CN113021082B - Robot casting polishing method based on teleoperation and panoramic vision - Google Patents
Robot casting polishing method based on teleoperation and panoramic vision Download PDFInfo
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- CN113021082B CN113021082B CN201911346270.7A CN201911346270A CN113021082B CN 113021082 B CN113021082 B CN 113021082B CN 201911346270 A CN201911346270 A CN 201911346270A CN 113021082 B CN113021082 B CN 113021082B
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- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0092—Grinding attachments for lathes or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/02—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent
- B24B49/04—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent involving measurement of the workpiece at the place of grinding during grinding operation
- B24B49/045—Specially adapted gauging instruments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to a robot casting polishing method based on teleoperation and panoramic vision, which comprises the following steps: in a robot grinding environment, acquiring the position and the shape of a casting to be ground and processed and a region to be processed by panoramic vision equipment; according to the casting information observed in real time, the remote operation equipment is controlled, and the polishing robot is synchronously controlled in real time by the remote operation equipment and the polishing robot in pose. The invention initializes the initial pose between the devices through the real-time communication between the teleoperation device and the polishing robot, realizes the real-time pose synchronization at each moment, and can initialize the synchronous pose at any time through the set key function according to the polishing condition, thereby realizing the teleoperation control of the polishing robot.
Description
Technical Field
The invention relates to a robot casting polishing method, in particular to a robot casting polishing method based on teleoperation control and panoramic vision, and belongs to the field of robot application.
Background
With the rapid development of the current industry, the demand of production efficiency is continuously improved, and the rapid development and integration of control technology, information technology and network technology, the requirements of different industrial fields on the application capability of the robot are more and more. For the processing environment which generates substances harmful to human bodies, particularly toxic and harmful dust generated by casting polishing, the robot is imperative to replace human beings to carry out related experiments and transportation operation.
For a casting to be polished, when a robot performs polishing operation, due to uncertainty of shape and position generated in a preceding processing process, such as flash, a gate and the like of the casting, the casting cannot be finished through a traditional teaching function of the robot. The participation of operators is needed, the cost of workers is continuously increased, and meanwhile, the polishing environment with a large amount of dust increases the harm to the life health of the workers. The robot is remotely controlled by adopting the remote operation equipment, so that an operator can safely participate in the polishing operation of a robot casting, the operation environment is improved, and the operation quality of the robot is ensured. Since the operator is not physically present in the work environment, accurate observation of the shape and position of the casting is essential, and deployment of panoramic vision in the work environment is not essential.
Aiming at the requirement of polishing the robot casting, the mode of remotely controlling the robot by combining the remote operation equipment with the panoramic vision has great advantages.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problem to be solved by the invention is that a worker is difficult to operate in a manner of remote operation and matching with a robot, and the invention provides a robot casting polishing method based on teleoperation and panoramic vision. The tail end posture of the robot in the motion process is planned by analyzing the appearance information of the casting observed under the panoramic vision, so that the posture of the polishing equipment at the tail end of the robot is adjusted to adapt to the shape and the position of the casting, and the polishing of the robot casting based on the teleoperation and the panoramic vision is realized.
The technical scheme adopted by the invention for realizing the purpose is as follows: a robot casting polishing method based on teleoperation and panoramic vision comprises the following steps:
in a robot grinding environment, acquiring the position and the shape of a casting to be ground and processed and a region to be processed by panoramic vision equipment;
according to the casting information observed in real time, the remote operation equipment is controlled, and the polishing robot is synchronously controlled in real time by the remote operation equipment and the polishing robot in pose.
A robot casting polishing method based on teleoperation and panoramic vision comprises the following steps:
1) gravity compensation is carried out on the tail end grinding tool through the force feedback sensor, so that force feedback information on the teleoperation equipment truly reflects the stress condition;
2) establishing real-time communication between the polishing robot and the teleoperation equipment to ensure real-time synchronization of visual information, position information and force feedback information;
3) the remote operation equipment is triggered by a key to establish communication and pose remote synchronous control between the remote operation equipment and the polishing robot, and pose synchronization is stopped after the key is released;
4) the grinding robot is controlled to move to the position of the casting to be ground through the teleoperation equipment;
5) according to the real-time feedback of the panoramic vision, the polishing robot is controlled by the teleoperation equipment to operate the casting in the area to be polished, and the information fed back to the teleoperation equipment by the force feedback sensor is adjusted until the casting meets the set polishing requirement.
Controlling a grinding robot by a teleoperational device, comprising the steps of:
a) after a key on the teleoperation equipment is pressed down, the initial poses of the polishing robot and the teleoperation equipment are synchronously recorded to be P respectivelyR、PHIn which P isRFrom robot position PRinitAnd attitude RRinitConstitution PHBy teleoperation of the device position PHinitAnd attitude RHinitForming;
b) moving the teleoperation device and recording the position P of the teleoperation device at each momentHiAnd attitude RHiRelative to the initial pose PHinitAnd RHinitThe conversion relationship of (1): attitude transformation R ═ RHi*inv(RRinit) Inv is the inverse of the matrix; position change P ═ PHi-PHinit；
c) Converting the pose conversion relation of the teleoperation equipment into the pose corresponding to the grinding robot, namely the robot position PRi＝P+PRinitAnd robot attitude RRi＝R*RRinitThe data is sent to a polishing robot controller to realize the real-time control of the robot;
d) and force feedback information sensed by a force feedback sensor at the tail end of the grinding robot is sent to the teleoperation equipment in real time, so that the force feedback of the equipment to be operated is realized.
A robot casting polishing system based on teleoperation and panoramic vision comprises:
the panoramic vision equipment is used for acquiring the position and the shape of a casting to be polished and processed and a region to be processed;
the remote operation equipment is used for establishing communication and pose remote synchronous control between the remote operation equipment and the polishing robot through key triggering of the remote operation equipment, and stopping pose synchronization after the keys are released;
the grinding robot is used for realizing the control of the robot according to the received grinding robot pose obtained by pose conversion of the teleoperation equipment;
and the force feedback sensor is arranged on a flange at the tail end of the robot and used for compensating the gravity of the tail end grinding tool and feeding back force information.
The teleoperational device has the same cartesian spatial dimensions as the sharpening robot.
The teleoperation equipment and the polishing robot realize communication through a UDP network
The invention has the following advantages and beneficial effects:
1. the robot casting polishing method based on teleoperation and panoramic vision is adopted, so that direct contact between an operator and a polishing environment is avoided, and the safety of system implementation is greatly improved, so that man-machine cooperation in the polishing process of the robot casting is realized;
2. according to the invention, the initial pose between the remote operation equipment and the polishing robot is initialized through real-time communication between the remote operation equipment and the polishing robot, real-time pose synchronization is realized at each moment, and the synchronous pose can be initialized at any time through the set key function according to the polishing condition, so that the remote operation control of the polishing robot is realized;
3. the invention feeds back to the operator in real time according to the panoramic vision equipment, thereby controlling the equipment to be operated to guide the robot to carry out pose guidance according to the actual operation condition and carrying out adjustment according to the force feedback information, and the whole process is simple and easy to use.
Drawings
FIG. 1 is a schematic illustration of an apparatus according to an embodiment of the present invention;
FIG. 2 is a flow chart of the system implementation of the present invention;
fig. 3 is a flow chart of the teleoperation device and robot pose control of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1, a six-dimensional force sensor and a casting grinding tool are fixed to the end of a robot by an end clamping tool, which is an object environment of a robot casting grinding method based on teleoperation and panoramic vision. And panoramic vision equipment is arranged in the robot working environment to observe the appearance of the casting and the working state of the robot.
The robot is a six-axis industrial robot, and the tail end of the robot can realize three-dimensional translation and rotation actions in a Cartesian space so as to realize pose transformation. The robot carries out planning and movement through the robot controller, has a real-time external guide interface, and can realize teleoperation control through external guide equipment.
The robot controller can control the robot to move according to a given instruction, and the current position and the attitude of the robot are obtained in real time through communication with a joint driver of the robot. The robot controller can send the preset track obtained by the teleoperation device to the driver periodically to control the robot to move.
The equipment to be operated is a handle device which has the same dimension with the robot and can realize force feedback operation through a force sensor signal.
The robot casting grinding tool is a tool which is arranged at the tail end of a robot and can be used for grinding and cutting casting burrs and pouring gates.
In a robot grinding environment, deploying a panoramic vision system, and analyzing the position and the shape of a casting to be ground and processed and a region to be processed in a given mode of a visual image;
according to the information such as the position of the casting observed in real time, the remote operation equipment is controlled, and the grinding robot is controlled to operate on the basis of ensuring the real-time synchronization of the remote operation equipment and the position of the grinding robot.
Fig. 2 is a schematic diagram of an apparatus according to an embodiment of the present invention, and the present invention is further described in detail with reference to the accompanying drawings and the embodiment:
step S1: the robot is initialized to a designated position, so that the installation of the device and the execution of the method are facilitated;
step S2: installing a robot six-dimensional force sensor at the tail end of a robot, installing a robot polishing tool on the six-dimensional force sensor, and installing a panoramic vision system;
step S3: real-time communication is established, so that the teleoperation equipment and the robot realize real-time pose synchronization and control, and observation images of the panoramic equipment can be observed in real time at a control end.
Step S4: realizing the pose synchronization of the equipment to be operated and the robot through key triggering, simultaneously acquiring the pose of the teleoperation equipment and the robot at the moment of triggering, and recording and storing the pose;
step S5: according to the appearance of the casting observed by panoramic vision, the robot is guided by the teleoperation equipment to realize the polishing of the casting until the polishing effect meets the requirement.
Fig. 3 is a flowchart showing the control of the poses of the teleoperation device and the robot according to the initial poses of the teleoperation device and the robot stored at the moment of key triggering, and the pose transformation of the teleoperation device is calculated in each control period and synchronized to the robot motion control to realize the teleoperation control of the robot, and the specific guiding steps are as follows:
step S1: establishing communication between the teleoperation equipment and the robot, wherein pose and force feedback data can be transmitted between the teleoperation equipment and the robot in real time;
step S2: judging whether a pose synchronization button on the teleoperation equipment is pressed down, and synchronously recording the initial poses P of the robot and the teleoperation equipment in the first pressed periodRAnd PHIn which P isRFrom robot position PRinitAnd attitude RRinitConstitution PHBy teleoperation of the device position PHinitAnd attitude RHinitForming;
step S3: moving the teleoperation equipment and recording the current time position P at each momentHiAnd attitude RHiRelative to the initial pose PHinitAnd RHinitThe conversion relationship of (1): attitude transformation R ═ RHi*inv(RRinit) Inv is the inverse of the matrix; position change P ═ PHi-PHinit；
Step S4, transforming the pose transformation relation of the teleoperation into the corresponding pose of the robot, namely the position P of the robotRi＝P+PRinitAnd robot attitude RRi＝R*RRinitThe signal is sent to a robot controller to realize the real-time control of the robot;
step S5: and transmitting the six-dimensional force feedback information f sensed by the force feedback sensor at the tail end of the robot in real time to the teleoperation equipment to realize the force feedback of the equipment to be operated.
According to the method, the appearance of the casting to be polished is observed according to panoramic vision, the robot and the tail end polishing tool are synchronously controlled through the remote operation equipment, the robot is guided to perform operations such as polishing and cutting on the target casting, the polishing force is adjusted according to the force fed back to the remote operation equipment by the six-dimensional force sensor, and therefore the remote operation casting polishing operation of the robot is achieved.
Claims (1)
1. A robot casting polishing method based on teleoperation and panoramic vision is characterized by comprising the following steps:
in a robot grinding environment, acquiring the position and the shape of a casting to be ground and processed and a region to be processed by panoramic vision equipment;
according to the casting information observed in real time, the remote operation equipment is controlled, so that the remote operation equipment and the polishing robot can synchronously control the polishing robot to work in real time;
1) gravity compensation is carried out on the tail end grinding tool through the force feedback sensor, so that force feedback information on the teleoperation equipment truly reflects the stress condition;
2) establishing real-time communication between the polishing robot and the teleoperation equipment to ensure real-time synchronization of visual information, position information and force feedback information;
3) the remote operation equipment is triggered by a key to establish communication and pose remote synchronous control between the remote operation equipment and the polishing robot, and pose synchronization is stopped after the key is released;
4) the grinding robot is controlled to move to the position of the casting to be ground through the teleoperation equipment;
controlling a grinding robot by a teleoperational device, comprising the steps of:
a) after a key on the teleoperation equipment is pressed down, the initial poses of the polishing robot and the teleoperation equipment are synchronously recorded to be P respectivelyR、PHIn which P isRFrom robot position PRinitAnd attitude RRinitConstitution PHBy teleoperation of the device position PHinitAnd attitude RHinitForming;
b) moving the teleoperation device and recording the position P of the teleoperation device at each momentHiAnd attitude RHiRelative to the initial pose PHinitAnd RHinitThe conversion relationship of (1): attitude transformation R ═ RHi*inv(RRinit) Inv is the inverse of the matrix; position change P ═ PHi-PHinit；
c) Converting the pose conversion relation of the teleoperation equipment into the pose corresponding to the grinding robot, namely the robot position PRi＝P+PRinitAnd robot attitude RRi＝R*RRinitThe data is sent to a polishing robot controller to realize the real-time control of the robot;
force feedback information sensed by a force feedback sensor at the tail end of the polishing robot is sent to teleoperation equipment in real time, so that force feedback of the equipment to be operated is realized;
5) according to the real-time feedback of the panoramic vision, the polishing robot is controlled by the teleoperation equipment to operate the casting in the area to be polished, and the information fed back to the teleoperation equipment by the force feedback sensor is adjusted until the casting meets the set polishing requirement.
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| CN201911346270.7A CN113021082B (en) | 2019-12-24 | 2019-12-24 | Robot casting polishing method based on teleoperation and panoramic vision |
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| CN113386137A (en) * | 2021-06-29 | 2021-09-14 | 中南大学 | Teleoperation-based human-computer interaction polishing control system and method for compound robot |
| CN113400327A (en) * | 2021-07-07 | 2021-09-17 | 天津大学 | Master-slave teleoperation system and method for grinding and cutting integrated machining of medium-large casting parts |
| CN113386142A (en) * | 2021-07-07 | 2021-09-14 | 天津大学 | Grinding and cutting integrated processing system and method of teleoperation robot based on virtual clamp |
| CN116833831B (en) * | 2023-08-30 | 2023-12-26 | 超音速人工智能科技股份有限公司 | Grinding and polishing method, device, system and platform suitable for magnesium alloy die castings |
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