Wall-climbing robot path planning method and system for removing carbon steel covering plate

Abstract

The invention discloses a path planning method and system for a wall-climbing robot for dismantling a carbon steel cladding panel, and relates to the technical field of robot control, and the method comprises the steps: setting corresponding plasma cutting parameters, and manually and remotely controlling the robot to reach a working plane according to a monitoring video; executing a mechanical arm operation initial attitude trajectory planning program to enable the mechanical arm to carry the plasma gun head to reach an operation initial state; the inclined included angle between the gun head and the carbon steel clad panel is measured through the inertial navigation sensor, data is transmitted to the control module, and the cutting and stripping operation of the whole carbon steel clad panel is completed. According to the invention, hardware debugging, maintenance or replacement of the system are facilitated in the existing cutting process of the carbon steel clad panel, so that maintenance personnel are protected, the radiation dose is reduced, and the operation efficiency and the operation effect are improved.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, in particular to a path planning method and system of a wall-climbing robot used for dismantling carbon steel cladding panels. Background Art

[0002] The present invention relates to the field of robot control technology, and specifically describes a robot trajectory planning method designed for the decommissioning and dismantling scenario of nuclear facility storage tank steel cladding. Currently in this field, for storage tanks with low radioactive doses, manual handheld plasma cutting equipment is usually used to cut the steel cladding. A large amount of aerosols will be generated during the cutting process, which has a great impact on the health of the operators. For storage tanks with higher radioactive doses, semi-automatic mechanical equipment is used, such as manually operating a robotic arm carrying a plasma device through video monitoring to perform cutting operations. However, due to the complex environmental structure of the storage tank, it is difficult for the operator to accurately perceive the distance between the plasma cutting gun head and the steel plate by relying only on the image sent back by the camera, especially in a working space with poor light. This significantly increases the difficulty of operation, reduces the operating efficiency, and easily leads to damage to the robot due to operating errors.

[0003] At present, the above two methods have poor actual cutting effects for the scene where the back of the steel plate is bonded with concrete. Often after cutting, the steel plate is adhered again and cannot be peeled off, which cannot truly meet the needs of effect and efficiency for the decommissioning of existing nuclear facility tanks. Summary of the invention

[0004] In view of the problems existing in the existing path planning method and system of a wall-climbing robot for dismantling carbon steel cladding panels, the present invention is proposed.

[0005] Therefore, the purpose of the present invention is to provide a wall-climbing robot path planning method and system for the removal of carbon steel cladding panels. For storage tanks with low radioactive doses, manual handheld plasma cutting equipment is usually used to cut the steel cladding. A large amount of aerosols will be generated during the cutting process, which has a great impact on the health of the operators. The present invention solves this problem by using a wall-climbing robot path planning method for the removal of carbon steel cladding panels.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In the first aspect, an embodiment of the present invention provides a path planning method for a wall-climbing robot for dismantling carbon steel cladding panels, which includes setting a reference value according to the electrical hardware layout of the system, setting corresponding plasma cutting parameters according to the thickness of the carbon steel cladding panels to be cut, and manually remotely controlling the robot to reach the working surface according to the monitoring video; executing a robot arm grasping tool head trajectory control program to enable the robot arm to grasp the plasma cutting gun head from a zero position state, and after the grasping is completed, executing a robot arm operation initial posture trajectory planning program to enable the robot arm carrying the plasma gun head to reach the initial state of the operation; measuring the straight-line distance H between the current operation initial posture sensor and the carbon steel cladding panel through a TOF laser ranging sensor, measuring the inclination angle between the gun head and the carbon steel cladding panel at this time through an inertial navigation sensor, transmitting the data to a control module, and completing the entire carbon steel cladding panel cutting and peeling operation.

[0008] As a preferred solution of the path planning method of the wall-climbing robot for removing carbon steel cladding panels of the present invention, wherein: the electrical hardware layout includes a first control module, a second control module, a third control module, a fourth control module, a fifth control module and a sixth control module;

[0009] The first control module includes parsing the execution instructions issued by the remote control device through the wired or wireless mode, and forwarding them to the sub-control module, encoding the feedback information collected from each sub-module and the current system voltage, current and frequency information of the robot and transmitting them to the human-machine interaction terminal, and taking on the task of forwarding the current posture information of the robot arm to the sixth module, and returning the motion posture information of the robot arm at the next moment calculated by the sixth module to the robot arm;

[0010] The second control module includes receiving the robot electrical accessory instructions forwarded by the first control module and controlling the accessory action;

[0011] The third control module includes receiving instructions related to robot movement forwarded by the first control module, controlling the movement of the mechanism, collecting the current movement state of the robot and the motor temperature information fed back by the sensor, and publishing them to the first control module.

[0012] As a preferred solution of the path planning method of the wall-climbing robot for dismantling carbon steel cladding panels described in the present invention, wherein: the fourth control module includes a robot environment perception and a manipulator end planning control computing platform, receives the current posture information of the manipulator end, the ranging sensor data, the inertial navigation sensor and the binocular camera data, and publishes the posture information of the manipulator end at the next moment through program calculation;

[0013] The fifth control module includes receiving instructions related to the tool head replacement mechanism action forwarded by the first control module, using the tool head to perform the action, and controlling the related mechanism action;

[0014] The sixth control module includes establishing wired or wireless communication between the human-machine interaction terminal and the robot for data interaction.

[0015] As a preferred solution of the path planning method of the wall-climbing robot for removing the carbon steel cladding panel of the present invention, the setting reference value includes setting the corresponding plasma cutting parameter current A, the purge flow rate L / min, the movement speed v of the robot arm during trajectory execution, the theoretical optimal spacing d between the plasma gun head and the carbon steel cladding panel, and the gun head cutting inclination angle R0P0Y0. The specific formula for setting the parameter value is:

[0016]

[0017] Among them, [r 11 , r 21 , r 31 ] T ,[r 12 , r 22 , r 32 ] T ,[r 13 , r 23 , r 33 ] T represents the x, y, and z direction vectors of the end of the robot arm, [p x , p y , p z ] T Represents the position matrix of the end of the robot relative to the base coordinate system;

[0018] After the forward kinematics of the known robot arm is solved, as well as The inverse matrix of the robot arm is used to obtain the inverse kinematics relationship between the joints of the robot arm.

[0019] As a preferred solution of the path planning method of the wall-climbing robot for dismantling carbon steel cladding panels described in the present invention, wherein: the execution of the robot arm grasping tool head trajectory control program includes executing the robot arm grasping tool head trajectory control program, so that the robot arm starts to grasp the plasma cutting gun head from the zero position state, and after the grasping is completed, the robot arm operation initial posture trajectory planning program is executed, so that the robot arm carrying the plasma gun head reaches the operation initial state;

[0020] The grasping includes adjusting the height of the robot arm h1=hd, comparing the heading angle value calculated by the tilt angle RPY measured by the inertial navigation sensor and the cutting tilt angle R0P0Y0 of the gun head, calculating the best posture of the end of the robot arm, obtaining the posture information of each joint of the robot arm through forward and inverse calculation, adjusting the posture of the robot arm, and achieving the best initial state of cutting. The formula of the forward and inverse calculation is as follows:

[0021]

[0022] Where T represents the matrix, c represents the parameter, and θ represents the medium parameter.

[0023] As a preferred solution of the path planning method of the wall-climbing robot for removing the carbon steel cladding panel of the present invention, wherein: the data transmission to the control module includes calculating the vertical distance from the gun head to the carbon steel cladding panel, adjusting the posture of the robot arm, reaching the initial state of cutting, setting the global trajectory planning path, executing the trajectory, and replacing the tool head after the trajectory execution is completed;

[0024] The calculation formula for setting the global trajectory planning path is:

[0025] S τi (t) = a i +b i (tt i )+c i (tt i ) 2 +d i (tt i ) 3

[0026] Among them, a i , b i , c i , d i represents the spline coefficient of the i-th segment curve, S τi (t) represents the i-th curve corresponding to time t in the τ direction, and τ represents the x direction, y direction, or z direction.

[0027] As a preferred solution of the path planning method of the wall-climbing robot for dismantling the carbon steel covering panel described in the present invention, the execution trajectory includes starting the cutting movement along the global trajectory according to the plasma gun head carried by the robot arm, the TOF laser ranging sensor transmits the detected distance between the plasma gun head and the carbon steel covering panel at the next moment to the control module, and calculates the posture of the end of the robot arm at the next moment. At the same time, according to the cutting effect detected by the binocular camera based on the Yolov5 deep learning model, the cutting parameter database is compared, the distance between the gun head and the carbon steel covering panel is compensated and adjusted, and the posture x, y, z+h1, RtPtYt of the final motion trajectory of the end of the robot arm at the next moment is obtained. During the continuous operation of the robot, the execution is cyclically executed to complete the cutting and stripping operation of the entire carbon steel covering panel.

[0028] In a second aspect, an embodiment of the present invention provides a wall-climbing robot path planning system for dismantling carbon steel cladding panels, which comprises:

[0029] A setting module sets reference values ​​according to the electrical hardware layout of the system, sets corresponding plasma cutting parameters according to the thickness of the carbon steel cladding to be cut, and manually remotely controls the robot to reach the working surface according to the monitoring video;

[0030] The grasping module executes the robot arm grasping tool head trajectory control program, so that the robot arm starts to grasp the plasma cutting gun head from the zero position state. After the grasping is completed, the robot arm operation initial posture trajectory planning program is executed, so that the robot arm carrying the plasma gun head reaches the operation initial state;

[0031] The planning module measures the straight-line distance H between the initial posture sensor of the current operation and the carbon steel covering panel through the TOF laser ranging sensor, measures the tilt angle between the gun head and the carbon steel covering panel at this time through the inertial navigation sensor, and transmits the data to the control module to complete the cutting and stripping operation of the entire carbon steel covering panel.

[0032] In a third aspect, an embodiment of the present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, wherein: when the processor executes the computer program, it implements any step of the above-mentioned wall-climbing robot path planning method for dismantling carbon steel cladding panels.

[0033] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, any step of the above-mentioned wall-climbing robot path planning method for removing carbon steel cladding panels is implemented.

[0034] The beneficial effects of the present invention are as follows: the present invention solves the problem that in the existing carbon steel cladding panel cutting process, the hardware of the entire control system is composed of six independent control modules, and the modules are connected by USB data cables, which is convenient for hardware debugging, maintenance or replacement of the system, thereby protecting maintenance personnel and reducing radiation exposure dose; the operating programs that realize the functions of each part are written separately, and communication is carried out based on the ROS system. Through the node log of the ROS system, the fault point can be quickly found, and the difficulty of troubleshooting program operation errors is reduced; the intelligence level of nuclear facility decommissioning is improved, the difficulty of cutting operations and the degree of direct human participation are reduced, and the operation efficiency and operation effect are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0036] Figure 1A specific flow chart of a path planning method and system for a wall-climbing robot for dismantling carbon steel cladding panels provided by one embodiment of the present invention.

[0037] Figure 2 A schematic diagram of a path planning method and system for a wall-climbing robot for dismantling carbon steel cladding panels provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0039] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0040] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0041] The present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0042] At the same time, in the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper, lower, inner and outer" are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first, second or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "install, connect, connect" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection or an integral connection; it can also be a mechanical connection, an electrical connection or a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] Example 1

[0045] Reference Figure 1 and Figure 2 , which is the first embodiment of the present invention, provides a path planning method for a wall-climbing robot for removing carbon steel cladding panels, comprising:

[0046] S1: According to the electrical hardware layout of the system, set the reference value, set the corresponding plasma cutting parameters according to the thickness of the carbon steel cladding to be cut, and manually remotely control the robot to reach the working surface based on the monitoring video.

[0047] The electrical hardware layout includes a first control module, a second control module, a third control module, a fourth control module, a fifth control module and a sixth control module;

[0048] The first control module includes parsing the execution instructions issued by the remote control device through the wired or wireless mode, and forwarding them to the sub-control module, encoding the feedback information collected from each sub-module and the current system voltage, current and frequency information of the robot and transmitting them to the human-machine interaction terminal, and forwarding the current posture information of the robot arm to the sixth module, and returning the next moment motion posture information of the robot arm calculated by the sixth module to the robot arm;

[0049] The second control module includes receiving the robot electrical accessory instructions forwarded by the first control module and controlling the accessory action;

[0050] The third control module includes receiving instructions related to robot movement forwarded by the first control module, controlling the movement of the mechanism, collecting the current movement state of the robot and the motor temperature information fed back by the sensor, and publishing them to the first control module.

[0051] The fourth control module includes a robot environment perception and manipulator end planning control computing platform, receives the current posture information of the manipulator end, ranging sensor data, inertial navigation sensor and binocular camera data, and publishes the posture information of the manipulator end at the next moment through program calculation;

[0052] The fifth control module includes receiving instructions related to the tool head replacement mechanism action forwarded by the first control module, using the tool head to perform the action, and controlling the related mechanism action;

[0053] The sixth control module includes establishing wired or wireless communication between the human-machine interaction terminal and the robot for data interaction.

[0054] S1.1: Setting reference values ​​includes setting corresponding plasma cutting parameters such as current A, purge flow rate L / min, movement speed v of the robot during trajectory execution, theoretical optimal spacing d between the plasma gun head and the carbon steel cladding plate, and gun head cutting inclination R0P0Y0. The specific formula for setting parameter values ​​is:

[0055]

[0056] Among them, [r 11 , r 21 , r 31 ] T ,[r 12 , r 22 , r 32 ] T ,[r 13 , r 23 , r 33 ] T represents the x, y, and z direction vectors of the end of the robot arm, [p x , p y , p z ] T Represents the position matrix of the end of the robot relative to the base coordinate system;

[0057] After the forward kinematics of the known robot arm is solved, as well as The inverse matrix of the robot arm is used to obtain the inverse kinematics relationship between the joints of the robot arm.

[0058] S2: Execute the robot arm grasping tool head trajectory control program, so that the robot arm starts to grasp the plasma cutting gun head from the zero position state. After the grasping is completed, execute the robot arm operation initial posture trajectory planning program, so that the robot arm carrying the plasma gun head reaches the operation initial state.

[0059] Among them, executing the robot arm grasping tool head trajectory control program includes executing the robot arm grasping tool head trajectory control program, so that the robot arm starts to grasp the plasma cutting gun head from the zero position state, and after the grasping is completed, executing the robot arm operation initial posture trajectory planning program, so that the robot arm carrying the plasma gun head reaches the operation initial state;

[0060] Grasping includes adjusting the height of the robot arm h1=hd, comparing the heading angle value calculated by the tilt angle RPY measured by the inertial navigation sensor and the cutting tilt angle R0P0Y0 of the gun head, calculating the best posture of the end of the robot arm, and obtaining the posture information of each joint of the robot arm through forward and inverse solution. The posture of the robot arm is adjusted to achieve the best initial state of cutting. The formula for forward and inverse solution is as follows:

[0061]

[0062] Where T represents the matrix, c represents the parameter, and θ represents the medium parameter.

[0063] S3: The straight-line distance H between the initial posture sensor of the current operation and the carbon steel covering panel is measured by the TOF laser ranging sensor, and the tilt angle between the gun head and the carbon steel covering panel is measured by the inertial navigation sensor. The data is transmitted to the control module to complete the cutting and peeling operation of the entire carbon steel covering panel.

[0064] Among them, transmitting data to the control module includes calculating the vertical distance from the gun head to the carbon steel covering plate, adjusting the robot arm posture, reaching the initial state of cutting, setting the global trajectory planning path, executing the trajectory, and replacing the tool head after the trajectory execution is completed;

[0065] The calculation formula for setting the global trajectory planning path is:

[0066] S τi (t) = a i +b i (tt i )+c i (tt i ) 2 +d i (tt i ) 3

[0067] Among them, a i , b i , c i , d i represents the spline coefficient of the i-th segment curve, S τi (t) represents the i-th curve corresponding to time t in the τ direction, and τ represents the x direction, y direction, or z direction.

[0068] S3.1: The execution trajectory includes starting the cutting movement along the global trajectory according to the plasma gun head carried by the robot arm. The TOF laser ranging sensor transmits the distance between the plasma gun head and the carbon steel covering panel at the next moment to the control module, and calculates the position of the end of the robot arm at the next moment. At the same time, according to the cutting effect detected by the binocular camera based on the Yolov5 deep learning model, the cutting parameter database is compared, and the distance between the gun head and the carbon steel covering panel is compensated and adjusted to obtain the final position x, y, z+h1, RtPtYt of the motion trajectory of the end of the robot arm at the next moment. During the continuous operation of the robot, the execution is cyclical to complete the cutting and peeling operation of the entire carbon steel covering panel.

[0069] Furthermore, the execution trajectory includes starting the cutting motion along the global trajectory according to the plasma gun head carried by the robot arm, and the TOF laser ranging sensor transmits the distance between the plasma gun head and the carbon steel covering panel at the next moment to the control module, and calculates the position of the end of the robot arm at the next moment. At the same time, according to the cutting effect detected by the binocular camera based on the Yolov5 deep learning model, the system will compare the cutting parameter database. If the cutting effect is not good, the distance between the gun head and the carbon steel covering panel will be automatically compensated, for example, the distance will be increased by 0.5 mm. Finally, the position of the motion trajectory of the end of the robot arm at the next moment is x=100 mm, y=200 mm, z=10.5 mm, and RtPtYt is 30 degrees, 45 degrees and 60 degrees respectively. During the continuous operation of the robot, this process will be executed cyclically at a frequency of 10 times per second to ensure cutting accuracy and efficiency, thereby completing the cutting and peeling operation of the entire carbon steel covering panel. The execution trajectory data is shown in Table 1 below:

[0070] Table 1 Execution trajectory data table

[0071] parameter Numeric describe Initial spacing 10 mm Initial distance detected by TOF laser ranging sensor Compensation spacing 0.5 mm If poor cutting is detected, the spacing is automatically compensated x-coordinate 100 mm The x-coordinate of the motion trajectory of the end of the robotic arm at the next moment y coordinate 200 mm The y coordinate of the motion trajectory of the end of the robot arm at the next moment z coordinate 10.5 mm The z coordinate of the motion trajectory of the end of the robot arm at the next moment Rt Angle 30 degrees The Rt angle of the robot arm's next motion trajectory Pt Angle 45 degrees The Pt angle of the next motion trajectory of the end of the robot arm Yt Angle 60 degrees The Yt angle of the robot arm's end motion trajectory at the next moment Cycle frequency 10 times per second The cycle frequency of this process during the continuous operation of the robot

[0072] Table 1 shows the key parameters and control process of the robot arm when cutting carbon steel cladding panels. The initial spacing is 10 mm. If the cutting effect is not good, the system will automatically compensate for the spacing of 0.5 mm. The position of the end of the robot arm at the next moment is x = 100 mm, y = 200 mm, z = 10.5 mm, and the Rt, Pt, and Yt angles are 30 degrees, 45 degrees, and 60 degrees respectively. The whole process is executed 10 times per second to ensure the accuracy and efficiency of cutting.

[0073] In a preferred embodiment, a wall-climbing robot path planning system for removing carbon steel cladding panels includes a setting module, which sets reference values ​​according to the electrical hardware layout of the system, sets corresponding plasma cutting parameters according to the thickness of the carbon steel cladding panels to be cut, and manually remotely controls the robot to reach the working surface according to the monitoring video; a grasping module, which executes a robot arm grasping tool head trajectory control program, so that the robot arm starts grasping the plasma cutting gun head from a zero position state, and after the grasping is completed, executes the robot arm operation initial posture trajectory planning program, so that the robot arm carrying the plasma gun head reaches the operation initial state; a planning module, which measures the straight-line distance H between the current operation initial posture sensor and the carbon steel cladding panel through a TOF laser ranging sensor, measures the tilt angle between the gun head and the carbon steel cladding panel at this time through an inertial navigation sensor, and transmits the data to the control module to complete the entire carbon steel cladding panel cutting and peeling operation.

[0074] The above-mentioned unit modules may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to the above-mentioned modules.

[0075] The computer device may be a terminal, and the computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covering the display screen, or a key, trackball or touchpad provided on the housing of the computer device, or an external keyboard, touchpad or mouse, etc.

[0076] In summary, the present invention solves the problem that in the existing carbon steel cladding panel cutting process, the hardware of the entire control system is composed of six independent control modules, and the modules are connected by USB data cables, which is convenient for hardware debugging, maintenance or replacement of the system, thereby protecting maintenance personnel and reducing radiation exposure dose; the operating programs that realize the functions of each part are written separately, and communication is carried out based on the ROS system. Through the node log of the ROS system, the fault point can be quickly found, and the difficulty of troubleshooting program operation errors is reduced; the intelligence level of nuclear facility decommissioning is improved, the difficulty of cutting operations and the degree of direct human participation are reduced, and the operation efficiency and operation effect are improved.

[0077] Example 2

[0078] Reference Figure 1 and Figure 2 , which is the second embodiment of the present invention, provides a path planning method for a wall-climbing robot for dismantling carbon steel cladding panels. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through simulation experiments.

[0079] This experimental process demonstrates the specific implementation steps of the wall-climbing robot path planning method for the removal of carbon steel cladding panels, and adds some specific data to support it: First, according to the thickness of the carbon steel cladding panels, the plasma cutting parameters are set, such as current 200A, purge flow 10L / min, robot arm movement speed 0.5m / s, the optimal distance between the plasma gun head and the carbon steel cladding panel 10mm, and the gun head cutting inclination angle R0=30 degrees, P0=45 degrees, and Y0=60 degrees. Through the monitoring video, the robot is manually controlled remotely to reach the working surface. Then, the robot arm grabs the plasma cutting gun head, adjusts the height of the robot arm h1=h-10h1=h-10mm, measures the tilt angle through the inertial navigation sensor, calculates the best posture of the end of the robot arm, and makes the robot arm carrying the plasma gun head reach the initial state of the operation. Then, the straight-line distance H=10.5H=10.5mm from the initial posture to the carbon steel covering plate is measured through the TOF laser ranging sensor, and the data is transmitted to the control module. The posture of the end of the robot arm at the next moment is calculated as x=100x=100mm, y=200y=200mm, z=10.5z=10.5mm, and RtPtYt is 30 degrees, 45 degrees and 60 degrees respectively. During the continuous operation of the robot, this process is executed cyclically at a frequency of 10 times per second. The cutting effect is detected by the binocular camera. If the cutting depth is insufficient, the spacing is automatically compensated by 0.5mm to ensure the cutting accuracy and efficiency. Finally, the cutting and stripping operation of the entire carbon steel covering plate is completed. The experimental data are shown in Table 2 below:

[0080] Table 2 Experimental data table

[0081] parameter Numeric describe Current 200A Current in plasma cutting parameters Purge flow 10L / min Purge flow in plasma cutting parameters Movement speed 0.5m / s Robot arm movement speed Optimal spacing 10mm Optimal distance between plasma torch head and carbon steel cladding plate Inclination angle R0 30 degrees R0 value of the cutting angle of the gun tip Inclination angle P0 45 degrees P0 value of the cutting angle of the gun tip Inclination angle Y0 60 degrees Y0 value of the cutting angle of the gun tip Initial distance 10.5mm Initial distance measured by TOF laser ranging sensor x-coordinate 100mm The x coordinate of the end of the robotic arm at the next moment y coordinate 200mm The y coordinate of the end of the robotic arm at the next moment z coordinate 10.5mm The z coordinate of the end of the robot arm at the next moment Cycle frequency 10 times per second The cycle frequency of the robot's continuous operation Compensation spacing 0.5mm Compensation distance for poor cutting results

[0082] Table 2 shows the key parameters in the path planning method of the wall-climbing robot for the removal of carbon steel cladding panels. The plasma cutting parameters are set to 200A current, 10L / min purge flow, and 0.5m / s robot arm movement speed. The optimal spacing between the plasma gun head and the carbon steel cladding panel is 10mm, and the gun head cutting angle is R0=30 degrees, P0=45 degrees, and Y0=60 degrees. The initial distance measured by the TOF laser ranging sensor is 10.5mm, and the position of the end of the robot arm at the next moment is x=100mm, y=200mm, and z=10.5mm. The cycle frequency is 10 times per second, and the compensation spacing when the cutting effect is not good is 0.5mm. The comparison table of the present invention and the prior art is shown in Table 3 below:

[0083] Table 3 Comparison between the present invention and the prior art

[0084]

[0085] Table 3 shows the key performance comparison of the prior art and the technical solution of the present invention in the removal of carbon steel cladding panels. The present invention significantly improves the path planning accuracy, cutting effect, operation efficiency and real-time performance, and reduces human errors and operation time through automatic path planning, dynamic adjustment of cutting parameters (such as current 200A, purge flow 10L / min, optimal spacing 10mm), variable movement speed (0.5m / s), automatic adjustment of cutting inclination (R0=30 degrees, P0=45 degrees, Y0=60 degrees), real-time monitoring and feedback (10 cycles per second), dynamic cutting spacing compensation (0.5mm) and automatic tool head replacement.

[0086] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A path planning method for a wall-climbing robot for removal of carbon steel cladding panels, characterized in that: include, According to the electrical hardware layout of the system, set the reference value, set the corresponding plasma cutting parameters according to the thickness of the carbon steel cladding to be cut, and manually remotely control the robot to reach the working surface based on the monitoring video; Execute the robot arm grasping tool head trajectory control program, so that the robot arm starts to grasp the plasma cutting gun head from the zero position state. After the grasping is completed, execute the robot arm operation initial posture trajectory planning program, so that the robot arm carrying the plasma gun head reaches the operation initial state; The TOF laser ranging sensor is used to measure the straight-line distance H between the initial posture sensor of the current operation and the carbon steel covering panel. The inertial navigation sensor is used to measure the tilt angle between the gun head and the carbon steel covering panel at this time, and the data is transmitted to the control module to complete the cutting and stripping operation of the entire carbon steel covering panel.

2. The path planning method of a wall-climbing robot for removing carbon steel cladding panels according to claim 1, characterized in that: The electrical hardware layout includes a first control module, a second control module, a third control module, a fourth control module, a fifth control module and a sixth control module; The first control module includes parsing the execution instructions issued by the remote control device through the wired or wireless mode, and forwarding them to the sub-control module, encoding the feedback information collected from each sub-module and the current system voltage, current and frequency information of the robot and transmitting them to the human-machine interaction terminal, and taking on the task of forwarding the current posture information of the robot arm to the sixth module, and returning the motion posture information of the robot arm at the next moment calculated by the sixth module to the robot arm; The second control module includes receiving the robot electrical accessory instructions forwarded by the first control module and controlling the accessory action; The third control module includes receiving instructions related to robot movement forwarded by the first control module, controlling the movement of the mechanism, collecting the current movement state of the robot and the motor temperature information fed back by the sensor, and publishing them to the first control module.

3. The path planning method of a wall-climbing robot for removing carbon steel cladding panels according to claim 2, characterized in that: The fourth control module includes a robot environment perception and manipulator end planning control computing platform, receives the current posture information of the manipulator end, ranging sensor data, inertial navigation sensor and binocular camera data, and publishes the posture information of the manipulator end at the next moment through program calculation; The fifth control module includes receiving instructions related to the tool head replacement mechanism action forwarded by the first control module, using the tool head to perform the action, and controlling the related mechanism action; The sixth control module includes establishing wired or wireless communication between the human-machine interaction terminal and the robot for data interaction.

4. The path planning method of a wall-climbing robot for removing carbon steel cladding panels according to claim 3, characterized in that: The setting reference value includes setting the corresponding plasma cutting parameter current A, purge flow rate L / min, movement speed v of the robot arm during trajectory execution, theoretical optimal spacing d between the plasma gun head and the carbon steel cladding plate, and the gun head cutting inclination angle R0P0Y0. The specific formula for setting the parameter value is: Among them, [r 11 , r 21 , r 31 ] T ,[r 12 , r 22 , r 32 ] T ,[r 13 , r 23 , r 33 ] T represents the x, y, and z direction vectors of the end of the robot arm, [p x , p y , p z ] T Represents the position matrix of the end of the robot relative to the base coordinate system; After the forward kinematics of the known robot arm is solved, as well as The inverse matrix of the robot arm is used to obtain the inverse kinematics relationship between the joints of the robot arm.

5. The path planning method of a wall-climbing robot for removing carbon steel cladding panels according to claim 4, characterized in that: The executing of the robot arm grasping tool head trajectory control program includes executing the robot arm grasping tool head trajectory control program, so that the robot arm starts to grasp the plasma cutting gun head from the zero position state, and after the grasping is completed, executing the robot arm operation initial posture trajectory planning program, so that the robot arm carrying the plasma gun head reaches the operation initial state; The grasping includes adjusting the height of the robot arm h1=hd, comparing the heading angle value calculated by the tilt angle RPY measured by the inertial navigation sensor and the cutting tilt angle R0P0Y0 of the gun head, calculating the best posture of the end of the robot arm, obtaining the posture information of each joint of the robot arm through forward and inverse calculation, adjusting the posture of the robot arm, and achieving the best initial state of cutting. The formula of the forward and inverse calculation is as follows: Where T represents the matrix, c represents the parameter, and θ represents the medium parameter.

6. The path planning method of a wall-climbing robot for removing carbon steel cladding panels according to claim 5, characterized in that: The data transmission to the control module includes calculating the vertical distance from the gun head to the carbon steel covering plate, adjusting the robot arm posture to reach the initial state of cutting, setting the global trajectory planning path, executing the trajectory, and replacing the tool head after the trajectory execution is completed; The calculation formula for setting the global trajectory planning path is: S τi (t)=a i +b i (t-t i )+c i (t-t i ) 2 +d i (t-t i ) 3 Among them, a i , b i , c i , d i represents the spline coefficient of the i-th segment curve, S τi (t) represents the i-th curve corresponding to time t in the τ direction, and τ represents the x direction, y direction, or z direction.

7. The path planning method of a wall-climbing robot for removing carbon steel cladding panels according to claim 6, characterized in that: The execution trajectory includes starting the cutting movement along the global trajectory according to the plasma gun head carried by the robot arm, transmitting the distance between the plasma gun head and the carbon steel covering panel detected at the next moment to the control module by the TOF laser ranging sensor, calculating the posture of the end of the robot arm at the next moment, and comparing the cutting effect detected by the binocular camera based on the Yolov5 deep learning model with the cutting parameter database, compensating and adjusting the distance between the gun head and the carbon steel covering panel, and obtaining the posture x, y, z+h1, RtPtYt of the final motion trajectory of the end of the robot arm at the next moment. During the continuous operation of the robot, the execution is cyclically executed to complete the cutting and peeling operation of the entire carbon steel covering panel.

8. A wall-climbing robot path planning system for dismantling carbon steel cladding panels, based on the wall-climbing robot path planning method for dismantling carbon steel cladding panels according to any one of claims 1 to 7, characterized in that: include, A setting module sets reference values ​​according to the electrical hardware layout of the system, sets corresponding plasma cutting parameters according to the thickness of the carbon steel cladding to be cut, and manually remotely controls the robot to reach the working surface according to the monitoring video; The grasping module executes the robot arm grasping tool head trajectory control program, so that the robot arm starts to grasp the plasma cutting gun head from the zero position state. After the grasping is completed, the robot arm operation initial posture trajectory planning program is executed, so that the robot arm carrying the plasma gun head reaches the operation initial state; The planning module measures the straight-line distance H between the initial posture sensor of the current operation and the carbon steel covering panel through the TOF laser ranging sensor, measures the tilt angle between the gun head and the carbon steel covering panel at this time through the inertial navigation sensor, and transmits the data to the control module to complete the cutting and stripping operation of the entire carbon steel covering panel.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the path planning method for a wall-climbing robot for removing carbon steel cladding panels according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the path planning method for a wall-climbing robot for removing carbon steel cladding panels according to any one of claims 1 to 7 are implemented.

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