Building hole punching robot high-precision anchor hole control system and method

Abstract

The application discloses a high-precision anchor hole control system and method for building punching robot, which comprises a mechanical arm, an impact electric hammer and a PID controller, collects real-time speed v ( t ) and real-time depth h ( t ), and the PID controller calculates optimal speed v opt ( h ( t )) and minimum depth h safe ( v ( t )) according to the real-time speed t ( h ) and the real-time depth t ( V ), obtains speed deviation e v ( t ) and depth deviation e h ( t ), and fuses them into comprehensive deviation e ( t ), obtains target acceleration a cmd ( t ), the mechanical arm outputs propulsion force according to the target acceleration a cmd ( t ), the mechanical arm generates new actual acceleration a act ( t ), and the speed is updated to v ( t + T s )= v ( t )+ a act ( t ) T s . The application achieves accurate control of anchor depth through the propulsion optimal speed algorithm model in different stages of the mechanical arm.

Description

TECHNICAL FIELD

[0001] The present application relates to a building electromechanical drilling robot, which realizes high-precision anchor hole quality on a concrete base, and is a building drilling robot high-precision anchor hole control system and method. BACKGROUND

[0002] Building electromechanical installation needs to drill holes on a concrete ceiling or the side of a concrete beam for subsequent anchor bolt installation. Unqualified anchor bolt holes can cause major safety accidents such as the falling of electromechanical pipelines.

[0003] In the prior art, the drilling angle is controlled according to an inclination sensor, and the drilling depth is controlled according to a distance measuring sensor. The basic operation process is to set the drilling depth according to engineering needs, when the drill bit advances to the set depth, the distance measuring sensor feeds back a signal to the mechanical arm, the mechanical arm stops advancing, and the drill bit is retracted to complete drilling. Through repeated tests, the drilling angle deviation meets the standard, but the actual depth deviation cannot meet the standard, and through analysis, the prior art has the following problems: the surface of the concrete work member (ceiling and beam) is actually uneven, and the laser distance measuring is at an angle on the surface of the member, the position deviation between the point where the mechanical arm end drill bit actually drills and the point where the sensor measures cannot coincide, resulting in actual anchor hole depth deviation exceeding the anchor depth allowable deviation mm quality requirement of the national industry standard JGJ 145-2013. Too fast or too slow mechanical arm advancing speed will cause the anchor depth deviation to exceed the standard deviation requirement, which cannot guarantee that the drilling quality meets the anchor bolt installation needs, causing safety hazards. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the shortcomings of the prior art, and to provide a building drilling robot high-precision anchor hole control system and method with high drilling precision and high robustness.

[0005] According to the building drilling robot high-precision anchor hole control system provided by the present application, a mechanical arm, an impact electric hammer installed on the mechanical arm, and a PID controller are included. The PID controller starts anchor depth calculation when the impact electric hammer contacts the concrete surface and displaces. The mechanical arm continuously advances and feeds back a signal to the PID controller, and stops advancing when the set anchor depth value is reached. Through the advancing optimal speed algorithm model in different stages of the mechanical arm, accurate control of the anchor depth is achieved. The mechanical arm transmits real-time speed v ( t ) and real-time depth h ( t ) to the PID controller, and the PID controller controls the advancing speed of the mechanical arm according to the collected real-time speed v ( t ) and real-time depthh t V opt h t h safe v t e v t e h t e t e t a cmd t a cmd t a act t v t T s v t a act t T s T s t T s v t T s h t T s V opt h t ​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​h safe ( v ( t This leads to a new speed deviation. e v ( t ) and new depth deviation e h ( t ), and merged into a new comprehensive deviation. e ( t The new target acceleration is calculated. a cmd ( t This enables real-time dynamic adjustment of speed.

[0006] The high-precision anchor hole control system for a building drilling robot provided by the present invention also has the following auxiliary technical features:

[0007] Further including the optimal speed V opt ( h ( t The model is represented as

[0008]

[0009] in, h safe The safe depth is the minimum depth of the robotic arm before it decelerates. k h The velocity coefficient; v max The formula for the maximum speed and minimum depth of the robotic arm's concrete drilling advance is expressed as follows: h safe ( v ( t ))= v ( t ) T, where T is the robotic arm response time.

[0010] Further including the comprehensive deviation e ( t The model is represented as

[0011]

[0012] in, α , β This is the deviation weighting coefficient. α + β =1, priority safety then β > α Prioritize efficiency α >β ;

[0013] The speed deviation e v ( t ) is expressed as

[0014]

[0015] The depth deviation e h ( t ) is expressed as

[0016]

[0017] T step is the time between receiving the deceleration instruction and starting to reduce the pulse frequency, h step is the displacement amount of the motor between receiving the deceleration instruction and starting to reduce the pulse frequency, h step = v(t)·T step , s step is the single-step distance, k h is the speed coefficient, f(t) is the initial pulse frequency, is the frequency change rate.

[0018] Further comprising, the target acceleration a cmd ( t ) model is expressed as

[0019]

[0020] wherein, K p is the proportional coefficient; K i is the integral coefficient; K d is the differential coefficient; is the integral time variable, is the time derivative of the deviation.

[0021] Further comprising, the target acceleration a cmd ( t ) output by the PID controller is subjected to a constraint, then a min ≤ a cmd ( t )≤ a max wherein, a min is the maximum deceleration; amax is the maximum acceleration.

[0022] Further comprising, the integral coefficient K p is obtained by using the trial and error method, and the steps are as follows: first, the integral coefficient K i =0, the differential coefficient K d =0, only the proportional term is reserved, and P control is from a smaller K p Start, observe the speed convergence, if the speed converges slowly, gradually increase K p ; if the speed frequently overshoots, reduce K p , until the speed has no overshoot and converges faster, at this time K p is the preliminary suitable value.

[0023] Further comprising, the integral coefficient K i is obtained by using the trial and error method, and the steps are as follows: on the basis of the proportional coefficient K p , gradually increase the integral coefficient K i , if there is a static error, increase K i ; if integral saturation occurs, reduce K i or add integral separation strategy.

[0024] Further comprising, the differential coefficient K d is obtained by using the trial and error method, and the steps are as follows: on the basis of the proportional coefficient K p and the integral coefficient K i , finally gradually increase the differential coefficient K d : if the speed fluctuates frequently, increase K d to suppress the fluctuation; if the response speed becomes slow, reduce K d .

[0025] According to the high-precision anchor hole control method of the building punching robot provided by the application, the following steps are included:

[0026] S1, input the drilling design depth and drill bit diameter, compare with the drill bit database, and determine the selectable drill bit model;

[0027] S2, query the installed drill and optional drill model;

[0028] S3, confirm whether the installed drill is consistent with the optional drill model, if not, select and replace the drill from the optional drill model; if yes, execute the next step;

[0029] S4, start the mechanical arm and the electric hammer to perform the drilling operation;

[0030] S5, advance the mechanical arm and the end electric hammer, calculate the optimal advancing speed of the current stage in real time in stages, avoid drilling too deep or too shallow, and calculate in real time by the mechanical arm optimal speed correction algorithm model;

[0031] S6, start anchor depth calculation when the displacement sensor contacts the concrete surface and starts to displace, and control the mechanical arm to continuously advance;

[0032] S7, the displacement value reaches the designed drilling depth, and the displacement sensor feeds back a signal to the mechanical arm to stop advancing;

[0033] S8, exit the drill, and complete the high-precision drilling operation.

[0034] Compared with the prior art, the high-precision anchor hole control method and system of the building drilling robot provided by the application has the following advantages: the application abandons the technical route of the distance measuring sensor, installs a displacement sensor with high robustness at the end electric hammer of the mechanical arm, starts anchor depth calculation when the displacement sensor contacts the concrete surface and starts to displace, controls the mechanical arm to continuously advance, feeds back a signal to the mechanical arm, and stops the advancing of the mechanical arm when the set anchor depth value is reached. Through the advancing optimal speed algorithm model in different stages of the mechanical arm, the accurate control of the anchor depth is achieved. For the depth deviation caused by the high-frequency impact of the electric hammer, the depth deviation correction algorithm caused by the high-frequency impact is derived by monitoring the impact frequency and current change characteristics of the electric hammer. Thus, a set of high-precision depth control device, method and system are established, the high-precision control of the anchor hole quality of the robot is achieved, and the actual test shows that the anchor hole depth deviation can be controlled within 2 mm, which fully meets the standard deviation requirement. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 The flowchart of the application.

[0036] Figure 2 The front view of the application. DETAILED DESCRIPTION

[0037] In order to clearly illustrate the scheme in the application, the preferred embodiments are given below and are described in detail in combination with the drawings. The following description is essentially only exemplary and is not intended to limit the application or use of the present disclosure. It should be understood that in all the drawings, corresponding reference numerals represent the same or corresponding parts and features.

[0038] like Figure 1 and Figure 2 As shown, this invention provides a high-precision anchor hole control system for a building drilling robot, including a robotic arm 1, an impact hammer 4 mounted on the robotic arm 1, and a PID controller. The PID controller starts calculating the anchor depth when the impact hammer contacts the concrete surface and causes displacement. The robotic arm continuously advances and sends feedback signals to the PID controller. When the set anchor depth value is reached, the advancement of the robotic arm stops. Precise control of the anchor depth is achieved through an optimal advancement speed algorithm model at different stages of the robotic arm's movement. The robotic arm also collects the real-time speed of the anchor hole. v ( t ) and real-time depth h ( t The data is transmitted to the PID controller, which then uses the acquired real-time speed data... v ( t ) and real-time depth h ( t ), calculate the optimal speed V opt ( h ( t and minimum depth h safe ( v ( t This leads to the speed deviation. e v ( t ) and depth deviation e h ( t ), and merged into a comprehensive deviation. e ( t The PID controller is substituted with the comprehensive deviation. e ( t ), calculate the three components of the PID controller: the proportional term P, the integral term I, and the derivative term D, and sum them to obtain the target acceleration. a cmd ( t The robotic arm adjusts according to the target acceleration. a cmd ( t The output propulsion force causes the robotic arm to generate a new actual acceleration. a act ( t ), causing the speed of the robotic arm to be updated to v ( t + T s )= v ( t )+ a act (t ) T s ,in Ts The sampling period of the PID controller, the next sampling period t + T s The PID controller then collects the updated real-time speed again. v ( t + T s ) and real-time depth h ( t + T s Repeatedly calculate the optimal speed V opt ( h ( t and minimum depth h safe ( v ( t This leads to a new speed deviation. e v ( t ) and new depth deviation e h ( t ), and merged into a new comprehensive deviation. e ( t The PID controller is substituted with the new comprehensive deviation. e ( t ), calculate the proportional term P, integral term I, and derivative term D of the PID, and sum them to obtain the new target acceleration. a cmd ( t The robotic arm adjusts according to the new target acceleration. a cmd ( t The output propulsion force causes the robotic arm to generate a new actual acceleration. a act ( t This allows for real-time dynamic adjustment of the speed. The sampling and calculation process described above is repeated continuously to achieve real-time dynamic adjustment. The PID controller calculates the control quantity based on the system error using proportional, integral, and derivative parameters. Here, P represents proportional control, I represents integral control, and D represents derivative control. The actual acceleration... a act ( t The velocity is directly obtained from sensors on the robotic arm. Through the aforementioned control system, the deviation between the target acceleration and the actual acceleration is reduced, thereby achieving precise control of the propulsion speed. Real-time velocity of the anchor hole is collected. v (t ) and real-time depth h ( t ) are realized by corresponding sensors. Referring to Figure 2 , the reference numeral 1 is a mechanical arm, 2 is a current and frequency built-in sensor for detecting the current and working frequency of the electric hammer motor. 3 is an acceleration sensor for detecting the actual acceleration. 4 is an impact electric hammer for hole punching operation. 5 is a displacement sensor for detecting the real-time depth of hole punching. 6 is a dust cover for receiving the falling powder of hole punching. 7 is a concrete working surface.

[0039] I. Construction of a mechanical arm optimal speed algorithm correction mathematical model

[0040] Since the control of the mechanical arm hole punching advancing speed needs to consider two targets of “real-time advancing speed” and “anchor hole design depth”, two independent PIDs are designed to control the speed and depth respectively, and then the output is fused through the weight.

[0041] 1. Optimal speed algorithm correction formula

[0042] Before modeling, the calculation method of two core reference quantities (optimal speed, anchor hole design depth) needs to be determined, which is the source of the PID input deviation:

[0043] Optimal speed function V opt ( h ( t )) represents the ideal advancing speed corresponding to the current depth h ( t ). The larger the depth, the higher the optimal advancing speed, and vice versa. A “nonlinear saturation model” is adopted:

[0044]

[0045] Wherein: h safe is the safety depth (minimum depth before mechanical arm deceleration); k h is the speed coefficient, v max is the maximum speed of the mechanical arm concrete hole punching (limit value). The formula of the minimum depth is: h safe ( v ( t ))= v t T, T is the response time of the mechanical arm.

[0046] 2. Weighted fusion deviation design

[0047] ​​To balance speed and depth at the same time, two deviations are fused into "integrated deviation α 、 β " by weight coefficient e ( t ) α + β =1, priority safety β > α , priority efficiency α > β ): e ( t )= α e v ( t )+ β e h ( t )

[0048] For example, if α =0.4 (efficiency weight), β =0.6 (safety weight), when the depth is too small e h ( t )>0, the integrated deviation is more inclined to "need to slow down", and safety is prioritized; when the depth is sufficient e h ( t )≈0, the integrated deviation is dominated by the speed deviation, and efficiency is prioritized.

[0049] After receiving the deceleration command, the motor needs to pass through T step time to start reducing the pulse frequency, and in this stage, the current speed v(t) is uniform, and the displacement is: h step = v(t)·T step . s step is the single-step distance, that is, the linear displacement amount (mm / step) generated by the mechanical structure when receiving 1 pulse.

[0050] The deceleration stage reduces the pulse frequency to reduce the speed from v(t) to 0, assuming that the initial pulse frequency is f(t), and finally reduces to 0, and the frequency change rate is (uniform reduction), then:

[0051] The speed deviation e v ( t ) is represented as

[0052]

[0053] The depth deviatione h ( t ) represents

[0054]

[0055] 3. PID control algorithm mathematical model

[0056] PID control algorithm eliminates current deviation by "proportional term (P)", eliminates static error by integral term (I), and suppresses overshoot by differential term (D), and outputs target acceleration a cmd ( t ). The PID formula in continuous time domain is:

[0057]

[0058] wherein, K p is the proportional coefficient; K i is the integral coefficient; K d is the differential coefficient; is the integral time variable (only used in integral operation), is the time derivative of deviation. In continuous time, the differential term is the rate of change of deviation, and in discrete time, it is approximately is the sampling period.

[0059] Analysis of the role of each parameter:

[0060] Proportional coefficient K p : amplifies the current deviation, and the response speed is fast, but too large can easily lead to overshoot;

[0061] Integral coefficient K i : accumulates historical deviation, eliminates static error;

[0062] Differential coefficient K d : reflects the rate of change of deviation, and suppresses deviation mutation.

[0063] 4. Output constraint (physical limit)

[0064] Since the acceleration / deceleration of the mechanical arm in the concrete punching process has a physical upper limit, the PID output a cmd ( t ) needs to be constrained to avoid exceeding the limit performance that the mechanical arm can withstand: a min ≤a cmd ( t )≤ a max . Wherein, a min is the maximum deceleration; a max is the maximum acceleration. The initial speed is 0, and the final speed is 0.

[0065] II. Real-time adjustment process (control closed loop)

[0066] The core of PID control is the real-time closed loop of "perception - calculation - execution - feedback", and the specific process is as follows:

[0067] The data perception arm collects "real-time speed v ( t )" and "real-time depth h ( t )" in real time, and transmits them to the PID controller. The so-called "real-time speed v ( t )" and "real-time depth h ( t )" refers to the pushing speed and pushing amount of the arm during anchor hole operation.

[0068] The deviation calculation and fusion controller calculates the optimal speed V opt ( h ( t )) and the minimum depth h safe ( v ( t )) according to the collected v ( t ), h ( t ), and then obtains the speed deviation e v ( t ), the depth deviation e h ( t ), and fuses them into the comprehensive deviation e ( t ).

[0069] The PID calculation outputs the target acceleration controller, which substitutes the comprehensive deviation e ( t ), calculates the P, I, and D components of the PID, sums them up to get the target acceleration a cmd ( t ), and adjusts it to [a min , a max ] range.

[0070] The speed updating mechanical arm is executed according to a cmd ( t ) output propulsion force, the mechanical arm generates new actual acceleration a act ( t ), so that the speed is updated to v ( t + T s )= v ( t )+ a act ( t ) T s

[0071] The next sampling period under feedback closed loop t + T s , the controller collects updated v ( t + T s ) and h ( t + T s ), repeat steps 2-4, to achieve real-time dynamic adjustment of speed.

[0072] III. PID parameter tuning

[0073] The performance of the PID controller depends on the reasonable selection of K p , K i , K d , and improper parameter tuning will lead to control failure (such as excessive overshoot, slow convergence). We use the experience trial and error method, the steps are as follows:

[0074] Initial parameter setting first K i =0, K d =0, only the proportional term (P control) is retained, starting from a small K p (such as K p =0.2), observe the speed convergence: if the speed converges slowly (the deviation exists for a long time), gradually increase​K p If the speed overshoots frequently (e.g. after overshooting the optimal speed, it drops rapidly), decrease K p until the speed converges quickly without overshooting (at this point K p is a preliminary suitable value).

[0075] Introduce the integral term (PI control) when K p is suitable, gradually increase K i (initial value K i = 0.04): If there is a static error (after the speed stabilizes, it is still lower than the optimal speed), increase K i ; if integral saturation occurs (continuous acceleration leads to severe speed overshoot), decrease K i or add an "integral separation" strategy (only when the deviation is small, the integral term is enabled).

[0076] Introduce the derivative term (PID control) and finally gradually increase K d (initial value K d = 0.12): If the speed fluctuates frequently (e.g. small changes in depth lead to frequent acceleration adjustments), increase K d to suppress fluctuations; if the response speed is slow (e.g. when the deviation increases, the acceleration adjustment lags), decrease K d .

[0077] Four, stability and robustness analysis

[0078] PID control needs to ensure "deviation convergence" (i.e. e ( t ) → 0, the speed eventually stabilizes at the optimal value, and the depth deviation is controlled optimally), which can be verified by Lyapunov stability criterion:

[0079] 1. Stability verification

[0080] Define Lyapunov function , if V ( e ( t )) < 0 (the derivative of the function is always negative), the system is stable. Substituting the PID formula can prove that when K p> 0, K i > 0, K d≥ 0, the system meets the asymptotic stability condition (the deviation eventually converges to 0).

[0081] 2. Conclusion

[0082] In the optimal speed control of mechanical arm punching, the core advantage of PID control is simple structure, strong real-time performance and high robustness, without complex optimization solution (such as dynamic programming), and the speed can be adjusted in real time through millisecond-level sampling. The key is: a, reasonably design the "speed-depth" weighted fusion deviation, balance efficiency and safety; b, scientific setting of PID parameters, avoid overshoot and static error.

[0083] Five, mechanical arm propulsion optimal speed algorithm correction example as follows:

[0084] (I) example of basic parameter setting

[0085] 1. Mechanical arm control parameters

[0086] Table 1

[0087]

[0088] 2. PID controller parameters (after experience setting)

[0089] Table 2

[0090]

[0091] (II) calculation formula

[0092] 1. Optimal speed function V opt ( h ( t ))

[0093]

[0094] The greater the depth, the closer the optimal speed to the physical limit speed; when the depth is too deep, the optimal speed tends to 0.

[0095] 2. Minimum depth h safe ( v ( t ))

[0096] h safe ( v ( t )) = 0.003 v ( t )

[0097] 3. Comprehensive deviation e (t )

[0098] e ( t )=0.4 ( V opt ( h ( t )) v ( t ))+0.6 ( h safe ( v ( t )) h ( t ))

[0099] Fusion speed deviation and depth deviation, priority to ensure safety.

[0100] 4. PID output (target acceleration a cmd ( t ))

[0101] PID formula in discrete time domain (sampling period Ts =0.1 s ):

[0102] a cmd ( k )= K p e ( k )+ K i T s ∑ i =0 ke ( i )+ K d T s e ( k ) e ( k 1)

[0103] Where: k is the time step ( k =0,1,2,..., corresponding to time t =0,0.1,0.2,...s ), ∑ i =0 ke ( i ) represents the cumulative sum of the integral terms. Tse ( k ) e ( k 1) is the differential term (rate of change of deviation).

[0104] 5. Actual speed update

[0105] The actual speed of the robotic arm is determined by both the target acceleration and physical constraints:

[0106] v ( k +1)= v ( k )+min(max( a cmd ( k ), a min ), a max ) T s

[0107] (III) Results Analysis

[0108] 1. Acceleration Phase ( t =0 1 s ): The speed reaches the physical limit, and the depth is far greater than the safe depth.

[0109] Speed ​​change: The robotic arm accelerates gradually from an initial speed of 0 m / s under PID control with a maximum acceleration of 0.05 m / s², and approaches the limit speed of 0.03 m / s at 0.6 s. The static error is less than 0.005 m / s (the integral term effectively eliminates the error).

[0110] Actual depth: Real-time drilling depth increased from 0m to 0.02m.

[0111] 2. Steady Phase (t=1) 2s): The speed converges to the optimal value, and the depth approaches the safe depth.

[0112] Speed ​​variation: The robotic arm operates smoothly from the maximum speed of 0.03 m / s, with a static error of less than 0.005 m / s (the integral term effectively eliminates the error).

[0113] Actual depth: Real-time drilling depth increased from 0.02m to 0.06m.

[0114] 3. deceleration phase (t=2 2.2s): speed tends to 0, depth tends to design depth

[0115] Speed change: the controlled robot arm gradually decelerates from the initial 0.03 m / s at the maximum deceleration -0.1 m / s² under PID control, approaches 0 m / s at 0.2 s, and the static error is less than 0.005 m / s (the integral term effectively eliminates the error).

[0116] Actual depth: the actual drilling depth increases from 0.06 m to 0.08 m, reaching the design depth of the anchor hole.

[0117] It should be noted that the variables involved in the description of the present application are explained in detail in the following table.

[0118] Table 3

[0119]

[0120] Referring to Figure 1 and Figure 2 , the present application provides a high-precision anchor hole control method for a building drilling robot, comprising the following steps:

[0121] S1, input the drilling design depth and drill bit diameter, and compare with the drill bit database to determine the selectable drill bit model;

[0122] S2, query the installed drill bit and the selectable drill bit model;

[0123] S3, confirm whether the installed drill bit and the selectable drill bit model are consistent, if not, select and replace the drill bit from the selectable drill bit model; if yes, proceed to the next step;

[0124] S4, start the robot arm and electric hammer to perform drilling work;

[0125] S5, advance the robot arm and the end electric hammer, and calculate the optimal advance speed of the current stage in real time in stages to avoid overdrilling or underdrilling, which is calculated in real time by the robot arm optimal speed correction algorithm model;

[0126] S6, start the anchor hole depth calculation when the displacement sensor contacts the concrete surface and the displacement sensor feedback signal to the robot arm to stop advancing;

[0127] S7, the displacement value reaches the drilling design depth, and the displacement sensor feedback signal stops the robot arm;

[0128] S8, exit the drill bit, and complete the high-precision drilling work.

[0129] The robot arm optimal speed correction algorithm model is calculated in real time by the system of the above embodiment.

[0130] To sum up, the above-mentioned content is only the embodiment of the present application, only for explaining the principle of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A high-precision anchor hole control system for a building drilling robot, comprising a mechanical arm, an impact electric hammer mounted on the mechanical arm, and a PID controller, characterized in that: The PID controller begins calculating the anchor depth when the impact hammer displaces upon contact with the concrete surface. The robotic arm continues to advance and sends feedback signals to the PID controller. When the set anchor depth value is reached, the robotic arm stops advancing. Precise control of the anchor depth is achieved through an optimal speed algorithm model for the robotic arm at different stages of its advance. The robotic arm also collects real-time speed data. v ( t ) and real-time depth h ( t The data is transmitted to the PID controller, which then uses the acquired real-time speed data... v ( t ) and real-time depth h ( t ), calculate the optimal speed V opt ( h ( t and minimum depth h safe ( v ( t This leads to the speed deviation. e v ( t ) and depth deviation e h ( t ), and merged into a comprehensive deviation. e ( t The PID controller is substituted with the comprehensive deviation. e ( t ), calculate the three components of the PID controller: the proportional term P, the integral term I, and the derivative term D, and sum them to obtain the target acceleration. a cmd ( t The robotic arm accelerates according to the target. a cmd ( t The output propulsion force causes the robotic arm to generate a new actual acceleration. a act ( t ), causing the speed of the robotic arm to be updated to v ( t + T s )= v ( t )+ a act ( t ) T s ,in T s sampling period for the PID controller, next sampling period t + T s , the PID controller collects updated real-time speed v ( t + T s ) and real-time depth h ( t + T s ), repeatedly calculates the optimal speed V opt ( h ( t )) and the minimum depth h safe ( v ( t )), and then obtains a new speed deviation e v ( t ) and a new depth deviation e h ( t ), and is fused into a new comprehensive deviation e cmd ( t ), to calculate a new target acceleration a cmd ( t ), to achieve real-time dynamic adjustment of the speed, the optimal speed V opt ( h ( t )) model is represented as wherein, h safe is a safety depth, the safety depth being a minimum depth before the mechanical arm decelerates; k h is a speed coefficient; v max is a maximum speed of the mechanical arm for drilling and pushing concrete; the minimum depth is expressed by the formula: h safe ( v ( t ))= v ( t ) T, T being a response time of the mechanical arm.

2. The high-precision anchor hole control system of a building punching robot according to claim 1, characterized in that: The integrated bias e ( t ) model is represented as wherein, α , β is a bias weight coefficient, α + β = 1, prioritizing safety then β > α , prioritizing efficiency then α > β ; The speed deviation e v ( t ) is expressed as The depth bias e h ( t ) is represented as T step is the time between receiving the deceleration command and starting to decrease the pulse frequency, h step is the displacement between receiving the deceleration command and starting to decrease the pulse frequency, h step = v(t)·T step , s step is the single step distance, k h is the speed coefficient, f(t) is the initial pulse frequency, is the frequency change rate.

3. The high-precision anchor hole control system of a building punching robot according to claim 1, characterized in that: The target acceleration a cmd ( t ) model is represented as wherein K p is a proportional coefficient; K i is an integral coefficient; K d is a derivative coefficient; is an integral time variable, is a time derivative of the deviation.

4. The high-precision anchor hole control system of a building punching robot according to claim 1, characterized in that: target acceleration to the PID controller output a cmd ( t ) is applied, then a min ≤ a cmd ( t )≤ a max wherein a min is the maximum deceleration; a max is the maximum acceleration.

5. The high-precision anchor hole control system of a building punching robot according to claim 3, characterized in that: proportional coefficient K p The proportional coefficient is obtained by using the trial and error method, and the steps are as follows: first, the integral coefficient K i =0, the differential coefficient K d =0, only the proportional term is reserved, and P is controlled, starting from a smaller K p value. Then, the convergence of the speed is observed. If the speed converges slowly, the value of P is gradually increased K p . If the speed frequently overshoots, the value of P is reduced K p . Until the speed has no overshoot and converges faster, the value of P is the preliminary suitable value K p .

6. The high-precision anchor hole control system of a building punching robot according to claim 5, characterized in that: the integral coefficient K i is obtained by using the trial-and-error method, and the steps are as follows: gradually increasing the integral coefficient K p on the basis of the suitable integral coefficient K i , if there is a static error, increasing the integral coefficient K i ; if integral saturation occurs, decreasing the integral coefficient K i or adding an integral separation strategy.

7. The high-precision anchor hole control system of a building punching robot according to claim 6, characterized in that: the differential coefficient K d is obtained by trial and error, as follows: the proportional coefficient K p is increased by trial and error, as follows: the integral coefficient K i is increased step by step on a suitable basis K d : if the speed fluctuates frequently, the differential coefficient K d is increased to suppress fluctuations; if the response speed slows down, the differential coefficient K d is decreased.

8. A high-precision anchor hole control method for a building punching robot, characterized in that: The method comprises the following steps: S1, input the drilling design depth and the drill bit diameter, compare with the drill bit database, and determine the selectable drill bit model; S2, query the installed drill bit and the selectable drill bit model; S3, confirm whether the installed drill bit is consistent with the selectable drill bit model, if not, select and replace the drill bit from the selectable drill bit model, and if yes, execute the next step; S4, start the mechanical arm and the electric hammer to execute the drilling operation; S5, advance the mechanical arm and the end electric hammer, calculate the optimal advancing speed of the current stage in stages in real time, avoid over-deep or over-shallow drilling, calculate the mechanical arm optimal speed correction algorithm model in real time, and the mechanical arm optimal speed correction algorithm model is completed by the system in any one of claims 1 to 7; S6, start anchor depth calculation when the displacement occurs on the concrete surface, and control the mechanical arm to continuously advance; S7, the displacement value reaches the drilling design depth, and the displacement sensor feeds back the signal to the mechanical arm to stop advancing; S8, exit the drill bit, and complete the high-precision drilling operation.

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