose from Step 5 is sent to the robotic arm controller. The robotic arm performs the grinding and then returns to Step 3 to start the next grinding cycle.

[0117] In one specific embodiment, the safety monitoring and trajectory correction method in the carbon block grinding process described in this invention can be applied to grinding requirements where safety is desired, and the grinding should be carried out according to the visually acquired point cloud edge (plus cutting depth) as the standard, so that even if the grinding is not completely clean, the grinding cycle should not be affected.

[0118] The specific refinement strategy is as follows: A path point sequence is generated based on the outline of the point cloud; the pose of reaching the path point is used as the termination condition for each path point; then there are three layers of "force monitoring," each with a corresponding strategy; during this process, the robotic arm will stop (first layer); the target path point is modified, and the movement does not follow a set path point. This modification may not reach the target point, but it will never exceed the boundary. For example, if the current path point height is 3, it may be modified to 5, but it will never be smaller than 3 (second layer); some path points are skipped (third layer); the target path point of the robotic arm will change, but the robotic arm movement is set. The step size and speed are only set once at startup.

[0119] Therefore, this invention provides a method for safety monitoring and trajectory correction during the grinding process of carbon blocks. Through this invention, the following beneficial effects can be achieved:

[0120] (1) Real-time force feedback and safety monitoring technology: Utilize 6D force / torque sensors to obtain real-time force feedback information, and combine it with safety monitoring and trajectory correction technology to dynamically adjust the strategy and motion commands during the grinding process, thereby optimizing the grinding effect, extending the tool life, and automatically handling abnormal situations to improve the overall stability of the system.

[0121] (2) Multi-view data capture and point cloud processing: Multiple 3D cameras are used to capture multi-view data, collect point cloud data of the carbon block to be polished, and perform splicing, point cloud fusion and edge contour recognition of the point cloud to provide high-quality three-dimensional information and provide accurate polishing reference for the subsequent automated polishing system.

[0122] (3) Generation and execution of the grinding path of the robotic arm: Based on the edge contour of the point cloud of the carbon block and the grinding task requirements, the grinding path of the robotic arm is generated, and path interpolation is performed to generate the final grinding path to ensure the grinding effect and operation safety.

[0123] (4) Safety monitoring and abnormal handling of force at the end of the robotic arm: Real-time monitoring of the force at the end of the robotic arm, and correction of the grinding trajectory based on force feedback information and work requirements to ensure operational safety and avoid damage to the carbon block;

[0124] (5) Automatic abnormal situation handling: Real-time monitoring of abnormal force and worn carbon block, automatic stopping of grinding task and corresponding abnormal handling based on monitoring results, so as to ensure the safety and effectiveness of grinding process.

[0125] Example 2

[0126] Please refer to Figure 7 This is a schematic diagram of a safety monitoring and trajectory correction device for carbon block grinding process according to an embodiment of the present invention. The device includes: a grinding path acquisition module, a path point traversal module, a first anomaly judgment module, a second anomaly judgment module, a third anomaly judgment module, and a robotic arm target pose calculation module.

[0127] The grinding path acquisition module is used to acquire the grinding path of the carbon block to be ground, and to grind the carbon block to be ground according to the grinding path; wherein, the grinding path consists of a number of path points, and the path points are the grinding endpoints at the end of the robotic arm.

[0128] The path point traversal module is used to traverse all path points in the grinding path during the grinding process. When each path point is traversed, it is determined whether the end of the robotic arm has reached the current path point.

[0129] The first anomaly judgment module is used to control the robotic arm to continue grinding if the end of the robotic arm has reached the current path point; if the end of the robotic arm has not yet reached the current path point, it obtains the current grinding force in each direction of the end of the robotic arm and determines whether the current grinding force in each direction of the end of the robotic arm exceeds the preset first abnormal force that could damage the robotic arm.

[0130] The second abnormality judgment module is used to stop the current grinding task if the first abnormal force is exceeded; if the first abnormal force is not exceeded, it determines whether the current grinding force in each direction of the end of the robotic arm exceeds the preset second abnormal force of the wear carbon block.

[0131] The third anomaly detection module is used to correct the position of the current path point if the second abnormal force is exceeded; if the second abnormal force is not exceeded, it determines whether the current grinding force in each direction of the robotic arm end exceeds the preset grinding task requirement force.

[0132] The target pose calculation module of the robotic arm is used to monitor and process irregularly shaped residues at the current path point if the grinding task force is exceeded; if the grinding task force is not exceeded, the target pose of the robotic arm is calculated based on the current pose of the end effector and the pose of the current path point, and the robotic arm is controlled to continue grinding the carbon block to be ground based on the target pose.

[0133] 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 separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0134] Those skilled in the art will clearly understand that, for convenience and simplicity, the specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0135] Example 3

[0136] Accordingly, embodiments of the present invention provide an electronic device, the device including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements the safety monitoring and trajectory correction method for the carbon block grinding process described in the above embodiments of the invention.

[0137] The electronic device may be a desktop computer, laptop, handheld computer, or cloud server, etc. The device may include, but is not limited to, a processor and a memory.

[0138] The processor can be a Central Processing Unit (CPU), or 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. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the device, connecting various parts of the device via various interfaces and lines.

[0139] Example 4

[0140] Accordingly, embodiments of the present invention provide a storage medium, the storage medium including a stored computer program, wherein, when the computer program is running, it controls the device where the storage medium is located to execute the safety monitoring and trajectory correction method during the carbon block grinding process described in the above embodiments of the invention.

[0141] The memory can be used to store the computer program. The processor implements various functions of the device by running or executing the computer program stored in the memory and calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function, etc.; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart memory card (SMC), secure digital card (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0142] The storage medium is a computer-readable storage medium, and the computer program is stored in the computer-readable storage medium. When executed by a processor, the computer program can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0143] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for safety monitoring and trajectory correction during the grinding process of carbon blocks, characterized in that, include: Obtain the grinding path of the carbon block to be ground, and grind the carbon block to be ground according to the grinding path; wherein, the grinding path consists of a number of path points, and the path points are the grinding endpoints at the end of the robotic arm. During the polishing process, all path points in the polishing path are traversed. When a path point is reached, it is determined whether the end of the robotic arm has reached the current path point. If the end effector of the robotic arm has reached the current path point, the robotic arm is controlled to continue polishing with the next path point as the endpoint; if the end effector of the robotic arm has not yet reached the current path point, the current polishing force in each direction of the end effector of the robotic arm is obtained, and it is determined whether the current polishing force in each direction of the end effector of the robotic arm exceeds the preset first abnormal force that could damage the robotic arm. If the first abnormal force is exceeded, the current grinding task is stopped; if the first abnormal force is not exceeded, it is determined whether the current grinding force in each direction at the end of the robotic arm exceeds the preset second abnormal force for the wear carbon block. If the second abnormal force is exceeded, the position of the current path point is corrected; if the second abnormal force is not exceeded, it is determined whether the current grinding force in each direction of the robotic arm end exceeds the preset grinding task requirement force. If the grinding task demand is exceeded, irregular residue monitoring and processing will be performed at the current path point; if the grinding task demand is not exceeded, the target pose of the robotic arm will be calculated based on the current pose of the end effector and the pose of the current path point, and the robotic arm will be controlled to continue grinding the carbon block to be ground based on the target pose. Wherein, if the second abnormal force is exceeded, the position of the current path point is corrected, including: If the second abnormal force is exceeded, the preset counter number is incremented by one, and it is determined whether the current number of the counter is greater than the preset count number. If the count is greater than 0, the counter is set to 0, the robotic arm is controlled to return to the starting point before grinding begins, and the grinding path is replanned; if the count is not greater than 0, the position of the current path point is corrected, and the position of the current path point is moved back a preset distance along the grinding direction.

2. The safety monitoring and trajectory correction method during the carbon block grinding process as described in claim 1, characterized in that, The generation of the grinding path for the carbon block to be ground includes: Obtain point cloud data of the carbon block to be polished, and generate the point cloud edge contour of the carbon block to be polished based on the point cloud data. The preset cutting depth of the carbon block to be ground is obtained, and the grinding path of the carbon block to be ground is generated based on the point cloud edge contour and the cutting depth of the carbon block; wherein, the cutting depth is the depth to which the tool at the end of the robotic arm removes material from the surface of the carbon block during the carbon block grinding process.

3. The safety monitoring and trajectory correction method during the carbon block grinding process as described in claim 2, characterized in that, The point cloud edge contour of the carbon block to be polished is generated based on the point cloud data, including: The point cloud data is subjected to feature recognition, and the recognized features are subjected to curvature analysis and surface normal calculation to obtain the edges and corners of the carbon block to be polished. Based on the edges and corners of the carbon block to be polished, the boundary line of the carbon block to be polished is reconstructed and smoothed to obtain the point cloud edge contour of the carbon block to be polished.

4. The safety monitoring and trajectory correction method during the carbon block grinding process as described in claim 1, characterized in that, If the end effector of the robotic arm has reached the current path point, control the robotic arm to continue polishing with the next path point as the endpoint, including: If the end effector of the robotic arm has reached the current path point, then increment the current path point number by one; Determine whether the current path point number exceeds the total number of path point sequences in the polishing path; if it does not exceed the total number, control the robotic arm to continue polishing with the next path point as the endpoint; if it exceeds the total number, determine that all path points in the polishing path have been polished and end the polishing task.

5. The safety monitoring and trajectory correction method during the carbon block grinding process as described in claim 1, characterized in that, If the grinding task's requirements are exceeded, then perform irregular debris monitoring and processing at the current path point, including: If the grinding task is exceeded, it is determined that there are irregularly shaped debris at the current path point, and it is confirmed whether the preset timer has been started. If not started, the timer will start from the current moment; if started, it will be determined whether the timer's timing duration exceeds the preset timing duration. If the target position is not exceeded, it is determined that the irregular residue in the current path point can be polished. Based on the current pose of the end of the robotic arm and the pose of the current path point, the target pose of the robotic arm is calculated, and the robotic arm is controlled to continue polishing the carbon block to be polished based on the target pose. If the target value is exceeded, it is determined that the irregularly shaped residue in the current path point cannot be polished. The timer is set to 0 and turned off. The robotic arm is controlled to return to the starting point before polishing. The range of the irregularly shaped residue is detected. Based on the range, the nearest path point that crosses the irregularly shaped residue is selected from the path point sequence of the polishing path as the current path point. The robotic arm is controlled to continue polishing with the current path point as the endpoint.

6. The safety monitoring and trajectory correction method during the carbon block grinding process as described in claim 1, characterized in that, The step of calculating the target pose of the robotic arm based on the current pose of the end effector and the pose of the current path point, and controlling the robotic arm to continue grinding the carbon block to be ground based on the target pose, includes: Calculate the initial target pose of the robotic arm based on the current pose of the end effector and the pose of the current path point. Determine whether each direction of the initial target pose exceeds the current path point. If none of the directions of the initial target pose exceed the current path point, then the initial target pose is taken as the target pose of the robotic arm. If any direction of the initial target pose exceeds the current path point, then the pose of the current path point in the corresponding direction is taken as the target pose of the robotic arm.

7. A safety monitoring and trajectory correction device for the carbon block grinding process, characterized in that, include: The module includes a grinding path acquisition module, a path point traversal module, a first anomaly detection module, a second anomaly detection module, a third anomaly detection module, and a robotic arm target pose calculation module. The grinding path acquisition module is used to acquire the grinding path of the carbon block to be ground, and to grind the carbon block to be ground according to the grinding path; wherein, the grinding path consists of a number of path points, and the path points are the grinding endpoints at the end of the robotic arm. The path point traversal module is used to traverse all path points in the grinding path during the grinding process. When each path point is traversed, it is determined whether the end of the robotic arm has reached the current path point. The first anomaly judgment module is used to control the robotic arm to continue grinding if the end of the robotic arm has reached the current path point; if the end of the robotic arm has not yet reached the current path point, it obtains the current grinding force in each direction of the end of the robotic arm and determines whether the current grinding force in each direction of the end of the robotic arm exceeds the preset first abnormal force that could damage the robotic arm. The second abnormality judgment module is used to stop the current grinding task if the first abnormal force is exceeded; if the first abnormal force is not exceeded, it determines whether the current grinding force in each direction of the end of the robotic arm exceeds the preset second abnormal force of the wear carbon block. The third anomaly detection module is used to correct the position of the current path point if the second abnormal force is exceeded; if the second abnormal force is not exceeded, it determines whether the current grinding force in each direction of the robotic arm end exceeds the preset grinding task requirement force. The step of correcting the position of the current path point if the second abnormal force is exceeded includes: if the second abnormal force is exceeded, incrementing a preset counter and determining whether the current counter value is greater than a preset count; if greater, setting the counter value to 0, controlling the robotic arm to return to the starting point before grinding begins, and replanning the grinding path; if not greater, correcting the position of the current path point by moving it back a preset distance along the grinding direction. The target pose calculation module of the robotic arm is used to monitor and process irregularly shaped residues at the current path point if the grinding task force is exceeded; if the grinding task force is not exceeded, the target pose of the robotic arm is calculated based on the current pose of the end effector and the pose of the current path point, and the robotic arm is controlled to continue grinding the carbon block to be ground based on the target pose.

8. An electronic device, characterized in that, The device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the safety monitoring and trajectory correction method for the carbon block grinding process as described in 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 is executed, it controls the device containing the storage medium to perform the safety monitoring and trajectory correction method during the carbon block grinding process as described in any one of claims 1 to 6.

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