Robot pose control method, system, equipment and medium

Abstract

The invention provides a robot pose control method, system and device and a medium. According to the method, surface point cloud data of a to-be-processed workpiece is obtained through a scanner, an actual workpiece digital model of the to-be-processed workpiece is generated according to the surface point cloud data, an initial polishing path is generated on the actual workpiece digital model, and then a target polishing area is determined; a first feature control point and a second feature control point are determined from the initial control point information sequence according to the target polishing area, then at least one target feature control point is generated, and then target feature control point information corresponding to the target feature control point is generated according to the first feature control point and the second feature control point; and the controller generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence, so that the polishing executor is indicated to polish the to-be-processed workpiece, the complex change of the surface of the workpiece is dealt with, and the polishing precision and efficiency are improved.

Description

Technical Field

[0001] The present application relates to data processing technology, and in particular to a robot posture control method, system, device and medium. Background Art

[0002] With the continuous development of automation and intelligent technology, robots are increasingly used in industrial production. In the process of grinding, polishing, deburring, etc., the traditional manual operation method has problems such as low efficiency, poor precision, and high labor intensity, which makes it difficult to meet the needs of modern industrial production for high quality and high efficiency. Therefore, robot grinding technology came into being and gradually became one of the mainstream technologies in industrial production.

[0003] However, in the robot grinding process, posture control is a key link. Posture control is not only related to the accuracy and stability of the grinding path, but also directly affects the grinding quality and efficiency. Traditional robot posture control methods often rely on preset paths and fixed posture parameters, which are difficult to adapt to the complex and changeable workpiece surface morphology and grinding requirements. In addition, since the workpiece surface may have problems such as unevenness and uneven materials, traditional posture control methods often find it difficult to achieve precise grinding of these areas, resulting in unstable grinding quality and uneven material removal. Summary of the invention

[0004] The present application provides a robot posture control method, system, device and medium to solve the technical problem.

[0005] In a first aspect, the present application provides a robot posture control method, which is applied to a robot control system, wherein the robot control system comprises: a controller, a grinding actuator and a scanner, wherein the grinding actuator and the scanner are respectively connected to the controller in communication; the method comprises: Acquire surface point cloud data of the workpiece to be processed by the scanner, and transmit the surface point cloud data to the controller; The controller generates an actual workpiece digital model of the workpiece to be processed according to the surface point cloud data, and generates an initial grinding path on the actual workpiece digital model, wherein the initial grinding path includes an initial control point information sequence; The controller determines, according to the actual workpiece digital model and the preset workpiece digital model corresponding to the workpiece to be processed, a region on the initial grinding path where the material removal amount is greater than a preset material removal amount threshold as a target grinding region; The controller determines a first feature control point and a second feature control point from the initial control point information sequence according to the target polishing area, and generates at least one target feature control point between the first feature control point and the second feature control point; The controller generates target feature control point information corresponding to the target feature control point according to first initial control point information corresponding to the first feature control point and second initial control point information corresponding to the second feature control point, wherein the target feature control point information includes target pose data; The controller generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence, and the execution control point information sequence is used to instruct the grinding executor to perform a grinding operation on the workpiece to be processed.

[0006] In the above scheme, the surface point cloud data of the workpiece to be processed is accurately obtained by the scanner, so that the morphological features of the workpiece can be fully perceived. Then, the controller constructs the actual workpiece digital model of the workpiece to be processed based on these point cloud data. This model not only highly restores the geometric shape of the workpiece, but also provides an accurate basis for the subsequent grinding path planning. The controller generates an initial grinding path on the digital model, which consists of a series of initial control point information sequences containing posture data, ensuring that the grinding actuator can approach the workpiece surface with the correct posture in the initial stage. Then, between the actual workpiece digital model and the preset workpiece digital model, the controller selects the area where the material removal amount is greater than the preset threshold as the target grinding area based on the calculation of the material removal amount. This step improves the pertinence and efficiency of grinding, avoids unnecessary excessive grinding operations, and thus protects the integrity of the workpiece surface. For the target grinding area, the controller identifies the first feature control point and the second feature control point on the initial grinding path, which represent the boundaries of the grinding path entering and leaving the target area respectively. Then, the controller generates at least one target feature control point between them based on the posture data of these two points. These target feature control points not only inherit the position and posture information of the initial control points, but also optimize and adjust according to the characteristics of the target grinding area, ensuring that the grinding actuator can maintain the best grinding posture when passing through the target area. Based on the target feature control point information and the initial control point information sequence, the controller finally generates an execution control point information sequence. This sequence records in detail the position and posture data of each key position of the grinding actuator during the entire grinding process. By following this sequence, the grinding actuator can grind the workpiece surface according to the predetermined path and posture, so that the robot can not only quickly generate the grinding path, but also adaptively adjust the grinding path according to the differences in surface conditions between each workpiece, so as to flexibly respond to the complex changes in the workpiece surface, further improving the grinding accuracy and efficiency.

[0007] Optionally, the controller determines, according to the actual workpiece digital model and the preset workpiece digital model corresponding to the workpiece to be processed, a region on the initial grinding path where the material removal amount is greater than a preset material removal amount threshold as a target grinding region, including: The controller determines a set of island regions to be polished according to the actual workpiece digital model and the preset workpiece digital model, wherein each island region to be polished in the set of island regions to be polished is a Boolean difference between the actual workpiece digital model and the preset workpiece digital model; The controller determines the material removal amount of each island region to be polished according to the set of island regions to be polished, and if the material removal amount is greater than the preset material removal amount threshold, adds the corresponding island region to be polished to the target polishing region.

[0008] In the above scheme, Boolean operation is used to determine the set of island areas to be polished. Boolean operation is a logical operation that can accurately identify the differences between two sets (here, the actual workpiece digital model and the preset workpiece digital model) by comparing the differences between the two sets. These differences, that is, the deviation between the actual workpiece surface and the ideal state, constitute the set of island areas to be polished. After identifying the set of island areas to be polished, the material removal amount of each area is further calculated. By calculating the material removal amount of each island area to be polished and comparing it with the preset material removal amount threshold, the area that needs to be focused on polishing can be screened out. Since the target polishing area is dynamically determined according to the actual workpiece surface condition, the above scheme can process workpieces of various shapes and sizes. This adaptability and flexibility enables the robot polishing system to be widely used in different industrial fields and scenarios.

[0009] Optionally, generating an initial grinding path on the actual workpiece digital model includes: The controller generates the initial control point information sequence on the actual workpiece digital model using a preset grinding path template, wherein the initial control point information sequence includes an initial control point sequence and a position vector and a posture matrix of each initial control point in the initial control point sequence, wherein the position vector is used to indicate the execution position of the grinding actuator, and the posture matrix is ​​used to indicate the grinding posture of the grinding actuator.

[0010] In the above scheme, the preset grinding path template is a standard path template based on a large amount of actual grinding operation experience and data summary, or it can be based on a pre-designed path template. By applying the preset grinding path template, the robot can quickly generate a preliminary and reasonable grinding path, which greatly shortens the path planning time and improves the work efficiency. On the basis of the preset grinding path template, an initial control point information sequence including the initial control point sequence and its position vector and posture matrix is ​​further generated. The position vector is used to accurately indicate the execution position of the grinding actuator at each control point to ensure that the grinding tool can accurately contact the workpiece surface. The posture matrix is ​​used to indicate the grinding posture of the grinding actuator at each control point, including key information such as grinding angle and direction, so as to ensure the consistency and stability of the grinding operation. By combining the position vector and the posture matrix, an accurate initial grinding path can be constructed. This path not only takes into account the physical position of the grinding actuator, but also fully considers the influence of the grinding posture on the grinding effect, so that the grinding path is more in line with the actual operation needs, and effectively avoids the grinding quality problems caused by improper path planning. The preset grinding path template can be customized and adjusted according to different workpiece shapes, materials and grinding requirements, allowing the robot to handle more types of workpieces and grinding tasks. At the same time, since the initial control point information sequence contains detailed position vector and posture matrix information, the robot can make fine adjustments based on real-time feedback during the grinding process to adapt to more complex working environments.

[0011] Optionally, the controller determines a first feature control point and a second feature control point from the initial control point information sequence according to the target polishing area, and generates at least one target feature control point between the first feature control point and the second feature control point, including: The controller determines the first feature control point and the second feature control point according to the target polishing area and the polishing moving direction of the polishing actuator on the initial polishing path, wherein the first feature control point is a starting control point of the target polishing area along the polishing moving direction on the initial polishing path, and the second feature control point is a terminating control point of the target polishing area along the polishing moving direction on the initial polishing path; The controller generates a first feature quantity according to a first posture matrix corresponding to the first feature control point, and generates a second feature quantity according to a second posture matrix corresponding to the second feature control point; The controller determines a characteristic angle according to the first characteristic amount and the second characteristic amount; The controller determines a target position vector corresponding to the target feature control point according to the feature angle, a first position vector corresponding to the first feature control point, and a second position vector corresponding to the second feature control point; The controller generates the target feature control point according to the target position vector.

[0012] In the above scheme, the controller determines the first feature control point and the second feature control point according to the target polishing area and the polishing movement direction of the polishing actuator on the initial polishing path. The first feature control point, as the starting control point of the target polishing area on the initial polishing path, marks the starting position of the polishing operation; and the second feature control point, as the ending control point of the target polishing area, indicates the ending position of the polishing operation. Then, the controller generates the first feature quantity according to the first posture matrix corresponding to the first feature control point, and generates the second feature quantity according to the second posture matrix corresponding to the second feature control point. The posture matrix is ​​an important parameter for describing the posture of the polishing actuator in space, and is converted into a feature quantity. Then, the controller determines the feature angle according to the first feature quantity and the second feature quantity. The feature angle is an important parameter for describing the posture change between the first feature control point and the second feature control point, and its accuracy is directly related to the quality of the subsequent generation of the target feature control point. By calculating the feature angle, the controller can more accurately grasp the posture change of the polishing actuator in the target polishing area, providing a strong guarantee for generating high-quality target feature control points. Subsequently, the controller determines the target position vector corresponding to the target feature control point based on the feature angle, the first position vector corresponding to the first feature control point, and the second position vector corresponding to the second feature control point. As an important parameter for describing the position of a spatial point, the position vector can be used to describe the position and posture of the target feature control point in space. This process fully considers the motion trajectory and posture changes of the polishing actuator in the target polishing area, ensuring the accuracy and rationality of the target feature control point. Finally, the controller generates the target feature control points based on the target position vector. These target feature control points not only inherit the posture data in the initial control point information sequence, but also more accurately reflect the actual motion requirements of the polishing actuator in the target polishing area.

[0013] Optionally, after the controller determines the target position vector, the controller further comprises: The controller determines a target posture matrix according to the first feature quantity and the second feature quantity; The controller adds the target pose matrix to the target feature control points.

[0014] In the above scheme, the controller determines the target posture matrix according to the first feature quantity and the second feature quantity. As a parameter describing the direction of an object in space, the accuracy of the posture matrix is ​​directly related to the accuracy of the robot performing the grinding operation. By combining the first feature quantity and the second feature quantity, the controller can calculate the expected posture of the target feature control point in the target grinding area, thereby providing accurate posture guidance for subsequent grinding operations. Secondly, the target posture matrix is ​​added to the target feature control point to achieve a comprehensive description of the target feature control point. The target feature control point contains not only position information (i.e., target position vector) but also posture information (i.e., target posture matrix). This comprehensive description method enables the robot to understand and perform the grinding operation more accurately. During the grinding process, the robot can accurately adjust the position and posture of the grinding actuator according to the position and posture information of the target feature control point to ensure the consistency and stability of the grinding operation. It can be seen that by accurately describing the position and posture of the target feature control point, the robot can perform the grinding operation more accurately and reduce the grinding quality problems caused by posture errors.

[0015] Optionally, after the controller determines the characteristic angle according to the first characteristic quantity and the second characteristic quantity, the method further includes: The controller updates and replaces the characteristic angle according to a difference between the material removal amount and the preset material removal amount threshold.

[0016] In the above scheme, the controller updates and replaces the determined feature angle according to the difference between the material removal amount and the preset threshold. This step reflects the controller's ability to dynamically adjust the grinding process. By adjusting the feature angle, the controller can indirectly change the posture of the grinding actuator in the target grinding area, thereby achieving fine-tuning of the grinding force. This fine-tuning is based on feedback from the actual grinding effect, so it can more accurately meet the grinding requirements and avoid over-grinding or under-grinding. Specifically, when the material removal amount is greater than the preset threshold, the controller may make the posture of the grinding actuator steeper by reducing the feature angle, speed up the grinding speed, and ensure that the workpiece surface achieves the expected grinding quality. On the contrary, when the material removal amount is less than the preset threshold, the controller may make the posture of the grinding actuator smoother by increasing the feature angle, thereby reducing the grinding force and avoiding unnecessary damage to the workpiece.

[0017] Optionally, after the controller generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence, the method further includes: The controller determines the grinding feed amount according to the preset material parameters of the workpiece to be processed; The controller performs a grinding operation on a target grinding area of ​​the workpiece to be processed according to the execution control point information sequence and the grinding feed amount.

[0018] In the above scheme, the controller determines the grinding feed amount according to the preset material parameters of the workpiece to be processed. This step fully considers the hardness, toughness, roughness and other characteristics of the workpiece material, as well as the performance parameters of the grinding actuator, such as shape, size, rotation speed, etc. For workpiece materials with higher hardness and stronger toughness, the controller will reduce the grinding feed amount accordingly to avoid excessive impact and damage to the workpiece; while for workpiece materials with lower hardness and greater roughness, the controller will appropriately increase the grinding feed amount to improve the grinding efficiency and grinding quality. At the same time, the controller will dynamically adjust the grinding feed amount according to the real-time status of the grinding actuator (such as rotation speed, temperature, etc.) to ensure the stability and safety of the grinding process. Then, the controller performs grinding operations on the target grinding area according to the execution control point information sequence and the grinding feed amount. This step realizes precise control of the grinding process. The execution control point information sequence contains the position and posture information of the grinding actuator at each control point, and the grinding feed amount determines the cutting depth of the grinding actuator into the workpiece surface at each control point. By precisely controlling the movement of the grinding actuator and the grinding feed, the controller can ensure the smoothness and consistency of the grinding path, as well as the uniformity and stability of the grinding force.

[0019] In a second aspect, the present application provides a robot control system, comprising: a controller, a grinding actuator and a scanner, wherein the grinding actuator and the scanner are respectively connected to the controller for communication; Acquire surface point cloud data of the workpiece to be processed by the scanner, and transmit the surface point cloud data to the controller; The controller generates an actual workpiece digital model of the workpiece to be processed according to the surface point cloud data, and generates an initial grinding path on the actual workpiece digital model, wherein the initial grinding path includes an initial control point information sequence, wherein each initial control point information in the initial control point information sequence includes the posture data of the grinding actuator at the corresponding position; The controller determines, according to the actual workpiece digital model and the preset workpiece digital model corresponding to the workpiece to be processed, a region on the initial grinding path where the material removal amount is greater than a preset material removal amount threshold as a target grinding region; The controller determines a first feature control point and a second feature control point from the initial control point information sequence according to the target polishing area, and generates at least one target feature control point between the first feature control point and the second feature control point; The controller generates target feature control point information corresponding to the target feature control point according to first initial control point information corresponding to the first feature control point and second initial control point information corresponding to the second feature control point, wherein the target feature control point information includes target pose data; The controller generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence, and the execution control point information sequence is used to instruct the grinding executor to perform a grinding operation on the workpiece to be processed.

[0020] Optionally, the controller determines, according to the actual workpiece digital model and the preset workpiece digital model corresponding to the workpiece to be processed, a region on the initial grinding path where the material removal amount is greater than a preset material removal amount threshold as a target grinding region, including: The controller determines a set of island regions to be polished according to the actual workpiece digital model and the preset workpiece digital model, wherein each island region to be polished in the set of island regions to be polished is a Boolean difference between the actual workpiece digital model and the preset workpiece digital model; The controller determines the material removal amount of each island region to be polished according to the set of island regions to be polished, and if the material removal amount is greater than the preset material removal amount threshold, adds the corresponding island region to be polished to the target polishing region.

[0021] Optionally, generating an initial grinding path on the actual workpiece digital model includes: The controller generates the initial control point information sequence on the actual workpiece digital model using a preset grinding path template, wherein the initial control point information sequence includes an initial control point sequence and a position vector and a posture matrix of each initial control point in the initial control point sequence, wherein the position vector is used to indicate the execution position of the grinding actuator, and the posture matrix is ​​used to indicate the grinding posture of the grinding actuator.

[0022] Optionally, the controller determines a first feature control point and a second feature control point from the initial control point information sequence according to the target polishing area, and generates at least one target feature control point between the first feature control point and the second feature control point, including: The controller determines the first feature control point and the second feature control point according to the target polishing area and the polishing moving direction of the polishing actuator on the initial polishing path, wherein the first feature control point is a starting control point of the target polishing area along the polishing moving direction on the initial polishing path, and the second feature control point is a terminating control point of the target polishing area along the polishing moving direction on the initial polishing path; The controller generates a first feature quantity according to a first posture matrix corresponding to the first feature control point, and generates a second feature quantity according to a second posture matrix corresponding to the second feature control point; The controller determines a characteristic angle according to the first characteristic amount and the second characteristic amount; The controller determines a target position vector corresponding to the target feature control point according to the feature angle, a first position vector corresponding to the first feature control point, and a second position vector corresponding to the second feature control point; The controller generates the target feature control point according to the target position vector.

[0023] Optionally, after the controller determines the target position vector, the controller further comprises: The controller determines a target posture matrix according to the first feature quantity and the second feature quantity; The controller adds the target pose matrix to the target feature control points.

[0024] Optionally, after the controller determines the characteristic angle according to the first characteristic quantity and the second characteristic quantity, the method further includes: The controller updates and replaces the characteristic angle according to a difference between the material removal amount and the preset material removal amount threshold.

[0025] Optionally, after the controller generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence, the method further includes: The controller determines the grinding feed amount according to the preset material parameters of the workpiece to be processed; The controller performs a grinding operation on a target grinding area of ​​the workpiece to be processed according to the execution control point information sequence and the grinding feed amount.

[0026] In a third aspect, the present application provides an electronic device, including: processor; and, A memory, configured to store executable instructions of the processor; The processor is configured to perform any possible method described in the first aspect by executing the executable instructions.

[0027] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement any possible method described in the first aspect.

[0028] The robot posture control method, system, device and medium provided in the present application obtain surface point cloud data of a workpiece to be processed through a scanner, and transmit the surface point cloud data to a controller, so that the controller generates an actual workpiece digital model of the workpiece to be processed according to the surface point cloud data, and generates an initial grinding path on the actual workpiece digital model. Then, the controller determines the area on the initial grinding path where the material removal amount is greater than the preset material removal amount threshold as the target grinding area according to the actual workpiece digital model and the preset workpiece digital model corresponding to the workpiece to be processed, and determines the first feature control point and the second feature control point from the initial control point information sequence according to the target grinding area, and then generates at least one target feature control point between the first feature control point and the second feature control point. Then, the target feature control point information corresponding to the target feature control point is generated according to the first initial control point information corresponding to the first feature control point and the second initial control point information corresponding to the second feature control point, so that the controller generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence, thereby instructing the grinding actuator to perform a grinding operation on the workpiece to be processed, thereby achieving the response to complex changes on the workpiece surface, and improving the grinding accuracy and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0030] Figure 1 It is a flowchart of a robot posture control method according to an example embodiment of the present application; Figure 2 is a flow chart of a robot posture control method according to another exemplary embodiment of the present application; Figure 3 is a schematic diagram of a robot control system according to an exemplary embodiment of the present application; Figure 4 It is a schematic diagram of the structure of an electronic device according to an exemplary embodiment of the present application.

[0031] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0032] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0033] In order to solve the above problems, the embodiment provided by the present application obtains the surface point cloud data of the workpiece to be processed through a scanner, and these data can fully perceive the morphological characteristics of the workpiece. Based on these point cloud data, the controller generates an actual workpiece digital model of the workpiece to be processed, and generates an initial grinding path on the model. This path is not fixed, but is adaptively planned according to the actual morphology of the workpiece.

[0034] The controller compares the actual workpiece digital model with the preset workpiece digital model and determines the set of island areas to be polished through Boolean difference operation. Furthermore, according to the material removal amount of each island area to be polished, the area with material removal amount greater than the preset threshold is selected as the target polishing area. This intelligent recognition method can accurately locate the area that needs to be polished, improving the pertinence and efficiency of polishing.

[0035] For the target polishing area, the controller identifies the first feature control point and the second feature control point on the initial polishing path, which represent the boundaries of the polishing path entering and leaving the target area, respectively. Then, based on the pose data of these two points, at least one target feature control point is dynamically generated between them. These target feature control points not only inherit the pose information of the initial control points, but are also optimized and adjusted according to the characteristics of the target polishing area, ensuring that the polishing actuator can maintain the best polishing posture when passing through the target area.

[0036] Based on the target feature control point information and the initial control point information sequence, the controller accurately generates the execution control point information sequence. This sequence records in detail the posture data of each key position of the grinding actuator during the entire grinding process. By following this sequence, the grinding actuator can grind the workpiece surface according to the predetermined path and posture, achieving high-precision and high-efficiency grinding operations.

[0037] The controller determines the initial grinding feed amount based on the preset material parameters of the workpiece to be processed, and dynamically adjusts the feed amount during the grinding process based on the real-time feedback of the grinding effect. This dynamic adjustment method can ensure the uniformity and stability of the grinding force and avoid over-grinding or under-grinding.

[0038] Figure 1 FIG. 1 is a flow chart of a robot posture control method according to an exemplary embodiment of the present application. Figure 1 As shown, the robot posture control method provided in this embodiment includes: S101, obtaining surface point cloud data of a workpiece to be processed through a scanner.

[0039] In this step, the surface point cloud data of the workpiece to be processed is acquired by a scanner, and the surface point cloud data is transmitted to the controller.

[0040] Specifically, a high-precision scanner (such as a laser scanner or a structured light scanner) can be used to perform a comprehensive scan of the workpiece to be processed. The scanner obtains the three-dimensional coordinate information of the workpiece surface by emitting laser or structured light and receiving the reflected signal to form dense point cloud data. Subsequently, these point cloud data are transmitted to the controller via wired or wireless means to provide basic data for subsequent digital model construction. In addition, it is worth noting that the above-mentioned controller can also be in the form of a local processor, server, cloud server, etc., which can be selected and configured according to the amount of data processed in the specific application scenario.

[0041] S102 : The controller generates an actual workpiece digital model of the workpiece to be processed according to the surface point cloud data, and generates an initial grinding path on the actual workpiece digital model.

[0042] In this step, the controller generates an actual workpiece digital model of the workpiece to be processed based on the surface point cloud data, and generates an initial grinding path on the actual workpiece digital model, wherein the initial grinding path includes an initial control point information sequence, wherein each initial control point information in the initial control point information sequence includes the posture data of the grinding actuator at the corresponding position.

[0043] Specifically, after receiving the point cloud data, the controller uses advanced point cloud processing algorithms (such as filtering, registration, gridding, etc.) to process the point cloud data and generate a digital model of the actual workpiece to be processed. This model can accurately reflect the geometric shape and surface features of the workpiece, providing a basis for subsequent path planning.

[0044] The controller uses the preset polishing path template and the actual workpiece digital model to generate the initial polishing path. The path includes a series of initial control point information sequences, each of which contains the posture data (position vector and posture matrix) of the polishing actuator at the corresponding position. The position vector indicates the execution position of the polishing actuator, and the posture matrix indicates the polishing posture of the polishing actuator. The generation of the initial polishing path provides a basic framework for subsequent path optimization and adjustment. By combining the preset path template with the actual workpiece digital model, a polishing path that conforms to the shape of the workpiece can be quickly generated, which improves the efficiency and accuracy of path planning.

[0045] S103: The controller determines a target polishing area.

[0046] In this step, the controller determines, based on the actual workpiece digital model and the preset workpiece digital model corresponding to the workpiece to be processed, that the area on the initial grinding path where the material removal amount is greater than the preset material removal amount threshold is the target grinding area.

[0047] Specifically, the controller can compare the actual workpiece digital model with the preset workpiece digital model corresponding to the workpiece to be processed, and determine the set of island regions to be polished by Boolean difference operation. Then, according to the material removal amount of each island region to be polished, the region with a material removal amount greater than a preset material removal amount threshold is screened out as the target polishing region.

[0048] S104: The controller determines a first feature control point and a second feature control point from the initial control point information sequence according to the target polishing area.

[0049] In this step, the controller determines a first feature control point and a second feature control point from the initial control point information sequence according to the target polishing area, and generates at least one target feature control point between the first feature control point and the second feature control point.

[0050] Specifically, the controller determines the first feature control point (the starting control point of the target polishing area) and the second feature control point (the ending control point of the target polishing area) according to the target polishing area and the polishing movement direction of the polishing actuator on the initial polishing path. Then, at least one target feature control point is generated between the first feature control point and the second feature control point, and corresponding target feature control point information is generated.

[0051] S105. The controller generates target feature control point information corresponding to the target feature control point according to the first initial control point information corresponding to the first feature control point and the second initial control point information corresponding to the second feature control point.

[0052] In this step, the controller generates target feature control point information corresponding to the target feature control point based on the first initial control point information corresponding to the first feature control point and the second initial control point information corresponding to the second feature control point, and the target feature control point information includes target posture data.

[0053] S106. The controller generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence.

[0054] In this step, the controller generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence, and the execution control point information sequence is used to instruct the grinding executor to perform a grinding operation on the workpiece to be processed.

[0055] Specifically, the controller generates a complete execution control point information sequence based on the target feature control point information and the initial control point information sequence. This sequence specifies every action and posture adjustment of the grinding actuator during the grinding process, ensuring that the grinding operation can be performed according to the predetermined path and force.

[0056] In this embodiment, surface point cloud data of the workpiece to be processed is acquired by a scanner, and the surface point cloud data is transmitted to a controller, so that the controller generates an actual workpiece digital model of the workpiece to be processed according to the surface point cloud data, and generates an initial grinding path on the actual workpiece digital model. Then, the controller determines the area on the initial grinding path where the material removal amount is greater than the preset material removal amount threshold as the target grinding area according to the actual workpiece digital model and the preset workpiece digital model corresponding to the workpiece to be processed, and determines the first feature control point and the second feature control point from the initial control point information sequence according to the target grinding area, and then generates at least one target feature control point between the first feature control point and the second feature control point. Then, the target feature control point information corresponding to the target feature control point is generated according to the first initial control point information corresponding to the first feature control point and the second initial control point information corresponding to the second feature control point, so that the controller generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence, thereby instructing the grinding executor to perform a grinding operation on the workpiece to be processed, thereby coping with complex changes on the workpiece surface and improving the grinding accuracy and efficiency.

[0057] Figure 2 FIG. 1 is a flow chart of a robot posture control method according to another exemplary embodiment of the present application. Figure 2 As shown, the robot posture control method provided in this embodiment includes: S201, obtaining surface point cloud data of a workpiece to be processed through a scanner.

[0058] In this step, the surface point cloud data of the workpiece to be processed is acquired by a scanner, and the surface point cloud data is transmitted to the controller.

[0059] Specifically, a high-precision scanner (such as a laser scanner or a structured light scanner) can be used to perform a comprehensive scan of the workpiece to be processed. The scanner obtains the three-dimensional coordinate information of the workpiece surface by emitting laser or structured light and receiving the reflected signal to form dense point cloud data. Subsequently, these point cloud data are transmitted to the controller via wired or wireless means to provide basic data for subsequent digital model construction. In addition, it is worth noting that the above-mentioned controller can also be in the form of a local processor, server, cloud server, etc., which can be selected and configured according to the amount of data processed in the specific application scenario.

[0060] S202: The controller generates an actual workpiece digital model of the workpiece to be processed according to the surface point cloud data, and generates an initial grinding path on the actual workpiece digital model.

[0061] In this step, the controller generates an actual workpiece digital model of the workpiece to be processed based on the surface point cloud data, and generates an initial grinding path on the actual workpiece digital model, wherein the initial grinding path includes an initial control point information sequence, wherein each initial control point information in the initial control point information sequence includes the posture data of the grinding actuator at the corresponding position.

[0062] Specifically, after receiving the point cloud data, the controller uses advanced point cloud processing algorithms (such as filtering, registration, gridding, etc.) to process the point cloud data and generate a digital model of the actual workpiece to be processed. This model can accurately reflect the geometric shape and surface features of the workpiece, providing a basis for subsequent path planning.

[0063] The controller uses the preset polishing path template and the actual workpiece digital model to generate the initial polishing path. The path includes a series of initial control point information sequences, each of which contains the posture data (position vector and posture matrix) of the polishing actuator at the corresponding position. The position vector indicates the execution position of the polishing actuator, and the posture matrix indicates the polishing posture of the polishing actuator. The generation of the initial polishing path provides a basic framework for subsequent path optimization and adjustment. By combining the preset path template with the actual workpiece digital model, a polishing path that conforms to the shape of the workpiece can be quickly generated, which improves the efficiency and accuracy of path planning.

[0064] In a possible implementation, the controller generates an initial control point information sequence on the actual workpiece digital model using a preset grinding path template. The initial control point information sequence includes an initial control point sequence and a position vector and a posture matrix of each initial control point in the initial control point sequence. The position vector is used to indicate the execution position of the grinding actuator, and the posture matrix is ​​used to indicate the grinding posture of the grinding actuator. The position vector is , the attitude matrix for:

[0065] in, The rotation angle of the grinding actuator's rotation axis around the robot's preset coordinate X axis. The rotation angle of the grinding actuator's rotation axis around the robot's preset coordinate Y axis. The rotation angle of the grinding actuator's rotation axis around the robot's preset coordinate Z axis.

[0066] In the above scheme, by using the preset grinding path template, the controller can quickly generate the initial grinding path on the actual workpiece digital model. The preset grinding path template is a standard path template based on a large amount of actual grinding operation experience and data summary. It takes into account the common workpiece shape, material and grinding requirements, and provides a preliminary and reasonable grinding path framework for the robot. This method avoids the tedious process of planning the path from scratch, significantly shortens the path planning time, and improves work efficiency.

[0067] The position vector in the initial control point information sequence indicates the execution position of the grinding actuator at each control point. This three-dimensional coordinate representation method can ensure the accurate positioning of the grinding actuator on the surface of complex workpieces and avoid grinding quality problems caused by position deviation. At the same time, the introduction of the posture matrix further refines the posture control of the grinding actuator. The posture matrix comprehensively describes the rotation state of the grinding actuator around the robot's preset coordinates X-axis, Y-axis, and Z-axis through three rotation angles, thereby ensuring the correct grinding posture of the grinding actuator at the specified position.

[0068] The specific form of the posture matrix not only takes into account the rotation angle, but also calculates the direction vector after rotation through trigonometric operations. This calculation method ensures that the posture transition of the grinding actuator between different control points is smooth and stable, avoiding uneven grinding force or damage to the workpiece surface caused by sudden posture changes. In addition, through the unified representation of the posture matrix, the robot can maintain a consistent grinding posture throughout the entire grinding process, improving the consistency and stability of the grinding operation.

[0069] Then, the initial control point information sequence combined with the position vector and attitude matrix provides comprehensive posture guidance for the grinding actuator. During the grinding process, the robot can accurately adjust the position and attitude of the grinding actuator to adapt to the complex changes on the workpiece surface. This precise posture control not only improves the grinding accuracy and ensures the smoothness and dimensional accuracy of the workpiece surface, but also reduces unnecessary grinding actions by optimizing the grinding path, thereby improving the grinding efficiency.

[0070] It can be seen that the controller uses the technical feature of the preset polishing path template to generate the initial control point information sequence, which significantly improves the overall performance of the robot's posture control by improving the path planning efficiency, ensuring the precise positioning of the polishing actuator, enhancing the stability and consistency of the polishing posture, and improving the polishing accuracy and efficiency.

[0071] S203: The controller determines a target polishing area.

[0072] In this step, the controller determines, based on the actual workpiece digital model and the preset workpiece digital model corresponding to the workpiece to be processed, that the area on the initial grinding path where the material removal amount is greater than the preset material removal amount threshold is the target grinding area.

[0073] Specifically, the controller determines a set of island regions to be polished based on the actual workpiece digital model and the preset workpiece digital model, and each island region to be polished in the set of island regions to be polished is the Boolean difference between the actual workpiece digital model and the preset workpiece digital model. The controller determines the material removal amount of each island region to be polished based on the set of island regions to be polished, and if the material removal amount is greater than the preset material removal amount threshold, the corresponding island region to be polished is added to the target polishing area. S204: The controller determines a first feature control point and a second feature control point from the initial control point information sequence according to the target polishing area.

[0074] In this step, the controller determines a first feature control point and a second feature control point from the initial control point information sequence according to the target polishing area, and generates at least one target feature control point between the first feature control point and the second feature control point.

[0075] In a possible implementation, the controller determines a first characteristic control point and a second characteristic control point according to the target polishing area and the polishing moving direction of the polishing actuator on the initial polishing path, wherein the first characteristic control point is a starting control point of the target polishing area along the polishing moving direction on the initial polishing path, and the second characteristic control point is a terminating control point of the target polishing area along the polishing moving direction on the initial polishing path; The controller uses formula 1 and the first posture matrix corresponding to the first feature control point Generate the first feature , where Formula 1 is:

[0076] in, is the first imaginary unit, is the second imaginary unit, is the third imaginary unit, the first attitude matrix for:

[0077] The controller uses formula 2 and calculates the second posture matrix corresponding to the second feature control point Generate the second feature , where Formula 2 is:

[0078] in, is the first imaginary unit, is the second imaginary unit, is the third imaginary unit, the second attitude matrix for:

[0079] The controller uses formula 3 and according to the first characteristic quantity And the second feature quantity Determine the characteristic angle , Formula 3 is:

[0080] in, The first feature quantity And the second feature quantity The angle between The controller uses Equation 4 and according to the characteristic angle , the first position vector corresponding to the first feature control point And the second position vector corresponding to the second feature control point Determine the target position vector corresponding to the target feature control point , where Formula 4 is:

[0081] in, is the preset difference factor; The controller is based on the target position vector Generate target feature control points.

[0082] The controller uses formula 5 and according to the first characteristic quantity And the second feature quantity Determine the target pose matrix , Formula 5 is:

[0083] The controller transforms the target pose matrix Add to target feature control points.

[0084] In the above scheme, the controller first determines the area on the initial grinding path where the material removal amount is greater than the preset material removal amount threshold as the target grinding area based on the comparison between the actual workpiece digital model and the preset workpiece digital model. Through Boolean difference operation, the controller can accurately identify the deviation between the actual workpiece surface and the ideal state, forming a set of island areas to be polished.

[0085] Then, the controller analyzes the moving direction of the grinding actuator on the initial grinding path, which is usually consistent with the direction of the trajectory line of the initial grinding path. Along the grinding moving direction, the controller determines the starting point of the target grinding area as the first feature control point. This is the first key position for the grinding actuator to enter the target grinding area. Also along the grinding moving direction, the controller determines the ending point of the target grinding area as the second feature control point. This is the last key position for the grinding actuator to leave the target grinding area.

[0086] The controller extracts the posture matrices corresponding to the first feature control point and the second feature control point from the initial control point information sequence, which respectively describe the postures of the grinding actuator at the first feature control point and the second feature control point, including the rotation angles around the robot's preset coordinates X-axis, Y-axis and Z-axis.

[0087] The controller calculates the first feature quantity based on the first posture matrix using Formula 1. The parameters in Formula 1 are obtained by specific trigonometric operations, which take into account the rotation angle in the posture matrix. Similarly, the controller calculates the second feature quantity based on the second posture matrix using Formula 2.

[0088] Next, the controller calculates the angle between the first feature quantity and the second feature quantity. This step involves the calculation of the dot product and modulus of the complex number to obtain the angular relationship between the two feature quantities. Then, the controller uses Formula 3 to calculate the feature angle. Formula 3 takes into account the minimum value of the angle between the feature quantities to ensure that the value of the feature angle is within a reasonable range (between 0 and π). In addition, the controller uses Formula 4 to calculate the target position vector based on the feature angle, the first position vector and the second position vector. The preset difference factor in Formula 4 is used to adjust the position of the target position vector between the first feature control point and the second feature control point. The controller generates a target feature control point on the actual workpiece digital model based on the calculated target position vector. This control point not only inherits the pose information of the initial control point, but also optimizes and adjusts according to the characteristics of the target grinding area. Through the above steps, the controller can generate a more accurate and adaptive grinding path for the target grinding area based on the initial grinding path, thereby significantly improving the grinding accuracy and efficiency.

[0089] It is worth noting that Formula 1 is used to calculate the first characteristic quantity according to the first posture matrix. The first characteristic quantity is a complex number, and its real part and imaginary part together describe the posture characteristics of the grinding actuator at the first characteristic control point. It is obtained through trigonometric operations and is related to the rotation angle in the attitude matrix; , , The components of the posture in three different directions are represented respectively. By calculating the first characteristic quantity, the controller can more accurately describe the posture of the grinding actuator at the first characteristic control point, providing a basis for the subsequent calculation of the characteristic angle and the target position vector.

[0090] Formula 2 is used to calculate the second characteristic quantity according to the second posture matrix. The second characteristic quantity is also a complex number, and its real part and imaginary part describe the posture characteristics of the grinding actuator at the second characteristic control point. Among them, the role of each parameter in Formula 2 is the same as that of each parameter in Formula 1, and no further description is given here.

[0091] As for Formula 3, it is used to calculate the characteristic angle based on the angle between the first characteristic quantity and the second characteristic quantity. The characteristic angle describes the angle of change of the attitude of the grinding actuator from the first characteristic control point to the second characteristic control point in the target grinding area. By calculating the characteristic angle, the controller can more accurately grasp the attitude change of the grinding actuator in the target grinding area, providing a strong guarantee for generating high-quality target characteristic control points. At the same time, the introduction of the characteristic angle also makes the planning of the grinding path more flexible and adaptable.

[0092] Formula 4 is used to calculate the target position vector based on the feature angle, the first position vector and the second position vector. The target position vector describes the specific position of the target feature control point in space, and its calculation takes into account the posture change of the grinding actuator in the target grinding area (reflected by the feature angle) and the position information of the first feature control point and the second feature control point. By calculating the target position vector, the controller can determine the position of the target feature control point more accurately. This step not only takes into account the posture change of the grinding actuator, but also combines the position information on the initial grinding path, thereby generating a grinding path that better meets the actual grinding needs.

[0093] In addition, by calculating the target posture matrix using Formula 5, the controller can more accurately describe the posture of the grinding actuator at the target feature control point. This accuracy is not only reflected in the precise control of the grinding actuator position, but also in the subtle adjustment of its posture. In the actual grinding process, this accuracy is crucial to ensure the grinding quality, especially when dealing with complex and changeable workpiece surfaces.

[0094] Since the target posture matrix is ​​calculated based on the actual posture change of the grinding actuator in the target grinding area, it can better adapt to different workpiece surface morphologies and grinding requirements. This adaptability enables the robot to maintain a stable grinding effect in different working environments, improving the robot's work efficiency and reliability.

[0095] Moreover, by introducing the target posture matrix, the controller can more comprehensively grasp the posture information of the grinding actuator during the grinding process. This comprehensive grasp helps the controller to promptly detect and correct possible posture deviations, thereby avoiding collision or damage to the grinding actuator due to unstable posture. The introduction of the target posture matrix also makes it possible to optimize the grinding path. By combining the target position vector and the target posture matrix, the controller can generate a grinding path that better meets the actual grinding requirements. This path not only takes into account the position and posture information of the grinding actuator, but also fully considers the dynamic characteristics of the grinding process and the morphological characteristics of the workpiece surface, thereby achieving the optimization of the grinding path.

[0096] Based on the above scheme, the controller can also use Formula 6 and calculate the material removal amount according to the difference between the material removal amount and the preset material removal amount threshold. Feature Angle Perform update replacement, where Formula 6 is:

[0097] in, is the preset material removal threshold, It is the preset correction upper limit value.

[0098] The application of Formula 6 enables the robot to dynamically adjust the posture of the grinding actuator according to the actual material removal during the grinding process. When the amount of material removal is greater than the preset threshold, the characteristic angle will decrease accordingly, making the posture of the grinding actuator steeper, thereby speeding up the grinding speed and ensuring that the workpiece surface achieves the expected grinding quality; conversely, when the amount of material removal is less than the preset threshold, the characteristic angle will increase accordingly, making the posture of the grinding actuator smoother, reducing the grinding force and avoiding unnecessary damage to the workpiece. This dynamic adjustment capability significantly improves the adaptability and flexibility of the grinding operation.

[0099] By dynamically adjusting the feature angle, the robot can more accurately control the posture of the grinding actuator in the target grinding area, thereby achieving precise grinding of the workpiece surface. This precise control not only improves grinding accuracy, but also reduces unnecessary grinding time and energy consumption, improving grinding efficiency. At the same time, since the adjustment of the feature angle is based on real-time feedback of the amount of material removed, the robot can promptly detect and correct possible posture deviations during the grinding process to ensure the consistency of grinding quality.

[0100] In addition, the application of formula 6 can also enhance the robustness of the robot's posture control system. In the actual grinding process, due to the complexity and variability of the workpiece surface and the uncertainty factors of the grinding actuator (such as wear, vibration, etc.), the traditional fixed posture control method often cannot ensure the stability of the grinding quality. Formula 6 dynamically adjusts the characteristic angle, allowing the robot to maintain a stable grinding effect in the face of these uncertain factors, thereby improving the system's anti-interference ability and stability.

[0101] In addition, dynamically adjusting the characteristic angle also helps optimize the grinding path planning. By adjusting the posture of the grinding actuator in real time, the robot can more flexibly respond to complex changes on the workpiece surface and generate a grinding path that better meets the actual grinding needs. This path planning not only takes into account the position and posture information of the grinding actuator, but also fully considers the dynamic characteristics of the grinding process and the morphological characteristics of the workpiece surface, thereby achieving the optimization of the grinding path.

[0102] S205. The controller generates target feature control point information corresponding to the target feature control point according to the first initial control point information corresponding to the first feature control point and the second initial control point information corresponding to the second feature control point.

[0103] In this step, the controller generates target feature control point information corresponding to the target feature control point based on the first initial control point information corresponding to the first feature control point and the second initial control point information corresponding to the second feature control point, and the target feature control point information includes target posture data.

[0104] S206: The controller generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence.

[0105] In this step, the controller generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence, and the execution control point information sequence is used to instruct the grinding executor to perform a grinding operation on the workpiece to be processed.

[0106] Specifically, the controller generates a complete execution control point information sequence based on the target feature control point information and the initial control point information sequence. This sequence specifies every action and posture adjustment of the grinding actuator during the grinding process, ensuring that the grinding operation can be performed according to the predetermined path and force.

[0107] S207: The controller determines the grinding feed amount according to preset material parameters of the workpiece to be processed.

[0108] Specifically, the controller uses Formula 7 and determines the grinding feed amount according to the preset material parameters of the workpiece to be processed. , where Formula 7 is:

[0109] in, is the preset material correlation coefficient, is the hardness value in the preset material parameters, is the roughness value in the preset material parameters, is the exponential factor affecting the weight of hardness and roughness, is the correlation coefficient of the polishing actuator shape, is the material removal amount, It is the exponential factor that affects the weight of material removal.

[0110] The application of Formula 7 enables the robot to accurately calculate the grinding feed amount based on the material properties of the workpiece to be processed (such as hardness and roughness) and the actual situation during the grinding process (such as material removal amount and the posture of the grinding actuator). This precise control not only improves the accuracy of the grinding operation, but also avoids problems such as damage to the workpiece due to excessive feed amount or low grinding efficiency due to insufficient feed amount.

[0111] By dynamically adjusting the grinding feed rate, the robot can remove excess material on the workpiece surface more quickly and improve grinding efficiency. Especially when processing workpieces with higher hardness or greater roughness, Formula 7 can appropriately reduce the initial feed rate according to the material characteristics to speed up the deceleration speed and ensure the reliability of grinding.

[0112] In addition, the various parameters in Formula 7 can be flexibly adjusted according to different workpiece materials and grinding requirements. This flexibility enables the robot to adapt to different types of workpieces and grinding tasks, improving the adaptability and versatility of the system. Accurate control of the grinding feed amount is crucial to optimizing the grinding quality. The optimal feed amount calculated by Formula 7 can ensure that the grinding actuator always maintains appropriate pressure and speed during the grinding process, thereby avoiding unnecessary damage to the workpiece surface or leaving obvious grinding marks. At the same time, since the dynamic adjustment of the feed amount is based on the real-time feedback of the material removal amount and the grinding actuator posture information, the robot can promptly detect and correct possible deviations during the grinding process to ensure the consistency of the grinding quality.

[0113] By precisely controlling the grinding feed rate, the robot can minimize energy consumption and wear of the grinding actuator while ensuring grinding quality. Too much feed rate will not only increase energy consumption and wear, but may also damage the workpiece; while too little feed rate will lead to low grinding efficiency and energy waste. The application of formula 7 enables the robot to minimize energy consumption and wear while ensuring grinding efficiency and quality.

[0114] S208: The controller performs a grinding operation on the target grinding area of ​​the workpiece to be processed according to the execution control point information sequence and the grinding feed amount.

[0115] Specifically, the controller generates a complete execution control point information sequence according to the target feature control point information and the initial control point information sequence. Then, the controller performs a grinding operation on the target grinding area of ​​the workpiece to be processed according to the execution control point information sequence and the grinding feed amount.

[0116] Based on the above embodiment, the robot control system further includes a force sensor, which is connected to the controller for communication. Grinding operations are performed on the target grinding area of ​​the workpiece to be processed, including: Acquire feedback force information of the grinding actuator when grinding the target grinding area through the force sensor, and send the feedback force information to the controller; The controller uses formula 8 and adjusts the grinding feed amount according to the feedback force information. Update to update grinding feed In the next grinding step, the target grinding area is subjected to grinding operation, wherein Formula 8 is:

[0117] in, is the feedback force value in the feedback force information, It is the feedback force value in the preset calibrated feedback force.

[0118] In Formula 8, when the feedback force F is less than or equal to the preset calibrated feedback force, the updated grinding feed amount remains unchanged, that is, grinding continues according to the initial feed amount; when the feedback force is greater than the preset calibrated feedback force, the updated grinding feed amount will be reduced proportionally to reduce the grinding force and avoid excessive damage to the workpiece.

[0119] In the above scheme, through real-time monitoring of the force sensor and application of Formula 8, the controller can adjust the grinding feed amount in real time according to the actual feedback force information during the grinding process, so that the robot can more flexibly respond to the complex changes of the workpiece surface and ensure the stability and accuracy of the grinding operation.

[0120] The introduction of feedback force information enables the robot to more accurately perceive the interaction between the grinding actuator and the workpiece surface. By adjusting the grinding feed in real time, the robot can avoid problems such as damage to the workpiece due to excessive feed or low grinding efficiency due to insufficient feed, thereby improving grinding accuracy.

[0121] The application of force sensors enhances the robustness of the robot's posture control system. In the actual grinding process, due to the complexity and variability of the workpiece surface and the uncertainty factors of the grinding actuator (such as wear, vibration, etc.), the traditional fixed feed control method often cannot ensure the stability of the grinding quality. The real-time monitoring and dynamic adjustment capabilities of the force sensor enable the robot to maintain a stable grinding effect in the face of these uncertain factors, improving the system's anti-interference ability and stability.

[0122] By adjusting the grinding feed rate in real time, the robot can remove excess material from the workpiece surface more quickly and improve grinding efficiency. Especially when dealing with workpieces with higher hardness or greater roughness, the application of force sensors enables the robot to adjust the feed rate in a timely manner according to the feedback force information to speed up the grinding speed and reduce energy consumption. By accurately controlling the grinding feed rate, the robot can minimize energy consumption and wear of the grinding actuator while ensuring the grinding quality. The application of force sensors enables the robot to adjust the feed rate in real time according to the feedback force information, avoiding unnecessary over-grinding and energy waste, thereby extending the service life of the grinding actuator and reducing maintenance costs.

[0123] Furthermore, after the controller generates the execution control point information sequence according to the target feature control point information and the initial control point information sequence, it also includes: The controller uses Equation 9 and determines the grinding feed according to the preset material parameters of the target grinding area of ​​the workpiece to be processed. , the target grinding area includes a first preset material and a second preset material, the hardness of the first preset material is greater than the hardness of the second preset material, wherein Formula 9 is:

[0124] in, To preset the first material correlation coefficient, To preset the second material correlation coefficient, is the hardness value in the preset first material parameter, is the roughness value in the first preset material parameter, is the roughness value in the second preset material parameter, is the exponential factor affecting the weight of hardness and roughness, is the exponential factor of the elastic modulus and roughness influence weight, is the correlation coefficient of the polishing actuator shape, is the material removal amount, is the exponential factor affecting the weight of material removal, is the first weight value, is the second weight value; The controller executes the control point information sequence and the grinding feed amount Grinding operation is performed on the target grinding area of ​​the workpiece to be processed.

[0125] In the above scheme, the controller can calculate the grinding feed amount by considering various factors such as the hardness, roughness, material removal amount of different materials in the target grinding area, and the shape and tilt angle of the grinding actuator through Formula 9. This calculation method ensures that the grinding operation can be accurately adjusted according to the characteristics of different materials and grinding requirements, improving the accuracy and adaptability of grinding.

[0126] In the actual grinding process, there are often multiple material areas with different hardness and roughness on the workpiece surface. By applying Formula 9, the controller can dynamically adjust the grinding feed according to the characteristics of different materials, thereby adapting to the complex and changeable workpiece surface. This adaptability enables the robot to process multiple material areas at the same time in one grinding operation, improving grinding efficiency and flexibility.

[0127] Accurately calculating the grinding feed amount not only helps to avoid over-grinding or under-grinding, but also reduces the risk of workpiece damage or surface quality degradation due to improper feed amount. Through the application of Formula 9, the controller can ensure that the grinding actuator maintains a stable feed speed and force during the grinding process, thereby improving the grinding quality and stability. By comprehensively considering multiple factors to calculate the grinding feed amount, the robot can maximize the grinding efficiency while ensuring the grinding quality. Especially when dealing with areas of materials with higher hardness or greater roughness, the robot can quickly calculate the appropriate feed amount according to Formula 9, thereby speeding up the grinding speed and reducing energy consumption.

[0128] Figure 3 FIG. 1 is a schematic diagram of a robot control system according to an exemplary embodiment of the present application. Figure 3 As shown, the robot control system 300 provided in this embodiment includes: a controller 310, a grinding actuator 320 and a scanner 330, wherein the grinding actuator 320 and the scanner 330 are respectively connected to the controller 310 for communication; Acquire surface point cloud data of the workpiece to be processed by the scanner 330 , and transmit the surface point cloud data to the controller 310 ; The controller 310 generates an actual workpiece digital model of the workpiece to be processed according to the surface point cloud data, and generates an initial grinding path on the actual workpiece digital model, wherein the initial grinding path includes an initial control point information sequence, wherein each initial control point information in the initial control point information sequence includes the posture data of the grinding actuator 320 at the corresponding position; The controller 310 determines, according to the actual workpiece digital model and the preset workpiece digital model corresponding to the workpiece to be processed, a region on the initial grinding path where the material removal amount is greater than a preset material removal amount threshold as a target grinding region; The controller 310 determines a first feature control point and a second feature control point from the initial control point information sequence according to the target polishing area, and generates at least one target feature control point between the first feature control point and the second feature control point; The controller 310 generates target feature control point information corresponding to the target feature control point according to the first initial control point information corresponding to the first feature control point and the second initial control point information corresponding to the second feature control point, wherein the target feature control point information includes target pose data; The controller 310 generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence, and the execution control point information sequence is used to instruct the grinding executor 320 to perform a grinding operation on the workpiece to be processed.

[0129] Optionally, the controller 310 determines, according to the actual workpiece digital model and the preset workpiece digital model corresponding to the workpiece to be processed, a region on the initial grinding path where the material removal amount is greater than a preset material removal amount threshold as a target grinding region, including: The controller 310 determines a set of island regions to be polished according to the actual workpiece digital model and the preset workpiece digital model, wherein each island region to be polished in the set of island regions to be polished is a Boolean difference between the actual workpiece digital model and the preset workpiece digital model; The controller 310 determines the material removal amount of each island region to be polished according to the set of island regions to be polished, and if the material removal amount is greater than the preset material removal amount threshold, adds the corresponding island region to be polished to the target polishing region.

[0130] Optionally, generating an initial grinding path on the actual workpiece digital model includes: The controller 310 uses a preset grinding path template to generate the initial control point information sequence on the actual workpiece digital model. The initial control point information sequence includes an initial control point sequence and a position vector and a posture matrix of each initial control point in the initial control point sequence. The position vector is used to indicate the execution position of the grinding executor 320, and the posture matrix is ​​used to indicate the grinding posture of the grinding executor 320.

[0131] Optionally, the controller 310 determines a first feature control point and a second feature control point from the initial control point information sequence according to the target polishing area, and generates at least one target feature control point between the first feature control point and the second feature control point, including: The controller 310 determines the first feature control point and the second feature control point according to the target polishing area and the polishing moving direction of the polishing actuator 320 on the initial polishing path, wherein the first feature control point is the starting control point of the target polishing area along the polishing moving direction on the initial polishing path, and the second feature control point is the ending control point of the target polishing area along the polishing moving direction on the initial polishing path; The controller 310 generates a first feature quantity according to a first posture matrix corresponding to the first feature control point, and generates a second feature quantity according to a second posture matrix corresponding to the second feature control point; The controller 310 determines a characteristic angle according to the first characteristic amount and the second characteristic amount; The controller 310 determines a target position vector corresponding to the target feature control point according to the feature angle, a first position vector corresponding to the first feature control point, and a second position vector corresponding to the second feature control point; The controller 310 generates the target feature control point according to the target position vector.

[0132] Optionally, after the controller 310 determines the target position vector according to the target position vector, the controller 310 further includes: The controller 310 determines a target posture matrix according to the first feature quantity and the second feature quantity; The controller 310 adds the target posture matrix to the target feature control points.

[0133] Optionally, after the controller 310 determines the characteristic angle according to the first characteristic quantity and the second characteristic quantity, the method further includes: The controller 310 updates and replaces the characteristic angle according to the difference between the material removal amount and the preset material removal amount threshold.

[0134] Optionally, after the controller 310 generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence, the process further includes: The controller 310 determines the grinding feed amount according to the preset material parameters of the workpiece to be processed; The controller 310 performs a grinding operation on a target grinding area of ​​the workpiece to be processed according to the execution control point information sequence and the grinding feed amount.

[0135] Figure 4 is a schematic diagram of the structure of an electronic device according to an exemplary embodiment of the present application. Figure 4 As shown, an electronic device 400 provided in this embodiment includes: a processor 401 and a memory 402; wherein: The memory 402 is used to store computer programs, and the memory may also be a flash memory.

[0136] The processor 401 is used to execute the execution instructions stored in the memory to implement each step in the above method. For details, please refer to the relevant description in the above method embodiment.

[0137] Optionally, the memory 402 may be independent or integrated with the processor 401 .

[0138] When the memory 402 is a device independent of the processor 401, the electronic device 400 may further include: The bus 403 is used to connect the memory 402 and the processor 401 .

[0139] This embodiment further provides a readable storage medium, in which a computer program is stored. When at least one processor of an electronic device executes the computer program, the electronic device executes the methods provided in the above-mentioned various implementation modes.

[0140] This embodiment also provides a program product, which includes a computer program stored in a readable storage medium. At least one processor of the electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device implements the methods provided in the above various embodiments.

[0141] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0142] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A robot posture control method, characterized in that: Applied to a robot control system, the robot control system comprises: a controller, a grinding actuator and a scanner, the grinding actuator and the scanner are respectively connected to the controller for communication; the method comprises: Acquire surface point cloud data of the workpiece to be processed by the scanner, and transmit the surface point cloud data to the controller; The controller generates an actual workpiece digital model of the workpiece to be processed according to the surface point cloud data, and generates an initial grinding path on the actual workpiece digital model, wherein the initial grinding path includes an initial control point information sequence; The controller determines, according to the actual workpiece digital model and the preset workpiece digital model corresponding to the workpiece to be processed, a region on the initial grinding path where the material removal amount is greater than a preset material removal amount threshold as a target grinding region; The controller determines a first feature control point and a second feature control point from the initial control point information sequence according to the target polishing area, and generates at least one target feature control point between the first feature control point and the second feature control point; The controller generates target feature control point information corresponding to the target feature control point according to first initial control point information corresponding to the first feature control point and second initial control point information corresponding to the second feature control point, wherein the target feature control point information includes target pose data; The controller generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence, and the execution control point information sequence is used to instruct the grinding executor to perform a grinding operation on the workpiece to be processed.

2. The robot posture control method according to claim 1, characterized in that: The controller determines, according to the actual workpiece digital model and the preset workpiece digital model corresponding to the workpiece to be processed, a region on the initial grinding path where the material removal amount is greater than a preset material removal amount threshold as a target grinding region, including: The controller determines a set of island regions to be polished according to the actual workpiece digital model and the preset workpiece digital model, wherein each island region to be polished in the set of island regions to be polished is a Boolean difference between the actual workpiece digital model and the preset workpiece digital model; The controller determines the material removal amount of each island region to be polished according to the set of island regions to be polished, and if the material removal amount is greater than the preset material removal amount threshold, adds the corresponding island region to be polished to the target polishing region.

3. The robot posture control method according to claim 2, characterized in that: The generating of an initial grinding path on the actual workpiece digital model comprises: The controller generates the initial control point information sequence on the actual workpiece digital model using a preset grinding path template, wherein the initial control point information sequence includes an initial control point sequence and a position vector and a posture matrix of each initial control point in the initial control point sequence, wherein the position vector is used to indicate the execution position of the grinding actuator, and the posture matrix is ​​used to indicate the grinding posture of the grinding actuator.

4. The robot posture control method according to claim 3, characterized in that: The controller determines a first feature control point and a second feature control point from the initial control point information sequence according to the target polishing area, and generates at least one target feature control point between the first feature control point and the second feature control point, including: The controller determines the first feature control point and the second feature control point according to the target polishing area and the polishing moving direction of the polishing actuator on the initial polishing path, wherein the first feature control point is a starting control point of the target polishing area along the polishing moving direction on the initial polishing path, and the second feature control point is a terminating control point of the target polishing area along the polishing moving direction on the initial polishing path; The controller generates a first feature quantity according to a first posture matrix corresponding to the first feature control point, and generates a second feature quantity according to a second posture matrix corresponding to the second feature control point; The controller determines a characteristic angle according to the first characteristic amount and the second characteristic amount; The controller determines a target position vector corresponding to the target feature control point according to the feature angle, a first position vector corresponding to the first feature control point, and a second position vector corresponding to the second feature control point; The controller generates the target feature control point according to the target position vector.

5. The robot posture control method according to claim 4, characterized in that: After the controller performs the control according to the target position vector, the controller further comprises: The controller determines a target posture matrix according to the first feature quantity and the second feature quantity; The controller adds the target pose matrix to the target feature control points.

6. The robot posture control method according to claim 4 or 5, characterized in that: After the controller determines the characteristic angle according to the first characteristic amount and the second characteristic amount, the method further includes: The controller updates and replaces the characteristic angle according to a difference between the material removal amount and the preset material removal amount threshold.

7. The robot posture control method according to claim 6, characterized in that: After the controller generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence, the method further includes: The controller determines the grinding feed amount according to the preset material parameters of the workpiece to be processed; The controller performs a grinding operation on a target grinding area of ​​the workpiece to be processed according to the execution control point information sequence and the grinding feed amount.

8. A robot control system, characterized in that: include: A controller, a grinding actuator and a scanner, wherein the grinding actuator and the scanner are respectively connected to the controller for communication; Acquire surface point cloud data of the workpiece to be processed by the scanner, and transmit the surface point cloud data to the controller; The controller generates an actual workpiece digital model of the workpiece to be processed according to the surface point cloud data, and generates an initial grinding path on the actual workpiece digital model, wherein the initial grinding path includes an initial control point information sequence, wherein each initial control point information in the initial control point information sequence includes the posture data of the grinding actuator at the corresponding position; The controller determines, according to the actual workpiece digital model and the preset workpiece digital model corresponding to the workpiece to be processed, a region on the initial grinding path where the material removal amount is greater than a preset material removal amount threshold as a target grinding region; The controller determines a first feature control point and a second feature control point from the initial control point information sequence according to the target polishing area, and generates at least one target feature control point between the first feature control point and the second feature control point; The controller generates target feature control point information corresponding to the target feature control point according to first initial control point information corresponding to the first feature control point and second initial control point information corresponding to the second feature control point, wherein the target feature control point information includes target pose data; The controller generates an execution control point information sequence according to the target feature control point information and the initial control point information sequence, and the execution control point information sequence is used to instruct the grinding executor to perform a grinding operation on the workpiece to be processed.

9. An electronic device, characterized in that: include: processor; as well as, A memory, configured to store executable instructions of the processor; The processor is configured to perform the method of any one of claims 1 to 7 by executing the executable instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

Images