CN106671103A - Control method and system for milling robot - Google Patents
Control method and system for milling robot Download PDFInfo
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- CN106671103A CN106671103A CN201710007363.1A CN201710007363A CN106671103A CN 106671103 A CN106671103 A CN 106671103A CN 201710007363 A CN201710007363 A CN 201710007363A CN 106671103 A CN106671103 A CN 106671103A
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- milling
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- track data
- laser tracker
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a control method and system for a milling robot. The method comprises the steps that a laser tracker acquires real-time milling track data of the milling robot, and sends the real-time milling track data to a system control master station; the system control master station processes the real-time milling track data, and obtains a milling correction parameter according to a preset milling track curve; and the milling correction parameter is sent to the milling robot, and the milling robot adjusts a milling track according to the milling correction parameter. By adoption of the control method and system for the milling robot, the technical problem that a milling track of an existing robot is prone to milling deviation is solved.
Description
Technical field
The present invention relates to robot control field, more particularly to a kind of milling robot control method and system.
Background technology
Milling robot has the advantages that simple to operate, degree of freedom is more, speed is fast, concordance is high, has been widely used
During each industry is manufactured.
Existing milling robot is to carry out Milling Process according to default milling track, but in the mistake of Milling Process
The milling cutter head of milling robot can be affected by Milling Force and be produced vibration in journey, deviation occur so as to cause milling track,
Affect the yields of milling product.
The content of the invention
The present invention provides a kind of milling robot control method and system, to solve the milling track of existing milling robot
Easily there is the technical problem of milling deviation.
In a first aspect, the present invention provides a kind of milling robot control method, including：
Laser tracker gathers the real-time milling track data of milling robot, and the real-time milling track data is sent out
It is sent to system control master station；
The system control master station is processed the real-time milling track data, and bent according to default milling track
Line, is calculated milling corrected parameter, and the milling corrected parameter is sent to into the milling robot；
The milling robot adjusts milling track according to the milling corrected parameter.
Second fermentation, the present invention provides a kind of milling robot control system, including：
Laser tracker, milling robot, system control master station；
The laser tracker and the milling robot are connected respectively with system control master station；
The laser tracker, for gathering the real-time milling track data of the milling robot, and will be described real-time
Milling track data is sent to the system control master station；
The system controls master station, for processing the real-time milling track data, and according to default milling rail
Trace curve, is calculated milling corrected parameter, and the milling corrected parameter is sent to into the milling robot；
The milling robot, for adjusting milling track according to the milling corrected parameter.
Knowable to the embodiment of the present invention, the real-time milling track data of milling robot is gathered by laser tracker, and
The real-time milling track data is sent to into system control master station, the system controls master station to the real-time milling track number
According to being processed, and according to default milling geometric locus, milling corrected parameter is calculated, the milling corrected parameter is sent
To the milling robot, the milling robot adjusts milling track according to the milling corrected parameter, present invention achieves
The milling track of milling robot is adjusted in real time, is solved in prior art simply according to default milling geometric locus
When carrying out milling, milling track is caused the problem of deviation occur because milling process produces vibration.
Description of the drawings
Fig. 1 is an a kind of exemplary embodiment flowchart of milling robot control method of the invention；
Fig. 2 is a kind of another exemplary embodiment flowchart of milling robot control method of the invention；
Fig. 3 is an a kind of exemplary embodiment structural representation of milling robot control system of the invention.
Specific embodiment
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
It is an a kind of exemplary embodiment flowchart of milling robot control method of the invention referring to Fig. 1, including：
Step 101, laser tracker gather the real-time milling track data of milling robot, and by real-time milling track number
Master station is controlled according to the system that is sent to；
In this step, laser tracker gathers the real-time of milling robot according to the frequency acquisition, collection duration that obtain
Milling track data.
Step 102, system control master station are processed real-time milling track data, and bent according to default milling track
Line, is calculated milling corrected parameter, and milling corrected parameter is sent to into milling robot；
In this step, system control master station is processed real-time milling track data, and according to default milling track
Curve, is calculated milling corrected parameter, including：System control master station is fitted process to real-time milling track data, obtains
To real-time milling geometric locus；Based on method of least square, it is right that real time kinematics geometric locus and default milling geometric locus are carried out
Than, the distance between real time kinematics geometric locus and default milling geometric locus deviation is calculated, obtained according to range deviation
Milling corrected parameter.
Step 103, milling robot adjust milling track according to milling corrected parameter.
Knowable to the present embodiment, the real-time milling track data of milling robot is gathered by laser tracker, and will be real
When milling track data be sent to system control master station, system control master station is processed real-time milling track data, and root
According to default milling geometric locus, milling corrected parameter is calculated, milling corrected parameter is sent to into milling robot, Milling Machine
Device people adjusts milling track according to milling corrected parameter, present invention achieves carrying out in real time to the milling track of milling robot
Adjustment, solves in prior art when simply carrying out milling according to default milling geometric locus, because milling process produces vibration
And cause milling track the problem of deviation occur.
Fig. 2 is a kind of another exemplary embodiment flowchart of milling robot control method of the invention, such as Fig. 2 institutes
Show, on the basis of above-described embodiment, the milling robot control method is comprised the following steps：
Step 201：Laser tracker determines the installation position of the laser tracker according to the default milling geometric locus
Put.
Wherein, the installation site of laser tracker is determined according to planned course curve, to avoid measurement process in laser with
The measurement light of track instrument is blocked.
Step 202：Laser tracker is true according to the certainty of measurement of default milling feed maximal rate and laser tracker
Surely the frequency acquisition of real-time milling track data is gathered.
Wherein, laser tracker is a kind of typical spherical coordinates measuring system, and its certainty of measurement can reach 15 μm ± 7.5
μm/m；In real time milling track data can be the milling cutter coordinate figure of laser tracker measurement.
Step 203：Laser tracker determines that laser tracker is gathered according to the default time for completing default milling track
The collection duration of the track data of milling in real time.
Step 204：Laser tracker gathers the real-time milling track of milling robot according to frequency acquisition and collection duration
Data.
Step 205：Real-time milling track data is sent to system control master station by laser tracker.
In this step, real-time milling track data is sent to laser tracker slave station, laser by laser tracker first
Real-time milling track data is sent to system control master station by tracker slave station.
Wherein, laser tracker slave station is connected with system control master station by fieldbus, the intelligence of laser tracker slave station
Energy sensing module is controlled master station and the transmission of real-time milling track data is carried out by way of serial communication with system.
Laser tracker is connected with laser tracker slave station by fieldbus.Wherein, in laser tracker slave station with it is embedding
Enter formula intelligent perception module to connect by serial ports, the intelligent perception module is carried out in real time with laser tracker by ICP/IP protocol
The transmission of milling track data.
Step 206：System control master station is processed real-time milling track data, and bent according to default milling track
Line, is calculated milling corrected parameter.
Specifically, system control master station is fitted process to real-time milling track data, obtains real-time milling track bent
Line；Based on method of least square, real time kinematics geometric locus is contrasted with default milling geometric locus, be calculated fortune in real time
The distance between dynamic rail trace curve and default milling geometric locus deviation, according to range deviation milling corrected parameter is obtained.
Step 207：Milling corrected parameter is sent to milling robot by system control master station.
Wherein, the data such as above-mentioned real-time milling track data and milling corrected parameter pass through at the scene ethernet frame in bus
Mode is transmitted, and ethernet frame can be standard ethernet frame or non-standard ethernet frame；And fieldbus can be with hard
What the mode of part was realized, it is independently of outside runtime and CPU.
Wherein, fieldbus transmission speed is 1000 binary digits of every 30 microsecond, with high bandwidth for transmission speed,
Fieldbus supports the slave station control terminal of current all instruments for meeting industrial standard substantially, with stronger expanded function.
Wherein, before step 201, can also be to laser tracker, laser tracker slave station and milling robot controller
UNICOM's situation between slave station carries out system communication test, including：Laser tracker slave station sends test instruction to laser tracking
Instrument, proves that UNICOM's laser tracker slave station joins with laser tracker if laser tracker makes response corresponding with test instruction
It is logical normal.Connection between laser tracker slave station and system control master station, system control master station and milling robot control slave station
Understanding and considerate condition test is consistent with above-mentioned test philosophy, repeats no more here.
Knowable to the present embodiment, the real-time milling track data of milling robot is gathered by laser tracker, and will be real
When milling track data be sent to system control master station, system control master station is processed real-time milling track data, and root
According to default milling geometric locus, milling corrected parameter is calculated, milling corrected parameter is sent to into milling robot, Milling Machine
Device people adjusts milling track according to milling corrected parameter, present invention achieves carrying out in real time to the milling track of milling robot
Adjustment, solves in prior art when simply carrying out milling according to default milling geometric locus, because milling process produces vibration
And cause milling track the problem of deviation occur.
On the basis of above-described embodiment,
Optionally, system control master station real-time milling track data is fitted obtain real time kinematics geometric locus it
Before, also include：System controls master station and the bad point that qualified threshold value is unsatisfactory in the real-time milling track data that receives is deleted
Except process；Based on Kalman filtering, process is optimized to the real-time milling track data after delete processing.
Optionally, before the real-time milling track data of laser tracker collection milling robot, also include：In Milling Machine
At least three spherical specular reflector spherical mirror terrestrial transmitters are set on device people；Accordingly, laser tracker collection milling machine
The real-time milling track data of people, including：Laser tracker gathers signal at least three balls according to frequency acquisition, transmitting laser
One or more in shape specular reflector；Laser tracker receives one or more at least three spherical specular reflectors
Return laser light gathers response signal；Laser tracker gathers response signal and is calculated real-time milling track data according to laser.
It is an a kind of exemplary embodiment structural representation of milling robot control system of the invention referring to Fig. 3, should
Milling robot control system, including：Laser tracker 301, milling robot 302, system control master station 303；
Laser tracker 301 and milling robot are connected respectively with system control master station；
Laser tracker 301, for gathering the real-time milling track data of milling robot, and by real-time milling track number
Master station is controlled according to the system that is sent to；
System controls master station 302, for processing real-time milling track data and bent according to default milling track
Line, is calculated milling corrected parameter, and milling corrected parameter is sent to into milling robot；
Milling robot 303, for adjusting milling track according to milling corrected parameter.
Knowable to above-described embodiment, the real-time milling track data of milling robot is gathered by laser tracker, and will
In real time milling track data is sent to system control master station, and system control master station is processed real-time milling track data, and
According to default milling geometric locus, milling corrected parameter is calculated, milling corrected parameter is sent to into milling robot, milling
Robot adjusts milling track according to milling corrected parameter, present invention achieves carrying out in real time to the milling track of milling robot
Adjustment, solve in prior art when simply carrying out milling according to default milling geometric locus, shake because milling process is produced
Move and cause milling track the problem of deviation occur.
On the basis of above-described embodiment,
Optionally, laser tracker 301, are additionally operable to determine the installation position of laser tracker according to default milling geometric locus
Put；The real-time milling track data of collection is determined according to the certainty of measurement of default milling feed maximal rate and laser tracker
Frequency acquisition；According to the default time for completing default milling track, determine that laser tracker gathers real-time milling track data
Collection duration；And specifically for according to frequency acquisition and collection duration, gathering the real-time milling track data of milling robot.
Optionally, system control master station 302, specifically for being fitted to real-time milling track data real time kinematics are obtained
Geometric locus；Based on method of least square, real time kinematics geometric locus is contrasted with default milling geometric locus, be calculated
The distance between real time kinematics geometric locus and default milling geometric locus deviation, according to range deviation milling amendment ginseng is obtained
Number.
Optionally, system control master station 302, is additionally operable to system control master station in the real-time milling track data that receives
Substantially not being inconsistent logical bad point carries out deletion pretreatment；Based on Kalman filtering, to the real-time milling rail through delete processing
Mark data are optimized process.
Optionally, at least three spherical specular reflectors are provided with milling robot 303；Laser tracker 301, specifically
For according to frequency acquisition, transmitting laser to gather signal to one or more at least three spherical specular reflectors；And connect
Receive one or more the return laser light collection response signals at least three spherical specular reflectors；According to laser collection response letter
Number it is calculated real-time milling track data.
Optionally, referring to Fig. 3, the milling robot control system can also include：Laser tracker slave station 304, milling
Robot controls slave station 305,
Wherein, laser tracker slave station 304, for receiving the real-time milling track data of laser tracker transmission, and will
The real-time milling track data data is activation to system controls master station.Laser tracker is total by scene with laser tracker slave station
Line connects.The interface embedded intelligence sensing module being connected with laser tracker in laser tracker slave station, the Intellisense
Module carries out the transmission of real-time milling track data with laser tracker by ICP/IP protocol.
Milling robot controls slave station 305, and for reception system the milling corrected parameter that master station sends is controlled, and by the milling
Cut corrected parameter and be sent to milling robot.System is controlled master station and is connected by fieldbus with milling robot control slave station
Connect.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above-mentioned each method embodiment can lead to
Cross the related hardware of programmed instruction to complete.Aforesaid program can be stored in a computer read/write memory medium.The journey
Sequence upon execution, performs the step of including above-mentioned each method embodiment；And aforesaid storage medium includes：ROM, RAM, magnetic disc or
Person's CD etc. is various can be with the medium of store program codes.
Finally it should be noted that：Various embodiments above only to illustrate technical scheme, rather than a limitation；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
So the technical scheme described in foregoing embodiments can be modified, either which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, do not make the essence disengaging various embodiments of the present invention technology of appropriate technical solution
The scope of scheme.
Claims (10)
1. a kind of milling robot control method, it is characterised in that include：
Laser tracker gathers the real-time milling track data of milling robot, and the real-time milling track data is sent to
System controls master station；
The system control master station is processed the real-time milling track data, and according to default milling geometric locus, meter
Calculation obtains milling corrected parameter, and the milling corrected parameter is sent to into the milling robot；
The milling robot adjusts milling track according to the milling corrected parameter.
2. method according to claim 1, it is characterised in that the laser tracker gathers the real-time milling of milling robot
Before cutting track data, also include：
The laser tracker determines the installation site of the laser tracker according to the default milling geometric locus；
The collection real-time milling is determined according to the certainty of measurement of default milling feed maximal rate and the laser tracker
The frequency acquisition of track data；
According to the default time for completing default milling track, determine that the laser tracker gathers the real-time milling track number
According to collection duration；
Accordingly, the laser tracker gathers the real-time milling track data of milling robot, including：
The laser tracker, according to the frequency acquisition and the collection duration, gathers the Milling Machine in the installation site
The described real-time milling track data of device people.
3. method according to claim 1, it is characterised in that the system controls master station to the real-time milling track number
According to being processed, and according to default milling geometric locus, milling corrected parameter is calculated, including：
The system control master station is fitted process to the real-time milling track data, obtains real-time milling geometric locus；
Based on method of least square, the real time kinematics geometric locus is contrasted with default milling geometric locus, be calculated
The distance between the real time kinematics geometric locus and default milling geometric locus deviation, obtains according to the range deviation
The milling corrected parameter.
4. method according to claim 3, it is characterised in that the system controls master station to the real-time milling track number
Obtain before real time kinematics geometric locus, also including according to being fitted：
System control master station is carried out to the bad point that qualified threshold value is unsatisfactory in the described real-time milling track data that receives
Delete processing；
Based on Kalman filtering, process is optimized to the described real-time milling track data after delete processing.
5. method according to claim 1, it is characterised in that the laser tracker gathers the real-time milling of milling robot
Before cutting track data, also include：
At least three spherical specular reflector spherical mirror terrestrial transmitters are set on the milling robot；
Accordingly, the laser tracker gathers the real-time milling track data of milling robot, including：
The laser tracker gathers signal at least three spherical mirrors surface launching according to the frequency acquisition, transmitting laser
One or more in device；
One or more return laser light collections that the laser tracker is received at least three spherical specular reflector ring
Induction signal；
The laser tracker gathers response signal and is calculated the real-time milling track data according to the laser.
6. a kind of milling robot control system, it is characterised in that include：Laser tracker, milling robot, system control is total
Stand；
The laser tracker and the milling robot are connected respectively with system control master station；
The laser tracker, for gathering the real-time milling track data of the milling robot, and by the real-time milling
Track data is sent to the system control master station；
The system controls master station, for processing the real-time milling track data and bent according to default milling track
Line, is calculated milling corrected parameter, and the milling corrected parameter is sent to into the milling robot；
The milling robot, for adjusting milling track according to the milling corrected parameter.
7. milling robot control system according to claim 6, it is characterised in that the laser tracker, is additionally operable to
The installation site of the laser tracker is determined according to the default milling geometric locus；According to the maximum speed of default milling feed
The certainty of measurement of degree and the laser tracker determines the frequency acquisition of the collection real-time milling track data；According to default
The time of default milling track is completed, determines that the laser tracker gathers the collection duration of the real-time milling track data；
And specifically for according to the frequency acquisition and the collection duration, gathering the described real-time milling track of the milling robot
Data.
8. milling robot control system according to claim 6, it is characterised in that the system controls master station, specifically
Real time kinematics geometric locus is obtained for being fitted to the real-time milling track data；Based on method of least square, will be described
Real time kinematics geometric locus is contrasted with default milling geometric locus, be calculated the real time kinematics geometric locus with it is described
The distance between default milling geometric locus deviation, according to the range deviation milling corrected parameter is obtained.
9. milling robot control system according to claim 8, it is characterised in that the system controls master station, also uses
Substantially it is not inconsistent logical bad point in the system controls master station to the described real-time milling track data that receives to delete
Except pretreatment；Based on Kalman filtering, process is optimized to the real-time milling track data through delete processing.
10. milling robot control system according to claim 6, it is characterised in that arrange on the milling robot
There are at least three spherical specular reflectors；
The laser tracker, specifically for according to the frequency acquisition, transmitting laser gathers signal at least three ball
One or more in shape specular reflector；And one or more received in described at least three spherical specular reflectors are returned
Laser gathers response signal；Response signal is gathered according to the laser and is calculated the real-time milling track data.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710007363.1A CN106671103A (en) | 2017-01-05 | 2017-01-05 | Control method and system for milling robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710007363.1A CN106671103A (en) | 2017-01-05 | 2017-01-05 | Control method and system for milling robot |
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| CN106671103A true CN106671103A (en) | 2017-05-17 |
Family
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| CN201710007363.1A Pending CN106671103A (en) | 2017-01-05 | 2017-01-05 | Control method and system for milling robot |
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| CN108563184A (en) * | 2018-03-05 | 2018-09-21 | 北京华航唯实机器人科技股份有限公司 | Orbit generation method and device |
| CN110424696A (en) * | 2019-07-30 | 2019-11-08 | 广东博智林机器人有限公司 | Milling robot and its control method |
| CN111590594A (en) * | 2020-06-22 | 2020-08-28 | 南京航空航天大学 | Robot trajectory tracking control method based on visual guidance |
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| CN111590594B (en) * | 2020-06-22 | 2021-12-07 | 南京航空航天大学 | Robot trajectory tracking control method based on visual guidance |
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