Ice and snow fine carving robot in low temperature environment
By using multi-sensor collaborative data acquisition and modeling simulation, combined with ultrasonic carving tools and multi-degree-of-freedom robotic arms, efficient and precise ice and snow carving in low-temperature environments has been achieved. This solves the problems of high labor intensity and low precision in existing technologies and adapts to the carving needs of complex sites and materials.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SUZHOU DINGZHI RUIGUANG INTELLIGENT TECH CO LTD
- Filing Date
- 2026-05-08
- Publication Date
- 2026-07-31
AI Technical Summary
Existing ice and snow carving techniques are labor-intensive and inefficient in low-temperature environments, and their precision is affected by experience. Traditional mechanical equipment lacks precise perception and control, making it difficult to achieve high-precision carving of complex shapes. Furthermore, the equipment has poor flexibility and cannot adapt to the carving needs of complex outdoor sites.
By employing multi-sensor collaborative data acquisition, and through modeling simulation and closed-loop adjustment, the engraving parameters are adaptively optimized. Precise engraving is achieved using an ultrasonic engraving tool and a multi-degree-of-freedom robotic arm, while high-precision modeling is performed using a 3D vision camera and a laser scanner. Real-time parameter adjustment is then achieved using a PID control algorithm.
It reduces the intensity of manual labor, enables efficient and precise ice and snow carving in low-temperature environments, adapts to different sizes and shapes, is suitable for complex outdoor sites and ice and snow materials of different hardness, and improves the pass rate of carved products.
Smart Images
Figure CN122480955A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of ice and snow carving equipment technology, and in particular to a robot for fine ice and snow carving in low-temperature environments. Background Technology
[0002] Currently, the ice and snow sculpture industry mainly relies on manual carving and simple mechanical assistance. Manual carving is labor-intensive and inefficient; workers are prone to fatigue in low-temperature outdoor environments, and carving accuracy is greatly affected by experience, making it difficult to achieve standardized, high-precision carving of complex shapes. Traditional simple mechanical carving equipment lacks precise sensing and control capabilities, cannot detect carving force and changes in the shape of the blank in real time, and is prone to problems such as ice and snow cracking, over-cutting, and under-cutting, resulting in a low finished product qualification rate. Furthermore, the equipment has poor flexibility, mostly designed for fixed workstations, and cannot adapt to the carving needs of large-scale ice and snow landscapes and complex outdoor sites. The tool-changing process is also cumbersome, requiring manual intervention, further reducing processing efficiency. Simple mechanical carving equipment lacks effective modeling and simulation methods, making it impossible to simulate the carving process in advance, predict processing risks, and adjust parameters in real time during processing, resulting in significant deviations between the finished product and the design model. Summary of the Invention
[0003] The purpose of this invention is to provide a precision ice and snow carving robot for low-temperature environments. Through multi-sensor collaborative data acquisition, modeling and simulation, and closed-loop adjustment, it achieves adaptive optimization of carving parameters, reduces the intensity of manual labor, and eliminates the need for operators to work for extended periods in low-temperature environments. It is highly adaptable, capable of carving ice and snow of different sizes and shapes, accommodates multiple processes, and is suitable for complex outdoor sites and ice and snow materials of varying hardness.
[0004] To achieve the above objectives, the present invention provides a precision ice and snow carving robot for low-temperature environments, comprising a moving mechanism, a control box and a robotic arm mounted on the top of the moving mechanism, a tool changing mechanism mounted on the end effector of the robotic arm, the tool changing mechanism including a tool changing drive assembly connected to a rotary disk, carving components arrayed on one side of the rotary disk, each carving component including a first hydraulic cylinder, the piston rod of the first hydraulic cylinder connected to a mounting plate, an ultrasonic carving knife and a force sensor mounted on the mounting plate.
[0005] Preferably, the ultrasonic engraving knife includes a handle and a cutting tool, with the cutting tool fixedly mounted on the handle. The cutting tool is of a different type of ice and snow engraving knife.
[0006] Preferably, a 3D vision camera is installed at the center of the rotating disk, and a laser scanner is arranged in an array on the rotating disk, with an engraving component between every two laser scanners.
[0007] Preferably, the mobile mechanism includes a mobile vehicle body and two mobile tracks, with the two mobile tracks respectively installed on both sides of the mobile vehicle body.
[0008] Preferably, the robotic arm includes a mounting base, which is mounted on the top of the mobile vehicle. A rotating assembly is provided on the top of the mounting base, and a base is fixedly mounted on the top of the rotating assembly. The base is hinged to one end of a first link, the other end of the first link is hinged to one end of a second link, the other end of the second link is hinged to an end effector, the first link is connected to a first drive assembly, the second link is connected to a second drive assembly, the end effector is connected to a third drive assembly, and a second hydraulic cylinder is provided at the second link. The piston rod of the second hydraulic cylinder is hinged to the end effector.
[0009] Preferably, the robotic arm is equipped with a pose sensing module, and the tool changing drive assembly, the first drive assembly, the second drive assembly, the third drive assembly and the rotation assembly are all connected to the execution status sensing module. A laser radar is set on one side of the mounting base, and a GPS positioning module is set between the mounting base and the control box. The control box is equipped with a display screen, control buttons and a control system. The control system includes a data acquisition module, a data processing and modeling simulation module, a motion control execution module and a data transmission module. The data acquisition module is used to collect data detected by the pose perception module, execution status perception module, GPS positioning module, LiDAR, 3D vision camera, laser scanner and force sensor; The data processing and modeling simulation module is used to preprocess the data collected by the data acquisition module, construct a 3D model of the ice and snow blank, import the 3D design model of the target finished product and perform model registration, construct the constitutive equation of ice and snow material mechanics, construct the ice and snow carving cutting simulation model, and solve the real-time carving state deviation. The motion control execution module is used to dynamically correct the engraving parameters based on the deviation value for adaptive adjustment; The data transmission module is used to synchronously push the 3D model of the ice and snow blank, the target finished product model, the ice and snow carving cutting simulation model, the real-time carving force curve, the processing trajectory, and the deviation data to the display screen and the client.
[0010] Preferably, data preprocessing includes force sensor moving average filtering and multi-sensor coordinate unified transformation; The force sensor moving average filter formula is shown below: ; in, For the first Engraving the contact force after time-lapse filtering. For the first The original force value collected by the force sensor at any time. The length of the sliding filter window. This refers to the real-time sampling time sequence number; The unified transformation matrix for multi-sensor coordinates is shown below: ; in, A three-dimensional coordinate vector in the world coordinate system. This represents the original coordinate vector in the sensor's local coordinate system. For coordinate rotation matrix, This is the coordinate translation matrix; A 3D model of the ice and snow blank is constructed using point cloud meshing and surface fitting. The calculation formula is shown below: ; in, For any three-dimensional coordinates on the surface of the billet, For fitting the continuous surface of the ice and snow billet; Import the 3D design model of the preset target finished product, and spatially register the 3D model of the actual ice and snow blank with the target finished product model. The calculation formula is as follows: ; in, The registration error between the actual ice and snow blank 3D model and the target finished product model; The coordinates of the feature points of the target finished product model. The coordinates of the feature points corresponding to the actual three-dimensional model of the ice and snow blank. To register the optimal rotation matrix, To register the optimal translation matrix, The total number of matching feature points; The formula for the constitutive equation of ice and snow materials mechanics is shown below: ; in, Contact stress during ice and snow carving For the elastic modulus of ice and snow, The strain generated by carving and cutting. This is the snow and ice correction factor, relative to ambient temperature. Snow and ice density Positive correlation; The simulation model for ice and snow carving cutting is shown below: ; in, For the total engraving composite load, For normal compressive load, This is the tool contact stiffness coefficient. This is the tool feed depth of cut. For tangential shear load, The coefficient of friction between ice / snow and the knife. The ultrasonic vibration cutting load. The effective cutting area of the tool. The equivalent force of ultrasonic vibration; By comparing the simulated theoretical carving force and cutting depth with the actual values collected by the force sensor and the actual pose of the mechanism, the real-time carving state deviation is calculated. The deviation calculation formula is shown below: ; in, Due to deviation in carving force, To optimize the carving force for simulation, For cutting depth deviation, To simulate the theoretical cutting depth, This represents the actual feed depth of the first hydraulic cylinder. This is due to the deviation in the tool's attitude angle. For the target tool inclination angle, This represents the actual tool tilt angle of the robotic arm.
[0011] Preferably, the motion control execution module adjusts the actuator through a PID control algorithm to dynamically correct the engraving force, cutting depth, tool posture, and ultrasonic power. The calculation formula of the PID control algorithm is shown below: ; in, To control the output, To comprehensively analyze deviations in real time, This is the proportional adjustment coefficient. This is the integral adjustment coefficient. The differential adjustment coefficient is... This is the time variable for integration.
[0012] Therefore, the present invention employs a low-temperature environment ice and snow fine carving robot, which achieves adaptive optimization of carving parameters through multi-sensor collaborative acquisition, modeling simulation and closed-loop adjustment, reducing the intensity of manual labor and eliminating the need for operators to work for long periods in low-temperature environments; it is highly adaptable, capable of carving ice and snow of different sizes and shapes, taking into account multiple processes, and adapting to complex outdoor sites and ice and snow materials of different hardness.
[0013] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description
[0014] Figure 1 This is a three-dimensional structural schematic diagram of a low-temperature ice and snow fine carving robot according to the present invention; Figure 2 This is a three-dimensional structural diagram of a tool changing mechanism for a precision ice and snow carving robot in a low-temperature environment, according to the present invention. Figure Labels 1. Mobile track; 2. Mobile chassis; 3. Control box; 4. Mounting base; 5. First link; 6. Second link; 7. End effector; 8. Tool changer drive assembly; 9. Rotary disk; 10. 3D vision camera; 11. Laser scanner; 12. First hydraulic cylinder; 13. Mounting plate; 14. Ultrasonic engraving tool; 15. GPS positioning module; 16. LiDAR. Detailed Implementation
[0015] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.
[0016] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0017] Example 1 like Figures 1 to 2 As shown, this invention provides a precision ice and snow carving robot for low-temperature environments, including a moving mechanism. The moving mechanism provides support and power for the entire device, enabling it to move and turn freely within the ice and snow work area, achieving carving operations at different positions and angles. This eliminates the need for manual handling of equipment or materials, significantly improving operational convenience. The moving mechanism includes a mobile vehicle body 2 and two mobile tracks 1, which are respectively installed on both sides of the mobile vehicle body 2. The mobile tracks 1 increase the contact area with the ice and snow surface, reduce the ground pressure, adapt to the low-friction characteristics of ice and snow roads, and ensure the stability of the device's movement in outdoor ice and snow environments.
[0018] The mobile mechanism is equipped with a control box 3 and a robotic arm on its top. The robotic arm includes a mounting base 4, which is mounted on the top of the mobile vehicle body 2. A rotating assembly is provided on the top of the mounting base 4, and a base is fixedly mounted on the top of the rotating assembly. The base is hinged to one end of the first link 5, and the other end of the first link 5 is hinged to one end of the second link 6. The other end of the second link 6 is hinged to the end effector 7. The first link 5 is connected to the first drive assembly, the second link 6 is connected to the second drive assembly, and the end effector 7 is connected to the third drive assembly. A second hydraulic cylinder is provided at the second link 6, and the piston rod of the second hydraulic cylinder is hinged to the end effector 7.
[0019] The rotating component can drive the mounting base 4 to rotate, the first drive component can drive the first link 5 to rotate, the second drive component can drive the second link 6 to rotate, the third drive component can drive the end effector 7 to rotate, and the second hydraulic cylinder can drive the end effector 7 to move linearly. The combined action realizes the adjustment of the spatial posture, carving position and feed depth of the carving knife, and drives the carving knife to perform multi-degree-of-freedom precise movement, which can meet the carving needs of complex ice and snow shapes.
[0020] The end effector 7 of the robotic arm is equipped with a tool changing mechanism. The robotic arm drives the end effector 7, the tool changing mechanism, and the carving components to achieve multi-degree-of-freedom motion. The tool changing mechanism includes a tool changing drive assembly 8, which is connected to a rotary disk 9. Carving components are arranged in an array on one side of the rotary disk 9. Each carving component includes a first hydraulic cylinder 12, and the piston rod of the first hydraulic cylinder 12 is connected to a mounting plate 13. An ultrasonic carving knife 14 and a force sensor are mounted on the mounting plate 13. The ultrasonic carving knife 14 is a prior art structure, including a handle and a cutting tool. The cutting tool is fixedly mounted on the handle, and the cutting tool is of a different type of ice and snow carving knife. A 3D vision camera 10 is installed at the center of the rotary disk 9, and laser scanners 11 are arranged in an array on the rotary disk 9. A carving component is placed between every two laser scanners 11.
[0021] The tool changer drive assembly 8 can drive the rotary disk 9 to rotate, realizing the automatic switching of different types of ice and snow carving tools to meet the needs of different carving processes such as rough carving, fine carving, and hollowing. The carving assembly achieves the cutting and breaking of ice and snow materials through the vibration of the ultrasonic carving tool 14. The first hydraulic cylinder 12 controls the feed rate and carving force of the carving tool to adapt to ice and snow materials of different hardness. The force sensor collects the contact force between the carving tool and the ice and snow blank in real time, providing data support for the closed-loop adjustment of the control system. The 3D vision camera 10 collects the global color three-dimensional shape and spatial coordinate point set of the ice and snow blank for the overall three-dimensional modeling of the blank; the laser scanner 11 collects high-density point cloud data of the local contour, concave and convex details, and boundary dimensions of the blank, making up for the lack of detail collection by the 3D vision camera 10; the two work together to provide complete and high-precision blank data for modeling and simulation.
[0022] The robotic arm is equipped with a pose sensing module. The tool change drive assembly 8, the first drive assembly, the second drive assembly, the third drive assembly, and the rotation assembly are all connected to the execution status sensing module. A lidar 16 is installed on one side of the mounting base 4, and a GPS positioning module 15 is installed between the mounting base 4 and the control box 3. The pose sensing module accurately collects the spatial position and posture data of the equipment itself, the carving parts, and the blank, unifying the coordinate system to ensure the accuracy of the carving position and posture. The execution status sensing module collects the operating parameters of all the actuators of the equipment in real time, monitors the working status of the actuators, and provides execution-side data support for the closed-loop adjustment of the control system. The lidar 16 collects environmental information around the equipment, detects the position of obstacles, and avoids collisions with obstacles during equipment movement. The GPS positioning module 15 accurately locates the spatial coordinates of the equipment, and works with the moving mechanism to achieve precise movement and positioning of the equipment, ensuring the accuracy of the carving position. The two work together to ensure the safe and precise operation of the equipment.
[0023] The control box is equipped with a display screen, control buttons and a control system. The control system includes a data acquisition module, a data processing and modeling simulation module, a motion control execution module and a data transmission module. The data acquisition module is used to collect data detected by the pose perception module, execution status perception module, GPS positioning module, LiDAR, 3D vision camera, laser scanner and force sensor; The data processing and modeling simulation module is used to preprocess the data collected by the data acquisition module, construct a 3D model of the ice and snow blank, import the 3D design model of the target finished product and perform model registration, construct the constitutive equation of ice and snow material mechanics, construct the ice and snow carving cutting simulation model, and solve the real-time carving state deviation. Data preprocessing includes force sensor moving average filtering and unified transformation of multi-sensor coordinates; The force sensor moving average filter formula is shown below: ; in, For the first Engraving the contact force after time-lapse filtering. For the first The original force value collected by the force sensor at any time. The length of the sliding filter window. This refers to the real-time sampling time sequence number; The unified transformation matrix for multi-sensor coordinates is shown below: ; in, A three-dimensional coordinate vector in the world coordinate system. This represents the original coordinate vector in the sensor's local coordinate system. For coordinate rotation matrix, This is the coordinate translation matrix; A 3D model of the ice and snow billet is constructed by fitting a point cloud meshed surface to restore its true dimensions, surface shape, and defect locations. The calculation formula is shown below: ; in, For any three-dimensional coordinates on the surface of the billet, For fitting the continuous surface of the ice and snow billet; Import the 3D design model of the preset target finished product, spatially register the actual ice and snow blank 3D model with the target finished product model, determine the carving removal area, machining allowance, and tool movement path boundary, and calculate the formulas as follows: ; in, The registration error between the actual ice and snow blank 3D model and the target finished product model; The coordinates of the feature points of the target finished product model. The coordinates of the feature points corresponding to the actual three-dimensional model of the ice and snow blank. To register the optimal rotation matrix, To register the optimal translation matrix, The total number of matching feature points; Ice and snow are brittle and porous materials. Establishing the constitutive equations for ice and snow mechanics provides a material basis for sculpting force simulation and cutting and crushing calculations. The formulas for the constitutive equations for ice and snow mechanics are shown below: ; in, Contact stress during ice and snow carving For the elastic modulus of ice and snow, The strain generated by carving and cutting. This is the snow and ice correction factor, relative to ambient temperature. Snow and ice density Positive correlation; A simulation model for ice and snow carving cutting was constructed to simulate the entire process of cutting, extruding, and breaking ice and snow with a cutting tool. The simulation model for ice and snow carving cutting is shown below: ; in, For the total engraving composite load, For normal compressive load, This is the tool contact stiffness coefficient. This is the tool feed depth of cut. For tangential shear load, The coefficient of friction between ice / snow and the knife. The ultrasonic vibration cutting load. The effective cutting area of the tool. The equivalent force of ultrasonic vibration; By comparing the simulated theoretical carving force and cutting depth with the actual values collected by the force sensor and the actual pose of the mechanism, the real-time carving state deviation is calculated to provide a basis for closed-loop adjustment. The deviation calculation formula is shown below: ; in, Due to deviation in carving force, To optimize the carving force for simulation, For cutting depth deviation, To simulate the theoretical cutting depth, This represents the actual feed depth of the first hydraulic cylinder. This is due to the deviation in the tool's attitude angle. For the target tool inclination angle, This represents the actual tool tilt angle of the robotic arm.
[0024] The motion control execution module is used to dynamically correct the engraving parameters based on the deviation value for adaptive adjustment; The motion control module adjusts the actuator through a PID control algorithm, dynamically correcting the carving force, cutting depth, tool posture, and ultrasonic power to achieve flexible processing of ice and snow carving, avoiding ice and snow cracking, over-cutting, and under-cutting. The calculation formula of the PID control algorithm is shown below: ; in, To control the output, To comprehensively analyze deviations in real time, This is the proportional adjustment coefficient. This is the integral adjustment coefficient. The differential adjustment coefficient is... This is the time variable for integration.
[0025] The data transmission module is used to synchronously push the 3D model of the ice and snow blank, the target finished product model, the ice and snow carving cutting simulation model, the real-time carving force curve, the processing trajectory, and the deviation data to the display screen and the client.
[0026] Therefore, the present invention employs a low-temperature environment ice and snow fine carving robot, which achieves adaptive optimization of carving parameters through multi-sensor collaborative acquisition, modeling simulation and closed-loop adjustment, reducing the intensity of manual labor and eliminating the need for operators to work for long periods in low-temperature environments; it is highly adaptable, capable of carving ice and snow of different sizes and shapes, taking into account multiple processes, and adapting to complex outdoor sites and ice and snow materials of different hardness.
[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.
Claims
1. A precision ice and snow carving robot for low-temperature environments, characterized in that: It includes a moving mechanism, a control box and a robotic arm mounted on the top of the moving mechanism, a tool changing mechanism mounted on the end effector of the robotic arm, the tool changing mechanism including a tool changing drive assembly connected to a rotary disk, and engraving components arrayed on one side of the rotary disk, the engraving components including a first hydraulic cylinder, the piston rod end of the first hydraulic cylinder connected to a mounting plate, and an ultrasonic engraving knife and a force sensor mounted on the mounting plate.
2. The ice and snow fine carving robot in a low-temperature environment according to claim 1, characterized in that: An ultrasonic engraving knife consists of a handle and a cutting tool. The cutting tool is fixedly mounted on the handle, and the cutting tool is of different types, such as ice and snow engraving tools.
3. The ice and snow fine carving robot in a low-temperature environment according to claim 2, characterized in that: A 3D vision camera is installed at the center of the rotating disk, and a laser scanner is arrayed on the rotating disk, with an engraving component between every two laser scanners.
4. The ice and snow fine carving robot in a low-temperature environment according to claim 3, characterized in that: The mobile mechanism includes a mobile vehicle body and two mobile tracks, which are respectively installed on both sides of the mobile vehicle body.
5. The ice and snow fine carving robot in a low-temperature environment according to claim 4, characterized in that: The robotic arm includes a mounting base, which is mounted on the top of a mobile vehicle. A rotating assembly is located on the top of the mounting base, and a base is fixedly mounted on the top of the rotating assembly. The base is hinged to one end of a first link, and the other end of the first link is hinged to one end of a second link. The other end of the second link is hinged to an end effector. The first link is connected to a first drive assembly, the second link is connected to a second drive assembly, and the end effector is connected to a third drive assembly. A second hydraulic cylinder is located at the second link, and the piston rod of the second hydraulic cylinder is hinged to the end effector.
6. The ice and snow fine carving robot in a low-temperature environment according to claim 5, characterized in that: The robotic arm is equipped with a pose sensing module. The tool changing drive assembly, the first drive assembly, the second drive assembly, the third drive assembly, and the rotation assembly are all connected to the execution status sensing module. A laser radar is installed on one side of the mounting base. A GPS positioning module is installed between the mounting base and the control box. The control box is equipped with a display screen, control buttons, and a control system. The control system includes a data acquisition module, a data processing and modeling simulation module, a motion control execution module, and a data transmission module. The data acquisition module is used to collect data detected by the pose perception module, execution status perception module, GPS positioning module, LiDAR, 3D vision camera, laser scanner and force sensor; The data processing and modeling simulation module is used to preprocess the data collected by the data acquisition module, construct a 3D model of the ice and snow blank, import the 3D design model of the target finished product and perform model registration, construct the constitutive equation of ice and snow material mechanics, construct an ice and snow carving cutting simulation model, and solve the real-time carving state deviation. The motion control execution module is used to dynamically correct the engraving parameters based on the deviation value for adaptive adjustment; The data transmission module is used to synchronously push the three-dimensional model of the ice and snow blank, the target finished product model, the ice and snow carving cutting simulation model, the real-time carving force curve, the processing trajectory, and the deviation data to the display screen and the client.
7. The ice and snow fine carving robot in a low-temperature environment according to claim 6, characterized in that: Data preprocessing includes force sensor moving average filtering and unified transformation of multi-sensor coordinates; The force sensor moving average filter formula is shown below: ； in, For the first Engraving the contact force after time-lapse filtering. For the first The original force value collected by the force sensor at any time. The length of the sliding filter window. This refers to the real-time sampling time sequence number; The unified transformation matrix for multi-sensor coordinates is shown below: ; in, A three-dimensional coordinate vector in the world coordinate system. This represents the original coordinate vector in the sensor's local coordinate system. For coordinate rotation matrix, This is the coordinate translation matrix; A 3D model of the ice and snow blank is constructed using point cloud meshing and surface fitting. The calculation formula is shown below: ； in, For any three-dimensional coordinates on the surface of the billet, For fitting the continuous surface of the ice and snow billet; Import the 3D design model of the preset target finished product, and spatially register the 3D model of the actual ice and snow blank with the target finished product model. The calculation formula is as follows: ； in, The registration error between the actual ice and snow blank 3D model and the target finished product model; The coordinates of the feature points of the target finished product model. The coordinates of the feature points corresponding to the actual three-dimensional model of the ice and snow blank. To register the optimal rotation matrix, To register the optimal translation matrix, The total number of matching feature points; The formula for the constitutive equation of ice and snow materials mechanics is shown below: ； in, Contact stress during ice and snow carving For the elastic modulus of ice and snow, The strain generated by carving and cutting. This is the snow and ice correction factor, relative to ambient temperature. Snow and ice density Positive correlation; The simulation model for ice and snow carving cutting is shown below: ； in, For the total engraving composite load, For normal compressive load, This is the tool contact stiffness coefficient. This is the tool feed depth of cut. For tangential shear load, The coefficient of friction between ice / snow and the knife. The ultrasonic vibration cutting load. The effective cutting area of the tool. The equivalent force of ultrasonic vibration; By comparing the simulated theoretical carving force and cutting depth with the actual values collected by the force sensor and the actual pose of the mechanism, the real-time carving state deviation is calculated. The deviation calculation formula is shown below: ； in, Due to deviation in carving force, To optimize the carving force for simulation, This is due to the deviation in cutting depth. To simulate the theoretical cutting depth, This represents the actual feed depth of the first hydraulic cylinder. This is due to the deviation in the tool's attitude angle. For the target tool inclination angle, This represents the actual tool tilt angle of the robotic arm.
8. The ice and snow fine carving robot in a low-temperature environment according to claim 7, characterized in that: The motion control module adjusts the actuator through a PID control algorithm, dynamically correcting the engraving force, cutting depth, tool posture, and ultrasonic power. The calculation formula for the PID control algorithm is shown below: ； in, To control the output, To comprehensively analyze deviations in real time, This is the proportional adjustment coefficient. This is the integral adjustment coefficient. The differential adjustment coefficient is... This is the time variable for integration.