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

Abstract

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

Description

Technical Field

[0001] This application relates to the field of intelligent equipment application technology, and in particular to a path optimization system, method, apparatus and equipment for strip steel grinding robot. Background Technology

[0002] In the strip steel production process of the metallurgical industry, the surface of hot-rolled strip steel often has defects such as slag curling, peeling, and foreign object indentation, requiring grinding before it can enter the subsequent cold rolling process. Traditional manual grinding methods are not only labor-intensive and operate in harsh environments, but also suffer from unstable grinding quality and low efficiency, making it difficult to meet the automation and intelligence requirements of modern production lines. To replace manual labor, existing technologies have attempted to use robots for automated grinding, but significant challenges remain in practical applications. Because hot-rolled strip steel often has varying degrees of waviness, if the robot cannot adjust its grinding trajectory in real time according to the surface contour, it can easily lead to uneven grinding force, incomplete grinding, or even poor contact or excessive compression between the grinding disc and the strip steel, affecting product quality and potentially damaging the equipment. Therefore, there is an urgent need for a strip steel grinding robot path optimization system to solve the aforementioned problems. Summary of the Invention

[0003] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solutions, nor is it intended to determine the scope of protection of the claimed technical solutions.

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

[0005] The robot itself;

[0006] A grinding actuator is located at the end of the robot body and is used to perform grinding operations on the surface of the strip steel to be ground.

[0007] A laser rangefinder is installed at the end of the robot body to detect the height of the steel strip surface to be ground in the area to be ground before the grinding operation.

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

[0009] Control the robot body to move to the starting three-dimensional coordinates of the polishing process and begin the polishing operation;

[0010] During the grinding process, the height change value of the steel strip surface to be ground in the area to be ground is obtained by the laser ranging device.

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

[0012] The grinding posture of the robot body is adjusted based on the path correction amount so that the grinding actuator can adapt to the height changes of the strip surface to be ground.

[0013] In some embodiments, the grinding actuator includes a floating unit and a force feedback unit;

[0014] The floating unit is used to adapt the height change of the strip surface to be ground by means of the floating displacement of the floating unit when the height change value is less than or equal to the first preset threshold.

[0015] The force feedback unit is used to detect the grinding force between the grinding actuator and the surface of the strip steel to be ground.

[0016] In some embodiments, the programmable controller is used to determine a grinding force correction amount based on the grinding force; and based on the grinding force correction amount, to adjust the pressing amount of the grinding actuator so that the grinding actuator and the surface of the strip to be ground maintain the target grinding force.

[0017] In some embodiments, the installation position of the laser rangefinder is determined based on the maximum movement speed of the robot body and the expected maximum waviness slope of the strip surface to be ground.

[0018] In some implementations, the programmable controller is also configured to determine, based on the installation location, the maximum movement speed, and the expected maximum wavy slope, the maximum controller response time required from acquiring the height change value to completing the path correction output.

[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 cycle; the first control task is configured to control the grinding movement of the robot body; the second control task is configured to acquire the height change value, and when the height change value is greater than the first preset threshold, determine the path correction amount.

[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, so as to ensure that the path correction amount is determined before the grinding execution mechanism reaches the area to be corrected. The area to be corrected is the area in the area to be ground where the height change value is greater than the first preset threshold.

[0021] Secondly, this application proposes a path optimization method for a strip grinding robot, used in the system described in any of the first aspects, comprising:

[0022] Based on machine vision algorithms, the two-dimensional coordinates of defects on the surface of the strip steel to be ground are obtained;

[0023] Obtain the height coordinates of the starting point detected by the laser rangefinder at the grinding start point;

[0024] Based on the two-dimensional coordinates of the defect and the height coordinates of the starting point, determine the three-dimensional coordinates of the grinding start point;

[0025] The robot body is controlled to move to the three-dimensional coordinates at the starting point of the grinding process, and the grinding execution mechanism is activated to begin the grinding operation;

[0026] During the grinding process, the height change value of the steel strip surface to be ground in the area to be ground is obtained by the laser ranging device.

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

[0028] The grinding posture of the robot body is adjusted based on the path correction amount so that the grinding actuator can adapt to the height changes of the strip surface to be ground.

[0029] In some implementations, it also includes:

[0030] During the grinding process, the grinding force correction amount is determined based on the grinding force detected by the force feedback unit between the grinding actuator and the surface of the strip steel to be ground.

[0031] Based on the grinding force correction amount, the pressing amount of the grinding actuator is adjusted so that the grinding force is maintained at the target grinding force.

[0032] Thirdly, this application proposes a path optimization device for a strip steel grinding robot, comprising:

[0033] The defect coordinate acquisition unit is used to acquire the two-dimensional coordinates of defects on the surface of the strip steel to be ground based on machine vision algorithms.

[0034] The starting height acquisition unit is used to acquire the starting point height coordinates detected by the laser rangefinder at the grinding starting point.

[0035] The starting coordinate determination unit is used to determine the starting three-dimensional coordinates of grinding based on the two-dimensional coordinates of the defect and the height coordinates of the starting point;

[0036] The grinding operation control unit is used to control the robot body to move to the grinding start three-dimensional coordinates and start the grinding execution mechanism to begin the grinding operation;

[0037] The height change monitoring unit is used to acquire the height change value of the strip steel surface to be ground in the area to be ground, as detected by the laser rangefinder, during the grinding process.

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

[0039] A grinding posture adjustment unit is used to adjust the grinding posture of the robot body based on the path correction amount, so that the grinding actuator can adapt to the height change of the strip surface to be ground.

[0040] Fourthly, an electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program stored in the memory to implement the steps of the strip grinding robot path optimization method of any of the second aspects above.

[0041] Fifthly, this application also proposes a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the steps of the strip grinding robot path optimization method of any of the second aspects.

[0042] In summary, the strip steel grinding robot path optimization system proposed in this application includes: a robot body; a grinding execution mechanism, located at the end of the robot body, for performing grinding operations on the surface of the strip steel to be ground; a laser rangefinder, located at the end of the robot body, for detecting the height of the strip steel surface to be ground in the grinding area before the grinding operation; and a programmable controller, connected to the robot body, the grinding execution mechanism, and the laser rangefinder. The programmable controller is used to determine the initial three-dimensional coordinates of the grinding operation based on the two-dimensional coordinates of the defect generated by the machine vision algorithm and the height coordinates of the starting point detected by the laser rangefinder; control the robot body to move to the initial three-dimensional coordinates of the grinding operation and begin the grinding operation; during the grinding process, acquire the height change value of the strip steel surface to be ground in the grinding area detected by the laser rangefinder; when the height change value is greater than a first preset threshold, determine the path correction amount of the robot body in the height direction; and adjust 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 strip steel surface to be ground. The strip steel grinding robot path optimization system provided in this application uses a laser rangefinder installed at the robot's end effector to detect real-time height changes in the area to be ground. Combined with a programmable controller comparing the height data with preset thresholds, this system enables online correction and attitude adjustment of the robot's path during the grinding process. This system can dynamically adapt to the undulating surface of the strip steel without stopping the machine, ensuring that the grinding actuator maintains stable contact with the strip steel surface. This effectively improves the consistency and reliability of the grinding operation, avoids grinding omissions or equipment damage caused by path mismatch, and simultaneously enhances the automation and efficiency of the grinding process. Attached Figure Description

[0043] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit this specification. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0044] Figure 1 This is a schematic diagram of the strip grinding robot path optimization system provided in the embodiments of this application;

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

[0046] Figure 3 This is a schematic diagram of the strip grinding robot path optimization method provided in the embodiments of this application;

[0047] Figure 4 This is a schematic diagram of the path optimization device for strip grinding robot provided in an embodiment of this application;

[0048] Figure 5 This is a schematic diagram of the path optimization equipment for strip grinding robots provided in an embodiment of this application.

[0049] In the figure, the correspondence between the reference numerals and the component names is as follows: 101 is the robot body, 102 is the grinding execution mechanism, 103 is the strip steel to be ground, 104 is the laser rangefinder, and 105 is the programmable logic controller. Detailed Implementation

[0050] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus. The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them.

[0051] Please see Figure 1 This is a schematic diagram of a strip steel grinding robot path optimization system provided in an embodiment of this application, which may specifically include:

[0052] Robot body 101;

[0053] The grinding actuator 102 is located at the end of the robot body 101 and is used to perform grinding operations on the surface of the strip steel 103 to be ground.

[0054] A laser rangefinder 104 is installed at the end of the robot body 101 and is used to detect the height of the surface of the strip steel 103 to be ground in the area to be ground before the grinding operation.

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

[0056] Control the robot body 101 to move to the starting three-dimensional coordinates of the grinding process and begin the grinding operation;

[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 2This is a partially enlarged view of a strip steel grinding robot path optimization system provided in this application embodiment, showing the specific structural layout of the robot's end effector. A laser rangefinder 104 is mounted in front of the grinding execution mechanism 102. This spatial relationship is crucial for achieving forward detection, ensuring that the detection beam emitted by the laser rangefinder 104 contacts the surface of the strip steel 103 to be ground before the grinding head of the grinding execution mechanism 102. The grinding execution mechanism 102, as the functional unit directly performing the processing task, has a high-speed rotating grinding disc at its front end. This grinding disc is driven by a built-in motor and integrates pressure sensing and a buffer floating mechanism. The laser rangefinder 104 is connected to the body of the grinding execution mechanism 102 via a mounting bracket, ensuring that the two maintain a constant relative posture during the robot's high-speed movement, thereby guaranteeing the accuracy of the transformation relationship between the measurement coordinate system and the grinding coordinate system. During operation, the laser rangefinder 104 continuously emits a laser beam in the grinding direction and measures the real-time height data of the surface of the strip steel 103 to be ground by receiving reflected signals. This height data is transmitted in real time to the programmable controller 105 via a fieldbus, providing crucial feedforward information for the robot's trajectory planning. Simultaneously, the grinding actuator 102 performs the actual grinding operation. Its integrated force feedback system monitors the grinding pressure, while the floating mechanism compensates for surface undulations within a certain range. The pre-measurement by the laser rangefinder 104, combined with the real-time operation of the grinding actuator 102, allows the robot to pre-adjust its posture before the grinding tool arrives, ensuring a constant contact state and stable grinding force throughout the grinding process. This effectively adapts to the waviness variations on the strip surface, achieving automated grinding.

[0062] In some instances, the grinding actuator 102 includes a floating unit and a force feedback unit;

[0063] A floating unit is used to adapt the height change of the surface of the strip steel 103 to be ground by means of the floating displacement of the floating unit when the height change value is less than or equal to a first preset threshold.

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

[0065] For example, the grinding actuator 102 includes a floating unit and a force feedback unit. The floating unit uses a mechanical spring or a pneumatic buffer structure to provide elastic displacement in the vertical direction. When the change in surface height of the strip 103 to be ground is less than or equal to a first preset threshold, the floating unit automatically adapts to the local undulations of the strip surface through its own compression or extension, maintaining continuous contact between the grinding disc and the strip surface. The first preset threshold is determined according to the maximum allowable stroke and stiffness characteristics of the floating unit, and is represented by the maximum height deviation value that the floating mechanism can effectively compensate for. The force feedback unit is integrated into the drive system of the grinding actuator 102. It collects the interaction force between the grinding disc and the surface of the strip steel 103 to be ground in real time through a pressure sensor or current detection method, and transmits the grinding force data to the programmable controller 105. The programmable controller 105 compares the received real-time grinding force with the preset target grinding force range. When a deviation is detected, it calculates the corresponding grinding force correction amount. By adjusting the displacement of the electric or pneumatic pressing mechanism of the grinding actuator 102, the pressing depth of the grinding disc into the surface of the strip steel 103 to be ground is changed, so that the actual grinding force is stably maintained within the target range.

[0066] In summary, this embodiment achieves dual control during the strip steel grinding process through the synergistic effect of the floating unit and the force feedback unit. The floating unit can quickly respond to small fluctuations on the surface of the strip steel 103 to be ground, avoiding sudden changes in grinding force caused by instantaneous height changes. The force feedback unit, through precise control of the pressure reduction, ensures a constant material removal rate under different surface conditions. This combined control strategy effectively improves the stability of grinding quality, prevents incomplete grinding due to insufficient grinding force or surface damage caused by excessive grinding force, and reduces the control burden of frequent posture adjustments of the robot body 101, enabling the system to better adapt to the continuous dynamic changes on the strip steel surface in actual industrial production.

[0067] In some instances, the programmable controller 105 is used to determine a grinding force correction amount based on the grinding force; and based on the grinding force correction amount, to adjust the pressing amount of the grinding actuator 102 so that the grinding actuator 102 and the surface of the strip 103 to be ground maintain the target grinding force.

[0068] For example, the programmable controller 105 compares the real-time grinding force between the grinding actuator 102 and the surface of the strip steel 103 to be ground, which is collected in real time by the force feedback unit, with the preset target grinding force range. When the real-time grinding force deviates from the target grinding force range, the programmable controller 105 calculates the grinding force correction amount required to bring the grinding force back to the target range according to the preset force control algorithm. The programmable controller 105 converts the calculated grinding force correction amount into the displacement control signal of the pressing mechanism inside the grinding actuator 102. By driving the servo motor or proportional valve of the pressing mechanism, the pressing displacement of the grinding disc of the grinding actuator 102 relative to its mounting base is adjusted, thereby changing the actual pressing depth of the grinding disc into the surface of the strip steel 103 to be ground. This adjustment process continues, forming a closed-loop control system with real-time grinding force as feedback and target grinding force as the set value, so that the grinding actuator 102 and the surface of the strip steel 103 to be ground maintain a stable target grinding force.

[0069] In summary, by implementing the above-mentioned real-time force feedback-based pressure reduction control, the embodiments of this application can quickly respond when the actual grinding force on the strip surface fluctuates due to factors such as wave-like undulations and uneven material hardness. This ensures that the material removal rate remains constant during the grinding process, effectively avoiding incomplete grinding due to insufficient grinding force or excessive grinding force causing surface over-grinding damage and abnormal wear of the grinding disc. Thus, while adapting to the dynamic changes on the strip surface, it improves the grinding quality and enhances the stability of the grinding operation process.

[0070] In some instances, the installation position of the laser rangefinder 104 is determined based on 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 ground.

[0071] For example, when determining the installation position of the laser rangefinder 104, it is first necessary to obtain the maximum movement speed of the robot body 101 during the grinding operation, and based on the expected maximum waviness change slope of the strip steel 103 to be ground during production, which is usually determined based on historical data of hot rolling process and strip steel specifications. Based on the maximum movement speed of the robot body 101 and the expected maximum waviness change slope, the necessary minimum look-ahead detection distance can be calculated. This minimum look-ahead detection distance must ensure that when the laser rangefinder 104 detects that the surface height of the strip steel 103 to be ground is about to undergo a sudden change exceeding the first preset threshold, the entire control process, from the acquisition of the height change value, processing by the programmable controller 105 and calculation of the path correction amount, to finally driving the robot body 101 to complete the posture adjustment, can be completed before the grinding actuator 102 actually arrives at the height change area, thereby providing the necessary space and time margin for achieving the above-mentioned real-time path optimization.

[0072] In summary, this embodiment determines the installation position of the laser rangefinder 104 by using the maximum movement speed of the robot body 101 and the expected maximum waviness change slope of the strip 103 to be ground. This ensures sufficient foresight in detecting waviness changes on the strip surface, allowing reaction time for subsequent data processing and robot motion adjustments. This design enables the programmable controller 105 to acquire height change information in a timely manner and calculate the path correction amount. Thus, before the grinding actuator 102 reaches the area to be corrected where height changes occur, the grinding posture of the robot body 101 has been adjusted, effectively avoiding sudden changes in grinding force, discontinuous grinding, or equipment collisions caused by adjustment delays. This ensures the stability and continuity of the grinding process and improves the adaptability to dynamic fluctuations on the strip surface.

[0073] In some instances, the programmable controller 105 is also used to determine the maximum controller response time required from acquiring the height change value to completing the path correction output, based on the installation location, maximum movement speed, and expected maximum wavy slope.

[0074] For example, after determining the installation position of the laser rangefinder 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 ground, the programmable controller 105 calculates the maximum controller response time required from acquiring the height change value to completing the path correction output based on these parameters. Specifically, the maximum controller response time is defined as the maximum allowed time limit from the moment the laser rangefinder 104 first detects a height change value exceeding a first preset threshold, to the moment the programmable controller 105 completes the processing of the data, the calculation of the path correction amount, and finally sends the correction command to the robot body 101 controller. The calculation of this time limit is based on the physical distance between the forward-looking installation position of the laser rangefinder 104 and the area to be corrected, and the maximum movement speed of the robot body 101 moving towards the area to be corrected along the grinding path. The programmable controller 105 meets the real-time requirements by ensuring that the total execution time of its internal data acquisition, processing logic and motion control algorithm is shorter than the calculated maximum controller response time. This ensures that the robot body 101 has received and started to perform the corresponding height and posture adjustment before the grinding actuator 102 actually contacts and processes the height change area on the surface of the strip steel 103 to be ground.

[0075] In summary, this embodiment of the application ensures the real-time performance and reliability of dynamic path optimization during strip steel grinding by calculating the maximum controller response time. This 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 delays. This control over response time allows the grinding actuator 102 to accurately and promptly adapt to the undulating changes on the surface of the strip steel 103 to be ground, thereby maintaining a stable grinding force in high-speed continuous grinding operations, improving the uniformity of grinding quality and the level of automation in the production process.

[0076] In some instances, the programmable controller 105 is also used to alternately execute a first control task and a second control task based on a preset control cycle; the first control task is used to control the grinding movement of the robot body 101; the second control task is used to acquire 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 rangefinder 104 and the maximum movement speed of the robot body 101, so as to ensure that the path correction amount is determined before the grinding execution mechanism 102 reaches the area to be corrected. The area to be corrected is the area in the area to be ground where the height change value is greater than the first preset threshold.

[0078] For example, the programmable controller 105 alternately executes the first control task and the second control task based on a preset control cycle. The preset control cycle is calculated based on the installation position of the laser rangefinder 104 and the maximum movement speed of the robot body 101. Specifically, it is the time window obtained by dividing the physical distance between the look-ahead detection point of the laser rangefinder 104 and the grinding head of the grinding actuator 102 by the maximum movement speed of the robot body 101. This time window is further divided into several equal control cycles. In each control cycle, the first control task is responsible for maintaining the continuous grinding movement of the robot body 101 along a preset lateral path, sending position commands to the servo driver of the robot body 101, and monitoring the actual movement state of each joint axis. The second control task is initiated within a specific time slice of each control cycle. It acquires the latest height change value of the surface of the strip 103 to be ground, collected by the laser rangefinder 104 via a data interface. This height change value is compared with a first preset threshold, which is the value corresponding to the maximum effective compensation range of the floating unit of the grinding actuator 102. When the height change value exceeds the first preset threshold, the second control task, based on the kinematic model of the current robot body 101 and the surface geometry of the strip 103 to be ground, calculates the required path correction amount for the robot body 101 in the height direction in real time and writes this path correction amount into the memory data area shared with the first control task. When the first control task executes in the next control cycle, it reads this path correction amount and integrates it into subsequent position commands, thereby driving the robot body 101 to adjust the pose of its end effector in the height direction. This timing design of alternating dual tasks ensures that the entire process from detecting height changes to finally performing posture adjustments can be completed before the grinding head of the grinding actuator 102 actually reaches the area to be corrected. The area to be corrected refers to the continuous section on the surface of the strip steel 103 to be ground where the height change value has exceeded the first preset threshold.

[0079] In summary, the multi-task parallel processing mechanism of this application decouples and alternates the robot motion control and sensor data processing in time, ensuring the continuity of the robot body 101's grinding motion and avoiding motion interruptions or stuttering caused by waiting for sensor data processing results. It also ensures the real-time performance of height change detection and path correction decisions. This mechanism enables the programmable controller 105 to respond promptly to sudden changes in the waviness of the strip steel 103 surface under time constraints, completing the pre-adjustment of the robot body 101's posture before the grinding actuator 102 contacts the area to be corrected. This effectively prevents the risk of uncontrolled grinding force, uneven grinding marks, or equipment collisions caused by adjustment delays, thus ensuring the smooth grinding process of the strip steel.

[0080] Please see Figure 3The flowchart of a strip grinding robot path optimization method provided in this application embodiment may specifically include:

[0081] S110. Based on machine vision algorithms, obtain the two-dimensional coordinates of defects on the surface of the strip steel to be ground;

[0082] For example, in step S110, the machine vision system deployed on the production line acquires images of the moving strip steel surface to be ground. Based on a pre-trained defect recognition algorithm, the acquired images are processed and analyzed to automatically identify the morphology and distribution of typical defects on the strip steel surface, such as slag curling, peeling, and foreign object indentation. Then, the two-dimensional position information of these defects in the strip steel plane coordinate system is calculated. The two-dimensional coordinates define the specific position of the defects in the length and width directions of the strip steel.

[0083] S120. Obtain the height coordinates of the starting point detected by the laser rangefinder at the grinding starting point;

[0084] For example, in step S120, the height of the pre-positioned defect starting point is measured by a laser rangefinder installed at the end of the robot before the grinding operation begins, and the coordinate value of the point in the vertical direction is obtained. The height coordinate and the two-dimensional coordinate of the defect 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. Based on the two-dimensional coordinates of the defect and the height coordinates of the starting point, determine the three-dimensional coordinates of the grinding start;

[0086] For example, in step S130, during the process of determining the starting three-dimensional coordinates of grinding, the two-dimensional coordinates of the defect provided by the machine vision algorithm are fused with the starting point height coordinates detected by the laser rangefinder at the grinding starting point. The two-dimensional coordinates of the defect define the position of the defect in the strip plane, while the starting point height coordinates provide the actual height information of the strip surface at that position. By uniformly transforming and synthesizing the data from these two coordinate systems, a spatial point that can be uniquely determined in the robot coordinate system is constructed, namely the starting three-dimensional coordinates of grinding. These three-dimensional coordinates serve as the initial target point for robot motion control.

[0087] S140. Control the robot body to move to the starting three-dimensional coordinates of the grinding process, and start the grinding execution mechanism to begin the grinding operation;

[0088] For example, after determining the starting three-dimensional coordinates for grinding, the robot body moves to that position and initiates the grinding operation. Following motion commands from the programmable controller, the robot body positions its end-effector grinding mechanism to the grinding starting point through the coordinated movement of its joint axes. Once the positioning is confirmed, the programmable controller sends a start signal to the grinding mechanism, driving its grinding components to rotate and apply a preset initial pressure, thereby initiating continuous automated grinding operations at a designated position on the surface of the strip to be ground.

[0089] S150. During the grinding process, the height change value of the strip steel surface to be ground in the grinding area is obtained by the laser rangefinder.

[0090] For example, during the grinding process, a laser rangefinder, positioned at the end of the robot and in front of the grinding actuator, continuously scans and measures the surface of the strip steel in the area to be ground. This device rapidly acquires height data of the strip steel surface relative to a reference plane and, through a programmable controller, calculates and outputs in real time the height change between the current measurement point and the initial reference. This height change directly reflects the undulation of the strip steel surface's waviness, providing data for subsequent determination of whether robot path adjustments are necessary.

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

[0092] For example, during the grinding operation, the height change value of the strip steel surface to be ground is continuously acquired by the laser rangefinder and compared with a preset first threshold to determine whether the adaptive capability of the floating grinding mechanism is sufficient to cope with the current surface undulation. When the height change value exceeds the first preset threshold, it is determined that the path correction mechanism needs to be activated. Then, based on the specific value of the current height change, combined with the robot kinematic model and the grinding process requirements, the precise displacement adjustment amount required by the robot body in the height direction, i.e., the path correction amount, is calculated.

[0093] S170. Adjust the grinding posture of the robot body based on the path correction amount so that the grinding actuator can adapt to the height change of the strip surface to be ground.

[0094] For example, during the grinding process, when the grinding posture of the robot body is adjusted based on the path correction amount, the programmable controller converts the calculated height displacement adjustment amount into motion commands for each joint axis of the robot, driving the robot body to change the position and attitude angle of its end effector in the vertical direction. This causes the grinding actuator installed at the end effector to produce corresponding height changes and angle deflections. This posture adjustment process enables the grinding actuator to actively adapt to the actual contour undulations of the strip steel surface to be ground, which are detected in advance by the laser rangefinder. This ensures that when the grinding tool enters an area with height changes, a stable relative contact relationship is established and maintained between its working surface and the strip steel surface, guaranteeing the effective transmission of grinding force and the uniformity of material removal, and achieving tracking and compensation for the waviness changes on the strip steel surface.

[0095] In summary, this embodiment of the application utilizes a laser rangefinder integrated into the robot's end effector to perceive the contour undulations of the strip steel surface to be ground in real time. A programmable logic controller (PLC) dynamically compares and processes the collected height data with preset thresholds, enabling online optimization and proactive adjustment of the robot's motion path during continuous grinding operations. This system can automatically correct the robot's trajectory and posture in the height direction based on real-time changes in the strip steel surface's waviness without interrupting the grinding process, ensuring that the grinding actuator maintains stable contact pressure and relative posture with the strip steel surface. This path dynamic optimization mechanism based on real-time data feedback effectively overcomes the inefficiencies and lack of adaptability of traditional pre-scanning automated grinding schemes, improving the continuity and overall efficiency of grinding operations. Simultaneously, it avoids problems such as grinding omissions, surface damage, or abnormal equipment wear caused by mismatch between the path and the actual strip steel contour. Therefore, it enhances the automation level of the strip steel surface treatment process while improving grinding quality.

[0096] In some instances, it also includes:

[0097] During the grinding process, the grinding force correction amount is determined based on the grinding force between the grinding actuator and the surface of the strip steel to be ground, which is detected by the force feedback unit.

[0098] Based on the grinding force correction amount, adjust the pressing amount of the grinding actuator to keep the grinding force at the target grinding force.

[0099] For example, during the grinding process, real-time grinding force data is obtained based on the interaction force between the grinding actuator and the surface of the strip steel to be ground, which is detected in real time by the force feedback unit. The real-time grinding force is compared with the preset target grinding force range. When the real-time grinding force deviates from the target grinding force range, the grinding force correction amount required to bring the real-time grinding force back to the target grinding force range is calculated according to the preset force control algorithm. Based on the grinding force correction amount, control commands are generated for the pressing mechanism inside the grinding actuator to adjust the pressing displacement of the grinding disc relative to its mounting base, thereby changing the actual pressing depth of the grinding disc into the surface of the strip steel to be ground. This adjustment process continues to run, forming a closed-loop control system with real-time grinding force as feedback and target grinding force as the set value, ultimately maintaining a stable target grinding force between the grinding actuator and the surface of the strip steel to be ground.

[0100] In summary, the embodiments of this application, through the aforementioned closed-loop control of the reduction amount based on real-time force feedback, can respond quickly and accurately when the actual grinding force on the strip surface fluctuates due to factors such as waviness and uneven material hardness. This system ensures a constant material removal rate during the grinding process, effectively avoiding incomplete grinding due to insufficient grinding force or excessive grinding force causing surface over-grinding damage and abnormal wear of the grinding discs. While adapting to dynamic changes in the strip surface, it improves grinding quality and enhances the stability and reliability of the entire grinding operation.

[0101] Please see Figure 4 The diagram below illustrates the structure of a strip steel grinding robot path optimization device according to an embodiment of this application, comprising:

[0102] The defect coordinate acquisition unit 21 is used to acquire the two-dimensional coordinates of defects on the surface of the strip steel to be polished based on machine vision algorithms.

[0103] The starting height acquisition unit 22 is used to acquire the starting point height coordinates detected by the laser rangefinder at the grinding starting point;

[0104] The starting coordinate determination unit 23 is used to determine the starting three-dimensional coordinates of grinding based on the two-dimensional coordinates of the defect and the height coordinates of the starting point;

[0105] The grinding operation control unit 24 is used to control the robot body to move to the grinding start three-dimensional coordinates and start the grinding execution mechanism to begin the grinding operation;

[0106] The height change monitoring unit 25 is used to acquire the height change value of the strip steel surface to be ground in the grinding area detected by the laser rangefinder during the grinding process.

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

[0108] The grinding posture adjustment unit 27 is used to adjust the grinding posture of the robot body based on the path correction amount, so that the grinding actuator can adapt to the height change of the strip surface to be ground.

[0109] Please see Figure 5 This application also provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor. When the processor 320 executes the computer program 311, it implements the steps of the strip steel grinding robot path optimization method.

[0110] Since the electronic device described in this embodiment is the device used to implement the strip grinding robot path optimization device in the embodiments of this application, those skilled in the art can understand the specific implementation method and various variations of the electronic device in this embodiment based on the method described in the embodiments of this application. Therefore, how the electronic device implements the method in the embodiments of this application will not be described in detail here. Any device used by those skilled in the art to implement the method in the embodiments of this application is within the scope of protection of this application.

[0111] In practice, when the computer program 311 is executed by the processor, it can implement any of the embodiments corresponding to the first aspect.

[0112] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0113] Those skilled in the art will understand that embodiments of this application can provide methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media containing computer-readable program code.

[0114] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0115] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0116] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0117] This application also provides a computer program product, which includes computer software instructions that, when executed on a processing device, cause the processing device to perform... Figure 3 The flowchart of a strip grinding robot path optimization method in the corresponding embodiment.

[0118] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, computer instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any usable medium that a computer can store or a data storage device such as a server or data center that integrates one or more usable media. The usable medium may be a magnetic medium, an optical medium, or a semiconductor medium, etc.

[0119] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0120] In the several embodiments provided in this 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 merely illustrative; multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Furthermore, the mutual couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0121] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in the form of hardware and / or software functional units.

[0123] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device to execute all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, magnetic disks, or optical disks.

[0124] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

[0125] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications that fall outside the scope of this specification.

[0126] Obviously, those skilled in the art can make various modifications to this specification without departing from its spirit and scope. Therefore, this specification also intends to include any modifications that fall within the scope of the claims and their equivalents.

Claims

1. A path optimization system for a strip steel grinding robot, characterized in that, include: The robot itself; A grinding actuator is located at the end of the robot body and is used to perform grinding operations on the surface of the strip steel to be ground. A laser rangefinder is installed at the end of the robot body to detect the height of the steel strip surface to be ground in the area to be ground before the grinding operation. A programmable controller is connected to the robot body, the grinding execution mechanism, and the laser ranging device; wherein, the programmable controller is used to determine the starting three-dimensional coordinates of the grinding process based on the two-dimensional coordinates of the defect generated by the machine vision algorithm and the starting point height coordinates detected by the laser ranging device. Control the robot body to move to the starting three-dimensional coordinates of the polishing process and begin the polishing operation; During the grinding process, the height change value of the steel strip surface to be ground in the area to be ground is obtained by the laser ranging device. When the height change value is greater than the first preset threshold, the path correction amount of the robot body in the height direction is determined; The grinding posture of the robot body is adjusted based on the path correction amount so that the grinding actuator can adapt to the height change of the strip surface to be ground. The grinding actuator includes a floating unit and a force feedback unit; The floating unit is used to adapt the height change of the strip surface to be ground by means of the floating displacement of the floating unit when the height change value is less than or equal to the first preset threshold. The force feedback unit is used to detect the grinding force between the grinding actuator and the surface of the strip steel to be ground; The installation position of the laser rangefinder is determined based on the maximum movement speed of the robot body and the expected maximum waviness change slope of the strip surface to be ground. The programmable controller is also configured to determine, based on the installation location, the maximum movement speed, and the expected maximum wavy slope, the maximum controller response time required from acquiring the height change value to completing the path correction output; The programmable controller is also used to alternately execute a first control task and a second control task based on a preset control cycle; the first control task is used to control the polishing movement of the robot body; the second control task is used to obtain the height change value, and when the height change value is greater than the first preset threshold, to determine the path correction amount; 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 path correction amount is determined before the grinding execution mechanism reaches the area to be corrected. The area to be corrected is the area in the area to be ground where the height change value is greater than the first preset threshold.

2. The system according to claim 1, characterized in that, The programmable controller is used to determine a grinding force correction amount based on the grinding force; and to adjust the pressing amount of the grinding actuator based on the grinding force correction amount so that the grinding actuator and the surface of the strip steel to be ground maintain the target grinding force.

3. A method for optimizing the path of a strip steel grinding robot, used in the system according to any one of claims 1 or 2, characterized in that, include: Based on machine vision algorithms, the two-dimensional coordinates of defects on the surface of the strip steel to be ground are obtained; Obtain the height coordinates of the starting point detected by the laser rangefinder at the grinding start point; Based on the two-dimensional coordinates of the defect and the height coordinates of the starting point, determine the three-dimensional coordinates of the grinding start point; The robot body is controlled to move to the three-dimensional coordinates at the starting point of the grinding process, and the grinding execution mechanism is activated to begin the grinding operation; During the grinding process, the height change value of the steel strip surface to be ground in the area to be ground is obtained by the laser ranging device. Based on the height change value and the first preset threshold, it is determined whether path correction is needed; when path correction is needed, the path correction amount of the robot body in the height direction is determined. The grinding posture of the robot body is adjusted based on the path correction amount so that the grinding actuator can adapt to the height changes of the strip surface to be ground.

4. The method according to claim 3, characterized in that, Also includes: During the grinding process, the grinding force correction amount is determined based on the grinding force detected by the force feedback unit between the grinding actuator and the surface of the strip steel to be ground. Based on the grinding force correction amount, the pressing amount of the grinding actuator is adjusted so that the grinding force is maintained at the target grinding force.

5. A strip steel grinding robot path optimization device, used to implement the method according to any one of claims 3 or 4, characterized in that, include: The defect coordinate acquisition unit is used to acquire the two-dimensional coordinates of defects on the surface of the strip steel to be ground based on machine vision algorithms. The starting height acquisition unit is used to acquire the starting point height coordinates detected by the laser rangefinder at the grinding starting point. The starting coordinate determination unit is used to determine the starting three-dimensional coordinates of grinding based on the two-dimensional coordinates of the defect and the height coordinates of the starting point; The grinding operation control unit is used to control the robot body to move to the grinding start three-dimensional coordinates and start the grinding execution mechanism to begin the grinding operation; The height change monitoring unit is used to acquire the height change value of the strip steel surface to be ground in the area to be ground, as detected by the laser rangefinder, during the grinding process. The path correction decision unit is used to determine whether path correction is needed based on the height change value and a first preset threshold; when path correction is needed, it determines the path correction amount of the robot body in the height direction. A grinding posture adjustment unit is used to adjust the grinding posture of the robot body based on the path correction amount, so that the grinding actuator can adapt to the height change of the strip surface to be ground.

6. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program stored in the memory, implements the steps of the strip grinding robot path optimization method as described in any one of claims 3 or 4.

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