Interference detection method and system for construction vehicle, mechanical arm and flexible pipeline

Abstract

The invention discloses an interference detection method and system of an engineering vehicle, a mechanical arm and a flexible pipeline. The interference detection method between the mechanical arm and the flexible pipeline comprises: obtaining a discrete catenary model of the flexible pipeline in three-dimensional space; obtaining A bounding box model of the manipulator; judging whether the bounding box model intersects with the discrete catenary model. The method for detecting interference between the mechanical arm and the flexible pipeline is simple and fast, and saves development costs. It can detect the interference between the mechanical arm and the flexible pipeline, thereby reducing the occurrence of construction accidents and improving the efficiency of construction operations.

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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