Shield tunneling machine tool changing robot centering control method, medium and equipment

Abstract

The invention discloses a centering control method for a tool changing robot of a shield tunneling machine, a medium and equipment, the centering control method is formed by eight sensor arrays, and the eight sensor arrays are respectively arranged on an upper clamping jaw and a lower clamping jaw of a clamping jaw at the tail end of the robot; for triggering of a single sensor, a clamping jaw at the tail end of the robot can be driven to move towards a pre-designed velocity vector; when a plurality of sensors are triggered, a resultant velocity is finally generated due to synthesis and offset of velocity vectors; determining required joint movement or trajectory planning by calculating a transformation matrix from a current tail end coordinate system to a target tool coordinate system, namely, generating a transformation matrix from a t moment to a t + 1 moment under a sensor coordinate system, and then generating a transformation matrix from a base coordinate system to a tail end clamping jaw through coordinate change; the invention particularly relates to a velocity vector generation method and a centering control method based on a low-cost digital sensor, which are used for realizing accurate alignment control between an end effector and a disc cutter.

Description

TECHNICAL FIELD

[0001] The application relates to the field of alignment of a disc cutter replacing robot of a shield tunneling machine, and particularly relates to a centering control method for a disc cutter replacing robot of a shield tunneling machine, a medium and equipment. BACKGROUND

[0002] In a shield tunneling machine (TBM) construction process, a disc cutter, as a main cutting tool, needs to be replaced regularly to ensure construction efficiency and safety due to long-term high-load impact and wear. However, the disc cutter replacement operation faces the following technical problems. Although there are many feasible technical solutions, there are many problems, such as dependence on expensive sensors, high computational complexity, poor adaptability and the like. The existing solutions such as laser or force sensors (such as a laser range finder and a six-axis force sensor) can achieve high precision (±0.1 mm), but the cost of a single system exceeds 50,000 yuan, and the system is sensitive to environmental vibration and dust and has poor stability. The abandonment cost is not taken into account. For a large shield tunneling machine disc cutter replacing robot, it is difficult to implement a force sensor on the shield tunneling machine. In addition, the traditional motion planning algorithm needs to solve the inverse kinematics in real time, which is easy to cause the singular configuration of the robot arm in the limited space and has slow response delay. The existing solutions need to modify the structure of the TBM cutter head (such as installing a visual calibration target), which is difficult to be compatible with different types of shield tunneling machines. SUMMARY

[0003] The centering control method for the disc cutter replacing robot of the shield tunneling machine provided by the application can at least solve one of the technical problems in the background art.

[0004] To achieve the above-mentioned purpose, the application adopts the following technical solutions: A centering control method for a disc cutter replacing robot of a shield tunneling machine, comprising the following steps, 8 sensor arrays are adopted and arranged on the upper and lower grippers of the robot end gripper; in terms of single sensor triggering, the robot end gripper is driven to move at a pre-designed velocity vector; when multiple sensors are triggered, a resultant velocity is finally generated due to the synthesis and cancellation of the velocity vectors; The pre-designed velocity vector comprises, In the robot sensor coordinate system, based on the layout design of the 8 digital sensors symmetrically distributed on the xy plane, the velocity vector models in the x direction and the y direction can be established. Specifically, the 8 sensors are uniformly arranged on the circumference with the end gripper as the center. The sensor system adopts a layered layout: 4 sensors are arranged on each of the upper layer and the lower layer, and the sensors on each layer are uniformly distributed at an equal angle interval of π / 2, to jointly form a full-range surrounding detection of the disc cutter structure of the end gripper; the definition of the velocity vector is: ; δ and ρ represent the velocity compensation of the sensor in the x-axis and y-axis directions, respectively, and the velocity vector set has the following characteristics: wherein the set characteristics are that the sensors are symmetrically distributed on the upper plane and the lower plane of the gripper, and each two sensors, i.e. and , k = 1, 2, 3, 4, form a pair; wherein, the base coordinate system is a world coordinate system as a global reference frame, fixed on the robot base, providing a unified reference for the entire system; the position and pose of all other coordinate systems are described by the homogeneous transformation matrix, which describes the pose relationship relative to the base coordinate system; the end effector coordinate system is directly attached to the robot end tool, and changes in real time with the movement of the robot arm, reflecting the actual pose of the current tool in space, which is the key reference for motion control and real-time adjustment; the sensor coordinate system is fixed at the center of the sensor device, and the sensor coordinate system is defined at the center position of the 8 matrix sensors; the perception data in this coordinate system needs to be transformed to be associated with other coordinate systems of the robot; the target tool coordinate system defines the desired pose that the robot end effector needs to reach, which is the direct basis for task planning and motion generation; by calculating the transformation matrix from the current end coordinate system to the target tool coordinate system, the required joint motion or trajectory planning is determined, i.e. the sensor coordinate system generates the transformation matrix from t time to t+1 time, and then generates the conversion matrix from the base coordinate system to the end gripper through coordinate transformation.

[0005] In another aspect, the application also discloses a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to make the processor execute the steps of the above method.

[0006] In another aspect, the application also discloses a computer device, which comprises a memory and a processor, and the memory stores a computer program, and the computer program is executed by the processor to make the processor execute the steps of the above method.

[0007] From the above technical scheme, the application relates to the technical field of a tunnel boring machine (TBM) disc cutter replacing robot, and particularly relates to a speed vector generation method and a centering control method based on a low-cost digital sensor, which are used for realizing accurate alignment control between an end effector and a disc cutter. The TBM disc cutter replacing work environment is harsh and the operation space is limited, and the traditional manual replacing mode is low in efficiency and high in danger. Existing robot solutions mostly rely on expensive laser or force sensors for alignment, and are high in cost. The application provides a low-cost alternative solution based on a digital I / O signal, and realizes high-precision real-time motion control.

[0008] Specifically, the application has the following advantages: (1) The application discards expensive force sensors and other expensive sensors to realize accurate guidance of the robot end to accurately center the cutter.

[0009] (2) The speed vector generated by each sensor trigger can be set according to the actual situation. The advantage of this is that the algorithm is highly versatile. Because of the different sensor layouts and the objects to be grasped, the speed vector for guiding the end gripper can be adjusted when each sensor trigger.

[0010] (3) The change matrix generated by the application can adjust the position of the robot end gripper by translation and rotation of the gripper.

[0011] (4) The greatest innovation of the application is to process the trigger signals (I / O signals) of the sensors through an algorithm. Each sensor trigger corresponds to a four-dimensional vector for guiding the robot end. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is a transformation matrix generated by the embodiment of the application according to the contact sensor signal Algorithm process Figure 2 is the framework of the centering control method algorithm of the shield machine cutter replacing robot of the embodiment of the application Figure 3 is the arrangement of the sensor coordinate system and the progressive switches 1 to 4 in the embodiment of the application Figure 4 is the arrangement of the progressive switches 5 to 8 in the embodiment of the application.

[0013] Figure 5 is the complete transformation chain relationship of the world coordinate system, the end effector coordinate system, the sensor coordinate system and the tool coordinate system of the embodiment of the application. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0015] The present invention solves the problems of high cost and complex maintenance of the existing TBM cutter replacement robot alignment system. The specific implementation scheme is as follows: The most significant innovation of the present invention is the algorithmic processing of the sensor's trigger signal (I / O signal).

[0016] Specifically, the system utilizes an array of eight sensors, positioned on the upper and lower grippers of the robot's end gripper. When a single sensor is triggered, it moves the robot's end gripper toward the velocity vector designed by the present invention. When multiple sensors are triggered, the velocity vectors combine and cancel each other out, ultimately generating a single combined velocity.

[0017] In the robot sensor coordinate system, the velocity vector design in the x-direction and y-direction is realized based on a symmetrically distributed array of 8 digital sensors. Figure 3 As shown, the sensor system is installed on the robot end gripper (101), wherein 102 is a sensor array module, which is composed of 8 digital sensors (1021-1028) along The plane is evenly and symmetrically distributed (see the attached for the specific spatial layout) Figure 4 ) The upper and lower layers are each equipped with 4 sensors (1021-1024 for the upper layer, 1025-1028 for the lower layer). The sensors in each layer are evenly distributed at equal angles of π / 2, together forming a full-range surrounding detection of the hob structure of the end gripper (101). This symmetrical distribution design ensures accurate detection of the motion speed in the plane. The number of each sensor (1021 corresponds to sensor No. 1, and so on) corresponds to its physical position in the array. Through the spatial configuration of the sensor array, a velocity characterization model directly related to the motion state of the end effector can be established. Its velocity vector is defined as: ; δ and ρ represent the sensor's velocity compensation in the x- and y-axis directions, respectively. This velocity vector set comprehensively considers the real-time detection data of each sensor and the spatial orientation of the shield machine cutter. A velocity representation model corresponding to the end gripper's motion state is established through vector synthesis. The collective feature is that the sensor is on the gripper Plane and bottom Plane symmetrical distribution, every two sensors ( and , k = 1, 2, 3, 4) form a pair.

[0018] From the knowledge of robot kinematics and coordinate transformation, we know that it is necessary to clarify the concepts of several coordinate systems. In the robot system of the present invention, the definition and relationship of multiple coordinate systems form the basis of motion control, perception and task execution. The relationship between sensors is shown in the figure: Base coordinate system (world coordinate system) As a global reference frame, it is fixed to the robot base and provides a unified benchmark for the entire system. The positions and postures of all other coordinate systems can be described by homogeneous transformation matrices relative to the base coordinate system.

[0019] End effector coordinate system It is directly attached to the end tool of the robot and changes in real time with the movement of the robotic arm, reflecting the actual position of the current tool in space. It is a key reference for motion control and real-time adjustment.

[0020] Sensor coordinate system Fixed at the center of the sensor device, this algorithm defines the sensor coordinate system at the center of the eight matrix sensors. The sensor data in this coordinate system must undergo coordinate transformation before it can be associated with the robot's other coordinate systems. Equation (1) is the velocity vector generated when each sensor is triggered, as defined in the sensor coordinate system. The purpose of this velocity vector is to guide the velocity vector from time t to time t+1.

[0021] Target tool coordinate system It defines the desired position that the robot end effector needs to achieve, which is the direct basis for task planning and motion generation. In specific applications, the required joint motion or trajectory planning can be determined by calculating the transformation matrix from the current end coordinate system to the target coordinate system. The coordinate system framework defined in this invention is shown in the attached figure. Figure 5 shown.

[0022] The principle of the algorithm is to use the sensor coordinate system The transformation matrix from time t to time t+1 is generated. Then, the transformation matrix from the base coordinate system to the end gripper is generated through coordinate transformation.

[0023] In rigid body kinematics, the velocity composition theorem provides an intuitive way to describe the motion of a point attached to a moving coordinate system. Specifically, the absolute velocity of a point is equal to the velocity of the moving coordinate system (including both translational and rotational components) plus the relative velocity of the point with respect to the moving coordinate system. In other words, the total velocity is composed of the motion of the coordinate system itself, the effects of rotation about the coordinate system's origin, and the additional motion of the point relative to the coordinate system.

[0024] Based on this principle, the present invention can interpret the tactile sensor signal as a velocity vector and design the sensor coordinate system to move in the direction of these velocities. Applying this to the sensor coordinate system, the following formula is obtained: ; The present invention defines a point in the sensor coordinate system as , whose position vector is In time The sensor coordinate system is considered relative to the time Fixed coordinate system.

[0025] From formula (2), we can see that the velocity value of the sensor coordinate system expected to be transformed when each sensor is triggered in the algorithm is shown in formula (1). It can be decomposed into translational velocity and rotational velocity. In this algorithm, the present invention introduces a weight factor. In order to control the contribution of sensor triggering to the velocity vector, the present invention introduces a weight factor , used to determine the contribution ratio when the sensor is triggered.

[0026] The translation velocity contribution of each sensor is then given by: ; Translational velocity matrix Build as: ; For the rotation velocity matrix The present invention uses the relationship between angular velocity and linear velocity to solve For the rotation component , which can be expressed as: ; in is the angular velocity contribution generated by the i-th sensor. Using the cross product relationship and and The vertical characteristics can be solved to get: ; Rotation velocity matrix Build as: ; The sensor trigger signal is represented by a vector k(1×n), where n is the number of sensors (8 in the embodiment of the present invention). Set to 1, otherwise 0. The final angular velocity calculation result is: ; Similarly, the final translation velocity calculation result is: ; In a small time interval , the translation component of the transformation matrix is: ; The angular displacement is: ; The method adjusts the contribution ratio of the sensor trigger to the translation and rotation movement through a weight factor , wherein when the time is completely contributed to the translation movement, when the time is completely contributed to the rotation movement. By constructing the product operation of the velocity matrix and the trigger signal vector, the multi-sensor information fusion is realized, and the motion transformation of the machine body can be calculated in real time according to the contact condition.

[0027] In the standard robot representation, the application defines the sensor coordinate system transformation from time to . Let and represent the sensor coordinate system at time and respectively. The transformation matrix represents the transformation of the sensor coordinate system at time t to time t+1. The contact sensor signal generates the transformation matrix The algorithm process is shown in the accompanying Figure 1 , including the following steps: According to the robot end gripper sensor layout design, the compensation velocity vector ; Select the weight coefficient to determine the contribution amount of rotation and translation; Get the translation velocity and rotation velocity that generate the expected sensor motion vector ; Based on the above translation velocity and rotation velocity vector, the position increment and attitude increment of the sensor coordinate system in a small time interval can be derived; respectively convert and into rotation and translation in the robot base coordinate system to generate .

[0028] Specifically, the generation of the sensor compensation velocity vector and the pose transformation method includes the following steps: S1: Compensation velocity vector generation: Based on the sensor layout design of the robot end gripper, the compensation velocity vector of each sensor is constructed , by selecting the weight coefficient to adjust the contribution ratio of the rotation component and the translation component, to generate the expected sensor motion vector containing the translation velocity and the rotation velocity , wherein , the weight coefficient is selected according to the proportion of the expected translation velocity and the rotation velocity; S2: Calculation of translation velocity matrix and rotation velocity : The translation velocity contribution component of each sensor is , and the translation velocity matrix is constructed as ; ; The rotation velocity contribution of each sensor is , and the rotation velocity matrix is constructed as ; S3: Dynamic adjustment of sensor coordinate system angular velocity and translation velocity calculation: Based on S2, the translation velocity matrix is constructed as and the rotation velocity matrix , and the dynamic angular velocity and the dynamic translation velocity generated by the sensor array are obtained according to the sensor signal k; S4: Pose increment calculation: The pose increment of the sensor coordinate system is calculated within a small time interval , including, translation increment ; rotation increment ; Based on the rotation formula and , the corresponding rotation matrix is calculated; S5: Coordinate system conversion: Convert and to the rotation and translation in the robot sensor coordinate system to generate , wherein .

[0029] The translation is the rotation matrix , and the rotation matrix is calculated by the Rodrigues rotation formula; ; In the formula It's about The cross product matrix of For small time intervals In terms of The present invention can Written as: ; Finally, the present invention obtains the transformation matrix in the sensor coordinate system. Since the machine needs to move in Cartesian space, it is necessary to establish a complete transformation chain relationship from the world coordinate system to the tool coordinate system. The relationship between time t and time t+1 is as shown in the attached figure. Figure 5 As shown: ; The final convergence condition of this control algorithm is as follows: , the control system generates a change matrix in infinite time As time approaches infinity, the transformation matrix from the world coordinate system to the end gripper coordinate system approaches the transformation matrix from the world coordinate system to the tool coordinate system. The final effect is to achieve an infinite approximation between the end gripper coordinate system and the tool coordinate system. The entire algorithm execution of the robot is shown in the attached figure. Figure 2 As shown: S1: Initial positioning phase Control the robot's end gripper to move to the rough grasping position of the tool based on the preset path planning to establish the initial pose reference; S2: Clamping start phase Drive the end gripper to perform a progressive closing action and simultaneously activate the dynamic monitoring function of the contact sensor array; S3: Contact perception stage During the closing process of the gripper, the contact signal is collected in real time through the contact sensor array to generate the contact signal matrix K; S4: Pose calculation stage Based on the preset velocity vector model and time interval factor , calculate the pose transformation in the sensor coordinate system: Calculate the rotation matrix using the Rodrigues formula ; Determine the translation amount ; Combine to get the complete pose transformation matrix ; S5: Movement conversion phase According to the robot kinematic chain relationship, the transformation of the sensor coordinate system is converted into the action instructions of the end effector in Cartesian space, and the posture adjustment matrix of the end gripper is generated. ; S6: closed loop adjustment stage Perform the pose adjustment action, update the contact signal matrix K in real time, and iteratively perform steps S4-S5; S7: convergence determination stage When the preset convergence condition is met, terminate the adjustment process, and complete the centering control.

[0030] The control method realizes accurate centering control of the tool through the closed loop control process of contact sensing-pose calculation-motion adjustment. Among them, based on the real-time update of the sensor signal matrix and the iterative calculation of the pose transformation, the accuracy and reliability of the control process are ensured.

[0031] End in response to completion of the convergence condition.

[0032] In other words, when the translation error and the rotation error: ; In the formula Indicates the pose of the robot end gripper t in the world coordinate system, and when the time tends to infinity, the translation error and the rotation error are 0, that is, the control system and algorithm of the application are considered to have completed ; Through laboratory verification, the center of the robot end gripper coordinate system is offset by 40mm, 30mm, 10mm and 5mm in the x direction relative to the center of the tool coordinate system (the center of the tool box). The experimental results show that the control system of the application completes the grabbing of the tool. Due to the geometric structure constraint of the shield machine roller cutter, a 3mm offset is made in the y direction for grabbing experiment. The experimental results show that the control system and algorithm of the application are good.

[0033] In another aspect, the application also discloses a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to make the processor execute the steps of the above method.

[0034] In another aspect, the application also discloses a computer device, which comprises a memory and a processor, and the memory stores a computer program, and the computer program is executed by the processor to make the processor execute the steps of the above method.

[0035] In another embodiment provided in the application, a computer program product containing instructions is also provided, which makes a computer execute the centering control method of the shield machine tool changing robot in any of the above embodiments when it is run on the computer.

[0036] It can be understood that the system, device and storage medium provided by the embodiments of the present application correspond to the method provided by the embodiments of the present application, and the explanation, examples and beneficial effects of related contents can refer to the corresponding parts in the above method.

[0037] In the above embodiments, the system, device and storage medium provided by the embodiments of the present application can be realized by software, hardware, firmware or any combination thereof, wholly or partially. When realized by software, the system, device and storage medium provided by the embodiments of the present application can be realized in the form of a computer program product, wholly or partially. The computer program product comprises one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated, wholly or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another, for example, the computer instructions can be transferred from one website, computer, server or data center to another via wire (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, etc. containing one or more available media. The available medium can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, DVD) or a semiconductor medium (for example, Solid State Disk (SSD)) and the like.

[0038] It should be noted that, in this document, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0039] Each embodiment in this specification is described in a related manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so the description is relatively simple. For related parts, refer to the description of the method embodiment.

[0040] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A shield machine tool changing robot centering control method, characterized in that: It uses an array of eight sensors, one on each of the upper and lower grippers of the robot's end gripper. When a single sensor is triggered, it drives the robot's end gripper toward a pre-designed velocity vector. When multiple sensors are triggered, the velocity vectors combine and cancel each other out, ultimately generating a combined velocity. Pre-designed velocity vectors include, In the robot sensor coordinate system, based on the layout design of eight digital sensors symmetrically distributed in the xy plane, velocity vector models in the x and y directions are established. Specifically, the eight sensors are evenly arranged on a circle centered on the end gripper, and the sensor system adopts a layered layout: The upper and lower layers are each equipped with 4 sensors, and the sensors in each layer are evenly distributed at equal angles of π / 2, together forming a full-range surrounding detection of the hob structure of the end gripper (101). The velocity vector is defined as follows: ； δ and ρ represent the sensor's velocity compensation in the x- and y-axis directions, respectively. This velocity vector set comprehensively considers the real-time detection data of each sensor and the spatial orientation of the shield machine cutter. A velocity representation model corresponding to the end gripper's motion state is established through vector synthesis. The sensor is located on the gripper Plane and bottom Symmetrical distribution on the plane, every two sensors are and , k = 1, 2, 3, 4, forming a pair; in, The base coordinate system is the world coordinate system As a global reference frame, it is fixed on the robot base and provides a unified benchmark for the entire system. The positions and postures of all other coordinate systems can be described by homogeneous transformation matrices relative to the base coordinate system. End effector coordinate system Directly attached to the robot's end tool, it changes in real time with the movement of the robot arm, reflecting the actual position of the current tool in space and serving as a key reference for motion control and real-time adjustment. Sensor coordinate system Fixed at the center of the sensor device, the sensor coordinate system is defined at the center of the 8 matrix sensors; the perception data in this coordinate system needs to be transformed before it can be associated with other coordinate systems of the robot; Target tool coordinate system It defines the desired pose that the robot's end effector needs to achieve, and is the direct basis for task planning and motion generation. The required joint motion or trajectory planning is determined by calculating the transformation matrix from the current end coordinate system to the target tool coordinate system, that is, the sensor coordinate system The transformation matrix from time t to time t+1 is generated, and then the transformation matrix from the base coordinate system to the end gripper is generated through coordinate change.

2. The shield machine tool changing robot centering control method according to claim 1 is characterized in that: The velocity vector includes the following formula: ； Defines a point in the sensor coordinate system , whose position vector is ; in time The sensor coordinate system is considered relative to the time Fixed coordinate system; From formula (2), it can be seen that the expected velocity value of the transformed sensor coordinate system generated when each designed sensor is triggered is shown in formula (1); It is decomposed into translational velocity and rotational velocity, and a weight factor γ is introduced to determine the contribution ratio when the sensor is triggered; The translation velocity contribution of each sensor is then given by: ； Translation velocity matrix V t Build as: ； For the rotation velocity matrix V r The solution is to use the relationship between angular velocity and linear velocity ; For the rotation component , expressed as: ； in It is The angular velocity contribution generated by each sensor; using the cross product relationship and and The vertical characteristics, solve for: ； Rotation velocity matrix V r Build as: ； The sensor trigger signal is represented by vector k(1×n), where n is the number of sensors. When sensor i detects tactile contact, k i Set to 1, otherwise 0; The final angular velocity calculation result is: ； Similarly, the final translation velocity calculation result is: ； In a small time interval Δt, the translation component of the transformation matrix is: ； The angular displacement is: ； The contribution ratio of sensor triggering to translational and rotational motion can be flexibly adjusted through the weight factor γ, where γ=1 completely contributes to translational motion, and γ=0 completely contributes to rotational motion. Multi-sensor information fusion is achieved by constructing the product operation of the velocity matrix and the trigger signal vector.

3. The shield machine tool changing robot centering control method according to claim 2, characterized in that: Also includes sensor signal generation conversion matrix step: Design compensation velocity vector according to the layout of robot end gripper sensor ; Select weight coefficient , to determine the contribution of rotation and translation; Get the desired sensor motion vector Translation speed and rotation speed ; Based on the above translation speed and rotation speed Vector, at small time intervals The position increment of the sensor coordinate system is derived and attitude increment ; Respectively and The rotation and translation converted to the robot base coordinate system produce ; in: ； In the formula, the rotation matrix It is calculated by the Rodrigues rotation formula, and its expression is: ; In the formula For small time intervals In terms of It's about The cross product matrix of Time interval Infinitely small, Written as: ； Finally, the transformation matrix in the sensor coordinate system is obtained; Since the machine needs to move in Cartesian space, a complete transformation chain relationship from the world coordinate system to the tool coordinate system is established. The relationship between time t and time t+1 is as follows: ； The final convergence condition is as follows , the control system generates a change matrix in infinite time As time approaches infinity, the transformation matrix from the world coordinate system to the end gripper coordinate system will approach infinitely to the transformation matrix from the world coordinate system to the tool coordinate system. The final effect is to achieve infinite proximity between the coordinate system of the end gripper and the tool coordinate system.

4. The shield machine tool changing robot centering control method according to claim 3 is characterized in that: The centering control process includes the following steps: S1: Initial positioning phase Control the robot's end gripper to move to the rough grasping position of the tool based on the preset path planning to establish the initial posture reference; S2: Clamping start phase Drive the end gripper to perform a progressive closing action and simultaneously activate the dynamic monitoring function of the contact sensor array; S3: Contact perception stage During the closing process of the gripper, the contact signal is collected in real time through the contact sensor array to generate the contact signal matrix K; S4: Pose calculation stage Based on the preset velocity vector model and time interval factor , calculate the pose transformation in the sensor coordinate system: Calculate the rotation matrix using the Rodrigues formula ; Determine the translation amount ; Combine to get the complete pose transformation matrix ; S5: Movement conversion phase According to the robot kinematic chain relationship, the transformation of the sensor coordinate system is converted into the action instructions of the end effector in Cartesian space, and the posture adjustment matrix of the end gripper is generated. ; S6: Closed-loop adjustment phase Perform posture adjustment actions, update the contact signal matrix K in real time, and iteratively execute steps S4-S5; S7: Convergence determination stage When the preset convergence conditions are met, the adjustment process is terminated and the centering control is completed.

5. The shield machine tool changing robot centering control method according to claim 3 is characterized in that: Generation of the sensor-compensated velocity vector and pose transformation The method comprises the following steps: S1: Compensation velocity vector generation: Based on the sensor layout design of the robot end gripper, the compensation velocity vector of each sensor is constructed , by choosing the weight coefficient To adjust the contribution ratio of the rotation component to the translation component, generate a translation speed and rotation speed The expected sensor motion vector ,in , the weight coefficient Select according to the expected ratio of translation speed and rotation speed; S2: translation velocity matrix and rotation speed Calculation: The translation velocity contribution of each sensor is , the translation velocity matrix is ​​constructed as ; The rotation speed contribution of each sensor is , the rotation velocity matrix is ​​constructed as ; S3: Dynamically adjust the sensor coordinate system angular velocity and translation velocity calculation: Based on S2, the translation velocity matrix is ​​constructed as follows: and the rotation velocity matrix , according to the sensor signal k, the dynamic angular velocity generated by the sensor array is obtained and dynamic translation speed ; S4: Pose increment calculation: In small time intervals Calculate the pose increment of the sensor coordinate system, including, Translation Increment ; Rotation increment ; based on Rotation formula and Calculate the corresponding rotation matrix ; S5: Coordinate system conversion: Will and The rotation and translation converted to the robot sensor coordinate system are generated .

6. The shield machine tool changing robot centering control method according to claim 4, characterized in that: It also includes translation error and rotation error, then: ； In the formula Indicates the position of the robot's end gripper at time t in the world coordinate system. When time tends to infinity, the translation error and rotation error are 0, that is, 。 7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the processor is caused to perform the steps of the method according to any one of claims 1 to 6.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the computer program is executed by the processor, the processor is caused to perform the steps of the method according to any one of claims 1 to 6.

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