Cutting control method and system of robot

Abstract

The invention belongs to the technical field of power transmission tower cutting and falling, and particularly discloses a cutting control method and system for a robot, and the method comprises the following steps: 1, determining an iron tower supporting leg cutting path according to robot positioning navigation; 2, attitude data are collected, a compensation rotation matrix is established, and a radar at the tail end of the mechanical arm is adjusted to be parallel to the ground; 3, roughly sweeping and positioning the position of the iron tower supporting leg, and calculating to obtain the reachable range of the tail end of the mechanical arm parallel to the ground all the time; step 4, carrying out fine scanning through a line contour scanner to obtain point location information of a cutting path on the iron tower supporting leg; and fifthly, inverse kinematics solution is conducted on the mechanical arm based on the point position information, and the cutting gun is moved to start cutting operation. The system comprises a cutting path navigation module, a posture data acquisition module, a mechanical arm control module, a point cloud data acquisition module, a cutting path point location information acquisition module and a robot control module. According to the invention, potential safety hazards in the operation process can be reduced while the cutting and dismantling operation efficiency can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of cutting and falling transmission towers, and in particular to a robot cutting control method and system. Background Art

[0002] Transmission towers play a vital role in the power transmission network. Over time, the structures of these towers may need to be removed due to aging, damage, technology upgrades, or line replacement. Traditional transmission towers are usually built with steel and concrete. As they age, they will gradually suffer from corrosion, fatigue, damage, and other problems that may affect their stability and safety. In order to maintain the safety and stability of the power transmission system, these old transmission towers need to be regularly evaluated and removed.

[0003] Tower toppling is not just about dismantling a physical structure, but also involves complex operations and precise engineering techniques. Transmission towers usually include multiple iron legs, each of which includes two main tower materials and one auxiliary tower material, with the two main tower materials located on both sides of the auxiliary tower material. Traditional tower toppling methods mainly rely on manual cutting and simple mechanical equipment. When dismantling the tower body, precise cutting and disassembly work must be performed first to ensure that the tower body can collapse in the predetermined direction to avoid damage to the surrounding environment, facilities and personnel. In particular, the environment where the power tower is located is usually more complex, such as mountains, jungles, cities, etc. These environments not only make manual demolition operations difficult, but also make traditional mechanical equipment face many challenges when operating, especially when working in a small space or at high altitudes, the safety and efficiency of the operation are at great risk.

[0004] With the increasing maintenance and replacement work on transmission towers, traditional manual and mechanical demolition methods can no longer meet the needs of efficiency, safety and low risk. Summary of the invention

[0005] The invention provides a robot cutting control method, aiming to improve the operation efficiency of cutting and dismantling tower materials.

[0006] The present invention is implemented by the following technical solution: A cutting control method of a robot comprises the following steps:

[0007] Step 1: determine the tower leg cutting path based on robot positioning and navigation;

[0008] Step 2: Collect attitude data to establish a compensation rotation matrix, and adjust the radar at the end of the robotic arm to keep it parallel to the ground;

[0009] Step 3: Roughly scan and locate the tower legs to calculate the reachable range where the end of the robotic arm is always parallel to the ground;

[0010] Step 4: Use a line profile scanner to scan accurately to obtain the cutting path point information on the tower leg;

[0011] Step 5: Solve the inverse kinematics of the robot arm based on the point information, and move the cutting gun to start the cutting operation.

[0012] A robot cutting control method provided in the present invention can be controlled by an automatic control system to achieve the purpose of automatic cutting and dismantling of tower materials by the robot, and can effectively improve the efficiency of cutting and dismantling operations.

[0013] After the cutting orientation is determined by positioning navigation in the present invention, the cutting path of the robot can be determined. In this scheme, a compensation rotation matrix is ​​also established through posture data, which makes it easy to calculate the compensation angles of each joint of the robotic arm, thereby facilitating the adjustment of the robotic arm so that the radar base at the end of the robotic arm is parallel to the ground, facilitating the posture adjustment of the robotic arm and reducing the complexity of the algorithm.

[0014] In addition, this solution can determine the reachable range of the end of the robotic arm when the end of the robotic arm remains parallel to the ground, thereby facilitating precise adjustment of the cutting position of the robotic arm; and the line profile scanner can accurately determine the distance between the robotic arm and the tower leg, and adjust the cutting posture of the cutting gun in a timely manner.

[0015] A robot cutting control method provided in the present solution can achieve the purpose of the robot accurately cutting the tower legs, and can automatically adjust the cutting posture of the robot arm during the cutting process to adapt to the contour shape of the tower and complete rapid cutting. This solution can be used for cutting and dismantling towers in complex environments. According to the control method of this solution, the cutting and dismantling can be completed accurately and smoothly, which can greatly improve the cutting and dismantling efficiency.

[0016] Further, the tower leg cutting path is determined according to the robot positioning navigation, specifically:

[0017] According to the tower legs of the transmission tower, the robot's three scanning points A, B, and C are determined, where point A and point C are the two main tower material scanning points of the tower legs, and point B is the auxiliary tower material scanning point of the tower legs;

[0018] The robot is controlled to move from point A, point B to point C in sequence, and SLAM navigation is performed based on the radar on the robot body to record the robot's walking path from point A to point B and then to point C.

[0019] Further, the collecting of attitude data specifically includes: collecting attitude data through an inertial measurement unit IMU;

[0020] The attitude data includes a roll angle The pitch angle θ and the yaw angle ψ are calculated according to the roll angle The pitch angle θ and the yaw angle ψ are used to obtain the rotation matrix R of the X-axis, Y-axis and Z-axis. x , R y , R z According to the movement of the robotic arm, the deflection of the X-axis and Y-axis is compensated, and the compensation rotation matrix is ​​calculated to restore the radar at the end of the robotic arm to a posture parallel to the ground.

[0021] Further, the compensation rotation matrix R is calculated by the following formula: L :

[0022] R L =R x (-φ)*R y (-θ)

[0023]

[0024] By compensating the rotation matrix, the compensation angles of each joint of the robotic arm are calculated, and the robotic arm is adjusted so that the radar base at the end of the robotic arm is parallel to the ground.

[0025] Further, the rough scanning and positioning of the tower leg position is calculated to obtain the reachable range in which the end of the mechanical arm is always parallel to the ground, specifically:

[0026] The target point cloud information is obtained through the radar on the robot body, and the reachable position of the end of the robotic arm at the same height is calculated;

[0027] By judging whether there is an inverse kinematics solution, it is determined whether the end of the robot arm can reach parallel.

[0028] The point cloud group with cross-section information of all tower legs at the same height is selected, and the RRT algorithm is used to guide the robotic arm to approach the lowest point.

[0029] Further, the method of judging whether the end of the robot arm can be reached in parallel by judging whether there is an inverse kinematics solution is specifically as follows:

[0030] For the point cloud position P on the tower leg scanned by radar cloud (x, y, z), if the following conditions are met, the height of the point cloud position belongs to the reachable area of ​​the robot end at the height of the point cloud position:

[0031]

[0032] Each point cloud position P that satisfies the horizontal distance constraint cloud As the target position of the end of the robot arm, assume that the end of the robot arm is horizontal; then perform inverse kinematics solution. If there is a solution, it means that it can be reached horizontally; if there is no solution, it means that it cannot be reached horizontally;

[0033] The point cloud group having cross-section information of all tower legs at the same height is selected, and the robotic arm is guided to approach the lowest point through the RRT algorithm, specifically:

[0034] All points P solved by inverse kinematics i Record it and select the point P with all tower leg section information at the same height hight = {P1, P2, P3, P4…P n}, which is represented by the cuttable height; finally, the lowest point is selected as the cutting height, and the RRT algorithm is used to guide the robot arm to approach.

[0035] Further, the point information of the cutting path on the tower leg is obtained by precise scanning with a line profile scanner, specifically:

[0036] 1) Use the PID correction algorithm to adjust the posture of the end of the robotic arm to ensure that the line profile scanner is accurately aligned with the cross section of the tower material;

[0037] 2) Detect the boundary points of the L-shaped structure by analyzing the gradient changes of the tower material contour and confirm the position where the cutting gun transitions to the vertical plane.

[0038] Furthermore, the inverse kinematics of the robot arm is solved based on the point information, and the cutting gun is moved to start the cutting operation. Specifically, the scanned point information is returned to the robot, and the inverse kinematics of the cutting points are solved in sequence according to the path order, and then the cutting gun is started to start the cutting operation along the path.

[0039] A robot cutting control system, comprising a cutting path navigation module, a posture data acquisition module, a mechanical arm control module, a point cloud data acquisition module, a cutting path point information acquisition module and a robot control module;

[0040] The cutting path navigation module is used to perform SLAM navigation to determine the path of the cutting operation;

[0041] The posture data acquisition module is used to collect the robot chassis posture data;

[0042] The point cloud data acquisition module is used to obtain the position information of the tower legs according to the point cloud data;

[0043] The robotic arm control module is used to calculate the compensation rotation matrix according to the collected posture data, calculate the compensation angle of each joint of the robotic arm through the compensation rotation matrix, and adjust the robotic arm so that the radar base at the end of the robotic arm is parallel to the ground; and the robotic arm control module is also used to determine the point cloud area range reached by the end of the robotic arm horizontally according to the point cloud data, and determine the range of the cutting height according to the point position information of the inverse kinematics solution, and control the robotic arm to move to the lowest cutting height position;

[0044] The cutting path point information acquisition module is used to obtain the cutting path point information on the tower leg according to the line profile scanner;

[0045] The robot control module is used to perform inverse kinematics solution on the robot arm according to the point information, and control the cutting operation of the robot arm and the cutting gun at the end of the robot arm.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] The invention introduces modern automation technology, especially remote-controlled mechanical equipment and robotics, which can reduce manual intervention while ensuring high precision and safety in tower dismantling. Through the automated cutting and dismantling system, engineers can operate equipment under remote control to accurately cut and collapse the tower, greatly reducing the risks of manual operation, especially in harsh climates, dangerous terrains and other environments, avoiding direct entry of personnel into high-risk areas, improving work efficiency and ensuring personnel safety.

[0048] With the increasing maintenance and replacement of transmission towers, traditional manual and mechanical demolition methods can no longer meet the requirements of high efficiency, safety and low risk. A robot cutting control method in the present invention can not only effectively improve the efficiency of demolition work and reduce safety hazards during the operation, but also reduce secondary damage to the environment, providing a more efficient and intelligent technical means for the safe upgrade of the transmission system and the maintenance of power facilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0050] Figure 1 A schematic diagram of an embodiment of a robot cutting control method of the present invention;

[0051] Figure 2 A flowchart of a specific implementation method of a robot cutting control method embodiment of the present invention;

[0052] Figure 3 This is a partial schematic diagram of the tower legs. DETAILED DESCRIPTION

[0053] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0054] like Figure 1 and Figure 2 As shown, this embodiment provides a cutting control method of a robot, comprising the following steps:

[0055] Step 1: Determine the tower leg cutting path based on the robot positioning navigation, specifically:

[0056] Combination Figure 3 As shown, according to the tower legs of the transmission tower (the tower legs include two main tower materials and one auxiliary tower material), the three scanning points A, B, and C of the robot are determined, wherein the positions of point A and point C are respectively the two main tower material scanning points of the tower legs, and the position of point B is the auxiliary tower material scanning point of the tower legs;

[0057] The robot is manually operated to perform SLAM positioning and navigation, and the robot is controlled to move from point A and point B to point C in sequence. The SLAM navigation is performed according to the radar on the robot body and the walking path of the robot from point A to point B and then to point C is recorded; the robot stops at the designated position and starts the cutting operation. In this embodiment, the robot moves from point A to point B and then to point C, and then stops at point C. The robot first performs the cutting operation at the position of point C, and then completes the cutting operation at point B and point A in sequence according to the information recorded on the walking path;

[0058] Step 2: Collect attitude data to establish a compensation rotation matrix, and adjust the radar at the end of the robotic arm to keep it parallel to the ground: Specifically, collect the robot chassis attitude data through the inertial measurement unit IMU and obtain the rotation matrix. When the robot is in the initial state, the robot chassis (XY plane of the inertial measurement unit) and the radar ground at the end of the robotic arm are parallel to each other. The radar is installed at the end of the robotic arm. The radar at the end of the robotic arm and the radar on the body in this embodiment are both laser radars. When the robot reaches the target point, the robot's attitude collects attitude data through the inertial measurement unit IMU;

[0059] In this embodiment, the posture data is collected, specifically: the posture data is collected by the inertial measurement unit IMU; the posture data includes the roll angle (rotation around the X axis), pitch angle θ (rotation around the Y axis) and yaw angle ψ (rotation around the Z axis), roll angle The pitch angle θ and the yaw angle ψ are three Euler angles. The three Euler angles of pitch angle θ and yaw angle ψ are used to obtain the rotation matrix R of the X-axis, Y-axis and Z-axis. x , R y , R z ; According to the movement of the robotic arm, the deflection of the X-axis and Y-axis is compensated, and the compensation rotation matrix is ​​calculated to restore the laser radar at the end of the robotic arm to a posture parallel to the ground;

[0060] Specifically: Calculate the compensation rotation matrix R using the following formula: L :

[0061] R L =R x (-φ)*R y (-θ)

[0062]

[0063] By compensating the rotation matrix, the compensation angles of each joint of the robotic arm are calculated, and the robotic arm is adjusted so that the radar base at the end of the robotic arm is parallel to the ground;

[0064] Step 3: Roughly scan and locate the tower leg position to calculate the reachable range of the end of the robotic arm always parallel to the ground; specifically:

[0065] 1) Obtain target point cloud information through the laser radar on the robot body and calculate the reachable position of the end of the robotic arm at the same height, specifically:

[0066] The tower legs are roughly scanned using the laser radar on the robot body, and the point cloud data obtained by the scan is filtered and segmented (using a clustering algorithm in the prior art) to obtain point cloud data representing the tower legs. The position of the tower is determined using the least squares method based on the obtained point cloud data;

[0067] Assume the reference point position on the tower leg is P tower (x t ,y t , z t ), the maximum operating radius of the robot arm R max , robot base coordinate position P end (x e ,y e , z e );

[0068] Based on the reference point position P on the tower leg tower (x t ,y t , z t ) and the maximum operating radius R of the robot arm max , calculate the radius that the end of the robot arm can reach on the horizontal plane (that is, the position that the end of the robot arm can reach), the calculation formula is as follows:

[0069]

[0070] Among them, R horizontal is the radius that the end of the robot arm can reach on the horizontal plane, z e is the base coordinate height of the robot arm, z t is the coordinate height of the reference point on the tower leg;

[0071] 2) Assume that the end of the robot arm reaches the reachable position in parallel to obtain the end position of the robot arm. By judging whether there is an inverse kinematics solution, it is determined whether the end of the robot arm can reach the reachable position in parallel. Specifically, for the point cloud position P on the tower leg scanned by the laser radar on the vehicle body cloud (x, y, z), if the following conditions are met, the height of the point cloud position belongs to the reachable area of ​​the robot end at the height of the point cloud position:

[0072]

[0073] Each point cloud position P that satisfies the horizontal distance constraint cloud As the target position of the end of the robot arm, it is assumed that the end of the robot arm is horizontal, that is, the normal vector n z = 0; then perform inverse kinematics solution, if there is a solution, it means that it can be reached horizontally; if there is no solution, it means that it cannot be reached horizontally;

[0074] 3) Filter the point cloud group P with all tower leg section information at the same height hight , and guide the robot arm to approach the lowest point through the RRT algorithm, specifically:

[0075] All points P solved by inverse kinematics i Record it and further filter the point cloud group P with all tower leg section information at the same height hight = {P1, P2, P3, P4…P n}, which is the cuttable height; finally, the lowest point is selected as the cutting height, and the RRT algorithm is used to guide the robot arm to approach;

[0076] Step 4: Use a line profile scanner to obtain the cutting path point information on the tower leg, specifically:

[0077] 1) Use the PID correction algorithm to adjust the posture of the end of the robot arm to ensure that the line profile scanner is accurately aligned with the cross section of the tower material. Specifically:

[0078] Based on the rough scanning and positioning of the tower leg position space by the radar on the vehicle body, the robot arm is guided to extend forward by the laser radar on the vehicle body. When it is 2-5cm away from the target plane, the line profile scanner installed at the end of the robot arm is started to accurately scan the tower leg tower material to obtain the coordinates (x, y, z) of each point on the target plane;

[0079] The scanning width measured by the line profile scanner is compared with the actual cross-sectional width of the tower leg material, and the posture of the end of the robotic arm is adjusted using the PID correction algorithm to ensure that the line profile scanner is accurately aligned with the cross-sectional area of ​​the tower leg. At this time, the points recorded by the line profile scanner are the cutting point information, which are converted into coordinates based on the robotic arm base coordinate system.

[0080] In this embodiment, a PID controller is used to control and adjust the posture of the end of the robot arm, and the control signal u(t) of the PID controller is calculated using the following formula:

[0081]

[0082] Where W actual is the actual cross-sectional width of the tower leg material, W scanned is the width measured by the line profile scanner, ΔW is the width error value, u(t) is the control signal, which determines the amount of adjustment of the end posture of the robot arm, and K p , K i , K d are proportional, integral and derivative gains respectively;

[0083] Based on the scanning width correction control, the width detected by the line profile scanner can be compared with the actual cross-sectional width of the tower material in real time to obtain the width error value, which is then input into the PID controller. The PID controller will dynamically adjust the posture of the end of the robot arm according to the error to ensure that the line profile scanner can always align with the cross section of the tower material;

[0084] 2) Detect the boundary points of the L-shaped structure (usually the cross section of the tower material on the tower leg is an L-shaped structure, also known as an angle steel structure, and the outline of the tower material is not a plane, but has mutually perpendicular planes) by analyzing the gradient change of the tower material profile, and confirm the position where the cutting gun transitions to the vertical plane, specifically:

[0085] During the scanning process, the boundary points of the L-shaped structure are detected by analyzing the gradient changes of the tower leg material contour, so as to confirm the position where the cutting gun installed at the end of the robot arm transitions to the vertical plane, that is, to confirm where the cutting gun needs to transition to the vertical plane; after confirming the transition of the cutting gun, the robot arm adjusts the posture of the end of the robot arm again through the PID correction algorithm, so that the line profile scanner is aligned with the new plane, the cutting point position is obtained, and the information of these points is returned to the robot to continue the cutting operation;

[0086] The gradient value of the tower material profile in this embodiment The calculation formula is as follows:

[0087]

[0088] In the formula, The gradient value of the tower material profile reflects the degree of height change of adjacent points; represents the partial derivative of Z in the x direction, reflecting the height change along the x direction; It represents the partial derivative of Z in the x direction, reflecting that when the scanner scans the cross section of the tower material, it obtains the gradient information of each point on the scan line and compares the gradient value of each point with the gradient threshold Zθ The point exceeding the gradient threshold is the boundary point, and the boundary point is used as the height change of the cutting gun posture transition point along the y direction.

[0089] Step 5: Based on the point information, the inverse kinematics of the robot arm is solved, and the cutting gun is moved to start the cutting operation. Specifically, the scanned point information is returned to the robot, and the inverse kinematics of the cutting points are solved in sequence according to the path, and then the cutting gun is started to start the cutting operation along the path;

[0090] In this embodiment, according to the information of the cutting point in the base coordinates of the robot arm obtained in step 4, the inverse kinematics of the cutting points are solved in sequence according to the path order to ensure that the robot arm moves smoothly and without singularity, and open the cutting gun to carry out the tower material cutting operation until the cutting task is completed.

[0091] This embodiment also discloses a robot cutting control system, including a cutting path navigation module, a posture data acquisition module, a mechanical arm control module, a point cloud data acquisition module, a cutting path point information acquisition module and a robot control module;

[0092] The cutting path navigation module is used to determine the path of the cutting operation by performing SLAM navigation based on the radar on the robot body;

[0093] The posture data acquisition module is used to collect the robot chassis posture data;

[0094] The point cloud data acquisition module is used to obtain the position information of the tower legs according to the point cloud data, and calculate the reachable position of the end of the mechanical arm at the same height;

[0095] The robotic arm control module is used to calculate the compensation rotation matrix according to the collected posture data, calculate the compensation angle of each joint of the robotic arm through the compensation rotation matrix, and adjust the robotic arm so that the radar base at the end of the robotic arm is parallel to the ground; and the robotic arm control module is also used to determine the point cloud area range reached by the end of the robotic arm horizontally according to the point cloud data, and determine the range of the cutting height according to the point position information of the inverse kinematics solution, and control the robotic arm to move to the lowest cutting height position;

[0096] The cutting path point information acquisition module is used to obtain the cutting path point information on the tower leg according to the line profile scanner;

[0097] The robot control module is used to perform inverse kinematics solution on the robot arm according to the point information, and control the cutting operation of the robot arm and the cutting gun at the end of the robot arm.

[0098] It should be noted that the above description of the disclosed embodiments enables professionals and technicians in the field to implement or use the present application. Various modifications to these embodiments will be apparent to professionals and technicians in the field, and the general principles defined herein can be implemented in other embodiments without departing from the scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features disclosed herein.

[0099] In the description of the present invention, it should be noted that the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0100] In the description of this document, terms such as "up", "down", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", and "longitudinal" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only used to illustrate the relative positional relationships between the various components or components, and do not particularly limit the specific installation orientations of the various components or components.

[0101] In the description of this document, some terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances.

[0102] In the description of this document, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0103] The structures, proportions, sizes, etc. drawn in the drawings in this application are only used to match the contents disclosed in this technical briefing book for technical personnel in this field to understand and read, and are not used to limit the restrictive conditions for the implementation of this application. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0104] The terms used in this document are those common terms currently widely used in the art in consideration of the functions of the present disclosure, but these terms may vary according to the intention of a person of ordinary skill in the art, precedents, or new technologies in the art. In addition, specific terms may be selected by the applicant, and in this case, their detailed meanings will be described in the detailed description of the present disclosure. Therefore, the terms used in the document should not be understood as simple names, but rather as an overall description based on the meaning of the terms and the present disclosure.

[0105] Flowcharts or text are used in this document to illustrate the operating steps performed according to the embodiments of the present application. It should be understood that the operating steps in the embodiments of the present application are not necessarily accurately performed in the order of recording. On the contrary, various steps can be processed in reverse order or simultaneously as needed. At the same time, other operations can also be added to these processes, or a certain step or several steps can be removed from these processes.

[0106] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A robot cutting control method, characterized in that: The following steps are involved: Step 1: determine the tower leg cutting path based on robot positioning and navigation; Step 2: Collect attitude data to establish a compensation rotation matrix, and adjust the radar at the end of the robotic arm to keep it parallel to the ground; Step 3: Roughly scan and locate the tower legs to calculate the reachable range where the end of the robotic arm is always parallel to the ground; Step 4: Use a line profile scanner to scan accurately to obtain the cutting path point information on the tower leg; Step 5: Solve the inverse kinematics of the robot arm based on the point information, and move the cutting gun to start the cutting operation.

2. A robot cutting control method according to claim 1, characterized in that: The tower leg cutting path is determined according to the robot positioning navigation, specifically: According to the tower legs of the transmission tower, the robot's three scanning points A, B, and C are determined, where point A and point C are the two main tower material scanning points of the tower legs, and point B is the auxiliary tower material scanning point of the tower legs; The robot is controlled to move from point A, point B to point C in sequence, and SLAM navigation is performed based on the radar on the robot body to record the robot's walking path from point A to point B and then to point C.

3. The cutting control method of a robot according to claim 1, characterized in that: The collecting of attitude data specifically includes: collecting attitude data through an inertial measurement unit IMU; The attitude data includes a roll angle The pitch angle θ and the yaw angle ψ are calculated according to the roll angle The pitch angle θ and the yaw angle ψ are used to obtain the rotation matrix R of the X-axis, Y-axis and Z-axis. x , R y , R z According to the movement of the robotic arm, the deflection of the X-axis and Y-axis is compensated, and the compensation rotation matrix is ​​calculated to restore the radar at the end of the robotic arm to a posture parallel to the ground.

4. A robot cutting control method according to claim 3, characterized in that: The compensation rotation matrix R is calculated by the following formula L : R L =R x (-φ)*R y (-θ) By compensating the rotation matrix, the compensation angles of each joint of the robotic arm are calculated, and the robotic arm is adjusted so that the radar base at the end of the robotic arm is parallel to the ground.

5. The cutting control method of a robot according to claim 1, characterized in that: The rough scanning and positioning of the tower leg position is calculated to obtain the reachable range where the end of the mechanical arm is always parallel to the ground, specifically: The target point cloud information is obtained through the radar on the robot body, and the reachable position of the end of the robotic arm at the same height is calculated; By judging whether there is an inverse kinematics solution, it is determined whether the end of the robot arm can reach parallel. The point cloud group with cross-section information of all tower legs at the same height is selected, and the RRT algorithm is used to guide the robotic arm to approach the lowest point.

6. A robot cutting control method according to claim 5, characterized in that: The target point cloud information is obtained by the radar on the robot body, and the reachable position of the end of the mechanical arm at the same height is calculated, specifically: the tower legs are roughly scanned according to the radar on the robot body, the point cloud data obtained by the scan is filtered and segmented, and the point cloud data representing the tower legs is obtained, and the position of the tower is determined by the least square method according to the obtained point cloud data; Assume the reference point position on the tower leg is P tower (x t ,y t , z t ), the maximum operating radius of the robot arm R max , robot base coordinate position P end (x e ,y e , z e ); Based on the reference point position P on the tower leg tower (x t ,y t , z t ) and the maximum operating radius R of the robot arm max , calculate the radius that the end of the robot arm can reach on the horizontal plane, the calculation formula is as follows: Among them, R horizontal is the radius that the end of the robot arm can reach on the horizontal plane, z e is the base coordinate height of the robot arm, z t It is the coordinate height of the reference point on the tower leg.

7. A robot cutting control method according to claim 6, characterized in that: The method of judging whether the end of the robot arm can be reached in parallel by judging whether there is an inverse kinematics solution is as follows: For the point cloud position P on the tower leg scanned by radar cloud (x, y, z), if the following conditions are met, the height of the point cloud position belongs to the reachable area of ​​the robot end at the height of the point cloud position: Each point cloud position P that satisfies the horizontal distance constraint cloud As the target position of the end of the robot arm, assume that the end of the robot arm is horizontal; then perform inverse kinematics solution. If there is a solution, it means that it can be reached horizontally; if there is no solution, it means that it cannot be reached horizontally; The point cloud group having cross-section information of all tower legs at the same height is selected, and the robotic arm is guided to approach the lowest point through the RRT algorithm, specifically: All points P solved by inverse kinematics i Record it and select the point P with all tower leg section information at the same height hight = {P1, P2, P3, P4…P n }, which is represented by the cuttable height; finally, the lowest point is selected as the cutting height, and the RRT algorithm is used to guide the robot arm to approach.

8. The cutting control method of a robot according to claim 1, characterized in that: The method of obtaining the cutting path point information on the tower legs by precise scanning with a line profile scanner is specifically as follows: Use the PID correction algorithm to adjust the posture of the end of the robotic arm to ensure that the line profile scanner is accurately aligned with the cross section of the tower material; The boundary points of the L-shaped structure are detected by analyzing the gradient changes of the tower material profile to confirm the position where the cutting gun transitions to the vertical plane.

9. The cutting control method of a robot according to claim 1, characterized in that: The inverse kinematics of the robot arm is solved based on the point information, and the cutting gun is moved to start the cutting operation. Specifically, the scanned point information is returned to the robot, and the inverse kinematics of the cutting points are solved in sequence according to the path order, and then the cutting gun is started to start the cutting operation along the path.

10. A robot cutting control system, characterized in that: It includes a cutting path navigation module, a posture data acquisition module, a robotic arm control module, a point cloud data acquisition module, a cutting path point information acquisition module and a robot control module; The cutting path navigation module is used to perform SLAM navigation to determine the path of the cutting operation; The posture data acquisition module is used to collect the robot chassis posture data; The point cloud data acquisition module is used to obtain the position information of the tower legs according to the point cloud data; The robotic arm control module is used to calculate the compensation rotation matrix according to the collected posture data, calculate the compensation angle of each joint of the robotic arm through the compensation rotation matrix, and adjust the robotic arm so that the radar base at the end of the robotic arm is parallel to the ground; and the robotic arm control module is also used to determine the point cloud area range reached by the end of the robotic arm horizontally according to the point cloud data, and determine the range of the cutting height according to the point position information of the inverse kinematics solution, and control the robotic arm to move to the lowest cutting height position; The cutting path point information acquisition module is used to obtain the cutting path point information on the tower leg according to the line profile scanner; The robot control module is used to perform inverse kinematics solution on the robot arm according to the point information, and control the cutting operation of the robot arm and the cutting gun at the end of the robot arm.

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