US 12,515,348 B2 · Method for controlling multi-robot collaborating intelligent drilling and riveting system for shelter

Abstract

The present invention discloses a method for controlling a multi-robot collaborating intelligent drilling and riveting system for a shelter, including the following steps: generating a robot scanning trace according to a key characteristic parameter of the shelter; performing laser scanning on an angle aluminum edge to acquire a drilling position of the shelter; establishing a task allocation mechanism, establishing a drilling and riveting task propensity model according to the task allocation mechanism, and allocating automatic drilling and riveting tasks to multiple robots based on the drilling and riveting task propensity model; and establishing a drilling angle compensation value model, where automatic drilling and riveting robots perform position compensation based on the drilling angle compensation value model to complete drilling and riveting.

A method for controlling a multi-robot collaborating intelligent drilling and riveting system for a shelter, comprising the following steps:

(1) generating a robot scanning trace according to a key characteristic parameter of the shelter,
a specific method for generating the robot scanning trace according to the key characteristic parameter of the shelter in step (1) comprises the following steps:
the key characteristic parameters of the shelter comprising a length l of the shelter, a width w1 of the shelter, a projection width w2 of a chamfered portion at a top of the shelter in a horizontal plane, a height h of the shelter, and a chamfered angle θ of the shelter, wherein if the shelter is a right-angled shelter, w2=0;
setting a datum point of the shelter on a robot ground rail as an origin of coordinates, and establishing a coordinate axis by means of a right-handed system;
respectively storing end points of the shelter in form of two sets of arrays according to the right-angled shelter and a chamfered shelter;
representing a safe scanning distance by d−scan, numbering four automatic shelter drilling and riveting robots as #1, #2, #3, and #4, and numbering safe points of scanning actions corresponding to the automatic drilling and riveting robots as O1, O2, O3, and O4, and parameterizing the safe points as follows:
O
1
=
(
-
d
_
scan
,
d
_
scan
,
h
+
w
2
*
sin
⁢
θ
+
d
_
scan
)
⁢
O
2
=
(
w
⁢
1
+
d
_
scan
,
d
_
scan
,
h
+
w
2
*
sin
⁢
θ
+
d
_
scan
)
⁢
O
3
=
(
-
d
_
scan
,
l
+
d
_
scan
,
h
+
w
2
*
sin
⁢
θ
+
d
_
scan
)
⁢
O
4
=
(
w
+
d
_
scan
,
l
+
d
_
scan
,
h
+
w
2
*
sin
⁢
θ
+
d
_
scan
)
for parameterized storage of angle aluminum edges, storing 8 faces of the chamfered shelter in the form of an array with a size of 8, and storing 6 faces of the right-angled shelter in the form of an array with a size of 6;
respectively representing the 8 faces and the 6 faces in sequences from front to back, from top to bottom and from left to right as follows:
FACE1:
[face1, face2, face3, face4, face5, face6, face7, face8], FACE2:
[face1, face2, face3, face4, face5, face6], there is a total of 4 angle aluminum edges for each face of each shelter, which are calibrated as a set of arrays JL:
[jl1.jl2, jl3, jl4] in a clockwise direction, and all angle aluminum edges of one chamfered shelter are represented as follows:
JL
*
FACE
⁢
1
=
[
j
⁢
l
1
j
⁢
l
2
j
⁢
l
3
j
⁢
l
4
]
·
[
face
1
,
face
2
,
face
3
,
face
4
,
face
5
,
face
6
,
face
7
,
face
8
]
;
all angle aluminum edges of a right-angled shelter are represented as
JL
*
FACE
⁢
2
=
[
j
⁢
l
1
j
⁢
l
2
j
⁢
l
3
j
⁢
l
4
]
·
[
face
1
,
face
2
,
face
3
,
face
4
,
face
5
,
face
6
]
,
that is, all the angle aluminum edges of a shelter to be polished are stored with jl1 face1, jl1 face2 . . . , and any one angle aluminum edge is represented as jlifacek, wherein values of i and k are
{
i
∈
[
1
,
4
]
,
k
∈
[
1
,
8
]
;
w
≠
0
i
∈
[
1
,
4
]
,
k
∈
[
1
,
6
]
;
w
=
0
}
;
judging whether the inputted key characteristic parameter w2 of the shelter is 0, if w2=0, it indicates that the shelter is the right-angled shelter with 6 face5, and a maximum value of k is 6;
or if w2≠0, it indicates that the shelter has 8 face5, and a maximum value of k is 8;
acquiring a scanning vector of the robot through coordinate differences of the end points of the shelter, generating the scanning trace of the robot, that is, driving, by the robot, a camera coordinate system to start from the safe point of the scanning action along the scanning vector parallel to the angle aluminum edge to be scanned to successively traverse all angle aluminum edges, and storing the scanning traces of the angle aluminum edges corresponding to each robot in the form of a struct array, a capacity of the struct array is a maximum quantity of the angle aluminum edges, a maximum quantity of the angle aluminum edges of the chamfered shelter is 32, a maximum quantity of the angle aluminum edges of the right-angled shelter is 24, and each struct element in an array comprises the following patterns:
STRUCT{
Vector a //defining the scanning vector
INT N //defining the numbers of the robots
CString code //defining the numbers of the angle aluminum edges
};
(2) performing linear laser scanning on the angle aluminum edge to acquire a drilling position of the shelter;
(3) establishing a task allocation mechanism, establishing a drilling and riveting task propensity model according to the task allocation mechanism, and allocating automatic drilling and riveting tasks to multiple robots based on the drilling and riveting task propensity model;
(4) establishing a drilling angle compensation value model, the automatic drilling and riveting robots perform position compensation based on the drilling angle compensation value model to finish drilling and riveting;
establishing the drilling angle compensation value model in step (4) specifically comprises the following steps:
establishing a numerical value model for a compensation value and a distance from a drilling point of the angle aluminum edge of the shelter to a center of the automatic drilling and riveting robot at jlifacek of each angle aluminum edge of the shelter:
C
⁡
(
t
)
=
x
⁢
1
⁢
t
2
+
x
⁢
2
⁢
exp
⁡
(
x
⁢
3
⁢
t
)
t
,
wherein C is a system compensation value of each automatic drilling and riveting robot, t is a distance from the automatic drilling and riveting robot to a drilling central point, and x1, x2, and x3 are parameters to be determined;
by operating the automatic drilling and riveting robot to perform a drilling test on the angle aluminum edge at the jlifacek, acquiring a distance of a drilled hole deviated from a set numerical value and a distance from the automatic drilling and riveting robot to the drilling central point, so as to establish a parameter acquisition and optimization model of the numerical value model for the distance from the drilling point of the angle aluminum edge of the shelter to the center of the automatic drilling and riveting robot:
{
min
⁢
S
⁡
(
X
)
=
Δ
∑
m
=
1
20
❘
"\[LeftBracketingBar]"
f
⁡
(
t
i
,
X
)
-
c
i
❘
"\[RightBracketingBar]"
f
⁡
(
t
i
,
X
)
=
x
1
⁢
t
m
2
+
x
2
⁢
exp
⁡
(
x
3
⁢
t
m
)
t
m
,
m
=
1
,
2
,
3
⁢
…
⁢
20
;
substituting data into the equations to obtain an optimal solution X(x1, x2, x3) of each set of compensation value coefficients, so as to acquire the drilling angle compensation value model during automatic drilling and riveting of the angle aluminum edge, and repeating the steps until compensation value models for all angle aluminum edges are acquired.

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Method for controlling multi-robot collaborating intelligent drilling and riveting system for shelter

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Method for controlling multi-robot collaborating intelligent drilling and riveting system for shelter

Life of this patent

Abstract

Claims8