A trajectory planning method for cross-knuckle arm distribution machine

Abstract

The invention provides a trajectory planning method for a cross-folding arm material distribution machine. With the base as the origin, a Cartesian coordinate system in the horizontal plane is established to obtain a specific posture set of the material distribution machine; multi-segment lines are used to represent the geometry of the distribution area outline and obstacles Model; rasterize the outline of the cloth area according to the required granularity to obtain the grid of the cloth area; use the position of each grid as the position of the cloth opening, and calculate the position of each grid from the specific posture set of the cloth machine The set of all effective postures of the distribution machine under the position; and the distance between the cross-folding arm and the contour of the distribution area and obstacles under the effective posture, the weight of each effective posture is obtained through comprehensive analysis; according to the weight, and the input starting point and end point, the weighted single source The shortest path algorithm finds the planning path with the largest distance from the cloth area outline and the overall obstacle distance as the optimal planning path. The invention realizes that the material distribution machine actively avoids obstacles, and optimally plans the movement path of the material distribution machine.

Description

technical field [0001] The invention belongs to the application field of concrete distribution machines, and in particular relates to a track planning method of a transverse knuckle arm distribution machine. Background technique [0002] Concrete placing boom is one of the most common equipment in building construction. [0003] The traditional unpowered concrete placing machine requires the operator to manually move the material opening to the target position to implement the placing; the traditional motor or hydraulic placing machine can solve the power problem of the placing, but it can only control the rotation of each joint of the placing machine or the hydraulic cylinder The movement is very unintuitive. In order to reach the target position, the operator needs to adjust repeatedly. [0004] For different configurations, common concrete placing machines have two types: horizontal folding arm and vertical folding arm. The height of the vertical folding arm placing mach...

AI Technical Summary

Problems solved by technology

At present, there is no powered cross-arm distribution machine that can directly control the absolute position of the distribution opening and perform path planning on the market.

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