Engineering vehicle, interference detection method and system for mechanical arm and flexible pipeline

Abstract

The invention discloses an engineering vehicle and an interference detection method and system for a mechanical arm and a flexible pipeline. The interference detection method for the mechanical arm and the flexible pipeline comprises the following steps that 1, a discrete catenary model of the flexible pipeline in a three-dimensional space is acquired; 2, a bounding box model of the mechanical armis acquired; and 3, whether the bounding box model is intersected with the discrete catenary model or not is judged. The interference detection method for the mechanical arm and the flexible pipelineis simple, convenient and rapid; and the development cost is saved, interference detection can be conducted on the mechanical arm and the flexible pipeline, and therefore construction accidents are reduced, and the efficiency of construction operation is improved.

Description

technical field [0001] The invention relates to the technical field of engineering machinery, in particular to an interference detection method and an interference detection system of an engineering vehicle, a mechanical arm and a flexible pipeline. Background technique [0002] At present, most of the mechanical arms of heavy-duty engineering equipment are hydraulically driven. The hydraulic drive has a large driving force and simple and stable speed regulation. However, the hydraulic drive requires the design of a hydraulic pipeline system. Lujiyi interfered with the robotic arm, affecting construction safety and efficiency. In the existing technology of interference detection of industrial robot manipulators, it is generally necessary to install external devices such as torque sensors or vision systems in order to realize the interference detection between the manipulator and the hydraulic pipeline suspended under the manipulator. However, the hardware equipment such as s...

AI Technical Summary

Problems solved by technology

[0002] At present, most of the mechanical arms of heavy-duty engineering equipment are hydraulically driven. The hydraulic drive has a large driving force and simple and stable speed regulation. However, the hydraulic drive requires the design of a hydraulic pipeline system. Interference between Lujiyi and the robotic arm affects construction safety and construction efficiency

In the existing technology of interference detection of industrial robot manipulators, it is generally necessary to install external devices such as torque sensors or vision systems in order to realize the interference detection between the manipulator and the hydraulic pipeline suspended under the manipulator. However, the hardware equipment such as sensors High cost, and torque-based interference detection methods are not suitable for hydraulic heavy-duty manipulators

[0003] Therefore, how to avoid the interference detection between the hydraulic heavy-duty manipulator and its underhanging hydraulic pipeline due to the interference detection method based on torque is a technical problem that those skilled in the art need to solve at present.

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