Strip steel polishing robot path optimization system, method, device and equipment

Abstract

The invention discloses a path optimization system, method, device and equipment for a strip steel grinding robot, and relates to the technical field of intelligent equipment application. The grinding executing mechanism is arranged at the tail end of the robot body and used for executing grinding operation on the surface of the to-be-ground strip steel; the laser ranging device is arranged at the tail end of the robot body and used for detecting the height of the surface of the to-be-ground strip steel in the to-be-ground area before grinding operation; the programmable controller is connected to the robot body, the polishing executing mechanism and the laser distance measuring device; the programmable controller is used for determining a polishing starting three-dimensional coordinate based on a defect two-dimensional coordinate generated by a machine vision algorithm and a starting point height coordinate detected by the laser ranging device; the robot body is controlled to move to the polishing starting three-dimensional coordinates, and polishing operation is started; in the polishing process, the height change value, detected by the laser ranging device, of the surface of the to-be-polished strip steel in the to-be-polished area is obtained;

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent equipment application, and in particular to a strip grinding robot path optimization system, method, device and equipment. BACKGROUND

[0002] In the strip production process of the metallurgical industry, the surface of the hot-rolled strip often has defects such as slag, skin buckling, and foreign matter pressing in, and needs to be ground before entering the subsequent cold rolling process. The traditional manual grinding method not only has high labor intensity and a poor working environment, but also has problems such as unstable grinding quality and low efficiency, which is difficult to meet the needs of modern production lines for automation and intelligentization. In order to replace manual work, robots have been tried in the prior art for automatic grinding, but significant challenges still exist in practical application. Because the hot-rolled strip often has different degrees of wave fluctuations, if the robot cannot adjust the grinding track in real time according to the surface profile, it is easy to cause uneven grinding force, incomplete grinding, and even poor contact or excessive extrusion between the grinding piece and the strip, affecting product quality and possibly damaging the equipment. Therefore, there is an urgent need for a strip grinding robot path optimization system to solve the above problems. SUMMARY

[0003] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the specific embodiments section. The summary section of the present application does not mean to attempt to limit the key features and necessary technical features of the claimed technical solution, nor to attempt to determine the protection scope of the claimed technical solution.

[0004] In a first aspect, the present application provides a strip grinding robot path optimization system, comprising:

[0005] a robot body;

[0006] a grinding execution mechanism arranged at the end of the robot body and used for performing grinding work on the surface of the strip to be ground;

[0007] a laser ranging device arranged at the end of the robot body and used for detecting the height of the surface of the strip to be ground in the area to be ground before the grinding work;

[0008] a programmable controller connected to the robot body, the grinding execution mechanism and the laser ranging device; wherein the programmable controller is used to determine a grinding starting three-dimensional coordinate based on a defect two-dimensional coordinate generated by a machine vision algorithm and a starting point height coordinate detected by the laser ranging device;

[0009] controlling the robot body to move to the grinding starting three-dimensional coordinate and start the grinding work;

[0010] In the polishing process, a height variation value of a surface of the strip steel to be polished in a region to be polished detected by the laser ranging device is acquired;

[0011] When the height variation value is greater than a first preset threshold, a path correction amount of the robot body in a height direction is determined;

[0012] A polishing posture of the robot body is adjusted based on the path correction amount, so that the polishing execution mechanism adapts to the height variation of the surface of the strip steel to be polished.

[0013] In some embodiments, the polishing execution mechanism comprises a floating unit and a force feedback unit;

[0014] The floating unit is configured to adapt to the height variation of the surface of the strip steel to be polished by a floating displacement of the floating unit when the height variation value is less than or equal to the first preset threshold;

[0015] The force feedback unit is configured to detect a polishing force between the polishing execution mechanism and the surface of the strip steel to be polished.

[0016] In some embodiments, the programmable controller is configured to determine a polishing force correction amount based on the polishing force, and adjust a press-down amount of the polishing execution mechanism based on the polishing force correction amount, so that the polishing execution mechanism and the surface of the strip steel to be polished maintain a target polishing force.

[0017] In some embodiments, a mounting position of the laser ranging device is determined based on a maximum movement speed of the robot body and an expected maximum wave variation slope of the surface of the strip steel to be polished.

[0018] In some embodiments, the programmable controller is further configured to determine a maximum controller response time required from acquiring the height variation value to outputting the path correction amount based on the mounting position, the maximum movement speed and the expected maximum wave variation slope.

[0019] In some embodiments, the programmable controller is further configured to alternately execute a first control task and a second control task based on a preset control period; the first control task is configured to control polishing movement of the robot body; and the second control task is configured to acquire the height variation value and determine the path correction amount when the height variation value is greater than the first preset threshold.

[0020] The execution timing of the first control task and the second control task is determined based on the installation position of the laser ranging device and the maximum movement speed of the robot body, to ensure that the determination of the path correction amount is completed before the polishing execution mechanism reaches the to-be-corrected region, wherein the to-be-corrected region is a region in the to-be-polished region where the height change value is greater than the first preset threshold.

[0021] In a second aspect, the application provides a strip steel polishing robot path optimization method, which is used for the system of any one of the first aspect, and includes:

[0022] Based on a machine vision algorithm, a two-dimensional coordinate of a defect on a surface of the strip steel to be polished is obtained.

[0023] A starting point height coordinate of the laser ranging device detected at a polishing starting point is obtained.

[0024] Based on the two-dimensional coordinate of the defect and the starting point height coordinate, a polishing starting three-dimensional coordinate is determined.

[0025] The robot body is controlled to move to the polishing starting three-dimensional coordinate, and a polishing execution mechanism is started to begin polishing work.

[0026] During the polishing process, a height change value of the surface of the strip steel to be polished in the to-be-polished region detected by the laser ranging device is obtained.

[0027] Based on the height change value and a first preset threshold, it is determined whether path correction is needed, and when path correction is needed, a path correction amount of the robot body in the height direction is determined.

[0028] Based on the path correction amount, the polishing posture of the robot body is adjusted, so that the polishing execution mechanism adapts to the height change of the surface of the strip steel to be polished.

[0029] In some embodiments, the method further includes:

[0030] During the polishing process, based on a polishing force between the polishing execution mechanism and the surface of the strip steel to be polished detected by a force feedback unit, a polishing force correction amount is determined.

[0031] Based on the polishing force correction amount, the pressing amount of the polishing execution mechanism is adjusted, so that the polishing force is maintained at a target polishing force.

[0032] In a third aspect, the application provides a strip steel polishing robot path optimization device, which includes:

[0033] A defect coordinate acquisition unit is configured to obtain a two-dimensional coordinate of a defect on a surface of the strip steel to be polished based on a machine vision algorithm.

[0034] An initial height acquisition unit is configured to acquire an initial point height coordinate of a laser ranging device at a polishing initial point detection;

[0035] An initial coordinate determination unit is configured to determine a polishing initial three-dimensional coordinate based on the defect two-dimensional coordinate and the initial point height coordinate;

[0036] A polishing operation control unit is configured to control the robot body to move to the polishing initial three-dimensional coordinate and start a polishing execution mechanism to start a polishing operation;

[0037] A height change monitoring unit is configured to acquire a height change value of a to-be-polished strip surface of a to-be-polished area detected by the laser ranging device during the polishing process;

[0038] A path correction decision unit is configured to determine whether path correction is needed based on the height change value and a first preset threshold value, and determine a path correction amount of the robot body in a height direction when the path correction is needed;

[0039] A polishing posture adjustment unit is configured to adjust a polishing posture of the robot body based on the path correction amount, so that the polishing execution mechanism is adapted to the height change of the to-be-polished strip surface.

[0040] In a fourth aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor is configured to implement the steps of the strip polishing robot path optimization method of any one of the second aspect when executing the computer program stored in the memory.

[0041] In a fifth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the steps of the strip polishing robot path optimization method of any one of the second aspect.

[0042] In summary, the strip grinding robot path optimization system provided in the present application comprises: a robot body; a grinding execution mechanism arranged at the tail end of the robot body and used for performing grinding work on the surface of the strip to be ground; a laser ranging device arranged at the tail end of the robot body and used for detecting the height of the surface of the strip to be ground in the grinding area to be ground before the grinding work; and a programmable controller connected to the robot body, the grinding execution mechanism and the laser ranging device. The programmable controller is used for determining a grinding starting three-dimensional coordinate based on a defect two-dimensional coordinate generated by a machine vision algorithm and a starting point height coordinate detected by the laser ranging device, controlling the robot body to move to the grinding starting three-dimensional coordinate and start the grinding work, acquiring a height change value of the surface of the strip to be ground in the grinding area to be ground detected by the laser ranging device during the grinding process, determining a path correction amount of the robot body in the height direction when the height change value is greater than a first preset threshold, and adjusting the grinding posture of the robot body based on the path correction amount so that the grinding execution mechanism adapts to the height change of the surface of the strip to be ground. The strip grinding robot path optimization system provided in the present application realizes online correction and posture adjustment of the robot path during the grinding process by real-time detection of the height change of the grinding area to be ground by the laser ranging device arranged at the tail end of the robot and comparison of the height data with the preset threshold by the programmable controller. The system can dynamically adapt to the undulating shape of the surface of the strip without stopping the machine, ensures that the grinding execution mechanism always maintains stable contact with the surface of the strip, thereby effectively improving the consistency and reliability of the grinding work, avoiding grinding omission or equipment damage caused by an unsuitable path, and improving the automation degree and work efficiency of the grinding process. BRIEF DESCRIPTION OF DRAWINGS

[0043] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not intended to limit the scope of the present application. Moreover, like reference numerals designate similar parts throughout the several views in the drawings. In the drawings:

[0044] Figure 1 A schematic diagram of the strip grinding robot path optimization system provided in the embodiment of the present application;

[0045] Figure 2 A partial enlarged view of the strip grinding robot path optimization system provided in the embodiment of the present application;

[0046] Figure 3 A schematic diagram of the strip grinding robot path optimization method flow provided in the embodiment of the present application;

[0047] Figure 4 A structural schematic diagram of the strip grinding robot path optimization device provided in the embodiment of the present application;

[0048] Figure 5 A strip steel polishing robot path optimization device structure schematic diagram provided by the embodiment of the present application.

[0049] In the figure, the correspondence between the reference signs and the component names is as follows: 101 is a robot body, 102 is a polishing execution mechanism, 103 is a strip steel to be polished, 104 is a laser ranging device, and 105 is a programmable logic controller. DETAILED DESCRIPTION

[0050] The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices. The technical solutions in the embodiments of the present application will be described in detail below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments.

[0051] Please refer to Figure 1 A strip steel polishing robot path optimization system schematic diagram provided by the embodiment of the present application, specifically can include:

[0052] A robot body 101;

[0053] A polishing execution mechanism 102, arranged at the end of the robot body 101, used to perform the polishing work of the surface of the strip steel to be polished 103;

[0054] A laser ranging device 104, arranged at the end of the robot body 101, used to detect the height of the surface of the strip steel to be polished 103 in the polishing area before the polishing work;

[0055] A programmable controller 105, connected to the robot body 101, the polishing execution mechanism 102 and the laser ranging device 104; wherein the programmable controller 105 is used to determine the polishing starting three-dimensional coordinates based on the defect two-dimensional coordinates generated by the machine vision algorithm and the starting point height coordinates detected by the laser ranging device 104;

[0056] Control the robot body 101 to move to the polishing starting three-dimensional coordinates and start the polishing work;

[0057] During the grinding process, the height change value of the surface of the strip steel 103 to be ground in the grinding area is obtained by the laser rangefinder 104.

[0058] When the change in height is greater than the first preset threshold, the path correction amount of the robot body 101 in the height direction is determined.

[0059] The grinding posture of the robot body 101 is adjusted based on the path correction amount so that the grinding actuator 102 can adapt to the height change of the surface of the strip steel 103 to be ground.

[0060] For example, such as Figure 1 The diagram shows a schematic of a strip steel grinding robot path optimization system provided in this embodiment. This system is deployed in the grinding area of ​​a strip steel production line to automate the grinding of surface defects on the strip steel. The system comprises a robot body 101, a grinding actuator 102, a laser rangefinder 104, and a programmable controller 105. These components are mechanically connected and interact with electrical signals to form a cohesive whole. The robot body 101 serves as the system's execution support mechanism. Its base is fixed to the foundation of the work area. The multi-joint robotic arm possesses multi-degree-of-freedom motion capabilities, enabling it to flexibly position the end effector to the target location on the strip steel surface. The grinding actuator 102 is mounted on the sixth axis at the end of the robot body 101 via a flange. It integrates a high-speed rotating grinding disc and pressure control components, responsible for performing material removal operations on the surface of the strip steel 103 to be ground. The laser rangefinder 104 is also fixed to the end of the robot body 101. Its installation position is calculated and located at the front end of the grinding actuator 102 along the grinding direction. This forward-positioned layout allows it to detect the surface contour of the strip steel 103 to be ground before the grinding head actually arrives. The strip steel 103 to be ground continuously passes through the work area under the conveyor rollers of the production line, and defects such as slag and peeling on its surface need to be removed. The programmable controller 105, as the control center of the system, maintains real-time communication with the robot body 101 controller, the laser rangefinder 104, and the grinding actuator 102 via an industrial fieldbus, and is responsible for coordinating the working sequence and data exchange of each component. The system uses machine vision technology to pre-identify surface defects of the strip steel 103 to be ground and generate two-dimensional coordinates. Then, it combines the height information collected by the laser rangefinder 104 to synthesize a complete three-dimensional grinding path. During the grinding process, the system monitors the surface undulations of the strip steel 103 to be ground in real time and dynamically adjusts the posture of the robot body 101 to ensure that the grinding execution mechanism 102 maintains a constant contact pressure with the surface of the strip steel 103 to be ground, thereby achieving the grinding treatment of surface defects of the strip steel.

[0061] Please see Figure 2A local enlarged view of the strip grinding robot path optimization system provided by the embodiment of the present application shows the specific structural layout of the robot end effector. The laser ranging device 104 is installed in front of the grinding execution mechanism 102. This spatial positional relationship is the key to realizing the forward-looking detection function, so that the detection beam emitted by the laser ranging device 104 can first contact the surface of the strip to be ground 103 than the grinding head of the grinding execution mechanism 102. The grinding execution mechanism 102 is a functional unit that directly executes the processing task. Its front end is provided with a grinding disc that can rotate at high speed. The grinding disc is driven by an internal motor and is integrated with a pressure sensing and buffer floating mechanism. The laser ranging device 104 is connected to the body of the grinding execution mechanism 102 through a mounting bracket, ensuring that the two maintain a constant relative pose during high-speed motion of the robot, thereby ensuring the accuracy of the conversion relationship between the measurement coordinate system and the grinding coordinate system. During operation, the laser ranging device 104 continuously emits a laser beam in the grinding direction, and measures the real-time height data of the surface of the strip to be ground 103 in front by receiving the reflected signal. These height data are transmitted in real time to the programmable controller 105 through the field bus, providing key feedforward information for the trajectory planning of the robot. At the same time, the grinding execution mechanism 102 is responsible for performing the actual grinding work. Its integrated force feedback system can monitor the grinding pressure, and the floating mechanism can compensate for the surface undulations within a certain range. The combination of the front measurement of the laser ranging device 104 and the real-time work of the grinding execution mechanism 102 enables the robot to adjust its pose in advance before the grinding tool reaches, ensuring a constant contact state and stable grinding force throughout the grinding process, thereby effectively adapting to the undulating changes of the strip surface and achieving automatic grinding.

[0062] In some examples, the grinding execution mechanism 102 includes a floating unit and a force feedback unit;

[0063] The floating unit is used to adapt to the height changes of the surface of the strip to be ground 103 through the floating displacement of the floating unit when the height change value is less than or equal to the first preset threshold value;

[0064] The force feedback unit detects the grinding force between the grinding execution mechanism 102 and the surface of the strip to be ground 103.

[0065] Exemplarily, the polishing actuator 102 comprises a floating unit and a force feedback unit. The floating unit employs a mechanical spring or a pneumatic buffer structure to provide elastic displacement in the vertical direction. When the surface height variation of the steel strip 103 to be polished is less than or equal to a first preset threshold, the floating unit automatically adapts to the local undulations of the steel strip surface by compression or expansion, thereby maintaining the continuous contact between the polishing disc and the steel strip surface. The first preset threshold is determined according to the maximum allowable stroke and stiffness characteristics of the floating unit, and represents the maximum height deviation that can be effectively compensated by the floating mechanism. The force feedback unit is integrated into the drive system of the polishing actuator 102. The interaction force between the polishing disc and the surface of the steel strip 103 to be polished is collected in real time through a pressure sensor or a current detection method, and the polishing force data is transmitted to the programmable controller 105. The programmable controller 105 compares the received real-time polishing force with a preset target polishing force range, calculates the corresponding polishing force correction amount when a deviation is detected, and adjusts the displacement of the electric or pneumatic pressure-down mechanism of the polishing actuator 102 to change the indentation depth of the polishing disc on the surface of the steel strip 103 to be polished, thereby stabilizing the actual polishing force within the target range.

[0066] In summary, the embodiments of the present application realize double control in the polishing process of the steel strip through the synergistic effect of the floating unit and the force feedback unit. The floating unit can quickly respond to small fluctuations in the surface of the steel strip 103 to be polished, thereby avoiding sudden changes in the polishing force caused by instantaneous height changes. The force feedback unit precisely regulates the indentation amount to ensure a constant material removal rate under different surface conditions. This combined control strategy effectively improves the stability of the polishing quality, prevents incomplete polishing caused by insufficient polishing force or surface damage caused by excessive polishing force, and reduces the control burden of frequent adjustments of the posture of the robot body 101, thereby enabling the system to better adapt to the continuous dynamic changes in the surface of the steel strip in actual industrial production.

[0067] In some examples, the programmable controller 105 is configured to determine a polishing force correction amount based on the polishing force, and adjust the indentation amount of the polishing actuator 102 based on the polishing force correction amount, so as to maintain the target polishing force between the polishing actuator 102 and the surface of the steel strip 103 to be polished.

[0068] Exemplarily, the programmable controller 105 compares the real-time polishing force collected by the force feedback unit with the preset target polishing force range, and calculates the polishing force correction amount required to return the polishing force to the target range according to the preset force control algorithm when the real-time polishing force deviates from the target polishing force range; the programmable controller 105 converts the calculated polishing force correction amount into a displacement control signal of the internal press-down mechanism of the polishing execution mechanism 102, adjusts the press-down displacement of the polishing disc of the polishing execution mechanism 102 relative to the mounting base thereof by driving the servo motor or proportional valve of the press-down mechanism, so as to change the actual press-in depth of the polishing disc to the surface of the steel strip 103 to be polished; the adjustment process is continuously performed, forming a closed-loop control system with the real-time polishing force as the feedback and the target polishing force as the set value, so that the stable target polishing force between the polishing execution mechanism 102 and the surface of the steel strip 103 to be polished is finally maintained.

[0069] In summary, by implementing the above-mentioned press-down amount regulation based on real-time force feedback, the embodiment of the present application can quickly respond when the actual polishing force on the surface of the steel strip fluctuates due to factors such as wave shape fluctuation and uneven material hardness, ensure that the material removal rate remains constant during polishing, and effectively avoid incomplete polishing caused by insufficient polishing force or surface over-damage and abnormal wear of the grinding disc caused by excessive polishing force, thereby adapting to the dynamic changes of the surface of the steel strip while improving the polishing quality and enhancing the stability of the polishing operation process.

[0070] In some examples, the installation position of the laser ranging device 104 is determined based on the maximum movement speed of the robot body 101 and the expected maximum wave shape change slope of the surface of the steel strip 103 to be polished.

[0071] Exemplarily, when determining the installation position of the laser ranging device 104, the maximum movement speed of the robot body 101 during the polishing operation process needs to be obtained first, and the expected maximum wave shape change slope of the steel strip 103 to be polished in production is determined according to the historical data of the hot rolling process and the specifications of the steel strip. Based on the maximum movement speed of the robot body 101 and the expected maximum wave shape change slope, the minimum forward detection distance required can be calculated, which needs to ensure that when the laser ranging device 104 identifies that the height of the surface of the steel strip 103 to be polished will soon change beyond the first preset threshold, the entire control process from the height change value being obtained, processed and calculated by the programmable controller 105 to the final driving of the robot body 101 to complete the posture adjustment can be completed before the polishing execution mechanism 102 actually reaches the height change area, thereby providing the necessary space and time margin for realizing the above-mentioned real-time path optimization.

[0072] In summary, the embodiment of the application determines the installation position of the laser ranging device 104 based on the maximum movement speed of the robot body 101 and the expected maximum waviness change slope of the strip steel 103 to be polished, ensuring that the detection of the waviness change of the strip steel surface has sufficient foresight, leaving a reaction time for subsequent data processing and robot movement adjustment. This design enables the programmable controller 105 to obtain height change information in time and calculate the path correction amount, so that the adjustment of the polishing posture of the robot body 101 is completed before the polishing executive mechanism 102 reaches the region to be corrected with height change, effectively avoiding the problems of sudden polishing force, discontinuous polishing or equipment collision caused by adjustment delay, ensuring the smoothness and continuity of the polishing process, and improving the adaptability to the dynamic undulation of the strip steel surface.

[0073] In some examples, the programmable controller 105 is also configured to determine the maximum controller response time required from obtaining the height change value to outputting the path correction amount based on the installation position, the maximum movement speed and the expected maximum waviness change slope.

[0074] For example, after determining the installation position of the laser ranging device 104, the maximum movement speed of the robot body 101 and the expected maximum waviness change slope of the surface of the strip steel 103 to be polished, the programmable controller 105 calculates the maximum controller response time required from obtaining the height change value to outputting the path correction amount based on these parameters. Specifically, the maximum controller response time is defined as the maximum time limit allowed for the entire process from the time when the laser ranging device 104 first detects the height change value exceeding the first preset threshold to the time when the programmable controller 105 completes the processing of the data, calculates the path correction amount and finally sends the correction instruction to the controller of the robot body 101. The calculation of the time limit is based on the physical distance between the forward installation position of the laser ranging device 104 and the region to be corrected, and the maximum movement speed of the robot body 101 moving along the polishing path towards the region to be corrected. The programmable controller 105 meets the real-time requirement by ensuring that the total execution time of the data acquisition, processing logic and motion control algorithm in its internal is shorter than the calculated maximum controller response time, so as to ensure that the robot body 101 has received and started to perform the corresponding height posture adjustment before the polishing executive mechanism 102 actually contacts and processes the height mutation region of the strip steel 103 to be polished.

[0075] In summary, the embodiment of the present application ensures the real-time and reliability of the path dynamic optimization in the process of the strip grinding by calculating the maximum controller response time. The time constraint enables the programmable controller 105 to complete the control loop from perception to decision-making to execution within a strict time window, effectively avoiding the problem of robot posture adjustment lag caused by data processing or instruction transmission delay. This grasp of response time enables the grinding execution mechanism 102 to accurately and timely adapt to the changes in the surface of the strip 103 to be ground, thereby maintaining stable grinding force in high-speed continuous grinding operation, improving the uniformity of grinding quality and the automation level of the production process.

[0076] In some examples, the programmable controller 105 is further configured to alternately execute a first control task and a second control task based on a preset control period; the first control task is configured to control the grinding motion of the robot body 101; the second control task is configured to obtain the height change value and determine the path correction amount when the height change value is greater than a first preset threshold.

[0077] The execution timing of the first control task and the second control task is determined based on the installation position of the laser ranging device 104 and the maximum motion speed of the robot body 101 to ensure that the determination of the path correction amount is completed before the grinding execution mechanism 102 reaches the region to be corrected, wherein the region to be corrected is the region in the region to be ground where the height change value is greater than the first preset threshold.

[0078] The programmable controller 105 alternately executes a first control task and a second control task based on preset control periods, which are determined according to the installation position of the laser ranging device 104 and the maximum motion speed of the robot body 101, specifically, the time window obtained by dividing the physical distance between the forward detection point of the laser ranging device 104 and the polishing head of the polishing execution mechanism 102 by the maximum motion speed of the robot body 101, which is further divided into several equal control periods. The first control task is responsible for maintaining the continuous polishing motion of the robot body 101 along the preset transverse path in each control period, sending position instructions to the servo driver of the robot body 101 and monitoring the actual motion state of each joint axis. The second control task is started in a specific time slice of each control period, obtains the latest height change value of the surface of the steel strip 103 to be polished collected by the laser ranging device 104 through the data interface, compares the height change value with a first preset threshold value, and judges whether the height change value is greater than the first preset threshold value. The first preset threshold value is a value corresponding to the maximum effective compensation range of the floating unit of the polishing execution mechanism 102. When the height change value is greater than the first preset threshold value, the second control task calculates the path correction amount required for the robot body 101 in the height direction based on the kinematic model of the current robot body 101 and the surface geometric characteristics of the steel strip 103 to be polished, and writes the path correction amount into the memory data area shared by the first control task. When the first control task is executed in the next control period, the path correction amount is read and integrated into the subsequent position instructions, so as to drive the robot body 101 to adjust the pose of the end in the height direction. The timing design of the double-task alternation execution ensures that the whole process from detecting the height change to finally executing the pose adjustment can be completed before the polishing head of the polishing execution mechanism 102 actually reaches the area to be corrected, which refers to the continuous section on the surface of the steel strip 103 to be polished whose height change value has exceeded the first preset threshold value.

[0079] In summary, the multi-task parallel processing mechanism of the embodiment of the application decouples and alternately executes the robot motion control and the sensor data processing in time, which not only ensures the continuity of the polishing motion of the robot body 101 and avoids the motion interruption or lag caused by waiting for the sensor data processing result, but also ensures the real-time performance of the height change detection and path correction decision. The mechanism enables the programmable controller 105 to timely respond to the wave-shaped mutation on the surface of the steel strip 103 to be polished and complete the pose pre-adjustment of the robot body 101 before the polishing execution mechanism 102 contacts the area to be corrected, thereby effectively preventing the polishing force from losing control, the polishing trace from being uneven or the equipment from colliding due to adjustment delay, and ensuring the polishing process of the steel strip.

[0080] Please refer to Figure 3A strip grinding robot path optimization method flowchart provided for the embodiments of the present application can specifically include:

[0081] S110, based on a machine vision algorithm, obtaining a two-dimensional coordinate of a defect on a surface of a strip to be ground;

[0082] Exemplarily, in step S110, a machine vision system deployed on a production line collects images of the surface of the moving strip to be ground, processes and analyzes the collected images based on a pre-trained defect recognition algorithm, automatically identifies the morphology and distribution of typical defects such as slag, skin buckling, and foreign matter pressing on the surface of the strip, and then calculates the two-dimensional position information of these defects in the strip plane coordinate system. The two-dimensional coordinate defines the specific position of the defect in the length and width directions of the strip.

[0083] S120, obtaining a starting point height coordinate of the starting point detected by the laser ranging device;

[0084] Exemplarily, in step S120, a laser ranging device installed at the end of the robot measures the height of the positioned defect starting point before the grinding operation starts, and obtains the coordinate value of the point in the vertical direction. The height coordinate and the two-dimensional coordinate provided by the machine vision system together constitute the initial three-dimensional spatial positioning reference for the robot to perform the grinding operation.

[0085] S130, determining a grinding starting three-dimensional coordinate based on the two-dimensional coordinate of the defect and the starting point height coordinate;

[0086] Exemplarily, in step S130, in the process of determining the grinding starting three-dimensional coordinate, the two-dimensional coordinate of the defect provided by the machine vision algorithm is fused with the starting point height coordinate detected by the laser ranging device at the grinding starting point. The two-dimensional coordinate of the defect defines the position of the defect in the strip plane, and the starting point height coordinate provides the actual height information of the strip surface at the position. By uniformly converting and synthesizing the data in the two coordinate systems, a spatial point that can be uniquely determined under the robot coordinate system, i.e., the grinding starting three-dimensional coordinate, is constructed. The three-dimensional coordinate serves as the initial target point of the robot motion control.

[0087] S140, controlling the robot body to move to the grinding starting three-dimensional coordinate, and starting the grinding execution mechanism to start the grinding operation;

[0088] Exemplarily, after determining the polishing starting three-dimensional coordinate, the robot body is controlled to move to the three-dimensional coordinate position, and the polishing actuator is started to begin the polishing work. The robot body positions the polishing actuator at the polishing starting point through the coordinated movement of the joint axes according to the movement instructions issued by the programmable controller. After confirming the position, the programmable controller sends a start signal to the polishing actuator to drive the polishing part to start rotating and applying a preset initial pressure, so as to start the continuous automatic polishing work at the specified position on the surface of the strip steel to be polished.

[0089] S150, during the polishing process, acquiring a height change value of the surface of the strip steel to be polished in the area to be polished detected by the laser ranging device;

[0090] Exemplarily, during the polishing process, the laser ranging device arranged at the end of the robot and located in front of the polishing actuator continuously scans and measures the surface of the strip steel in the subsequent area to be polished. The device collects the height data of the surface of the strip steel relative to the reference plane at a high speed, and calculates and outputs the height change value between the current measurement point and the initial reference through the programmable controller in real time. This height change value directly reflects the fluctuation condition of the wave shape of the surface of the strip steel, and provides data for subsequent judgment of whether the robot path needs to be adjusted.

[0091] S160, based on the height change value and the first preset threshold, determining whether path correction is needed; when path correction is needed, determining the path correction amount of the robot body in the height direction;

[0092] Exemplarily, during the polishing work, the height change value of the surface of the strip steel to be polished detected by the laser ranging device in real time is continuously acquired, and the change value is compared with the first preset threshold, so as to judge whether the self-adaptation ability of the floating polishing mechanism is sufficient to cope with the fluctuation condition of the current surface; when it is monitored that the height change value exceeds the first preset threshold, it is determined that the path correction mechanism needs to be started, and then based on the specific value of the current height change, the robot kinematics model and the polishing process requirement are combined to calculate the accurate displacement adjustment amount of the robot body in the height direction, that is, the path correction amount.

[0093] S170, based on the path correction amount, adjusting the polishing posture of the robot body to adapt the polishing actuator to the height change of the surface of the strip steel to be polished.

[0094] Exemplarily, in the polishing process, when the polishing posture of the robot body is adjusted based on the path correction amount, the calculated height direction displacement adjustment amount is converted into motion instructions of each joint axis of the robot by the programmable controller, the position and posture angle of the end effector of the robot body in the vertical direction are driven to change, so that the polishing execution mechanism installed at the end generates corresponding height change and angle deflection. This posture adjustment process enables the polishing execution mechanism to actively adapt to the actual profile of the surface of the strip steel to be polished detected in advance by the laser ranging device, ensures that when the polishing tool enters the area with height change, the working surface and the surface of the strip steel have established and maintained a stable relative contact relationship, ensures the effective transmission of the polishing force and the uniformity of material removal, and realizes the tracking and compensation of the wave shape change of the surface of the strip steel.

[0095] In summary, the embodiment of the present application realizes online optimization and active adjustment of the motion path of the robot in the continuous polishing process by integrating the laser ranging device in the robot end to perceive the profile of the surface of the strip steel to be polished in real time, and dynamically comparing and processing the collected height data with the preset threshold by means of the programmable controller. The system can automatically correct the trajectory and posture of the robot in the height direction according to the real-time change of the wave shape of the surface of the strip steel without interrupting the polishing process, so as to ensure that the polishing execution mechanism always maintains stable contact pressure and relative pose with the surface of the strip steel. This path dynamic optimization mechanism based on real-time data feedback effectively overcomes the defects of low efficiency and insufficient adaptability of the traditional pre-scanning automatic polishing scheme, improves the continuity and overall efficiency of the polishing operation, and avoids problems such as polishing omission, surface damage or abnormal wear of equipment caused by mismatch between the path and the actual profile of the strip steel, thereby improving the polishing quality and enhancing the automation level of the surface treatment process of the strip steel.

[0096] In some examples, further comprising:

[0097] In the polishing process, based on the polishing force between the polishing execution mechanism and the surface of the strip steel to be polished detected by the force feedback unit, a polishing force correction amount is determined;

[0098] Based on the polishing force correction amount, the reduction amount of the polishing execution mechanism is adjusted to maintain the polishing force at a target polishing force.

[0099] Exemplarily, in the polishing process, the interaction force between the polishing actuator and the surface of the strip steel to be polished is detected in real time based on the force feedback unit to obtain real-time polishing force data; the real-time polishing force is compared with a preset target polishing force range, and when the real-time polishing force deviates from the target polishing force range, a polishing force correction amount required to make the real-time polishing force return to the target polishing force range is calculated according to a preset force control algorithm; based on the polishing force correction amount, a control instruction for the internal pressing mechanism of the polishing actuator is generated to adjust the pressing displacement of the polishing disc of the polishing actuator relative to the mounting base thereof, so as to change the actual pressing depth of the polishing disc to the surface of the strip steel to be polished; the adjustment process is continuously operated to form a closed-loop control system with the real-time polishing force as the feedback and the target polishing force as the set value, so that the stable target polishing force between the polishing actuator and the surface of the strip steel to be polished is finally maintained.

[0100] In summary, through the above-mentioned closed-loop control of the pressing amount based on real-time force feedback, the embodiment of the present application can quickly and accurately respond when the actual polishing force on the surface of the strip steel fluctuates due to factors such as undulation of the strip steel and uneven material hardness. The system ensures that the material removal rate remains constant during polishing, effectively avoiding incomplete polishing due to insufficient polishing force or surface over-damage and abnormal wear of the grinding disc due to excessive polishing force. While adapting to the dynamic changes of the surface of the strip steel, the polishing quality is improved, and the stability and reliability of the entire polishing operation process are enhanced.

[0101] Please refer to Figure 4 A strip steel polishing robot path optimization device structure schematic diagram provided by the embodiment of the present application comprises:

[0102] A defect coordinate acquisition unit 21 is configured to acquire two-dimensional coordinates of defects on the surface of the strip steel to be polished based on a machine vision algorithm;

[0103] A starting height acquisition unit 22 is configured to acquire a starting point height coordinate detected by the laser ranging device at the polishing starting point;

[0104] A starting coordinate determination unit 23 is configured to determine a polishing starting three-dimensional coordinate based on the two-dimensional coordinates of defects and the starting point height coordinate;

[0105] A polishing operation control unit 24 is configured to control the robot body to move to the polishing starting three-dimensional coordinate and start the polishing actuator to begin polishing operation;

[0106] A height change monitoring unit 25 is configured to acquire a height change value of the surface of the strip steel to be polished in the polishing area detected by the laser ranging device during the polishing process;

[0107] The path correction decision unit 26 is configured to determine whether path correction is needed based on the height change value and a first preset threshold value, and determine a path correction amount of the robot body in the height direction when the path correction is needed.

[0108] The polishing posture adjustment unit 27 is configured to adjust the polishing posture of the robot body based on the path correction amount, so that the polishing execution mechanism is adapted to the height change of the surface of the strip steel to be polished.

[0109] Please refer to Figure 5 The electronic device 300 according to the embodiment of the present application is configured to implement the steps of the strip steel polishing robot path optimization method.

[0110] Since the electronic device according to the embodiment of the present application is the device used to implement the strip steel polishing robot path optimization device according to the embodiment of the present application, the specific implementation of the electronic device according to the embodiment of the present application and various changes thereof can be understood by those skilled in the art based on the method according to the embodiment of the present application. Therefore, how the electronic device according to the embodiment of the present application implements the method according to the embodiment of the present application will not be described in detail, as long as the device used to implement the method according to the embodiment of the present application by those skilled in the art belongs to the scope of the present application.

[0111] In the implementation process, the computer program 311 can implement any of the embodiments of the first aspect when executed by the processor.

[0112] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in an embodiment can be referred to the related description of other embodiments.

[0113] Those skilled in the art should understand that the embodiments of the present application can provide methods, systems or computer program products. Therefore, the present application can be implemented in the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can be implemented in the form of a computer program product implemented on one or more computer readable storage media containing computer readable program code.

[0114] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart Figure 1 one or more flows and / or blocks. Figure 1 one or more flows and / or blocks.

[0115] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart Figure 1 one or more flows and / or blocks. Figure 1 one or more flows and / or blocks.

[0116] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart Figure 1 one or more flows and / or blocks. Figure 1 one or more flows and / or blocks.

[0117] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart Figure 3 The flow of a strip steel polishing robot path optimization method in the corresponding embodiment.

[0118] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired or wireless mode. The computer-readable storage medium can be any available medium that can be stored by the computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media, optical media, or semiconductor media, etc.

[0119] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0120] In several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the apparatus embodiments described above are only schematic. For example, a plurality of units or components can be combined or integrated into another system, or some features can be omitted or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other form.

[0121] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0122] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be in the form of hardware and / or software functional units.

[0123] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device to execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, and various program code storage media.

[0124] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

[0125] Although the preferred embodiments of the present specification have been described, those skilled in the art can make additional changes and modifications to the embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present specification.

[0126] Obviously, those skilled in the art can make various modifications to the present specification without departing from the spirit and scope of the present specification. Thus, if these modifications of the present specification fall within the scope of the claims of the present specification and their equivalents, the present specification also intends to include these modifications.

Claims

1. A strip steel grinding robot path optimization system, characterized by, The application relates to a robot for grinding a workpiece, comprising: a robot body; a grinding execution mechanism arranged at the end of the robot body and used for performing a grinding operation on a surface of a workpiece to be ground; a laser ranging device arranged at the end of the robot body and used for detecting the height of the surface of the workpiece to be ground in a region to be ground before the grinding operation; a programmable controller connected to the robot body, the grinding execution mechanism and the laser ranging device, wherein the programmable controller is used for determining a grinding starting three-dimensional coordinate based on a defect two-dimensional coordinate generated by a machine vision algorithm and a starting point height coordinate detected by the laser ranging device; controlling the robot body to move to the grinding starting three-dimensional coordinate and start the grinding operation; during the grinding operation, acquiring a height change value of the surface of the workpiece to be ground in the region to be ground detected by the laser ranging device; when the height change value is greater than a first preset threshold value, determining a path correction amount of the robot body in a height direction; adjusting a grinding posture of the robot body based on the path correction amount, so that the grinding execution mechanism adapts to the height change of the surface of the workpiece to be ground.

2. The system of claim 1, wherein, The grinding execution mechanism comprises a floating unit and a force feedback unit; the floating unit is used for adapting to the height change of the surface of the workpiece to be ground through floating displacement of the floating unit when the height change value is less than or equal to the first preset threshold value; the force feedback unit is used for detecting a grinding force between the grinding execution mechanism and the surface of the workpiece to be ground.

3. The system of claim 2, wherein, The programmable controller is used for determining a grinding force correction amount based on the grinding force, and adjusting a press-down amount of the grinding execution mechanism based on the grinding force correction amount, so that the grinding execution mechanism and the surface of the workpiece to be ground maintain a target grinding force.

4. The system of claim 1, wherein, The installation position of the laser ranging device is determined based on a maximum movement speed of the robot body and an expected maximum wave shape change slope of the surface of the workpiece to be ground.

5. The system of claim 4, wherein, The programmable controller is further used for determining a maximum controller response time required from acquiring the height change value to outputting the path correction amount based on the installation position, the maximum movement speed and the expected maximum wave shape change slope.

6. The system of claim 4, wherein, The programmable controller is further used for alternately executing a first control task and a second control task based on a preset control period; the first control task is used for controlling the grinding movement of the robot body; and the second control task is used for acquiring the height change value and determining the path correction amount when the height change value is greater than the first preset threshold value. The execution timing of the first control task and the second control task is determined based on the installation position of the laser ranging device and the maximum movement speed of the robot body, so as to ensure that the determination of the path correction amount is completed before the grinding execution mechanism reaches a region to be corrected, wherein the region to be corrected is a region in the region to be ground, in which the height change value is greater than the first preset threshold value.

7. A strip grinding robot path optimization method for the system of any of claims 1 to 6, characterized by, The application relates to a robot for grinding a workpiece, comprising: acquiring a defect two-dimensional coordinate of a surface of a workpiece to be ground based on a machine vision algorithm; acquiring a starting point height coordinate of a starting point detected by a laser ranging device; determine a polishing starting three-dimensional coordinate based on the defect two-dimensional coordinate and the starting point height coordinate; control the robot body to move to the polishing starting three-dimensional coordinate and start the polishing execution mechanism to begin polishing work; acquire a height change value of the steel strip surface to be polished in the polishing area detected by the laser ranging device during polishing; determine whether path correction is needed based on the height change value and a first preset threshold value, and determine a path correction amount of the robot body in the height direction when path correction is needed; adjust the polishing posture of the robot body based on the path correction amount to adapt the polishing execution mechanism to the height change of the steel strip surface to be polished.

8. The method of claim 7, wherein, Further comprising: acquire a polishing force correction amount based on the polishing force between the polishing execution mechanism and the steel strip surface to be polished detected by the force feedback unit during polishing; adjust the pressure amount of the polishing execution mechanism based on the polishing force correction amount to maintain the polishing force at a target polishing force.

9. A strip steel grinding robot path optimization apparatus, characterized by, Comprise: a defect coordinate acquisition unit configured to acquire a defect two-dimensional coordinate of the steel strip surface to be polished based on a machine vision algorithm; a starting height acquisition unit configured to acquire a starting point height coordinate of a starting point detected by a laser ranging device; a starting coordinate determination unit configured to determine a polishing starting three-dimensional coordinate based on the defect two-dimensional coordinate and the starting point height coordinate; a polishing work control unit configured to control the robot body to move to the polishing starting three-dimensional coordinate and start the polishing execution mechanism to begin polishing work; a height change monitoring unit configured to acquire a height change value of the steel strip surface to be polished in the polishing area detected by the laser ranging device during polishing; a path correction decision unit configured to determine whether path correction is needed based on the height change value and a first preset threshold value, and determine a path correction amount of the robot body in the height direction when path correction is needed; a polishing posture adjustment unit configured to adjust the polishing posture of the robot body based on the path correction amount to adapt the polishing execution mechanism to the height change of the steel strip surface to be polished.

10. An electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the computer program stored in the memory to implement the steps of the steel strip polishing robot path optimization method according to any one of claims 7 or 8.

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