CN-121716086-B - Control method and system for large-torque robot cooperative arm

CN121716086BCN 121716086 BCN121716086 BCN 121716086BCN-121716086-B

Abstract

The invention provides a control method and a system for a large-torque robot cooperative arm, and relates to the technical field of cooperative arm control, wherein the method comprises the steps of obtaining bedrock ground penetrating radar data of a target sampling area; the method comprises the steps of generating a matrix primary bedding development degree distribution map of a target sampling area based on matrix ground penetration radar data of the target sampling area, determining multiple groups of drilling point position information of the peripheral core reference sampling area and multiple groups of drilling point position information of the primary bedding core sampling area based on the matrix primary bedding development degree distribution map of the peripheral core reference sampling area and the matrix primary bedding development degree distribution map of the primary bedding core sampling area, controlling a robot cooperation arm to perform core drilling operation of the primary bedding core sampling area based on a core drilling cooperation arm control scheme of the primary bedding core sampling area, and determining the robot cooperation arm control scheme of matrix primary bedding core drilling of the target sampling area efficiently and accurately.

Inventors

ZHANG YUNHUI
JIANG LIPING
LI XIAOLONG
WANG LIGONG
LI JIANGHU
LI YINCHUN

Assignees

成都航天凯特机电科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260224

Claims (6)

1. The control method of the large-torque robot cooperative arm is characterized by comprising the following steps of: Obtaining bedrock ground penetrating radar data of a target sampling area; Generating a bedrock primary bedding development degree distribution map of the target sampling area based on bedrock ground penetrating radar data of the target sampling area; determining a peripheral core reference sampling area and a primary bedding core sampling area based on a matrix primary bedding development degree distribution map of the target sampling area; Determining multiple drilling point position information of the peripheral core reference sampling area and multiple drilling point position information of the primary bedding core sampling area based on the basic rock primary bedding development degree distribution diagram of the peripheral core reference sampling area and the basic rock primary bedding development degree distribution diagram of the primary bedding core sampling area; The rock core drilling cooperation arm control scheme for determining the peripheral rock core reference sampling area based on the multi-set drilling point location information of the peripheral rock core reference sampling area comprises the following steps: clustering based on the multiple groups of drilling point location information of the peripheral core reference sampling area to obtain multiple clusters; Determining a plurality of cooperating arm station sites and drilling torque for each cooperating arm station site based on the plurality of clusters; generating a core drilling cooperative arm control scheme of a peripheral core reference sampling zone based on the plurality of cooperative arm workstation sites and the drilling torque of each cooperative arm workstation site; Controlling a robot cooperative arm to carry out core drilling operation based on a core drilling cooperative arm control scheme of the peripheral core reference sampling area, and acquiring core drilling quality information; The core drilling cooperation arm control scheme for determining the primary layer core sampling area based on the core drilling quality information and the multi-group drilling point location information of the primary layer core sampling area comprises the following steps: constructing a drilling point location characteristic map, wherein the drilling point location characteristic map comprises a plurality of drilling point location nodes and a plurality of edges between the drilling point location nodes, and the node characteristics of each drilling point location node are drilling point location information; processing the drilling point location characteristic map based on a graph neural network to determine a plurality of cooperative arm operation station sites of a primary bedding core sampling area; based on a core drilling cooperation arm control scheme of the peripheral core reference sampling area, the core drilling quality information and a plurality of groups of drilling point location information of the primary bedding core sampling area, core drilling simulation quality information of the primary bedding core sampling area under different drilling torques is generated; Determining target drilling torque of each cooperative arm operation station site of the primary bedding core sampling area based on core drilling simulation quality information of the primary bedding core sampling area under different drilling torques and drilling point position information corresponding to each cooperative arm operation station site of the primary bedding core sampling area; Generating a core drilling cooperation arm control scheme of the primary bedding core sampling area based on a plurality of cooperation arm operation station sites of the primary bedding core sampling area and target drilling torque of each cooperation arm operation station site of the primary bedding core sampling area; and controlling the robot cooperation arm to carry out core drilling operation of the primary bedding core sampling area based on the core drilling cooperation arm control scheme of the primary bedding core sampling area.
2. The method for controlling the cooperative arm of the high-torque robot according to claim 1, wherein the input of the graphic neural network is the drilling point location characteristic map, and the output of the graphic neural network is a plurality of cooperative arm workstation sites of a primary bedding core sampling area.
3. A control system for a high torque robotic collaboration arm, comprising: the data acquisition module is used for acquiring bedrock ground penetrating radar data of the target sampling area; the bedding distribution map generation module is used for generating a bedding primary bedding development degree distribution map of the target sampling area based on the bedrock ground penetrating radar data of the target sampling area; The sampling area dividing module is used for determining a peripheral core reference sampling area and a primary bedding core sampling area based on a basic bedding development degree distribution diagram of the target sampling area; The drilling point position determining module is used for determining multiple groups of drilling point position information of the peripheral core reference sampling area and multiple groups of drilling point position information of the primary bedding core sampling area based on the primary bedding development degree distribution diagram of the basic rock of the peripheral core reference sampling area and the primary bedding development degree distribution diagram of the basic rock of the primary bedding core sampling area; the first control scheme generating module is used for determining a rock core drilling cooperation arm control scheme of the peripheral rock core reference sampling area based on the multi-group drilling point location information of the peripheral rock core reference sampling area, and the first control scheme generating module is further used for: clustering based on the multiple groups of drilling point location information of the peripheral core reference sampling area to obtain multiple clusters; Determining a plurality of cooperating arm station sites and drilling torque for each cooperating arm station site based on the plurality of clusters; generating a core drilling cooperative arm control scheme of a peripheral core reference sampling zone based on the plurality of cooperative arm workstation sites and the drilling torque of each cooperative arm workstation site; the first drilling execution module is used for controlling the robot cooperation arm to carry out core drilling operation based on a core drilling cooperation arm control scheme of the peripheral core reference sampling area and acquiring core drilling quality information; The second control scheme generating module is used for determining a core drilling cooperation arm control scheme of the primary bedding core sampling area based on the core drilling quality information and the multi-group drilling point location information of the primary bedding core sampling area, and the second control scheme generating module is further used for: constructing a drilling point location characteristic map, wherein the drilling point location characteristic map comprises a plurality of drilling point location nodes and a plurality of edges between the drilling point location nodes, and the node characteristics of each drilling point location node are drilling point location information; processing the drilling point location characteristic map based on a graph neural network to determine a plurality of cooperative arm operation station sites of a primary bedding core sampling area; based on a core drilling cooperation arm control scheme of the peripheral core reference sampling area, the core drilling quality information and a plurality of groups of drilling point location information of the primary bedding core sampling area, core drilling simulation quality information of the primary bedding core sampling area under different drilling torques is generated; Determining target drilling torque of each cooperative arm operation station site of the primary bedding core sampling area based on core drilling simulation quality information of the primary bedding core sampling area under different drilling torques and drilling point position information corresponding to each cooperative arm operation station site of the primary bedding core sampling area; Generating a core drilling cooperation arm control scheme of the primary bedding core sampling area based on a plurality of cooperation arm operation station sites of the primary bedding core sampling area and target drilling torque of each cooperation arm operation station site of the primary bedding core sampling area; And the second drilling execution module is used for controlling the robot cooperation arm to carry out core drilling operation of the primary bedding core sampling area based on the core drilling cooperation arm control scheme of the primary bedding core sampling area.
4. The control system of a high torque robotic collaboration arm of claim 3, wherein the input of the graphic neural network is the drilling point location profile and the output of the graphic neural network is a plurality of collaboration arm workstation sites of a primary bedding core sampling zone.
5. An electronic device comprising a processor, a memory, and a computer program, wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of controlling a high torque robotic collaboration arm as claimed in any one of claims 1 to 2.
6. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the control method of a high torque robotic collaboration arm as claimed in any one of claims 1 to 2.

Description

Control method and system for large-torque robot cooperative arm Technical Field The invention relates to the technical field of cooperative arm control, in particular to a control method and a control system for a large-torque robot cooperative arm. Background In the field of modern geological exploration and engineering drilling, extremely high requirements are provided for control precision, high torque output stability and operation adaptability of a robot cooperation arm aiming at core sampling work of complex geological structures. Traditional core drilling relies on technicians to analyze and carry out sampling area division and point location planning, is high in subjectivity and lacks systematic analysis on the primary bedding development degree of bedrock, and is difficult to adapt to complex conditions of heterogeneous bedrock. In the control mode, fixed parameters are adopted to execute drilling tasks, and dynamic optimization adjustment of operation parameters of a subsequent cooperative arm cannot be carried out by combining with the drilling quality information of the prior rock core. Meanwhile, when the problem of matching the position layout of the multi-collaboration-arm operation station with drilling torque is solved, the spatial correlation and the geological feature correlation of drilling points are not fully excavated in the prior art, effective modeling prediction is difficult to carry out on operation risks of a complex drilling environment, the situations of positioning deviation, core breakage and the like of the collaboration arm are easy to occur in a large-torque operation scene due to the short plates of the technology, and the severe requirements of the large-torque robot collaboration arm on operation stability, sampling integrity and efficiency in primary bedding core sampling are difficult to be met. Therefore, how to efficiently and accurately determine a robot cooperation arm control scheme for drilling a primary bedding core of a bedrock in a target sampling area is a problem to be solved currently. Disclosure of Invention The invention mainly solves the technical problem of how to efficiently and accurately determine a robot cooperation arm control scheme for drilling the bedrock primary bedding core in a target sampling area. According to a first aspect, the invention provides a control method of a high-torque robot cooperative arm, comprising the steps of obtaining bedrock ground penetrating radar data of a target sampling area; the method comprises the steps of generating a basic rock primary layer physical development degree distribution map of a target sampling area based on basic rock ground penetrating radar data of the target sampling area, determining a peripheral rock core reference sampling area and a basic layer physical rock core sampling area based on the basic rock primary layer physical development degree distribution map of the target sampling area and the basic rock primary layer physical development degree distribution map of the basic rock core reference sampling area, determining multiple groups of drilling point position information of the peripheral rock core reference sampling area and multiple groups of drilling point position information of the basic layer physical rock core sampling area, determining a rock core drilling cooperation arm control scheme of the peripheral rock core reference sampling area based on the multiple groups of drilling point position information of the peripheral rock core reference sampling area, controlling a robot cooperation arm to carry out rock core drilling operation based on the rock core drilling cooperation arm control scheme of the peripheral rock core reference sampling area, acquiring rock core drilling quality information based on the rock core drilling quality information and the multiple groups of the basic layer physical rock core sampling area, determining a rock core drilling cooperation arm control scheme of the basic layer physical rock core sampling area based on the rock core drilling cooperation arm control scheme of the peripheral rock core reference sampling area, and carrying out the basic layer physical rock core drilling cooperation arm control scheme based on the basic layer physical rock core sampling area. In one possible implementation manner, the rock core drilling cooperation arm control scheme for determining the peripheral rock core reference sampling area based on the multi-set drilling point location information of the peripheral rock core reference sampling area comprises the steps of clustering based on the multi-set drilling point location information of the peripheral rock core reference sampling area to obtain a plurality of clusters, determining drilling torque of a plurality of cooperation arm operation station sites and each cooperation arm operation station site based on the plurality of clusters, and generating the rock core drilling cooperation arm control scheme for t