Method and device for planning boom safe distribution state, construction machinery
A boom and fabric technology, which is applied in the direction of program-controlled manipulators, manipulators, and building materials processing, can solve the problems of robot collision without consideration of obstacles and redundant degrees of freedom of task space, etc., and achieve the effect of ensuring safety
Active Publication Date: 2022-04-15
ZOOMLION HEAVY IND CO LTD
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[0003] However, the inverse kinematics solution method of redundant robots does not consider whether obstacles in the environment collide with the robot, nor does it consider the redundant degrees of freedom in the task space
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[0048]The specific implementation manners of the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation manners described here are only used to illustrate and explain the embodiments of the present invention, and are not intended to limit the embodiments of the present invention.
[0049] In the embodiment of the present invention, the safe distribution state means that the boom does not touch the environmental obstacles when it is deployed; the redundant degree of freedom refers to the difference between the dimension of the joint space of the boom and the dimension of the task space; the dimension of the joint space The number refers to the degree of freedom of the boom, for example, if the boom has 6 rotating joints, the degree of freedom of the boom is 6, and the boom can also be called a 6-degree-of-freedom boom; the task space dimension is the boom The ...
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Embodiments of the present invention provide a method and device for planning a boom safe distribution state, and construction machinery, which belong to the field of construction machinery. The method includes: obtaining a set of joint positions of the boom end link satisfying a first condition by adjusting the posture of the boom end link, wherein the first condition is: the boom end link and the environment The minimum distance between obstacles reaches the set first safety distance; and for each joint position of the boom end link in the joint position set of the boom end link, by adjusting the arm The distance between the other boom links other than the boom end links and the environmental obstacles is used to obtain the safe cloth state set of the boom that satisfies the second condition, wherein the second condition is: each boom link The minimum distances between the rod and the environmental obstacles all reach the set corresponding safety distances. It can lay the foundation for selecting the appropriate cloth state in the process of unmanned cloth cloth construction.
Description
technical field [0001] The invention relates to the technical field of construction machinery, in particular to a method and device for planning the safe distribution state of a boom frame, and construction machinery. Background technique [0002] In the task of fully autonomous cloth, the user only needs to input the position of the cloth point in the Cartesian coordinate system, and does not need to obtain the position of the joint space through manual teaching. Therefore, a corresponding method is required to calculate the position that can make the end of the boom reach the target cloth point. Methods. In related technologies, the inverse kinematics solution method of redundant robots is used to obtain the target position of the boom joints, and then the boom joints are controlled to finally realize autonomous cloth. [0003] However, the inverse kinematics solution method for redundant robots does not consider whether obstacles in the environment collide with the robot...
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IPC IPC(8): B25J9/16E04G21/04
Inventor 廖亚军皮皓杰杨召付玲刘延斌
Owner ZOOMLION HEAVY IND CO LTD