Tail end boom posture multi-mode automatic control device and method for tunnel multi-boom and multi-joint operation equipment

Abstract

Disclosed are a tail end boom posture multi-mode automatic control device and method for tunnel multi-boom and multi-joint operation equipment. According to the method, by means of a man-machine interaction unit, an operator of the operation equipment combines an operation instruction of the operator with signals collected by a sensor through a control unit to carry out computing treatment according to the actual conditions of various devices and operation thereof so that a control instruction can be output, and three automatic control functions (automatic control over the orientation of a tail end boom, automatic control over the horizontal position of the tail end boom and automatic control over the vertical distance between the tail end point of the tail end boom and a boom set supporting structure (or a vehicle body)) are freely combined, so that posture multi-mode automatic control over the tail end boom structure is realized. The intelligent operation requirement of the tunnel operation equipment for the boom structure is met to a great extent, the operation difficulty of the equipment is greatly lowered, and intelligent automatic control is realized.

Description

technical field [0001] The present invention relates to a device and method for controlling the attitude of a terminal boom, in particular to a device and method for automatically controlling the attitude of the terminal boom in multiple modes of tunnel multi-boom and multi-joint operation equipment. Background technique [0002] The existing industrial intelligent robot arm realizes the control of the boom, which is mainly divided into two control methods: the first is to perform motion control according to a predetermined trajectory; the second is to collect signals through image recognition, position sensors and other equipment, and use a special computer. The software performs arithmetic processing and controls its movement. Obviously, as a tunnel operation equipment, its working conditions are changeable and complex, and the motion trajectory of the device cannot be preset, and the actual working conditions on site are harsh, so high-precision sensing equipment cannot b...

AI Technical Summary

Problems solved by technology

However, due to the limitation of the working space of the tunnel operation equipment, the operation equipment is often required to have good flexibility. For this reason, the structure of the multi-joint and multi-directional movable arm frame is more and more widely used. At the same time, it also makes the motion control of the boom more and more complicated, especially the control of the terminal attitude, which often requires repeated adjustments by the operator to get close to the target position

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