Robot dynamic polishing path planning method, device and equipment, storage medium and program product

Abstract

The invention discloses a robot dynamic polishing path planning method, device and equipment, a storage medium and a program product. The method comprises the steps that polishing motion data in the process that a robot polishing device polishes a test steel plate is collected; the relative motion relation between the robot polishing device and the test steel plate is analyzed based on the polishing motion data, a periodic polishing path of the robot polishing device is generated according to the relative motion information, and the periodic polishing path comprises a transverse moving path and an oblique moving path of the robot polishing device in the polishing period; acquiring steel plate parameters of the to-be-polished steel plate and robot parameters of the robot polishing device, constructing a dynamic polishing model based on the steel plate parameters and the robot parameters, solving the dynamic polishing model, and performing dynamic polishing path planning according to a dynamic polishing solving result and the periodic polishing path. Therefore, the grinding efficiency of the dynamic scene is effectively improved, the grinding quality of the dynamic workpiece is ensured, and the grinding reliability of the workpiece is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a method, device, equipment, storage medium and program product for robot dynamic grinding path planning. Background Art

[0002] In recent years, robot grinding technology has been widely used in industrial manufacturing. There are many methods for robot grinding paths, but their paths are mainly designed for static objects. For example, the path planning methods are mainly divided into two categories: offline planning based on the geometric model of the workpiece and online planning based on real-time sensing. The above two methods perform well in the grinding of static workpieces (such as castings, molds, etc.) and can achieve uniform coverage and high-quality surface treatment through preset paths.

[0003] In practice, many objects to be ground are dynamic, and the relative motion between the robot and them needs to be considered. For example, in the grinding of strip steel in a steel mill, in order to improve the grinding efficiency, the strip steel does not stop during production and the robot is ordered to grind. Therefore, the current situation cannot effectively handle the grinding scenario of dynamic workpieces, resulting in low grinding efficiency and quality of dynamic workpieces, and it is impossible to ensure that the required grinding area of the steel plate is fully and effectively ground. Summary of the Invention

[0004] The main purpose of the present invention is to provide a method, device, equipment, storage medium and program product for robot dynamic grinding path planning, aiming to solve the technical problem that the existing technology cannot effectively handle the grinding scenario of dynamic workpieces, resulting in low grinding efficiency and quality of dynamic workpieces, and it is impossible to ensure that the required grinding area of the steel plate is fully and effectively ground.

[0005] To achieve the above purpose, the present invention provides a method for robot dynamic grinding path planning, and the method includes the following steps:

[0006] Collect the grinding motion data during the process of the robot grinding device grinding the test steel plate;

[0007] Analyze the relative motion relationship between the robot grinding device and the test steel plate based on the grinding motion data to obtain relative motion information;

[0008] Generate a periodic grinding path for the robot grinding device according to the relative motion information, and the periodic grinding path includes the horizontal movement path and the oblique movement path of the robot grinding device within the grinding period;

[0009] Obtain the steel plate parameters of the steel plate to be ground and the robot parameters of the robot grinding device, where the steel plate parameters include the target grinding size, the steel plate movement direction and the steel plate movement speed, and the robot parameters include the grinding oilstone size of the robot grinding device and the robot movement speed;

[0010] Construct a dynamic grinding model based on the steel plate parameters and the robot parameters, and solve the dynamic grinding model to obtain a dynamic grinding solution result;

[0011] Perform dynamic grinding path planning according to the dynamic grinding solution result and the periodic grinding path.

[0012] Optionally, the constructing a dynamic grinding model based on the steel plate parameters and the robot parameters, and solving the dynamic grinding model to obtain a dynamic grinding solution result includes:

[0013] Determine the constraint relationship between the robot grinding device and the steel plate to be ground based on the steel plate parameters and the robot parameters;

[0014] Construct a dynamic grinding model according to the constraint relationship:

[0015]

[0016] where d represents the lateral movement distance of the robot during lateral movement grinding, L represents the effective grinding length of the steel plate to be ground during lateral movement grinding of the robot grinding device, w1 represents the effective width of the grinding stone, and w2 represents the target grinding width of the steel plate to be ground;

[0017] Solve the dynamic grinding model to obtain a dynamic grinding solution result.

[0018] Optionally, the constraint relationship includes: lateral movement time constraint relationship, lateral movement grinding size constraint relationship, oblique movement time constraint relationship, periodic movement number constraint relationship, and periodic grinding size constraint relationship;

[0019] The lateral movement time constraint relationship and the lateral movement grinding size constraint relationship are the constraint relationships between the robot grinding device and the steel plate to be ground during lateral movement grinding of the robot grinding device, and the lateral movement time constraint relationship includes:

[0020]

[0021] The lateral movement grinding size constraint relationship includes:

[0022] d + x1 = L

[0023] The oblique movement time constraint relationship is the constraint relationship between the robot grinding device and the steel plate to be ground during oblique movement grinding of the robot grinding device, and the oblique movement time constraint relationship includes:

[0024]

[0025] The cycle motion number constraint relationship and the cycle grinding size constraint relationship are the constraint relationships of the robot grinding device within the grinding cycle. The cycle motion number constraint relationship includes:

[0026]

[0027] The cycle grinding size constraint relationship includes:

[0028] N1(x2 + x1) = d

[0029] Wherein, v1 represents the steel plate movement speed of the steel plate to be ground, v2 represents the robot movement speed of the robot grinding device, x1 represents the movement distance of the steel strip to be ground when the robot grinding device moves horizontally for grinding, x2 represents the movement distance of the steel strip to be ground when the robot grinding device moves obliquely for grinding, N1 represents the number of movements of the grinding movement within half of the grinding cycle, and the grinding movement includes horizontal grinding movement superimposed with oblique grinding movement.

[0030] Optionally, the dynamic grinding solution result includes a first movement distance solution result, a second movement distance solution result, and a third movement distance solution result of the robot's horizontal movement distance; solving the dynamic grinding model to obtain the dynamic grinding solution result includes:

[0031] Determining the effective grinding length of the steel plate to be ground when the robot grinding device moves horizontally for grinding according to the constraint relationship;

[0032] Splitting the dynamic grinding model to obtain a plurality of coefficient models, and the coefficient models include:

[0033] k1 = 2L(w1 + w2)

[0034]

[0035] Solving the plurality of coefficient models based on the effective grinding length to obtain the dynamic grinding solution result:

[0036]

[0037] Wherein, k1, k2, k3, and k4 respectively represent coefficient models, d1, d2, and d3 respectively represent the first movement distance solution result, the second movement distance solution result, and the third movement distance solution result, m, n, u, v, and respectively represent intermediate variables of the coefficient model, and i represents an imaginary number.

[0038] Optionally, the dynamic grinding solution further includes a first effective grinding length solution and a second effective grinding length solution for the effective grinding length of the steel plate to be ground when the robot grinding device moves horizontally for grinding; solving the dynamic grinding model to obtain the dynamic grinding solution includes:

[0039] Determine the horizontal movement distance of the robot when the robot grinding device moves horizontally for grinding according to the constraint relationship;

[0040] Split the dynamic grinding model to obtain a plurality of coefficient models, and the coefficient models include:

[0041]

[0042] Solve the plurality of coefficient models based on the horizontal movement distance of the robot to obtain the dynamic grinding solution:

[0043]

[0044] where k 11 、k 12 and k 13 respectively represent coefficient models, L 1,2 represents the dynamic grinding solution, and L 1,2 includes the first effective grinding length solution and the second effective grinding length solution.

[0045] Optionally, the dynamic grinding path planning according to the dynamic grinding solution and the periodic grinding path includes:

[0046] Determine the robot movement speed of the robot grinding device according to the dynamic grinding solution, the horizontal movement time constraint relationship and the horizontal movement grinding size constraint relationship between the robot grinding device and the steel plate to be ground when the robot grinding device moves horizontally for grinding:

[0047]

[0048] Based on the periodic grinding path, the target grinding size of the steel plate to be ground, and the effective grinding length of the steel plate to be ground when the robot grinding device moves horizontally for grinding, determine the grinding required cycle, and the target grinding size includes a target grinding length and a target grinding width:

[0049]

[0050] where N2 represents the grinding required cycle for the robot grinding device to finish grinding the steel plate to be ground, and l represents the target grinding length of the steel plate to be ground;

[0051] Perform dynamic grinding path planning according to the required cycle for grinding and the periodic grinding path.

[0052] In addition, to achieve the above object, the present invention also provides a device for robot dynamic grinding path planning, which includes:

[0053] A data acquisition module, configured to acquire grinding motion data during the process of a robot grinding device grinding a test steel plate;

[0054] A motion analysis module, configured to analyze the relative motion relationship between the robot grinding device and the test steel plate based on the grinding motion data to obtain relative motion information;

[0055] A periodic path analysis module, configured to generate a periodic grinding path of the robot grinding device according to the relative motion information, where the periodic grinding path includes a lateral movement path and an oblique movement path of the robot grinding device within a grinding cycle;

[0056] A parameter acquisition module, configured to acquire steel plate parameters of the steel plate to be ground and robot parameters of the robot grinding device, where the steel plate parameters include a target grinding size, a steel plate movement direction, and a steel plate movement speed, and the robot parameters include a grinding oilstone size of the robot grinding device and a robot movement speed;

[0057] A model solving module, configured to construct a dynamic grinding model based on the steel plate parameters and the robot parameters, and solve the dynamic grinding model to obtain a dynamic grinding solution result;

[0058] A dynamic path planning module, configured to perform dynamic grinding path planning according to the dynamic grinding solution result and the periodic grinding path.

[0059] In addition, to achieve the above object, the present application also provides a device for robot dynamic grinding path planning, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the computer program is configured to implement the steps of the robot dynamic grinding path planning method as described above.

[0060] In addition, to achieve the above object, the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the robot dynamic grinding path planning method as described above.

[0061] In addition, to achieve the above object, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the robot dynamic grinding path planning method as described above.

[0062] The present invention collects the grinding motion data during the process of a robot grinding device grinding a test steel plate, analyzes the relative motion relationship between the robot grinding device and the test steel plate based on the grinding motion data to obtain relative motion information, generates a periodic grinding path of the robot grinding device according to the relative motion information, and the periodic grinding path includes the lateral movement path and the oblique movement path of the robot grinding device within a grinding cycle. The steel plate parameters of the steel plate to be ground and the robot parameters of the robot grinding device are obtained. The steel plate parameters include the target grinding size, the steel plate movement direction, and the steel plate movement speed. The robot parameters include the grinding oilstone size of the robot grinding device and the robot movement speed. A dynamic grinding model is constructed based on the steel plate parameters and the robot parameters, and the dynamic grinding model is solved to obtain a dynamic grinding solution result. Dynamic grinding path planning is performed according to the dynamic grinding solution result and the periodic grinding path. Since the present invention analyzes the relative motion between the robot grinding device and the test steel plate, generates a periodic grinding path of the robot grinding device according to the relative motion information, thereby improving the dynamic synchronization performance of the robot during the grinding process, and performs dynamic grinding path planning according to the dynamic grinding solution result and the periodic grinding path, thereby effectively improving the grinding efficiency in a dynamic scenario, ensuring the grinding quality of dynamic workpieces, improving the reliability of workpiece grinding, ensuring that the actual grinding area of the workpiece meets the process requirements, and effectively avoiding the problems of uneven grinding and missed grinding. Brief Description of the Drawings

[0063] 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 required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0064] Figure 1 It is a schematic structural diagram of a robot dynamic grinding path planning device in the hardware operating environment related to the embodiment solution of the present invention;

[0065] Figure 2 It is a schematic flowchart of an embodiment of the robot dynamic grinding path planning method of the present invention;

[0066] Figure 3 It is a top view schematic diagram of the grinding oilstone of the robot grinding device and the steel plate in an embodiment of the robot dynamic grinding path planning method of the present invention;

[0067] Figure 4 It is a schematic diagram of the lateral movement grinding process of the grinding oilstone of the robot grinding device in an embodiment of the robot dynamic grinding path planning method of the present invention;

[0068] Figure 5 This is a schematic diagram of the grinding process of the grinding oilstone moving obliquely in the grinding device of the robot in an embodiment of the dynamic grinding path planning method of the robot of the present invention;

[0069] Figure 6 This is a schematic diagram of the periodic grinding path in an embodiment of the dynamic grinding path planning method of the robot of the present invention;

[0070] Figure 7 This is a structural block diagram of an embodiment of the dynamic grinding path planning device of the robot of the present invention.

[0071] The realization, functional characteristics and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0072] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0073] Refer to Figure 1 , Figure 1 This is a schematic structural diagram of the robot dynamic grinding path planning device for the hardware operating environment involved in the embodiment solution of the present invention.

[0074] As Figure 1 shown, the robot dynamic grinding path planning device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless-fidelity (WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0075] Those skilled in the art can understand that Figure 1 the structure shown in does not constitute a limitation on the robot dynamic grinding path planning device, and may include more or fewer components than shown, or combine some components, or different component arrangements.

[0076] As shown Figure 1 in the figure, the memory 1005, which is a computer-readable storage medium, may include an operating system, a network communication module, a user interface module, and a robot dynamic grinding path planning program.

[0077] In Figure 1 the robot dynamic grinding path planning device shown in the figure, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the robot dynamic grinding path planning device of the present invention may be arranged in the robot dynamic grinding path planning device. The robot dynamic grinding path planning device calls the robot dynamic grinding path planning program stored in the memory 1005 through the processor 1001 and executes the robot dynamic grinding path planning method provided by the embodiments of the present invention.

[0078] The embodiments of the present invention provide a robot dynamic grinding path planning method. Referring to Figure 2 , Figure 2 it is a schematic flowchart of an embodiment of the robot dynamic grinding path planning method of the present invention.

[0079] In this embodiment, the robot dynamic grinding path planning method includes the following steps:

[0080] Step S10: Collect the grinding motion data during the process of the robot grinding device grinding a test steel plate.

[0081] It should be understood that the execution subject of this embodiment may be a computing service device with data processing, network communication, and program running functions, such as a control terminal of a robot, or a terminal electronic device capable of implementing the above functions. Hereinafter, the robot dynamic grinding path planning device (planning device) is taken as an example to illustrate this embodiment and the following embodiments.

[0082] It should be noted that the robot grinding device may be a grinding oilstone at the end of a robotic arm, or other types of robots with grinding functions. The above test steel plate may be a dynamic steel plate. During the process of the robot grinding device grinding the test steel plate, the test steel plate may move uniformly in any horizontal direction to simulate the dynamic grinding scenario during the workpiece production process. The robot grinding device can perform horizontal movement grinding and oblique movement grinding on the test steel plate.

[0083] It should be noted that the grinding motion data can be the relevant motion data collected during the process of a grinding test robot's grinding device grinding a test steel plate, including the robot motion data and the steel plate motion data. The robot motion data can include the robot motion speed, the robot motion direction, the robot moving distance, etc. The steel plate motion data can include the steel plate motion speed, the steel plate moving distance, the steel plate motion direction, etc.

[0084] For example, the grinding motion data can include the robot motion speed, the steel plate motion speed, the moving distance of the grinding stone connected to the end when the robot grinding device moves horizontally for grinding, the moving distance of the steel plate when the robot grinding device moves horizontally for grinding, the length of the steel plate effectively ground when the robot grinding device moves horizontally for grinding, the effective width of the grinding stone, the width of the steel plate that needs to be ground, the length of the steel plate that needs to be ground, the moving distance of the steel plate when the robot grinding device moves obliquely for grinding, etc.

[0085] In some embodiments, the process of the robot grinding device grinding the test steel plate can refer to Figure 3 、 Figure 4 and Figure 5 , Figure 3 is a top view schematic diagram of the grinding stone of the robot grinding device and the steel plate, Figure 4 is a schematic diagram of the process of the grinding stone of the robot grinding device moving horizontally for grinding, Figure 5 is a schematic diagram of the process of the grinding stone of the robot grinding device moving obliquely for grinding. Among them, d represents the moving distance of the grinding stone connected to the end when the robot grinding device moves horizontally for grinding; x1 represents the moving distance of the steel plate when the robot grinding device moves horizontally for grinding; L represents the length of the steel plate effectively ground when the robot grinding device moves horizontally for grinding; w1 represents the effective width of the grinding stone; w2 represents the width of the steel plate that needs to be ground; l represents the length of the steel plate that needs to be ground; x2 represents the moving distance of the steel plate when the robot grinding device moves obliquely for grinding.

[0086] In some embodiments, the robot grinding device can be a multi-axis industrial robot (such as a 6-axis articulated robot), with a grinding tool (such as a grinding stone, a grinding wheel, or a polishing head, etc.) installed at its end. The process of the robot grinding device grinding the test steel plate can be to simulate a dynamic steel plate in actual production, and move it horizontally along the horizontal direction or the x-axis at a constant speed through a conveyor belt or a moving platform.

[0087] In some embodiments, the planning device can collect the grinding motion data during the process of the robot grinding device grinding the test steel plate through sensors and data acquisition systems. For example, it can collect the point cloud data at the end of the robot in real time through a laser sensor to determine the three-dimensional position and motion speed of the end of the robot; capture the surface state of the grinding area through a vision sensor to determine the effective grinding marks; monitor the changes in the contact force and pressure at the end of the robot grinding device during the grinding process through a torque sensor to determine the grinding pressure parameters corresponding to effective grinding.

[0088] Step S20: Analyze the relative motion relationship between the robot grinding device and the test steel plate based on the grinding motion data to obtain relative motion information.

[0089] In some embodiments, the planning device can preprocess the collected grinding motion data. For example, it can perform noise filtering, coordinate system conversion, data alignment, etc. on the grinding motion data.

[0090] It should be noted that the relative motion information can include speed synchronization error, trajectory deviation, relative displacement, coverage rate, etc.

[0091] In some embodiments, the planning device can draw the three-dimensional movement trajectory of the end grinding device of the robot in the steel plate coordinate system based on the preprocessed grinding motion data, and generate a curve of the displacement of the steel plate in the X-axis direction changing with time. Based on the three-dimensional movement trajectory of the robot and the curve of the displacement of the steel plate changing with time, calculate the displacement of the end grinding device of the robot relative to the steel plate, so as to obtain the relative displacement between the end of the robot and the steel plate.

[0092] In some embodiments, the planning device calculates the speeds of the end of the robot in the X-axis and Y-axis directions, and analyzes the speed synchronization errors between the end of the robot and the steel plate in the X-direction and Y-axis direction.

[0093] In some embodiments, the planning device can draw a scatter plot between the contact force and the relative displacement, analyze the coupling relationship between the force and the displacement. If the contact force fluctuates greatly, it means that the path planning at the end of the robot fails to effectively follow the movement of the steel plate, and then optimize the path.

[0094] In some embodiments, the planning device can calculate the coverage rate of the ground area by combining the surface topography data recorded by the vision system with the robot trajectory, identify the uncovered or over-ground areas, and optimize the path planning.

[0095] Step S30: Generate a periodic grinding path for the robot grinding device according to the relative motion information.

[0096] It should be noted that the periodic grinding path includes the horizontal movement path and the diagonal movement path of the robot grinding device within the grinding period. In some embodiments, the planning device can divide the target grinding area of the steel plate into multiple sub-areas, where each sub-area requires one grinding period for grinding, and one grinding period includes multiple grinding movements.

[0097] It can be understood that the planning device can combine Figure 3 , Figure 4 and Figure 5 the shown grinding process, and analyze the relative motion relationship between the robot grinding device and the test steel plate in combination with the grinding motion data to generate regular grinding motions, that is, obtain the periodic grinding path. Referring to Figure 6 , Figure 6 is a schematic diagram of the periodic grinding path. Among them, Figure 6 the solid line and the dotted line in it form a periodic grinding path, the arrow is the movement direction of the robot end, and its horizontal movement direction is opposite to that of the steel plate. Point A is the starting point and also the end point of the movement of the robot arm end. From A→B→K→L is recorded as the first half cycle, and L→M→N→A is recorded as the second half cycle. Among them, starting from A to B is recorded as one horizontal movement, and starting from B to C is recorded as one diagonal movement. One horizontal movement plus one diagonal movement is recorded as one grinding movement. The periodic grinding path corresponding to one grinding period includes multiple grinding movements, that is, the robot arm end performs Figure 6 the horizontal and diagonal superposition movements in it as one movement, then N1 one-time movements need to be performed in half a cycle:

[0098]

[0099] Step S40: Obtain the steel plate parameters of the steel plate to be ground and the robot parameters of the robot grinding device.

[0100] It should be noted that the steel plate parameters include the target grinding size, the steel plate movement direction, and the steel plate movement speed, and the robot parameters include the grinding oilstone size of the robot grinding device and the robot movement speed.

[0101] In some embodiments, the planning device can collect the physical property parameters, movement parameters, and geometric parameters of the steel plate to be ground, and collect the movement parameters, power parameters, and sensor parameters of the robot grinding device.

[0102] Step S50: Build a dynamic grinding model based on the steel plate parameters and the robot parameters, and solve the dynamic grinding model to obtain a dynamic grinding solution result.

[0103] It should be noted that the dynamic grinding model can be a polynomial mathematical model for the dynamic grinding path planning of the robotic grinding device. In some embodiments, the planning device can determine the grinding constraint conditions of the robotic grinding device during dynamic grinding based on the steel plate parameters and the robotic parameters, construct a polynomial equation based on the grinding constraint conditions, and solve by comparing the polynomial equations to obtain the dynamic grinding solution result.

[0104] Further, in order to improve the grinding efficiency and quality, step S50 described above may include:

[0105] Step S51: Determine the constraint relationship between the robotic grinding device and the steel plate to be ground based on the steel plate parameters and the robotic parameters;

[0106] Step S52: Construct a dynamic grinding model according to the constraint relationship;

[0107] Step S53: Solve the dynamic grinding model to obtain the dynamic grinding solution result.

[0108] It should be noted that the dynamic grinding model can be a polynomial mathematical model constructed based on the constraint relationship:

[0109]

[0110] Among them, d represents the lateral movement distance of the robotic grinding device during lateral movement grinding, L represents the effective grinding length of the steel plate to be ground during lateral movement grinding of the robotic grinding device, w1 represents the effective width of the grinding oilstone, and w2 represents the target grinding width of the steel plate to be ground.

[0111] Further, in order to accurately construct the dynamic grinding model and improve the grinding accuracy, the constraint relationship includes: lateral movement time constraint relationship, lateral movement grinding size constraint relationship, oblique movement time constraint relationship, cycle movement number constraint relationship, and cycle grinding size constraint relationship;

[0112] The lateral movement time constraint relationship and the lateral movement grinding size constraint relationship are the constraint relationships between the robotic grinding device and the steel plate to be ground during lateral movement grinding of the robotic grinding device;

[0113] Refer to Figure 6 , when the robotic grinding device laterally moves from point A to point B in Figure 6 , the movement time of the robot and the steel plate is equal. Therefore, the lateral movement time constraint relationship includes:

[0114]

[0115] The lateral movement grinding size constraint relationship includes:

[0116] d+x1=L

[0117] The oblique movement time constraint relationship is the constraint relationship between the robot grinding device and the steel plate to be ground when the robot grinding device moves obliquely for grinding;

[0118] Reference Figure 6 , the robot grinding device from Figure 6 When point B moves to point C, the movement time of the robot and the steel plate is also equal. The oblique movement time constraint relationship includes:

[0119]

[0120] The periodic motion number constraint relationship and the periodic grinding size constraint relationship are the constraint relationships of the robot grinding device within the grinding cycle. Figure 6 , Figure 6 The robot grinding device moves from point A to point B and then to point C, which is a grinding movement (lateral movement superimposed on oblique movement). The constraints of the number of periodic movements include:

[0121]

[0122] When the robot grinding device moves from point A to point L, there is a periodic grinding dimension constraint relationship, and the periodic grinding dimension constraint relationship includes:

[0123] N1(x2+x1)=d

[0124] Among them, v1 represents the steel plate movement speed of the steel plate to be polished, v2 represents the robot movement speed of the robot polishing device, x1 represents the movement distance of the steel strip to be polished when the robot polishing device moves horizontally for polishing, x2 represents the movement distance of the steel strip to be polished when the robot polishing device moves obliquely for polishing, and N1 represents the number of polishing movements within half a polishing cycle, and the polishing movement includes lateral polishing movement superimposed on oblique polishing movement.

[0125] It can be understood that by combining the above formulas of lateral movement time constraint, lateral movement grinding size constraint, oblique movement time constraint, periodic movement number constraint and periodic grinding size constraint, a dynamic grinding model can be obtained:

[0126]

[0127] Further, in order to accurately solve the dynamic grinding model in different scenarios, the dynamic grinding solution includes a first moving distance solution, a second moving distance solution and a third moving distance solution of the robot's lateral moving distance. In some embodiments, the above step S53 may include:

[0128] Step S531: Determine the effective grinding length of the steel plate to be ground when the robotic grinding device moves horizontally for grinding according to the constraint relationship;

[0129] Step S532: Split the dynamic grinding model to obtain multiple coefficient models;

[0130] Step S533: Solve the multiple coefficient models based on the effective grinding length to obtain the dynamic grinding solution result.

[0131] It should be noted that in some embodiments, the effective grinding width w1 of the robotic grinding device and the width w2 of the steel plate to be ground are both known. Therefore, by only giving one value of the effective grinding length L of the steel plate to be ground when the robotic grinding device moves horizontally for grinding or the horizontal moving distance d of the robotic grinding device when it moves horizontally for grinding, all other variable values can be obtained. At this time, in this embodiment, it is assumed that the value of L is given, and then the other value d is used as a variable, that is, given L, find d. The above coefficient models include:

[0132] k1 = 2L(w1 + w2)

[0133]

[0134] The above solution of the multiple coefficient models based on the effective grinding length may include radical solutions:

[0135]

[0136] Among them, d1, d2, and d3 respectively represent three solutions of d, and the complex part is:

[0137]

[0138] Other intermediate variables are:

[0139]

[0140] Among them, k1, k2, k3, and k4 respectively represent coefficient models, d1, d2, and d3 respectively represent the first moving distance solution result, the second moving distance solution result, and the third moving distance solution result, m, n, u, v, and respectively represent intermediate variables of the coefficient model, and i represents an imaginary number.

[0141] In some embodiments, if d is given as a known quantity and L is to be found, the dynamic grinding solution result further includes the first effective grinding length solution result and the second effective grinding length solution result of the effective grinding length of the steel plate to be ground when the robotic grinding device moves horizontally for grinding; the above Step S53 may include:

[0142] Step S5301: Determine the lateral movement distance of the robot during lateral movement and grinding of the robot grinding device according to the constraint relationship;

[0143] Step S5302: Split the dynamic grinding model to obtain a plurality of coefficient models;

[0144] Step S5303: Solve the plurality of coefficient models based on the lateral movement distance of the robot to obtain a dynamic grinding solution result.

[0145] It should be noted that the coefficient model includes:

[0146]

[0147]

[0148] The above-mentioned solution of the plurality of coefficient models based on the lateral movement distance of the robot, where the two roots of the equation can be respectively expressed as:

[0149]

[0150] where k 11 、k 12 and k 13 respectively represent coefficient models, L 1,2 represents the dynamic grinding solution result, L 1,2 includes the first effective grinding length solution result and the second effective grinding length solution result. The movement distance d of the end of the robotic arm should be within the working space, otherwise the robotic arm cannot reach.

[0151] Step S60: Perform dynamic grinding path planning according to the dynamic grinding solution result and the periodic grinding path.

[0152] In some embodiments, there may be multiple dynamic grinding solution results. To determine the optimal path, the planning device can use a genetic algorithm or a particle swarm optimization algorithm to optimize the dynamic grinding solution result, obtain the optimal solution result, perform dynamic grinding path planning based on the optimal solution result and the periodic grinding path, determine the grinding cycle, grinding torque and dynamic grinding path, and control the grinding device at the end of the robot to perform dynamic grinding on the steel plate to be ground based on the grinding cycle, grinding torque and dynamic grinding path.

[0153] Furthermore, in order to accurately plan the dynamic grinding path, in some embodiments, the above-mentioned step S60 may include:

[0154] Determine the robot moving speed of the robot grinding device according to the dynamic grinding solution result, the lateral movement time constraint relationship and the lateral movement grinding size constraint relationship between the robot grinding device and the steel plate to be ground during lateral movement grinding;

[0155] Based on the periodic grinding path, the target grinding size of the steel plate to be ground, and the effective grinding length of the steel plate to be ground during the lateral movement grinding of the robot grinding device, determine the required grinding period;

[0156] Perform dynamic grinding path planning according to the required grinding period and the periodic grinding path.

[0157] It should be noted that the target grinding size includes the target grinding length and the target grinding width. The moving speed of the steel plate can be collected by the on-site program and is usually a fixed constant speed value.

[0158] The above robot moving speed is calculated with reference to the following formula:

[0159]

[0160] The robot grinding device needs to complete N2 cycle movements before stopping. The above required grinding period is calculated with reference to the following formula:

[0161]

[0162] Among them, N2 represents the required grinding period for the robot grinding device to finish grinding the steel plate to be ground, and l represents the target grinding length of the steel plate to be ground.

[0163] In this embodiment, by collecting the grinding motion data during the process of the robot grinding device grinding the test steel plate, analyzing the relative motion relationship between the robot grinding device and the test steel plate based on the grinding motion data to obtain relative motion information, generating a periodic grinding path of the robot grinding device according to the relative motion information, the periodic grinding path includes the lateral movement path and the oblique movement path of the robot grinding device within the grinding cycle, obtaining the steel plate parameters of the steel plate to be ground and the robot parameters of the robot grinding device, the steel plate parameters include the target grinding size, the steel plate movement direction and the steel plate movement speed, the robot parameters include the grinding oilstone size of the robot grinding device and the robot movement speed, constructing a dynamic grinding model based on the steel plate parameters and the robot parameters, solving the dynamic grinding model to obtain a dynamic grinding solution result, and performing dynamic grinding path planning according to the dynamic grinding solution result and the periodic grinding path; since in this embodiment, by analyzing the relative motion between the robot grinding device and the test steel plate, generating a periodic grinding path of the robot grinding device according to the relative motion information, the dynamic synchronization performance of the robot during grinding is improved, and dynamic grinding path planning is performed according to the dynamic grinding solution result and the periodic grinding path, thereby effectively improving the grinding efficiency in a dynamic scenario, ensuring the grinding quality of dynamic workpieces, improving the reliability of workpiece grinding, ensuring that the actual grinding area of the workpiece meets the process requirements, and effectively avoiding the problems of uneven grinding and missed grinding.

[0164] In addition, an embodiment of the present invention also provides a computer-readable storage medium, on which a robot dynamic grinding path planning program is stored. When the robot dynamic grinding path planning program is executed by a processor, the steps of the robot dynamic grinding path planning method described above are implemented.

[0165] The computer-readable storage medium provided by this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0166] The above computer-readable storage medium can be included in the robot dynamic grinding path planning device; it can also exist separately without being assembled into the robot dynamic grinding path planning device.

[0167] In addition, an embodiment of the present invention also proposes a computer program product, including a robot dynamic grinding path planning program. When the robot dynamic grinding path planning program is executed by a processor, it implements the steps of the robot dynamic grinding path planning method as described above.

[0168] The specific implementation manner of the computer program product of the present invention is basically the same as that of each embodiment of the above robot dynamic grinding path planning method, and will not be described in detail here.

[0169] Refer to Figure 7 , Figure 7 which is a structural block diagram of an embodiment of the robot dynamic grinding path planning device of the present invention.

[0170] As Figure 7 shown, the robot dynamic grinding path planning device proposed by the embodiment of the present invention includes:

[0171] A data acquisition module 10, configured to acquire the grinding motion data during the process of the robot grinding device grinding a test steel plate;

[0172] A motion analysis module 20, configured to analyze the relative motion relationship between the robot grinding device and the test steel plate based on the grinding motion data, and obtain relative motion information;

[0173] A periodic path analysis module 30, configured to generate a periodic grinding path of the robot grinding device according to the relative motion information, where the periodic grinding path includes a lateral movement path and an oblique movement path of the robot grinding device within a grinding cycle;

[0174] A parameter acquisition module 40, configured to acquire the steel plate parameters of the steel plate to be ground and the robot parameters of the robot grinding device, where the steel plate parameters include the target grinding size, the steel plate movement direction, and the steel plate movement speed, and the robot parameters include the grinding oilstone size of the robot grinding device and the robot movement speed;

[0175] A model solving module 50, configured to construct a dynamic grinding model based on the steel plate parameters and the robot parameters, and solve the dynamic grinding model to obtain a dynamic grinding solution result;

[0176] A dynamic path planning module 60, configured to perform dynamic grinding path planning according to the dynamic grinding solution result and the periodic grinding path.

[0177] In this embodiment, by collecting the grinding motion data during the process of the robot grinding device grinding the test steel plate, the relative motion relationship between the robot grinding device and the test steel plate is analyzed based on the grinding motion data to obtain relative motion information, and a periodic grinding path of the robot grinding device is generated according to the relative motion information. The periodic grinding path includes a lateral movement path and an oblique movement path of the robot grinding device within a grinding cycle. The steel plate parameters of the steel plate to be ground and the robot parameters of the robot grinding device are acquired. The steel plate parameters include the target grinding size, the steel plate movement direction, and the steel plate movement speed, and the robot parameters include the grinding oilstone size of the robot grinding device and the robot movement speed. A dynamic grinding model is constructed based on the steel plate parameters and the robot parameters, and the dynamic grinding model is solved to obtain a dynamic grinding solution result. Dynamic grinding path planning is performed according to the dynamic grinding solution result and the periodic grinding path. Since in this embodiment, the relative motion between the robot grinding device and the test steel plate is analyzed, and the periodic grinding path of the robot grinding device is generated according to the relative motion information, the dynamic synchronization performance of the robot during the grinding process is improved. Dynamic grinding path planning is performed according to the dynamic grinding solution result and the periodic grinding path, thereby effectively improving the dynamic scene grinding efficiency, ensuring the grinding quality of the dynamic workpiece, improving the reliability of workpiece grinding, ensuring that the actual grinding area of the workpiece meets the process requirements, and effectively avoiding the problems of uneven grinding and missed grinding.

[0178] The robot dynamic grinding path planning device provided by this application adopts the robot dynamic grinding path planning method in the above-mentioned embodiment, and can solve the technical problem of robot dynamic grinding path planning. Compared with the prior art, the beneficial effects of the robot dynamic grinding path planning device provided by this application are the same as those of the robot dynamic grinding path planning method provided by the above-mentioned embodiment, and other technical features in the robot dynamic grinding path planning device are the same as the features disclosed in the method of the above-mentioned embodiment, which will not be elaborated here.

[0179] It should be understood that the above is only for illustration and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can set according to needs, and the present invention does not limit this.

[0180] It should be noted that the above-described work process is only illustrative and does not limit the protection scope of the present invention. In actual applications, those skilled in the art can select some or all of them according to actual needs to achieve the purpose of the solution of this embodiment, and there is no limitation here.

[0181] In addition, for the technical details not described in detail in this embodiment, reference can be made to the robot dynamic grinding path planning method provided in any embodiment of the present invention, which will not be elaborated here.

[0182] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or system including that element.

[0183] The serial numbers of the above-mentioned embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0184] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory / random access memory, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0185] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A robot dynamic polishing path planning method, characterized in that: The robot dynamic polishing path planning method comprises: Collect grinding motion data of the robot grinding device during the grinding of the test steel plate; Analyzing the relative motion relationship between the robot grinding device and the test steel plate based on the grinding motion data to obtain relative motion information; generating a periodic grinding path of the robot grinding device according to the relative motion information, wherein the periodic grinding path includes a lateral movement path and an oblique movement path of the robot grinding device within a grinding cycle; Acquire the steel plate parameters of the steel plate to be polished and the robot parameters of the robot polishing device, wherein the steel plate parameters include the target polishing size, the steel plate movement direction and the steel plate movement speed, and the robot parameters include the polishing oilstone size and the robot movement speed of the robot polishing device; Building a dynamic grinding model based on the steel plate parameters and the robot parameters, and solving the dynamic grinding model to obtain a dynamic grinding solution result; Dynamic polishing path planning is performed according to the dynamic polishing solution result and the periodic polishing path.

2. The robot dynamic polishing path planning method according to claim 1, characterized in that: The dynamic grinding model is constructed based on the steel plate parameters and the robot parameters, and the dynamic grinding model is solved to obtain a dynamic grinding solution result, including: Determine a constraint relationship between the robot grinding device and the steel plate to be ground based on the steel plate parameters and the robot parameters; Construct a dynamic polishing model based on the constraints: Wherein, d represents the lateral movement distance of the robot when the robot grinding device moves horizontally for grinding, L represents the effective grinding length of the steel plate to be grinded when the robot grinding device moves horizontally for grinding, w1 represents the effective width of the grinding oilstone, and w2 represents the target grinding width of the steel plate to be grinded; The dynamic grinding model is solved to obtain a dynamic grinding solution result.

3. The robot dynamic polishing path planning method according to claim 2, characterized in that: The constraint relationships include: lateral movement time constraint relationship, lateral movement grinding size constraint relationship, oblique movement time constraint relationship, periodic movement number constraint relationship and periodic grinding size constraint relationship; The lateral movement time constraint relationship and the lateral movement grinding size constraint relationship are the constraint relationships between the robot grinding device and the steel plate to be ground during lateral movement grinding. The lateral movement time constraint relationship includes: The lateral movement grinding dimension constraint relationship includes: d+x1=L The oblique movement time constraint relationship is the constraint relationship between the robot grinding device and the steel plate to be ground when the robot grinding device is moving obliquely for grinding. The oblique movement time constraint relationship includes: The periodic motion number constraint relationship and the periodic grinding size constraint relationship are constraint relationships of the robot grinding device within the grinding cycle, and the periodic motion number constraint relationship includes: The periodic grinding dimension constraint relationship includes: N1(x2+x1)=d Among them, v1 represents the steel plate movement speed of the steel plate to be polished, v2 represents the robot movement speed of the robot polishing device, x1 represents the movement distance of the steel strip to be polished when the robot polishing device moves horizontally for polishing, x2 represents the movement distance of the steel strip to be polished when the robot polishing device moves obliquely for polishing, and N1 represents the number of polishing movements within half a polishing cycle, and the polishing movement includes lateral polishing movement superimposed on oblique polishing movement.

4. The robot dynamic polishing path planning method according to claim 3, characterized in that: The dynamic grinding solution result includes a first moving distance solution result, a second moving distance solution result and a third moving distance solution result of the robot's lateral moving distance; the dynamic grinding model is solved to obtain the dynamic grinding solution result, including: Determine, according to the constraint relationship, the effective grinding length of the steel plate to be ground when the robot grinding device moves laterally for grinding; The dynamic polishing model is split to obtain multiple coefficient models, and the coefficient models include: k1=2L(w1+w2) The multiple coefficient models are solved based on the effective grinding length to obtain a dynamic grinding solution result: Among them, k1, k2, k3 and k4 represent the coefficient model respectively, d1, d2 and d3 represent the first moving distance solution result, the second moving distance solution result and the third moving distance solution result respectively, m, n, u, v and They represent the intermediate variables of the coefficient model respectively, and i represents an imaginary number.

5. The robot dynamic polishing path planning method according to claim 3, characterized in that: The dynamic grinding solution also includes a first effective grinding length solution and a second effective grinding length solution of the effective grinding length of the steel plate to be ground when the robot grinding device moves laterally for grinding; the dynamic grinding model is solved to obtain the dynamic grinding solution, including: Determining a lateral movement distance of the robot when the robot grinding device moves laterally for grinding according to the constraint relationship; The dynamic polishing model is split to obtain multiple coefficient models, and the coefficient models include: The multiple coefficient models are solved based on the lateral movement distance of the robot to obtain a dynamic grinding solution result: Among them, k 11 , k 12 and k 13 Respectively represent the coefficient model, L 1,2 Indicates the dynamic grinding solution result, L 1,2 Includes the first effective grinding length solution and the second effective grinding length solution.

6. The robot dynamic polishing path planning method according to any one of claims 1 to 5, characterized in that: The performing dynamic polishing path planning according to the dynamic polishing solution result and the periodic polishing path includes: The robot movement speed of the robot grinding device is determined according to the dynamic grinding solution result, the lateral movement time constraint relationship between the robot grinding device and the steel plate to be ground during lateral movement grinding, and the lateral movement grinding size constraint relationship: The grinding cycle required is determined based on the periodic grinding path, the target grinding size of the steel plate to be ground, and the effective grinding length of the steel plate to be ground when the robot grinding device moves laterally for grinding, wherein the target grinding size includes a target grinding length and a target grinding width: Wherein, N2 represents the grinding cycle required for the robot grinding device to complete the grinding of the steel plate to be polished, and l represents the target grinding length of the steel plate to be polished; Dynamic grinding path planning is performed according to the required grinding cycle and the periodic grinding path.

7. A robot dynamic polishing path planning device, characterized in that: The robot dynamic polishing path planning device comprises: A data acquisition module, used to collect grinding motion data of the robot grinding device during the grinding of the test steel plate; A motion analysis module, used for analyzing the relative motion relationship between the robot grinding device and the test steel plate based on the grinding motion data to obtain relative motion information; a periodic path analysis module, configured to generate a periodic grinding path of the robot grinding device according to the relative motion information, wherein the periodic grinding path includes a lateral movement path and an oblique movement path of the robot grinding device within a grinding cycle; A parameter acquisition module, used to acquire the steel plate parameters of the steel plate to be polished and the robot parameters of the robot polishing device, wherein the steel plate parameters include the target polishing size, the steel plate movement direction and the steel plate movement speed, and the robot parameters include the polishing stone size and the robot movement speed of the robot polishing device; A model solving module, used for building a dynamic grinding model based on the steel plate parameters and the robot parameters, and solving the dynamic grinding model to obtain a dynamic grinding solution result; A dynamic path planning module is used to perform dynamic polishing path planning according to the dynamic polishing solution result and the periodic polishing path.

8. A robot dynamic polishing path planning device, characterized in that: The robot dynamic polishing path planning device includes: a memory, a processor, and a robot dynamic polishing path planning program stored in the memory and executable on the processor, wherein the robot dynamic polishing path planning program is configured to implement the robot dynamic polishing path planning method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a robot dynamic polishing path planning program, and when the robot dynamic polishing path planning program is executed by the processor, the robot dynamic polishing path planning method according to any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that The computer program product comprises a robot dynamic polishing path planning program, and when the robot dynamic polishing path planning program is executed by a processor, the steps of the robot dynamic polishing path planning method according to any one of claims 1 to 6 are implemented.

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