CN-121989254-A - Multistage compliant control and track deviation rectifying system and method for polishing robot

CN121989254ACN 121989254 ACN121989254 ACN 121989254ACN-121989254-A

Abstract

The application relates to the technical field of robot control, and provides a multistage compliant control and track deviation rectifying system and method for a polishing robot. The multistage flexible control and track deviation rectifying system of the polishing robot comprises an AGV chassis, a Z-axis servo module, a force control grinding head, a laser detection unit, a six-dimensional force sensor and a main controller. The multistage flexible control and track deviation correcting system of the polishing robot can realize zero-leakage polishing and zero-overlapping accurate splicing of adjacent polishing paths through a macroscopic track deviation correcting algorithm based on a virtual guide rail, eliminates response lag of a force control system through front laser feedforward pre-judging control, solves the problems of track drift, poor adaptability of complex curved surfaces and untimely force control response in a weak texture environment, and achieves the aims of high-precision track deviation correction and flexible force control of large-area complex curved surface polishing. In addition, the application also provides a method applied to the multistage flexible control and track deviation correcting system of the polishing robot.

Inventors

LI JIABAO
WANG CHENGJUN
HOU XINLI
ZHANG YUEPENG
YE DONGDONG
LIU HOULI
Bao Suya
WANG BUYUN
ZHU MING

Assignees

安徽工程大学
南京绥德自动焊接装备有限公司

Dates

Publication Date: 20260508
Application Date: 20260401

Claims (10)

1. A multistage compliance control of polishing robot and orbit deviation rectification system, characterized by comprising: The AGV chassis (1) is used for bearing the polishing executing mechanism and realizing large-range movement of an operation area; the Z-axis servo module (2) is fixedly arranged on the AGV chassis (1) and used for realizing the middle-range lifting adjustment of the polishing mechanism; The force control grinding head (3) is arranged at the execution end of the Z-axis servo module (2) and is used for realizing high-frequency force control adjustment and surface grinding operation of grinding operation; The laser detection unit (4) is respectively arranged at the front end and the lateral direction of the AGV chassis (1) and is used for scanning the topographic data of the working area and the boundary line between the polished area and the unground area in real time; the six-dimensional force sensor (5) is arranged between the Z-axis servo module (2) and the force control grinding head (3) and is used for collecting contact force data in the grinding operation process in real time; The main controller (6) is respectively connected with the AGV chassis (1), the Z-axis servo module (2), the force control grinding head (3), the laser detection unit (4) and the six-dimensional force sensor (5) and is used for executing track deviation correction, multistage compliance control and feedforward pre-judging control logic.
2. A multistage compliance control and trajectory correction system for a grinding robot according to claim 1, characterized in that the AGV chassis (1) comprises: the traveling driving module (101) is used for driving the AGV chassis (1) to move along a preset path for operation; and the active suspension leveling mechanism (102) is used for adjusting the overall posture of the AGV chassis (1) and adapting to the large-angle inclination of the working ground.
3. The multistage compliance control and trajectory correction system of a grinding robot of claim 1, wherein the Z-axis servo module (2) comprises: The servo driving module (201) is used for driving the Z-axis servo module (2) to execute lifting action; And the displacement sensor (202) is used for collecting floating displacement data of the force control grinding head (3) in real time and feeding back the floating displacement data to the main controller (6).
4. A multistage compliance control and trajectory correction system for a grinding robot according to claim 1, characterized in that the force control grinding head (3) comprises: The pneumatic force control actuator (301) is used for realizing high-frequency closed-loop control of polishing contact force; The floating mechanism (302) is in transmission connection with the air buoyancy control actuator (301) and is used for absorbing tiny inclination angle errors of the millstone and high-frequency vibration in the working process; and the polishing grinding disc (303) is arranged at the executing end of the floating mechanism (302) and is used for executing polishing operation of a surface to be polished.
5. A multistage compliance control and trajectory correction system for a grinding robot according to claim 1, characterized in that the laser detection unit (4) comprises: The front laser profiler (401) is arranged at the front end of the AGV chassis (1) and is used for scanning the terrain height data in front of the operation in advance and providing data support for feedforward prejudging control; And the lateral laser detection module (402) is arranged at the lateral direction of the AGV chassis (1) and used for scanning the boundary line between the polished area and the unground area in real time and providing reference data for track deviation correction.
6. A multistage compliance control and trajectory correction system for a grinding robot according to any one of claims 1 to 5, characterized in that the main controller (6) comprises: the virtual guide rail track deviation rectifying module (601) is used for constructing a virtual guide rail according to the boundary line data acquired by the laser detection unit (4) and executing the transverse track servo deviation rectifying of the AGV chassis (1); The vehicle-arm-hand three-level flexible control module (602) is used for coordinating and controlling the hierarchical flexible adjustment actions of the AGV chassis (1), the Z-axis servo module (2) and the force control grinding head (3) according to feedback data of the six-dimensional force sensor (5) and the displacement sensor (202); And the feedforward pre-judging control module (603) is used for starting the Z-axis servo module (2) and the force control grinding head (3) in advance to act as instructions according to the front topographic data acquired by the front laser profiler (401) so as to eliminate response lag of the force control system.
7. A multistage compliance control and trajectory correction method for a grinding robot, applied to a multistage compliance control and trajectory correction system for a grinding robot as claimed in claim 6, comprising the steps of: S1, constructing a virtual guide rail and rectifying a track, acquiring the boundary line between a polished area and a non-polished area through the laser detection unit (4), fitting and constructing the virtual guide rail, controlling the AGV chassis (1) to lock the transverse distance relative to the virtual guide rail, and realizing the accurate splicing of polished paths; s2, performing three-level flexible control of a vehicle-arm-hand, namely decomposing a terrain error in the polishing operation process into three execution levels of the AGV chassis (1), the Z-axis servo module (2) and the force control grinding head (3), wherein the three execution levels correspond to flexible adjustment of different measuring ranges and response frequencies respectively; S3, feedforward prejudging control, namely calculating the time difference of the AGV chassis (1) reaching the scanning position by using the topographic data in front of the front laser profiler (401) to scan the operation in advance, and issuing a control command to a corresponding executing mechanism in advance to eliminate force control response lag.
8. The method for multistage compliance control and trajectory correction of a grinding robot according to claim 7, wherein said step S1 comprises the following sub-steps: s11, extracting characteristics of boundary lines of the polished area and the unground area by scanning the operation area in real time through the lateral laser detection module (402); S12, constructing a virtual guide rail, and fitting the extracted boundary line into a mathematical virtual guide rail through the virtual guide rail track deviation correcting module (601); S13, servo deviation correction, wherein the main controller (6) calculates the transverse distance deviation of the AGV chassis (1) relative to the virtual guide rail in real time, issues a deviation correction instruction to the AGV chassis (1), locks the transverse deviation to be constant, and ensures zero missed grinding and zero overlapping of adjacent grinding paths.
9. The method for multistage compliance control and trajectory correction of a grinding robot according to claim 7, wherein said step S2 comprises the following sub-steps: S21, performing first-stage high-frequency fine adjustment, processing high-frequency vibration and weld joint runout within a range of 0-5 mm through the pneumatic-buoyancy control actuator (301) of the force control grinding head (3), wherein the response frequency is greater than 100Hz, and absorbing the tiny inclination angle of the grinding disc (303) through the floating mechanism (302); s22, performing second-stage intermediate frequency follow-up, processing overall ground fluctuation of 5-100 mm through the Z-axis servo module (2), and adjusting the Z-axis servo module (2) to lift according to the floating position of the force control grinding head (3) acquired by the displacement sensor (202) so that the force control grinding head (3) always works in an optimal linear region; s23, the gesture is transferred to third level low frequency, through the big angle slope on ground is handled to AGV chassis (1), if the ground slope leads to Z axle servo module (2) is too big with the normal contained angle of ground, AGV chassis (1) execution gesture adjustment or slow down and move.
10. The method for multistage compliance control and trajectory correction of a grinding robot according to claim 7, wherein said step S3 comprises the following sub-steps: S31, pre-scanning the terrain, and scanning the terrain with a preset distance in front of the AGV chassis (1) at a preset frequency by the front laser profiler (401) to obtain terrain height data; S32, calculating a time difference, wherein the main controller (6) calculates a time difference delta t reaching a scanning terrain position according to the current moving speed of the AGV chassis (1); S33, executing feedforward action, wherein the feedforward prejudging control module (603) sends lifting and force control adjusting instructions to the Z-axis servo module (2) and the force control grinding head (3) in advance according to terrain height data after a time difference delta t, so as to realize the preadaptation of the terrain abrupt change position and eliminate response lag of a force control system.

Description

Multistage compliant control and track deviation rectifying system and method for polishing robot Technical Field The application relates to the technical field of robot control, in particular to a multistage compliant control and track deviation rectifying system and method for a polishing robot. Background At present, a polishing robot which uses an AGV chassis as a mobile carrier is generally adopted as operation equipment for the automatic polishing treatment of a large-area surface to be operated, and the polishing robot is a common technical scheme for realizing the automatic polishing operation of the large-area surface. The existing polishing robot bears a polishing executing mechanism through an AGV chassis and realizes large-scale movement of an operation area, polishing operation is completed through a Z-axis servo module on the AGV chassis with a power control grinding head, path planning and tracking control of the AGV chassis are realized by means of a navigation system, meanwhile, contact force data in the polishing operation process are collected through a six-dimensional force sensor, and the operation state of the power control grinding head is regulated based on feedback information of the contact force, so that the stability of the contact force in the polishing operation process is maintained. For the prior art, the path tracking of the AGV chassis depends on global navigation positioning, positioning accumulated errors are easy to generate in a scene with fewer characteristics of an operation environment, deviation of a polishing operation path is caused, flexible adjustment of polishing operation is realized only through a force control grinding head, morphology changes of different scales of an operation surface cannot be adapted, fluctuation of polishing contact force is easy to occur, uniformity of polishing operation is affected, feedback adjustment is only performed based on contact force data acquired in real time, response lag is easy to occur in a force control system when the morphology of the operation surface is suddenly changed, and morphology changes of the operation surface cannot be adapted timely. Disclosure of Invention In view of the above, the present application aims to provide a polishing robot multistage compliant control and track deviation rectifying system and method, so as to solve the above technical problems. In order to achieve the above purpose, the technical scheme of the application is realized as follows: In a first aspect, the present application provides a polishing robot multistage compliant control and trajectory correction system, comprising: The AGV chassis is used for bearing the polishing executing mechanism and realizing large-range movement of an operation area; The Z-axis servo module is fixedly arranged on the AGV chassis and used for realizing the middle-range lifting adjustment of the polishing mechanism; The force control grinding head is arranged at the execution end of the Z-axis servo module and is used for realizing high-frequency force control adjustment of grinding operation and surface grinding operation; the laser detection unit is respectively arranged at the front end and the lateral direction of the AGV chassis and is used for scanning the topographic data of the operation area and the boundary line between the polished area and the unground area in real time; The six-dimensional force sensor is arranged between the Z-axis servo module and the force control grinding head and is used for collecting contact force data in the grinding operation process in real time; and the main controller is respectively and electrically connected with the AGV chassis, the Z-axis servo module, the force control grinding head, the laser detection unit and the six-dimensional force sensor and is used for executing track deviation correction, multistage compliance control and feedforward pre-judging control logic. Further, the AGV chassis includes: the traveling driving module is used for driving the AGV chassis to move along a preset path for operation; and the active suspension leveling mechanism is used for adjusting the overall posture of the AGV chassis and adapting to the large-angle inclination of the working ground. Further, the Z-axis servo module comprises: The servo driving module is used for driving the Z-axis servo module to execute lifting action; and the displacement sensor is used for collecting floating displacement data of the force control grinding head in real time and feeding back the floating displacement data to the main controller. Further, the force control grinding head comprises: the pneumatic force control actuator is used for realizing high-frequency closed-loop control of polishing contact force; The floating mechanism is in transmission connection with the air buoyancy control actuator and is used for absorbing small inclination angle errors of the grinding disc and high-frequency vibration in the operation process; A