CN115179302A - Control method for locating, planning and correcting welding robot in nuclear environment - Google Patents
Control method for locating, planning and correcting welding robot in nuclear environment Download PDFInfo
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- CN115179302A CN115179302A CN202211106928.9A CN202211106928A CN115179302A CN 115179302 A CN115179302 A CN 115179302A CN 202211106928 A CN202211106928 A CN 202211106928A CN 115179302 A CN115179302 A CN 115179302A
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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
- B25J9/1656—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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
Abstract
The invention relates to a control method of a welding robot for locating, planning and correcting deviation under an involved nuclear environment, which is applied to the technical field of automatic welding and comprises the following steps: the three-dimensional map is constructed by acquiring the environmental information, so that the robot can automatically reach a target position for welding without manual participation, the intelligent degree of the robot is improved, in the welding process, a welding path is planned by simulating deformation and considering industrial assembly errors, the welding precision can be effectively improved, in the welding process, real-time tracking is performed on a welding seam, the deviation amount of the welding seam is acquired, a deviation correcting signal is sent to the robot according to the deviation amount, real-time deviation correction is performed on a welding gun, the welding precision is further improved, and the requirement of modern industrial welding is met.
Description
Technical Field
The invention relates to the technical field of automatic welding, in particular to a control method of a positioning-planning-deviation-correcting welding robot in an involved nuclear environment.
Background
Nuclear power has obtained vigorous development in china as a clean energy, the safety work of nuclear power station also more and more receives attention simultaneously, when the nuclear power station takes place the accident, to the occasion that the welder can't arrive, it can guarantee to carry out the accuracy to nuclear facility to utilize welding robot, weld the maintenance fast, traditional welding robot adopts the control mode work of teaching programming, this kind of control mode wastes time and energy, efficiency is not high, and requirement to operating personnel is higher, and welding robot self's automation level and welding precision can not reach the intelligent robot welding standard of modernization.
Disclosure of Invention
In view of this, the present invention provides a method for controlling a welding robot through position finding, planning and deviation rectifying under an involved environment, so as to solve the problems in the prior art that the automation level of the welding robot is not high and the welding precision cannot meet the requirements of the modern industry when a welding worker cannot reach an occasion.
According to a first aspect of the embodiments of the present invention, there is provided a method for controlling a positioning-planning-deviation-correcting welding robot in an nuclear environment, including:
the robot enters an involved environment, environment information in the involved environment is obtained through the first sensor assembly, and the environment information obtained by the first sensor assembly is fused to obtain fused environment data;
acquiring the moving pose information of the robot, inputting the pose information of the robot and the fused environment data into a map reconstruction algorithm, and constructing a three-dimensional map of an involved environment;
obtaining feature point data of a workpiece to be welded, matching the workpiece to be welded with a three-dimensional map of an involved environment through coordinate transformation, determining an initial welding position of the robot, and carrying out position finding movement on the robot to the initial welding position;
constructing a three-dimensional model of a workpiece to be welded, defining material parameters of the workpiece to be welded in the three-dimensional model, dividing grids, setting a heat source according to the actual welding condition, and solving the finite element model to obtain the deformation of the workpiece to be welded;
the deformation of a workpiece to be welded and the machining and assembling errors of the robot are used as feedforward input quantities, and a welding path of the robot is planned;
and in the welding process of the robot according to the welding path, the welding seam is tracked in real time through the second sensor assembly, the deviation of the welding seam is obtained, and a deviation rectifying signal is sent to the robot according to the deviation to rectify the deviation of the welding gun in real time.
Preferably, the first and second electrodes are formed of a metal,
acquire the environmental information in involving nuclear environment through first sensor subassembly, fuse the environmental information that sensor subassembly acquireed, obtain the environmental data that fuses and include:
acquiring image information in an involved environment through a video sensor, and processing the image information to obtain coordinates and depth values of image pixels;
acquiring scanned environment information through a laser radar, wherein the environment information comprises a linear distance r between the laser radar and an environment reflection point and an angle theta during laser rotation scanning;
and converting the coordinates and the depth values of the image pixels obtained by the vision sensor into a data format of a laser radar, and matching the environment information obtained by the laser radar and the coordinates and the depth values of the image pixels converted into the data format of the laser radar to obtain fused environment data.
Preferably, the first and second electrodes are formed of a metal,
the method for acquiring the moving pose information of the robot comprises the following steps:
and acquiring the moving pose information of the robot through the odometer information of the robot moving device.
Preferably, the first and second electrodes are formed of a metal,
the deformation amount of the workpiece to be welded comprises the following steps: the deformation in the direction perpendicular to the welding seam and the deformation in the thickness direction of the welding joint;
the machining and assembling errors comprise: errors in the direction perpendicular to the weld and errors in the thickness direction of the weld joint.
Preferably, the first and second electrodes are formed of a metal,
the welding seam is tracked in real time through the second sensor assembly, the deviation amount of the welding seam is obtained, a deviation rectifying signal is sent to the robot according to the deviation amount, and the welding gun is rectified in real time and comprises the following steps: the welding seam is tracked in real time through the laser sensor and the arc tracking multi-dimensional sensor, the welding seam is scanned through the laser sensor to obtain deviation perpendicular to the direction of the welding seam, the current change is measured through the arc tracking multi-dimensional sensor to obtain the change of the elongation of the welding wire, finally the deviation in the thickness direction of a welding joint is obtained, a deviation rectifying signal is sent to a robot through a control system, and the deviation rectifying is carried out on a welding gun in real time.
Preferably, the method further comprises the following steps:
and inputting the entrance position information of the nuclear environment into the robot, and automatically locating the robot to the entrance of the nuclear environment and entering the nuclear environment through the entrance.
According to a second aspect of the embodiments of the present invention, there is provided a welding robot control apparatus for locating, planning and correcting a position in an nuclear environment, including:
an environment data acquisition module: when the robot enters the nuclear environment, acquiring environment information in the nuclear environment through the first sensor assembly, and fusing the environment information acquired by the sensor assembly to obtain fused environment data;
a map reconstruction module: the system comprises a map reconstruction algorithm, a robot motion information acquisition module, a data fusion module and a data fusion module, wherein the map reconstruction algorithm is used for acquiring pose information of robot movement, inputting the pose information of the robot and fused environment data into the map reconstruction algorithm and constructing a three-dimensional map of an involved environment;
an initial welding position acquisition module: the robot is used for obtaining the characteristic point data of the workpiece to be welded, matching the workpiece to be welded with a three-dimensional map of an involved nuclear environment through coordinate transformation, determining the initial welding position of the robot, and carrying out position finding movement on the robot to the initial welding position;
a deformation amount simulation module: the method comprises the steps of constructing a three-dimensional model of a workpiece to be welded, defining material parameters of the workpiece to be welded in the three-dimensional model, dividing grids, setting a heat source according to actual welding conditions, and solving the finite element model to obtain the deformation of the workpiece to be welded;
a welding path planning module: the method is used for planning the welding path of the robot by taking the deformation of a workpiece to be welded and the machining and assembling errors of the robot as feedforward input quantities;
a deviation rectifying module: the welding robot is used for tracking the welding line in real time through the second sensor assembly in the welding process of the robot according to the welding path, acquiring the deviation amount of the welding line, sending a deviation correcting signal to the robot according to the deviation amount, and correcting the deviation of the welding gun in real time.
According to a third aspect of embodiments of the present invention, there is provided a robot comprising:
a memory having program instructions stored therein;
a controller for executing program instructions stored in the memory to perform the method as described above.
The technical scheme provided by the embodiment of the invention can have the following beneficial effects:
this application constructs three-dimensional map through obtaining environmental information for the robot can be automatic arrives the target location and welds, do not need artifical the participation, the intelligent degree of robot has been improved, in welding process, through the deflection of simulation and consider industry assembly error planning welding route, can effectual improvement welded precision, and in welding process, track in real time through the butt weld, acquire the deviation of welding seam, send the signal of rectifying according to the deviation to the robot, rectify in real time to the butt weld rifle, further improvement the welded precision, satisfy the requirement of modernized industrial welding.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow diagram illustrating a method for controlling a welding robot for locating, planning, and deviation correction in an involved nuclear environment, in accordance with an exemplary embodiment;
FIG. 2 is a system block diagram of a welding robot control method shown in accordance with another exemplary embodiment;
FIG. 3 is a system block diagram illustrating a welding robot positioning procedure in accordance with another exemplary embodiment;
FIG. 4 is a system block diagram of a welding robot path planning procedure, shown in accordance with another exemplary embodiment;
FIG. 5 is a system diagram of a locating-planning-deskewing welding robot control in an nuclear-involved environment, in accordance with another exemplary embodiment;
in the drawings: the method comprises the following steps of 1-an environment data acquisition module, 2-a map reconstruction module, 3-an initial welding position acquisition module, 4-a deformation simulation module, 5-a welding path planning module and 6-a deviation correction module.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
Example one
Fig. 1 is a flowchart illustrating a method for controlling a welding robot for locating, planning and correcting errors in an involved environment according to an exemplary embodiment, where the method includes:
s1, a robot enters an involved environment, environment information in the involved environment is obtained through a first sensor assembly, and the environment information obtained by the first sensor assembly is fused to obtain fused environment data;
s2, acquiring the moving pose information of the robot, and inputting the pose information of the robot and the fused environment data into a map reconstruction algorithm to construct a three-dimensional map of an involved environment;
s3, obtaining characteristic point data of the workpiece to be welded, matching the workpiece to be welded with a three-dimensional map of an involved nuclear environment through coordinate transformation, determining an initial welding position of the robot, and carrying out position finding movement on the robot to the initial welding position;
s4, constructing a three-dimensional model of the workpiece to be welded, defining material parameters of the workpiece to be welded in the three-dimensional model, dividing grids, setting a heat source according to the actual welding condition, and solving the finite element model to obtain the deformation of the workpiece to be welded;
s5, taking the deformation of the workpiece to be welded and the machining and assembling errors of the robot as feedforward input quantities, and planning a welding path of the robot;
s6, in the welding process of the robot according to the welding path, the welding seam is tracked in real time through the second sensor assembly, the deviation of the welding seam is obtained, a deviation correcting signal is sent to the robot according to the deviation, and the welding gun is corrected in real time;
it can be understood that, as shown in fig. 1 or fig. 2, in the present application, a robot enters an nuclear-involved environment, environment information is obtained through a first sensor component of the robot, the environment information obtained by the sensor component is fused to construct a three-dimensional map, feature point data of a workpiece to be welded is obtained, the workpiece to be welded is matched with the three-dimensional map of the nuclear-involved environment through coordinate transformation, an initial welding position of the robot is determined, the robot performs locating and moving to the initial welding position, so that the robot can automatically reach a target position for welding without manual participation, and the intelligence degree of the robot is improved.
Preferably, the first and second electrodes are formed of a metal,
acquire the environmental information in involving nuclear environment through first sensor subassembly, fuse the environmental information that sensor subassembly acquireed, obtain the environmental data that fuses and include:
acquiring image information in an involved environment through a video sensor, and processing the image information to obtain coordinates and depth values of image pixels;
acquiring scanned environment information through a laser radar, wherein the environment information comprises a linear distance r between the laser radar and an environment reflection point and an angle theta during laser rotation scanning;
converting the coordinates and the depth values of the image pixels obtained by the vision sensor into a data format of a laser radar, and matching the scanned environment information obtained by the laser radar and the coordinates and the depth values of the image pixels converted into the data format of the laser radar to obtain fused environment data;
it can be understood that, as shown in fig. 3, the map reconstruction is a map reconstruction method based on the fusion of laser and visual sensing, and the map reconstruction method includes three processes of sensor information processing, data fusion and map reconstruction. The sensor information processing comprises the steps of carrying out image processing on the vision sensor, obtaining coordinates and depth values of image pixels, and obtaining environment information scanned by the laser radar, wherein the environment information comprises the linear distance r between the laser radar and an environment reflection point and the angle theta during laser rotation scanning. The data fusion is to convert the information obtained by the vision sensor into the data format of the laser radar, match the two data information and calculate and fuse the two data information into new laser radar data.
The robot system acquires odometer information of a robot moving device, estimates the moving pose information of the robot, transmits the pose information of the robot and the fused working environment data into a map reconstruction algorithm, and constructs a three-dimensional map involving the working environment. The system determines the position of the robot in the reconstructed map by repositioning the robot, obtains characteristic point data based on the scanning of the workpiece by the laser sensor, then matches the workpiece with the produced working environment map through coordinate transformation to determine the initial welding position of the robot, and the robot carries out locating movement to a target position.
Preferably, the first and second liquid crystal display panels are,
the method for acquiring the moving pose information of the robot comprises the following steps:
acquiring the moving pose information of the robot through the odometer information of the robot moving device;
it can be understood that the moving pose information of the robot can be obtained through the odometer information in the mobile device, and based on the pose information, the fused working environment data is transmitted into a map reconstruction algorithm to construct a three-dimensional map of the nuclear-involved working environment.
Preferably, the first and second liquid crystal display panels are,
the deformation amount of the workpiece to be welded includes: the deformation in the direction perpendicular to the welding seam and the deformation in the thickness direction of the welding joint;
the machining and assembling errors comprise: errors in the direction perpendicular to the weld joint and errors in the thickness direction of the weld joint;
it will be appreciated that the amount of deformation includes deformation perpendicular to the direction of the weld seam, as shown in FIG. 4
And deformation in the thickness direction of the welded joint
The calculation formula is as follows:
in the above-mentioned formula, the compound has the following formula,
and
the longitudinal and transverse plastic strain are respectively, l is the length of a welded seam at the current moment, h is the thickness of the welded joint, and x, y and z respectively represent the direction of the welded seam, the direction perpendicular to the welded seam and the thickness direction of the welded joint.
The machining and assembling errors comprise errors delta 'y vertical to the direction of a welding seam and errors delta' z in the thickness direction of a welding joint, and deformation quantities delta y and delta z of the welding workpiece and the machining and assembling errors delta 'y and delta' z are used as feedforward input quantities delta y and delta z of a control system, namely:
the system optimizes the welding sequence and welding track based on the feedforward input quantity, and plans a robot working track with the minimum welding deformation and the shortest welding path.
Preferably, the first and second electrodes are formed of a metal,
the welding seam is tracked in real time through the second sensor assembly, the deviation amount of the welding seam is obtained, a deviation rectifying signal is sent to the robot according to the deviation amount, and the welding gun is rectified in real time and comprises the following steps: the welding seam is tracked in real time through a laser sensor and an arc tracking multidimensional sensor, the welding seam is scanned through the laser sensor to obtain deviation perpendicular to the direction of the welding seam, the current change is measured through the arc tracking multidimensional sensor to obtain the change of the elongation of the welding wire, finally the deviation in the thickness direction of a welding joint is obtained, a deviation correcting signal is sent to a robot through a control system, and deviation correction is carried out on a welding gun in real time;
the tracking deviation correction control is to perform real-time tracking deviation correction on a welding seam based on a laser sensor and an arc tracking multidimensional sensor, the laser sensor scans the welding seam to obtain a deviation epsilon y vertical to the welding seam direction, the arc tracking multidimensional sensor obtains the change of the elongation of the welding wire by measuring the current change to obtain a deviation epsilon z in the thickness direction of a welding joint in real time, and then a control system sends a deviation correction signal to a robot to perform real-time deviation correction on two directions of a welding gun.
Preferably, the method further comprises the following steps:
inputting entry position information of an involved environment into the robot, automatically locating the robot to an entry of the involved environment, and entering the involved environment through the entry;
it can be understood that, in order to enable the robot to smoothly enter the nuclear-involved environment, the robot cannot be manually placed in the nuclear-involved environment due to the existence of nuclear pollution or nuclear radiation harmful to human bodies in the nuclear-involved environment, the robot is automatically located at an inlet of the nuclear-involved environment and enters the nuclear-involved environment through the inlet by inputting the inlet position information of the nuclear-involved environment into the robot.
Example two
FIG. 5 is a system diagram illustrating a locating-planning-deskewing welding robot control apparatus in an nuclear-related environment, according to an exemplary embodiment, as shown in FIG. 5, including:
the environment data acquisition module 1: when the robot enters the nuclear environment, acquiring environment information in the nuclear environment through the first sensor assembly, and fusing the environment information acquired by the sensor assembly to obtain fused environment data;
the map reconstruction module 2: the system comprises a map reconstruction algorithm, a robot motion information acquisition module, a data fusion module and a data fusion module, wherein the map reconstruction algorithm is used for acquiring pose information of robot movement, inputting the pose information of the robot and fused environment data into the map reconstruction algorithm and constructing a three-dimensional map of an involved environment;
initial welding position acquisition module 3: the robot is used for obtaining the characteristic point data of the workpiece to be welded, matching the workpiece to be welded with a three-dimensional map of an involved nuclear environment through coordinate transformation, determining the initial welding position of the robot, and carrying out position finding movement on the robot to the initial welding position;
the deformation amount simulation module 4: the method comprises the steps of constructing a three-dimensional model of a workpiece to be welded, defining material parameters of the workpiece to be welded in the three-dimensional model, dividing grids, setting a heat source according to actual welding conditions, and solving the finite element model to obtain the deformation of the workpiece to be welded;
the welding path planning module 5: the method is used for planning the welding path of the robot by taking the deformation of a workpiece to be welded and the machining and assembling errors of the robot as feedforward input quantities;
the deviation rectifying module 6: the welding robot is used for tracking the welding seam in real time through the second sensor assembly in the welding process of the robot according to the welding path, acquiring the deviation of the welding seam, sending a deviation correcting signal to the robot according to the deviation, and correcting the deviation of the welding gun in real time;
it can be understood that, in the present application, the environmental data acquisition module 1 acquires environmental information through its own first sensor component when the robot enters the nuclear-involved environment, and fuses the environmental information acquired by the sensor component to obtain fused environmental data; the map reconstruction module 2 is used for acquiring the moving pose information of the robot, and inputting the pose information of the robot and the fused environment data into a map reconstruction algorithm to construct a three-dimensional map of the nuclear environment; the method comprises the steps that characteristic point data of a workpiece to be welded are obtained through an initial welding position obtaining module 3, the workpiece to be welded is matched with a three-dimensional map of an involved nuclear environment through coordinate transformation, the initial welding position of a robot is determined, and the robot carries out position finding movement to the initial welding position; the robot can automatically reach a target position for welding without manual participation, the intelligent degree of the robot is improved, in the welding process, a three-dimensional model of a workpiece to be welded is constructed through the deformation simulation module 4, material parameters of the workpiece to be welded are defined in the three-dimensional model, grids are divided, a heat source is set according to the actual welding condition, and the deformation of the workpiece to be welded is obtained by solving the finite element model; a robot working track with the minimum welding deformation and the shortest welding path is planned by considering the simulated deformation and the industrial assembly error through the welding path planning module 5; the welding precision can be effectively improved, in the welding process, the deviation rectifying module 6 is used for the robot to track the welding line in real time through the second sensor assembly in the welding process of the welding path, the deviation amount of the welding line is obtained, a deviation rectifying signal is sent to the robot according to the deviation amount, and the welding gun is rectified in real time, so that the welding precision is further improved, and the requirement of modern industrial welding is met.
EXAMPLE III
The present application further provides a robot, comprising:
a memory having program instructions stored therein;
a controller for executing program instructions stored in the memory to perform the method as described above.
It will be appreciated that the memory referred to above may be a read-only memory, magnetic or optical disk, or the like.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. A control method for a positioning-planning-deviation-correcting welding robot in an nuclear environment is characterized by comprising the following steps:
the robot enters an involved environment, environment information in the involved environment is obtained through a first sensor assembly, and the environment information obtained through the first sensor assembly is fused to obtain fused environment data;
acquiring the moving pose information of the robot, and inputting the pose information of the robot and the fused environment data into a map reconstruction algorithm to construct a three-dimensional map of an involved environment;
obtaining feature point data of a workpiece to be welded, matching the workpiece to be welded with a three-dimensional map of an involved nuclear environment through coordinate transformation, determining an initial welding position of the robot, and carrying out position finding movement on the robot to the initial welding position;
constructing a three-dimensional model of a workpiece to be welded, defining material parameters of the workpiece to be welded in the three-dimensional model, dividing grids, setting a heat source according to the actual welding condition, and solving the finite element model to obtain the deformation of the workpiece to be welded;
the deformation of a workpiece to be welded and the machining and assembling errors of the robot are used as feedforward input quantities, and a welding path of the robot is planned;
and in the welding process of the robot according to the welding path, the welding seam is tracked in real time through the second sensor assembly, the deviation of the welding seam is obtained, a deviation rectifying signal is sent to the robot according to the deviation, and the welding gun is rectified in real time.
2. The method of claim 1,
acquire the environmental information in involving nuclear environment through first sensor subassembly, fuse the environmental information that sensor subassembly acquireed, obtain the environmental data that fuses and include:
acquiring image information in an involved environment through a video sensor, and processing the image information to obtain coordinates and depth values of image pixels;
acquiring scanned environment information through a laser radar, wherein the environment information comprises a linear distance r between the laser radar and an environment reflection point and an angle theta during laser rotation scanning;
and converting the coordinates and the depth values of the image pixels obtained by the vision sensor into a data format of the laser radar, and matching the environment information obtained by the laser radar and the coordinates and the depth values of the image pixels converted into the data format of the laser radar to obtain fused environment data.
3. The method of claim 2,
the method for acquiring the moving pose information of the robot comprises the following steps:
and acquiring the moving pose information of the robot through the odometer information of the robot moving device.
4. The method of claim 3,
the deformation amount of the workpiece to be welded includes: the deformation in the direction perpendicular to the welding seam and the deformation in the thickness direction of the welding joint;
the machining assembly error comprises: errors in the direction perpendicular to the weld and errors in the thickness direction of the weld joint.
5. The method of claim 4,
the welding seam is tracked in real time through the second sensor assembly, the deviation amount of the welding seam is obtained, a deviation rectifying signal is sent to the robot according to the deviation amount, and the welding gun is rectified in real time and comprises the following steps: the welding seam is tracked in real time through the laser sensor and the arc tracking multi-dimensional sensor, the welding seam is scanned through the laser sensor to obtain deviation perpendicular to the direction of the welding seam, the current change is measured through the arc tracking multi-dimensional sensor to obtain the change of the elongation of the welding wire, finally the deviation in the thickness direction of the welding joint is obtained, a deviation correcting signal is sent to a robot through a control system, and the deviation of a welding gun is corrected in real time.
6. The method of claim 1, further comprising:
and inputting the entrance position information of the nuclear environment into the robot, and automatically locating the robot to the entrance of the nuclear environment and entering the nuclear environment through the entrance.
7. A position-finding-planning-deviation-correcting welding robot control device in an nuclear-involved environment, the device comprising:
an environmental data acquisition module: when the robot enters the nuclear environment, acquiring environment information in the nuclear environment through the first sensor assembly, and fusing the environment information acquired by the sensor assembly to obtain fused environment data;
a map reconstruction module: the system comprises a map reconstruction algorithm, a robot motion information acquisition module, a data fusion module and a data fusion module, wherein the map reconstruction algorithm is used for acquiring pose information of robot movement, inputting the pose information of the robot and fused environment data into the map reconstruction algorithm and constructing a three-dimensional map of an involved environment;
an initial welding position acquisition module: the robot is used for obtaining the characteristic point data of the workpiece to be welded, matching the workpiece to be welded with a three-dimensional map of an involved nuclear environment through coordinate transformation, determining the initial welding position of the robot, and carrying out position finding movement on the robot to the initial welding position;
a deformation simulation module: the method comprises the steps of constructing a three-dimensional model of a workpiece to be welded, defining material parameters of the workpiece to be welded in the three-dimensional model, dividing grids, setting a heat source according to actual welding conditions, and solving the finite element model to obtain the deformation of the workpiece to be welded;
a welding path planning module: the system is used for planning the welding path of the robot by taking the deformation of a workpiece to be welded and the machining and assembling errors of the robot as feedforward input quantities;
a deviation rectifying module: the welding robot is used for tracking the welding line in real time through the second sensor assembly in the welding process of the robot according to the welding path, acquiring the deviation amount of the welding line, sending a deviation correcting signal to the robot according to the deviation amount, and correcting the deviation of the welding gun in real time.
8. A robot, comprising:
a memory having program instructions stored therein;
a controller for executing program instructions stored in the memory to perform the method of any one of claims 1-6.
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