Anti-collision control method of foundry cleaning robot based on multi-sensor fusion

Abstract

The application discloses a kind of based on multi-sensor fusion's foundry cleaning robot anti-collision control method, including the non-contact acquisition module and contact acquisition module based on multi-sensor construction data;The data obtained by non-contact acquisition module is fused and handled, and robust fusion distance is obtained;Non-contact operation mechanism for the anti-collision operation of foundry cleaning robot is constructed, and the speed of actuator at the end of foundry cleaning robot is dynamically adjusted based on robust fusion distance;And the foundry cleaning robot partition includes safety zone, warning zone and dangerous zone;Contact operation mechanism for adjusting the contact force of foundry cleaning robot is constructed, and based on non-contact operation mechanism, according to the data obtained by contact acquisition module, the dynamic adjustment of the contact force of foundry cleaning robot in casting polishing stage is realized.The application realizes comprehensive perception and analysis of multidimensional information by the way of multi-sensor fusion, so that excellent anti-collision effect can be achieved in cutting and polishing scene.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of casting cleaning and robot anti-collision protection, and particularly relates to a casting cleaning robot anti-collision control method based on multi-sensor fusion. BACKGROUND

[0002] Industrial robots often face potential collision risks in the cutting and polishing process of castings due to their complex shape and variable working environment. Collision between the robot effector and the casting not only may damage the casting, leading to an increase in the rate of defective products, but also may cause irreversible damage to the robot equipment, even leading to the shutdown of the production line and economic losses. Therefore, how to effectively prevent and control collision has become a key problem to improve the efficiency and safety of casting processing.

[0003] At present, many anti-collision systems rely on a single type of sensor to detect the environment or control the robot action. However, in the casting processing scene, the existence of strong light, dust and noise makes the single sensor have great limitations, such as strong light causing signal distortion of infrared sensors, and noise affecting the measurement accuracy of ultrasonic sensors. At the same time, the single sensor often detects abnormalities when collision is about to occur, which is insufficient in reaction time and cannot achieve early protection. In addition, in the process of robot contact with the casting, if there is no precise control of the contact force, it may cause too large or too small force in the processing process, affecting the processing quality or further causing collision. In summary, the protection method of single sensor is difficult to meet the requirements of safety and reliability in the complex scene of casting cleaning. SUMMARY

[0004] The present application provides a casting cleaning robot anti-collision control method based on multi-sensor fusion, which realizes comprehensive perception and analysis of multi-dimensional information in the complex scene of casting cleaning through multi-sensor data fusion, so as to ensure the dynamic adjustment of contact force in the polishing stage of the casting cleaning robot under the premise of safe operation of the casting cleaning robot.

[0005] In order to achieve the above purpose, the technical scheme of the present application is as follows:

[0006] A casting cleaning robot anti-collision control method based on multi-sensor fusion, specifically comprising the following steps:

[0007] S1: constructing a non-contact acquisition module and a contact acquisition module of data based on multiple types of sensors;

[0008] The non-contact acquisition module includes a first sensor module arranged at one side of the end of the casting cleaning robot, which is used to detect and acquire the sampling distance between the end of the cleaning robot and the casting when the robot end carries a tool to cut the casting riser;

[0009] The contact acquisition module comprises a second sensor module arranged at a tool flange of an end of the casting cleaning robot, and configured to detect and acquire the contact force in the casting polishing stage;

[0010] S2: fusing the data acquired by the non-contact acquisition module to acquire a robust fused distance;

[0011] S3: constructing a non-contact operation mechanism for the anti-collision operation area of the casting cleaning robot, and dynamically adjusting the speed of the actuator at the end of the casting cleaning robot based on the robust fused distance, so as to ensure that the anti-collision operation area of the casting cleaning robot is in a safe area;

[0012] The anti-collision operation area of the casting cleaning robot comprises a safe area, a warning area and a dangerous area.

[0013] S4: constructing a contact operation mechanism for adjusting the contact force of the casting cleaning robot, and based on the safe area of the anti-collision operation area of the robot maintained in S3, realizing dynamic adjustment of the contact force of the casting cleaning robot in the casting polishing stage according to the data acquired by the contact acquisition module.

[0014] Further, the fusion processing of the data acquired by the non-contact acquisition module in S2 comprises the following steps

[0015] S21: constructing a sensor calibration compensation model for compensating the sampling data of the first sensor module, and the expression of the sensor calibration compensation model is

[0016] D real =c*D measured +d

[0017] In the formula, D real represents the output of the sensor calibration compensation model, i.e. the expected actual distance; D measured represents the measured distance value of the sensor; c and d represent the fitting parameters for compensating the measurement error;

[0018] S22: acquiring the continuous sampling distance data of the first sensor module based on a set sampling period;

[0019] The first sensor module comprises an ultrasonic sensor and an infrared photoelectric sensor.

[0020] The continuous sampling distance data is subjected to mean filtering processing to acquire mean filtering data.

[0021] The expression of the mean filtering processing is

[0022]

[0023] In the formula, D filterdrepresents the mean filtering data; n represents the number of continuous sampling; D i represents the distance data collected in the i-th sampling period, i.e. D reeal ;

[0024] S23: data fusion is performed on the mean filtering data to obtain a robust fusion distance, and the expression for the data fusion is

[0025] D fused = w ir *D ir +w ul *D ul

[0026] In the formula, D ir represents the distance data of the ultrasonic sensor after mean filtering processing; D ul represents the distance data of the infrared photoelectric sensor after mean filtering processing; w ir and w ul respectively represent the weights of the ultrasonic sensor and the infrared photoelectric sensor; D fused represents the robust fusion distance.

[0027] Further, the S22 further comprises performing distance continuity constraint processing on the obtained continuous sampling distance data of the first sensor module;

[0028] The distance continuity constraint processing specifically comprises

[0029] S221: obtaining the continuous sampling distance data D i of the current sampling period and the distance difference ΔD between the continuous sampling distance data D i-1 of the last sampling period, and determining whether the distance difference ΔD exceeds a preset distance threshold Threshold;

[0030] If the distance difference ΔD exceeds the preset distance threshold Threshold, the continuous sampling distance data D i of the current sampling period is removed as an abnormal value;

[0031] Otherwise, no abnormal value removal operation is performed;

[0032] S222: obtaining the continuous sampling distance data after the abnormal value removal;

[0033] And using a neighboring interpolation method, linearly interpolating the data of the missing sampling period in the continuous sampling distance data after the abnormal value removal, and the expression is

[0034]

[0035] In the formula, D new represents the linearly interpolated data; Dprev data of the previous sampling period of the missing sampling period; D next data of the next sampling period of the missing sampling period.

[0036] Further, the non-contact operation mechanism for the anti-collision operation of the foundry cleaning robot in S3 is constructed, and the expression is

[0037]

[0038] In the formula, V target represents the target operation speed of the foundry cleaning robot; V low represents the minimum speed, i.e. the safety speed when the end of the foundry cleaning robot approaches the foundry; V high represents the maximum speed, i.e. the high speed when the end of the foundry cleaning robot is away from the foundry; D warn represents the lower limit of the warning distance; D safe represents the upper limit of the safety distance.

[0039] Further, the contact operation mechanism for adjusting the contact force of the foundry cleaning robot in S4 is specifically

[0040] obtaining the current contact force F of the foundry cleaning robot through the second sensor module;

[0041] and setting the sensor contact force threshold range F l ~ F h , and setting the expected contact force F target of the current foundry cleaning robot according to the experience value, and obtaining the contact operation strategy according to the expected contact force and the contact force threshold range;

[0042] and the contact operation strategy is

[0043] judging the relationship between the current contact force F and the contact force threshold range;

[0044] The contact force threshold range includes a first threshold range, a second threshold range and a third threshold range; and the first threshold range is greater than or equal to the minimum contact force F l and less than the expected contact force F target ;

[0045] The second threshold range is greater than the expected contact force F target and less than or equal to the maximum contact force F h ;

[0046] The third threshold range is equal to the expected contact force F target ;

[0047] If it is confirmed that the current contact force F is greater than or equal to the minimum contact force F land less than the desired contact force F target , then increase the contact force between the casting cleaning robot and the casting;

[0048] If it is confirmed that the current contact force F is greater than the desired contact force F target and less than or equal to the maximum contact force F h , then decrease the contact force between the casting cleaning robot and the casting;

[0049] If it is confirmed that the current contact force F is equal to the desired contact force F target , then keep the contact force between the casting cleaning robot and the casting unchanged.

[0050] Further, the confirmation of the execution of the outlier rejection operation in S221 also includes

[0051] When it is confirmed that the distance difference value ΔD of any sensor in the first sensor module exceeds the preset distance threshold Threshold, it is also necessary to judge the continuous sampling distance data D i of the current sampling period as the to-be-rejected outlier value and the continuous sampling distance data of another sensor in the same sampling period.

[0052] And if the judgment distance difference value does not exceed the preset judgment threshold, the to-be-rejected outlier value is retained;

[0053] Otherwise, the to-be-rejected outlier value is rejected.

[0054] Beneficial effects: The present application provides a casting cleaning robot anti-collision control method based on multi-sensor fusion, which constructs a non-contact acquisition module and a contact acquisition module based on multi-sensor data, realizes comprehensive perception and analysis of multi-dimensional information through multi-sensor fusion, and solves the problem that single sensor detection accuracy is low and cannot effectively realize casting cleaning robot anti-collision detection capability; the data obtained by the non-contact acquisition module is fused and processed to obtain a robust fusion distance; the data after fusion can adapt to more complex casting cleaning robot work site environment, greatly improving the robustness and applicability of the casting cleaning robot anti-collision; the non-contact operation mechanism and the contact operation mechanism are constructed to form a hierarchical control of the casting cleaning robot, the running speed of the casting cleaning robot is effectively controlled through the non-contact operation mechanism to ensure the safety performance of the casting operation, and the contact force of the casting operation is dynamically realized through the contact operation mechanism to ensure the effective polishing of the casting and thus improve the product quality. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor under the premise of the drawings.

[0056] Figure 1 The flow chart of the anti-collision control method of the casting cleaning robot based on multi-sensor fusion of the present application. DETAILED DESCRIPTION

[0057] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0058] The present embodiment provides an anti-collision control method for a casting cleaning robot based on multi-sensor fusion, as shown in Figure 1 The specific steps include the following steps:

[0059] S1: Constructing a non-contact acquisition module and a contact acquisition module based on multi-type sensors;

[0060] The non-contact acquisition module includes a first sensor module arranged at one side of the end of the casting cleaning robot, which is used to detect and acquire the sampling distance between the end of the cleaning robot and the casting when the robot end carries a tool to cut the casting riser; wherein the first sensor module includes an ultrasonic sensor and an infrared photoelectric sensor;

[0061] The contact acquisition module includes a second sensor module arranged at the tool flange of the end of the casting cleaning robot, which is used to detect and acquire the contact force in the casting polishing stage; the second sensor module is a force sensor;

[0062] In this embodiment, an ultrasonic sensor, an infrared photoelectric sensor and a force sensor are arranged at the end of the robot. Among them, the ultrasonic sensor and the infrared photoelectric sensor are installed on one side of the end of the robot, mainly used for detecting workpieces or obstacles in a long distance range in the cutting scene (the robot end clamps the tool to cut the casting head); the force sensor is installed at the tool flange of the end of the robot, mainly used for detecting contact force in the polishing stage. The infrared photoelectric sensor measures the distance by emitting infrared light and detecting the time difference or intensity change of the reflected light signal after passing through the object surface; similarly, the ultrasonic sensor measures the distance by emitting ultrasonic signals and measuring the time of the reflected signals from the object; and the force sensor measures the size and direction of the contact force by detecting the mechanical stress or strain applied on it, usually using piezoelectric or strain gauge sensors;

[0063] S2: Fusion processing is performed on the data acquired by the non-contact acquisition module to obtain a robust fusion distance;

[0064] In specific embodiments, the fusion processing of the data acquired by the non-contact acquisition module in S2 specifically includes the following steps

[0065] S21: According to the reflection characteristics of the surface material of the casting workpiece (such as smooth surface and rough surface), the infrared sensor and the ultrasonic sensor are calibrated, and a sensor calibration compensation model is constructed to compensate the sampling data of the first sensor module;

[0066] And the expression of the sensor calibration compensation model is

[0067] D real =c*D measured +d

[0068] In the formula: D real represents the output of the sensor calibration compensation model, i.e. the expected actual distance; D measured represents the measured distance value of the sensor; c and d represent the fitting parameters for compensating the measurement error;

[0069] S22: Obtain continuous sampling distance data of the first sensor module based on a set sampling period;

[0070] And the first sensor module includes an ultrasonic sensor and an infrared photoelectric sensor;

[0071] And the continuous sampling distance data is subjected to mean filtering processing to obtain mean filtering data;

[0072] The expression of the mean filtering processing is

[0073]

[0074] In the formula, D filtered represents the mean filtering data; n represents the number of consecutive sampling times; D i represents the distance data collected in the ith sampling period, that is, D real ;

[0075] In this embodiment, the signals of consecutive sampling are averaged by mean filtering to reduce the influence of sudden external interference in the sensor sampling process.

[0076] In specific embodiments, the S22 further comprises distance continuity constraint processing on the acquired consecutive sampling distance data of the first sensor module.

[0077] The distance continuity constraint processing is specifically

[0078] S221: acquiring consecutive sampling distance data D i of the current sampling period and distance difference ΔD between the consecutive sampling distance data D i-1 of the current sampling period and the consecutive sampling distance data D i of the last sampling period, and determining whether the distance difference ΔD exceeds a preset distance threshold Threshold.

[0079] If the distance difference ΔD exceeds the preset distance threshold Threshold, the consecutive sampling distance data D i of the current sampling period is removed as an abnormal value.

[0080] Otherwise, no abnormal value removal operation is performed.

[0081] The principle of the distance continuity constraint processing in this embodiment is that in dynamic data sampling, distance change usually has continuity. If the distance change measured twice in succession exceeds a set threshold (such as 5% or other values adjusted according to actual environment), the data is considered abnormal and is removed. Assuming that the current measured value is D i , the measured value at the last moment is D i-1 , then: Δd = |D i -D i-1 | If Δd > Threshold, D i is determined as an abnormal value. The distance continuity constraint processing takes advantage of the continuity constraint of distance change in a physical scene, avoids misjudging normal data as abnormal, and significantly improves the accuracy and flexibility of abnormal data removal by introducing distance continuity constraint processing and joint judgment of multiple sensors.

[0082] In specific embodiments, confirming to perform the abnormal value removal operation in S221 further comprises

[0083] When the distance difference value AD of any sensor in the first sensor module exceeds the preset distance threshold Threshold, it is also necessary to determine the continuous sampling distance data D of the current sampling period as the to-be-removed abnormal value i , the determination distance difference value between the continuous sampling distance data of another sensor in the same sampling period;

[0084] If the determination distance difference value does not exceed the preset determination threshold, the to-be-removed abnormal value is retained;

[0085] Otherwise, the to-be-removed abnormal value is removed;

[0086] In the embodiment, the abnormal data removal does not only rely on a single sensor, but also combines the outputs of multiple sensors for comprehensive judgment: for example, when the detection value of the infrared sensor is abnormal (such as mutation), it is verified whether the output of the ultrasonic sensor is consistent; if the results of the two are significantly different, further analysis of environmental factors (such as light intensity, noise) is performed to determine whether to remove the abnormal value. The false judgment caused by the failure of a single sensor is reduced, and the accuracy of data removal is enhanced;

[0087] S222: Obtain the continuous sampling distance data after removal of the abnormal value;

[0088] And the missing sampling period data in the continuous sampling distance data after removal of the abnormal value is linearly interpolated by using the adjacent interpolation method, and the expression is

[0089]

[0090] In the formula, D new represents the linearly interpolated data; D prev represents the data of the previous sampling period of the data of the missing sampling period; and D next represents the data of the next sampling period of the data of the missing sampling period.

[0091] In the embodiment, after removal of the abnormal data, the adjacent interpolation method is used to interpolate and repair the normal data at the previous and next time points, so as to ensure the smoothness of the data stream, and when multiple data are abnormal, high-order interpolation or curve fitting can be used for repair, so as to avoid fusion errors caused by missing data after removal of the abnormal data;

[0092] S23: Perform data fusion on the mean filtered data to obtain a robust fusion distance, and the expression for performing the data fusion is

[0093] D fused = w ir *D ir +w ul *D ul

[0094] In the formula, D irD represents the distance data of the ultrasonic sensor after mean filtering processing; ul D represents the distance data of the infrared photoelectric sensor after mean filtering processing; ir D represents the distance data of the ultrasonic sensor after mean filtering processing; ul D represents the distance data of the infrared photoelectric sensor after mean filtering processing; wherein the values of the two weights are determined by environmental conditions, such as cutting strong light to make the weight of the ultrasonic wave 1 and the weight of the infrared 0 to exclude the interference of light; when a large amount of dust is generated, the weight of the infrared is increased to reduce the error of the ultrasonic ranging caused by solid medium; fused D represents the robust fusion distance;

[0095] In this embodiment, filtering and noise removal of the collected raw data can effectively improve the signal-to-noise ratio of the data and ensure the accuracy of the measurement value; at the same time, the data fusion of the infrared sensor and the ultrasonic sensor adopts the idea of weighting, and different weights are allocated to data from different sources, and the weight values of each are changed under different conditions to adapt to the complex and variable field environment;

[0096] Before formal data collection, the infrared sensor and the ultrasonic sensor need to be calibrated, and then after collecting data, mean filtering is used to preprocess the sensor data to eliminate sudden noise signals; at the same time, the distance continuity constraint is used to remove abnormal data and improve the signal-to-noise ratio. After data preprocessing, according to different scenes and environmental conditions, the data of the infrared sensor and the ultrasonic sensor are fused together based on the weighted average and rule-based method to obtain the robust fusion distance;

[0097] S3: Construct a non-contact operation mechanism for the anti-collision operation of the casting cleaning robot, and dynamically adjust the speed of the effector at the end of the casting cleaning robot based on the robust fusion distance;

[0098] The casting cleaning robot partition includes a safety zone, a warning zone, and a danger zone;

[0099] In specific embodiments, the non-contact operation mechanism for the anti-collision operation of the casting cleaning robot in S3 has the expression

[0100]

[0101] In the formula: V targer D represents the target running speed of the casting cleaning robot; V low D represents the minimum speed, i.e. the safety speed when the end of the casting cleaning robot approaches the casting; V high D represents the maximum speed, i.e. the high speed when the end of the casting cleaning robot moves away from the casting; D warn D represents the lower limit of the warning distance; D safe D represents the upper limit of the safety distance;

[0102] In this embodiment, according to the value of the robust fusion distance D fused , compared with the early warning distance range D warn , the speed V of the robot end effector is dynamically adjusted, and the robot operating area is divided into the following three intervals:

[0103] (1) Safety zone (D fused > D safe )

[0104] Definition: the current distance is greater than the safety distance D safe , and the robot is far away from the casting, and no special protection is needed.

[0105] Control strategy: the casting cleaning robot maintains the preset high-speed operation V high , and no additional speed adjustment is performed.

[0106] (2) Early warning zone (D warn <D fused ≤ D safe )

[0107] Definition: the current distance enters the early warning range, and the robot gradually approaches the casting.

[0108] Control strategy: according to the value of the distance D fused , the target speed V target is calculated, so that the robot action gradually slows down, according to the D fused value fed back by the sensor, the target speed V target is calculated by calling the dynamic adjustment formula; in the early warning zone, the speed gradually decreases according to D fused , and changes linearly or nonlinearly. And the dynamic adjustment formula is:

[0109]

[0110] (3) Danger zone (D fused ≤ D warn )

[0111] Definition: the current distance is less than or equal to the early warning distance, and the robot is very close to the casting, and needs special protection.

[0112] Control strategy: immediately switch to low-speed operation V low , or directly trigger the protection mechanism (such as emergency stop or evacuation action);

[0113] S4: Construct a contact operation mechanism for adjusting the contact force of the casting cleaning robot, and based on the non-contact operation mechanism, according to the data obtained by the contact acquisition module, realize the dynamic adjustment of the contact force of the casting cleaning robot in the casting polishing stage;

[0114] In specific embodiments, the contact operation mechanism for adjusting the contact force of the casting cleaning robot in S4 is specifically

[0115] The current contact force F of the casting cleaning robot is obtained by the second sensor module;

[0116] and a sensor contact force threshold range F l ~ F h is set, and the expected contact force F target of the current casting cleaning robot is set according to the experience value, and the contact operation strategy is obtained according to the expected contact force and the contact force threshold range;

[0117] and the contact operation strategy is

[0118] determining the relationship between the current contact force F and the contact force threshold range;

[0119] The contact force threshold range includes a first threshold range, a second threshold range and a third threshold range; and the first threshold range is greater than or equal to the minimum contact force F l and less than the expected contact force F target ;

[0120] The second threshold range is greater than the expected contact force F target and less than or equal to the maximum contact force F h ;

[0121] The third threshold range is equal to the expected contact force F target ;

[0122] If it is confirmed that the current contact force F is greater than or equal to the minimum contact force F l and less than the expected contact force F target , the contact force between the casting cleaning robot and the casting is increased;

[0123] If it is confirmed that the current contact force F is greater than the expected contact force F target and less than or equal to the maximum contact force F h , the contact force between the casting cleaning robot and the casting is reduced;

[0124] If it is confirmed that the current contact force F is equal to the expected contact force F targetIf the contact force between the casting cleaning robot and the casting is to be kept unchanged, the distance between the end of the polishing tool and the contact surface is increased or decreased, that is, the height of the end of the robot in the normal direction of the polishing plane is increased or decreased. In this process, the polishing tool is always in contact with the casting. The increase or decrease of the contact force is determined by controlling the distance between the end of the polishing tool and the contact surface, that is, the height of the end of the robot in the normal direction of the polishing plane. That is, considering that the abrasive belt used for polishing is flexible and uneven, as the distance increases or decreases, the contact area between the abrasive belt and the casting changes, and the polishing force changes. The control program or method for controlling the distance between the end of the polishing tool and the contact surface is a known technology, and will not be described in detail here.

[0125] The robot anti-collision method in the polishing task of the casting cleaning robot in the embodiment adopts a hierarchical control method. The first level is pre-warning control before contact (non-contact operation mechanism), that is, before contacting the casting, the infrared and ultrasonic sensors are used to determine whether the warning distance range is entered, and the robot action speed is dynamically adjusted. The second level is fine control after contact (contact operation mechanism), that is, a contact force threshold is set during polishing to ensure efficient polishing under safe conditions. According to whether the casting cleaning robot is in contact with the casting, the protection mechanism is divided into a contact phase and a non-contact phase for design. In the non-contact phase, it is determined whether to trigger the protection mechanism according to the safety distance. In the contact phase, it is determined whether to trigger the protection mechanism according to the contact force. The robot protection mechanism can effectively cover various processes of casting cleaning and ensure the safety performance of the robot during the entire casting cleaning process.

[0126] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for part or all of the technical features; and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A collision avoidance control method for a casting cleaning robot based on multi-sensor fusion, characterized in that, Specifically, the following steps are included: S1: Non-contact and contact acquisition modules for data acquisition based on multiple types of sensors; The non-contact acquisition module includes a first sensor module disposed on one side of the casting cleaning robot end, used to detect and acquire the sampling distance between the cleaning robot end and the casting when the robot end clamps a tool to cut the casting riser; The contact acquisition module includes a second sensor module located at the tool flange at the end of the casting cleaning robot, used to detect and acquire the contact force during the casting grinding stage. S2: Perform fusion processing on the data acquired by the non-contact acquisition module to obtain the robust fusion distance, specifically including the following steps. S21: Construct a sensor calibration compensation model to compensate for the sampling data of the first sensor module, and the expression of the sensor calibration compensation model is as follows: In the formula: This represents the output of the sensor calibration compensation model, i.e., the expected actual distance; This indicates the measured distance value of the sensor; and This represents the fitting parameters used to compensate for measurement errors; S22: Obtain continuous sampling distance data of the first sensor module based on a set sampling period; Furthermore, the first sensor module includes an ultrasonic sensor and an infrared photoelectric sensor; The continuous sampling distance data is then subjected to mean filtering to obtain mean-filtered data. The expression for performing mean filtering is: In the formula: This represents mean-filtered data; Indicates the number of consecutive samples; Indicates the first Distance data collected in each sampling period S23: Perform data fusion on the mean-filtered data to obtain the robust fusion distance, and the expression for performing data fusion is: In the formula: Indicates ultrasonic sensor Distance data processed by mean filtering; Indicating an infrared photoelectric sensor Distance data processed by mean filtering; and These represent the weights of the ultrasonic sensor and the infrared photoelectric sensor, respectively. Indicates the robust fusion distance; S3: Construct a non-contact operation mechanism for the anti-collision operation area of ​​the casting cleaning robot, and dynamically adjust the actuator speed at the end of the casting cleaning robot based on the robust fusion distance to ensure that the anti-collision operation area of ​​the casting cleaning robot is in a safe zone; Furthermore, the anti-collision operating area of ​​the casting cleaning robot includes a safe zone, a warning zone, and a danger zone; S4: Construct a contact operation mechanism to adjust the contact force of the casting cleaning robot, and combine it with the safe zone where the robot's anti-collision operation area is located, based on the data obtained by the contact acquisition module, to realize the dynamic adjustment of the contact force of the casting cleaning robot during the casting grinding stage.

2. The anti-collision control method for a casting cleaning robot based on multi-sensor fusion according to claim 1, characterized in that, S22 further includes performing distance continuity constraint processing on the continuously sampled distance data of the acquired first sensor module; The distance continuity constraint processing specifically involves: S221: Obtain continuous sampling distance data for the current sampling period. Continuous sampling distance data from the previous sampling period Distance difference And determine the distance difference. Does it exceed the preset distance threshold? ; If the distance difference Exceeding the preset distance threshold Then the continuous sampling distance data of the current sampling period will be used. Removed as outliers; Otherwise, the outlier removal operation will not be performed; S222: Obtain continuous sampling distance data after outlier removal; And using the nearest neighbor interpolation method, the missing sampling period data in the continuous sampling distance data after outlier removal by linear interpolation is expressed as follows: In the formula: This represents linear interpolated data; The data from the previous sampling period that represents the data in the missing sampling period; This expresses the data from the next sampling period after the data in the missing sampling period.

3. The anti-collision control method for a casting cleaning robot based on multi-sensor fusion according to claim 1, characterized in that, The non-contact operation mechanism for collision avoidance operation of the casting cleaning robot is constructed in S3, and its expression is: In the formula: This indicates the target operating speed of the casting cleaning robot; This indicates the minimum speed, which is the safe speed at which the end effector of the casting cleaning robot approaches the casting. This indicates the maximum speed, which is the high speed when the end effector of the casting cleaning robot is far away from the casting. Indicates the lower limit of the warning distance; This indicates the upper limit of the safe distance.

4. The anti-collision control method for a casting cleaning robot based on multi-sensor fusion according to claim 1, characterized in that, The contact operation mechanism constructed in S4 for adjusting the contact force of the casting cleaning robot is specifically... The current contact force of the casting cleaning robot is obtained through the second sensor module. ; And set the sensor contact force threshold range Furthermore, the expected contact force of the current casting cleaning robot is set based on empirical values. And obtain the contact operation strategy based on the expected contact force and the contact force threshold range; And the contact operation strategy is Determine the current contact force Relationship with the contact force threshold range; The contact force threshold range includes a first threshold range, a second threshold range, and a third threshold range; and the first threshold range is greater than or equal to the minimum contact force. And less than the expected contact force ; The second threshold range is greater than the desired contact force. And less than or equal to the maximum contact force ; The third threshold range is equal to the desired contact force. ; If the current contact force is confirmed Greater than or equal to minimum contact force And less than the expected contact force This increases the contact force between the casting cleaning robot and the casting; If the current contact force is confirmed Greater than the expected contact force And less than or equal to the maximum contact force This reduces the contact force between the casting cleaning robot and the casting; If the current contact force is confirmed Equal to expected contact force This ensures that the contact force between the casting cleaning robot and the casting remains constant.

5. The anti-collision control method for a casting cleaning robot based on multi-sensor fusion according to claim 2, characterized in that, S221 confirms the execution of outlier removal operations and also includes Confirm the distance difference between any sensor in the first sensor module. Exceeding the preset distance threshold At the same time, it is also necessary to determine the continuous sampling distance data of the current sampling period for outliers to be removed. The difference in distance between the determined distance data and the continuously sampled distance data acquired by another sensor in the same sampling period; Furthermore, if the distance difference is determined to be less than the preset threshold, the outlier to be removed is retained. Otherwise, the outlier to be removed will be removed.

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