Track planning method of concrete distribution robot based on Q learning

Abstract

The invention relates to a novel track planning method of an intelligent concrete distribution robot. The track planning method is suitable for autonomous pouring control of the concrete distribution robot and avoids complex inverse kinematics interpolation calculation. The invention belongs to the field of intelligent manufacturing. A universal track planning framework is designed, the universal track planning framework comprises a rapid movement process of the distribution robot from an initial state to a path starting point and from a path end point to the initial state, and a continuous concrete pouring process of the distribution robot from a pouring path starting point to a pouring path end point. In the rapid movement process, a simple interior point method is adopted to carry out inverse solution optimization with time optimization as a target, and a cubic polynomial is adopted to fit a track; in the continuous concrete pouring process, a path needing to be poured at the tail end of the distribution robot forms an error band with a certain area, region division is conducted on the formed path error band through a Q learning algorithm, an award value is given to the divided region according to a pouring target and constraint, Q value training is conducted on a given grid, and finally, an action sequence of all joints of the robot is formed, robot actions are directly obtained, and a complex track planning process based on kinematics inverse solution optimization is avoided.

Description

technical field [0001] The invention relates to a novel trajectory planning method of an intelligent concrete distributing robot, which is suitable for the autonomous pouring control of the concrete distributing robot, avoids complex interpolation calculations, and belongs to the field of intelligent construction. Background technique [0002] The concrete distributing robot is a kind of construction industrial robot that transports concrete to the construction site, and plays a very important role in the development of urban modern construction. With the continuous improvement of the efficiency requirements of the cloth robot in engineering construction, the research on the intelligent control of the cloth robot has gradually developed. Intelligent control is inseparable from the path and trajectory planning of the manipulator. For industrial robots, path planning mainly refers to the trajectory of the movement of the end of the manipulator, and trajectory planning is expre...

AI Technical Summary

Problems solved by technology

At present, for large-scale cloth boom systems, the construction conditions are relatively harsh, and the traditional trajectory planning method has a large amount of calculations, and it is difficult to determine the optimal performance index. , the pouring path of the working section is often planned and judged according to the limited perspective of the on-site staff, and the quality of the construction pouring is overly dependent on the worker's operating experience and technical level, and the degree of automation is low, which cannot meet the trajectory movement requirements of the pouring end of the large-scale distribution boom system

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