A trajectory planning method, device, medium and program product of a forcible entry robot

Abstract

Embodiments of the present application disclose a trajectory planning method and device for a breaking robot, a medium and a program product. The method comprises: obtaining physical boundary conditions of each hydraulic cylinder when the breaking robot moves from an initial pose to a target pose; determining an initial trajectory equation according to the physical boundary conditions and a preset trajectory algorithm; constructing a trajectory disturbance equation according to phase deformation parameters of each hydraulic cylinder, a physical stroke of the hydraulic cylinder and a preset disturbance condition; determining a hydraulic cylinder control trajectory equation according to the initial trajectory equation and the trajectory disturbance equation; obtaining oil supply flow requirements of each hydraulic cylinder, and optimizing the moving time and the phase deformation parameters of each hydraulic cylinder under a preset optimization target according to the hydraulic cylinder control trajectory equation and the oil supply flow requirements to obtain a target solution; and determining a trajectory planning result of the breaking robot according to the phase deformation parameter values of each hydraulic cylinder in the target solution and the hydraulic cylinder control trajectory equation, so as to avoid flow saturation caused by overlapping of flow peak values of each hydraulic cylinder at the same time.

Description

Technical Field

[0001] This invention relates to the field of hydraulic robot control technology, and in particular to a trajectory planning method, equipment, medium, and program product for a demolition robot. Background Technology

[0002] Heavy-duty hydraulic demolition robots play a vital role in extreme and harsh industrial environments, such as cleaning carbon blocks in electrolytic aluminum anodes and handling slag in carbonization furnaces. Ensuring smooth movement of the demolition robot during trajectory planning is crucial for minimizing mechanical vibration and extending joint lifespan.

[0003] Current demolition robot trajectory planning typically considers the smoothness of the joint space of hydraulic cylinders. However, when implemented on hydraulic actuators, this inevitably triggers the "water hammer effect" and severe pressure fluctuations in the hydraulic transmission system. Due to the nonlinear mapping between joint space and hydraulic cylinder actuation, a smooth trajectory in joint space is not equivalent to the smooth extension and retraction of the hydraulic cylinder.

[0004] Furthermore, existing demolition robot trajectory planning technologies often neglect the flow saturation of hydraulic pump stations, leading to trajectory distortion or tracking failure of the demolition robot. Summary of the Invention

[0005] This invention provides a trajectory planning method, device, medium, and program product for a demolition robot, which enables smooth trajectory planning in the space of the hydraulic cylinder actuator and avoids flow saturation caused by the overlap of flow peaks of each hydraulic cylinder at the same time.

[0006] According to one aspect of the present invention, a trajectory planning method for a demolition robot is provided, the method comprising: The physical boundary conditions of the hydraulic cylinders of each drive structure are obtained when the demolition robot moves from the initial pose to the target pose; and the initial trajectory equation of the demolition robot from the initial pose to the target pose is determined according to the physical boundary conditions and the preset trajectory algorithm. Based on the hydraulic cylinder phase deformation parameters, hydraulic cylinder physical stroke, and preset disturbance conditions of each drive structure, a trajectory disturbance equation is constructed; and based on the initial trajectory equation and the trajectory disturbance equation, the hydraulic cylinder control trajectory equation of each drive structure is determined. The hydraulic cylinder oil supply flow requirements of each drive structure are obtained, and the movement time of the demolition robot and the phase deformation parameters of each hydraulic cylinder are optimized under the preset optimization target based on the hydraulic cylinder control trajectory equation and the oil supply flow requirements to obtain the target solution. Based on the phase deformation parameter values ​​of each hydraulic cylinder in the target solution and the control trajectory equation of the hydraulic cylinder, the trajectory planning result of the demolition robot is determined.

[0007] According to another aspect of the present invention, a trajectory planning device for a demolition robot is provided, the device comprising: The initial trajectory equation determination module is used to obtain the physical boundary conditions of the hydraulic cylinders of each drive structure when the demolition robot moves from the initial pose to the target pose; and to determine the initial trajectory equation of the demolition robot from the initial pose to the target pose based on the physical boundary conditions and the preset trajectory algorithm. The hydraulic cylinder control trajectory equation determination module is used to construct trajectory disturbance equations based on the hydraulic cylinder phase deformation parameters, hydraulic cylinder physical stroke, and preset disturbance conditions of each drive structure; and to determine the hydraulic cylinder control trajectory equations of each drive structure based on the initial trajectory equations and the trajectory disturbance equations. The target solution determination module is used to obtain the hydraulic cylinder oil supply flow requirements of each drive structure, and optimize the movement time of the demolition robot and the phase deformation parameters of each hydraulic cylinder under a preset optimization target based on the hydraulic cylinder control trajectory equation and the oil supply flow requirements to obtain the target solution. The trajectory planning result determination module is used to determine the trajectory planning result of the demolition robot based on the phase deformation parameter values ​​of each hydraulic cylinder in the target solution and the control trajectory equation of the hydraulic cylinder.

[0008] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and a memory communicatively connected to said at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the trajectory planning method for the demolition robot according to any embodiment of the present invention.

[0009] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the trajectory planning method of the demolition robot according to any embodiment of the present invention.

[0010] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the trajectory planning method for a demolition robot according to any embodiment of the present invention.

[0011] The technical solution of this invention addresses the problem of smooth trajectory planning for a demolition robot in the hydraulic cylinder space by acquiring the physical boundary conditions of the hydraulic cylinders of each drive structure as the robot moves from its initial pose to its target pose. Based on these physical boundary conditions and a preset trajectory algorithm, the initial trajectory equation of the demolition robot from its initial pose to its target pose is determined. A trajectory perturbation equation is constructed based on the phase deformation parameters of the hydraulic cylinders of each drive structure, the physical stroke of the hydraulic cylinders, and preset perturbation conditions. The control trajectory equations of the hydraulic cylinders of each drive structure are determined based on the initial trajectory equation and the trajectory perturbation equation. The oil supply flow requirements of the hydraulic cylinders of each drive structure are acquired, and the movement time of the demolition robot and the phase deformation parameters of each hydraulic cylinder are optimized under a preset optimization objective based on the hydraulic cylinder control trajectory equation and the oil supply flow requirements to obtain the target solution. The trajectory planning result of the demolition robot is determined based on the phase deformation parameter values ​​of each hydraulic cylinder and the hydraulic cylinder control trajectory equation in the target solution. This solves the problem of smooth trajectory planning for a demolition robot in the hydraulic cylinder actuator space. By adding a trajectory perturbation equation to the initial trajectory equation, the overlap of the flow peaks of each hydraulic cylinder at the same time is avoided, and the flow supply capacity of the hydraulic pump is considered.

[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a flowchart of a trajectory planning method for a demolition robot according to Embodiment 1 of the present invention; Figure 2 This is a structural diagram of a demolition robot; Figure 3 This is a flowchart of a trajectory planning method for a demolition robot according to Embodiment 2 of the present invention; Figure 4 This is a schematic diagram of a process for determining the target length of a hydraulic cylinder according to Embodiment 2 of the present invention; Figure 5 This is a schematic diagram of crowding ordering of non-dominant individuals according to Embodiment 2 of the present invention; Figure 6 This is a schematic diagram of the scatter distribution characteristics of an optimized solution set for flow constraints provided in Embodiment 2 of the present invention; Figure 7 This is a three-dimensional mapping diagram of the working trajectory of the end effector of a demolition robot according to a second embodiment of the present invention. Figure 8 This is a schematic diagram of the trajectory planning result of a target dismantling and demolition robot according to Embodiment 2 of the present invention; Figure 9 This is a schematic diagram of the coordinate system of the demolition robot established according to Embodiment 2 of the present invention; Figure 10 This is a closed-loop triangle schematic diagram of each drive structure in the demolition robot provided according to Embodiment 2 of the present invention; Figure 11 This is a schematic diagram of the performance of the rotating body in the demolition robot provided in Embodiment 1 of the present invention; Figure 12 This is a schematic diagram of the performance of the large arm in the demolition robot provided in Embodiment 1 of the present invention; Figure 13 This is a schematic diagram of the performance of the two arms in the demolition robot provided in Embodiment 1 of the present invention; Figure 14 This is a schematic diagram of the performance of the hydraulic breaker in the demolition robot provided in Embodiment 1 of the present invention; Figure 15 This is a three-dimensional point cloud diagram of the reachable pose of the demolition robot according to Embodiment 2 of the present invention; Figure 16 This is a schematic diagram of a three-dimensional point cloud cross-section of the reachable pose of the demolition robot according to Embodiment 2 of the present invention; Figure 17 This is a schematic diagram of the trajectory planning device for a demolition robot according to Embodiment 3 of the present invention; Figure 18 This is a schematic diagram of the structure of an electronic device that implements the trajectory planning method of the demolition robot according to an embodiment of the present invention. Detailed Implementation

[0015] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0016] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0017] Example 1 Figure 1 This is a flowchart of a trajectory planning method for a demolition robot according to Embodiment 1 of the present invention. This embodiment is applicable to smooth trajectory planning of a demolition robot in the space of a hydraulic cylinder actuator. The method can be executed by a trajectory planning device for the demolition robot, which can be implemented in hardware and / or software. This trajectory planning device can be configured in electronic devices such as computers, mobile phones, controllers, servers, or demolition robots. Figure 1 As shown, the method includes: Step 110: Obtain the physical boundary conditions of the hydraulic cylinders of each drive structure when the demolition robot moves from the initial pose to the target pose; and determine the initial trajectory equation of the demolition robot from the initial pose to the target pose based on the physical boundary conditions and the preset trajectory algorithm.

[0018] Figure 2 This is a structural diagram of a demolition robot, such as... Figure 2As shown, the demolition robot includes a fixed part and a robotic arm part. The fixed part includes a fixed base 10; a fixed housing 9 is fixed on the fixed base 10; a rotary body 7 is provided on the fixed housing 9, and the rotary body 7 is rotatably connected to the fixed housing 9; a swing hydraulic cylinder 8 is provided inside the fixed housing 9, and the output end of the swing hydraulic cylinder 8 is connected to the rotary body 7 to drive the rotary body to rotate relative to the fixed housing. The demolition robot's robotic arm includes a main arm 5; the root of the main arm 5 is hinged to a rotating body 7 via a pin; a hydraulic cylinder 6 for the main arm is located at the front end of the rotating body 7, one end of which is hinged to the rotating body 7, and the other end is hinged to the side wall of the main arm 5; a second arm 3 is hinged to the end of the main arm 5 away from the rotating body; a hydraulic cylinder 4 for the second arm is located on the back side of the main arm 5, one end of which is hinged to the main arm 5, and the other end is hinged to the end of the second arm 3; a breaker hammer 1 is hinged to the end of the second arm 3 away from the main arm; a rotating hammer hydraulic cylinder 2 is located on the back side of the second arm 3, one end of which is hinged to the second arm 3, and the other end is connected to the breaker hammer 1, used to drive the breaker hammer to swing and adjust its angle. The driving structure of the demolition robot's main robotic arm includes the rotating body, the main arm, the second arm, and the breaker hammer, forming an RRRR (4R) series kinematic chain structure.

[0019] The trajectory planning of the demolition robot in this embodiment of the invention can be performed by planning the trajectory of the hydraulic cylinder control of each drive structure in the demolition robot. That is, the trajectory planning of the hydraulic cylinders of the rotating body, the main arm, the second arm and the breaker in the demolition robot can be performed separately to obtain the trajectory planning result and achieve smooth control of the hydraulic cylinder actuator space.

[0020] The initial pose may include the current position information of the demolition robot, the impact angle during demolition work (i.e., the pitch angle of the end effector hammer), and the initial length of each hydraulic cylinder. The target pose may include the target position information of the demolition robot, the impact angle during demolition work (i.e., the pitch angle of the end effector hammer), and the target length of each hydraulic cylinder. The initial pose can be determined based on the current working information of the demolition robot. The position information and pitch angle in the target pose can be set according to the working requirements of the demolition robot. The target length of the hydraulic cylinders in the target pose can be determined through pre-experimentation. For example, the correspondence between the demolition robot pose data and the target length of the hydraulic cylinders can be determined through experiments or simulations. The target length of the hydraulic cylinders in the target pose is then determined based on this correspondence.

[0021] The physical boundary conditions of a hydraulic cylinder can include initial pose, target pose, zero starting velocity, zero ending velocity, zero starting acceleration, zero ending acceleration, and can also include zero starting jump and zero ending jump. This ensures smooth start and stop of robot movement and avoids abrupt changes in velocity and acceleration.

[0022] Optionally, the physical boundary conditions of the hydraulic cylinders of each drive structure are obtained when the demolition robot moves from the initial pose to the target pose. This includes: obtaining the initial length of the hydraulic cylinders of each drive structure when the demolition robot is in the initial pose, and obtaining the target length of the hydraulic cylinders of each drive structure when the demolition robot is in the target pose; and using the initial length of each hydraulic cylinder, the target length of each hydraulic cylinder, and the velocity association conditions of each hydraulic cylinder in the initial pose and the target pose as the physical boundary conditions of the hydraulic cylinders. The velocity association conditions of the target pose may include a starting velocity of zero, an ending velocity of zero, a starting acceleration of zero, and an ending acceleration of zero.

[0023] The preset trajectory algorithm can be a cubic spline, quintic spline, seventh polynomial, B-spline, or S-curve algorithm, etc. The physical boundary conditions of the hydraulic cylinder can be substituted into the preset trajectory algorithm for solving to obtain the initial trajectory equation.

[0024] Considering the low-impact and smooth control requirements of heavy-duty hydraulic systems, a quintic spline algorithm is chosen as an example to determine the initial trajectory equation. First, a general formula for a quintic polynomial with normalized time is established, and then the above physical boundary conditions are applied. Since the quintic polynomial has six undetermined coefficients, all coefficients can be uniquely solved using these six boundary conditions. The final initial trajectory equation for the demolition robot from its initial pose to its target pose is: Displacement equation ; velocity equation ; acceleration equation ; and the equation of jump .

[0025] In the formula: , , , These are the displacement, velocity, acceleration, and jump of the demolition robot, respectively. To normalize the time scale, , , For the time of travel; The total stroke of the i-th hydraulic cylinder from its initial pose to its target pose is the difference between the target length and the initial length of the hydraulic cylinder. This is the initial length of the hydraulic cylinder.

[0026] Step 120: Construct trajectory disturbance equations based on the hydraulic cylinder phase deformation parameters, hydraulic cylinder physical stroke, and preset disturbance conditions of each drive structure; and determine the hydraulic cylinder control trajectory equations of each drive structure based on the initial trajectory equations and trajectory disturbance equations.

[0027] After addressing the fundamental physical constraints, the deformability of the trajectory itself determines its ability to find the optimal solution within the feasible region. Polynomial trajectories or S-shaped acceleration or deceleration curves often exhibit a rigid, symmetrical distribution in the velocity and acceleration waveforms. Such rigid parametric models not only lack the flexibility to control the motion phases in complex operations but also cause flow peaks to overlap at the same time point, frequently resulting in flow saturation and limiting the overall operating speed of the robotic arm.

[0028] To address this problem, this invention adds a trajectory perturbation equation to the initial trajectory equation, employing an analytical quintic spline algorithm with an asymmetric free perturbation term. The trajectory perturbation equation can incorporate independent phase distortion genetic parameters (i.e., phase deformation parameters) for each hydraulic cylinder. Preset perturbation conditions can be set when constructing the trajectory perturbation equation. These conditions can be identical or similar to the physical boundary conditions, such as accurate target positioning, zero initial and final velocities and accelerations, and a zero initial and final jump. The preset perturbation conditions can also be used to perturb amplitude and phase based on the physical boundary conditions to achieve free asymmetric shaping of intermediate motion peaks. For example, higher-order polynomials, Bezier functions, B-spline functions, or other periodic functions can be used to construct the asymmetric perturbation.

[0029] For example, trajectory perturbation equations can be constructed using trigonometric functions, allowing the peak velocity, peak acceleration, and peak jump to shift along the time axis, thus forming an asymmetric motion waveform. The so-called free asymmetric shaping of intermediate motion peaks means that during motion, the peak velocity, peak acceleration, and peak jump no longer appear fixed in the symmetrical middle position, but can flexibly shift according to the optimization results, achieving flow staggering for multiple hydraulic cylinders and reducing impact. In this embodiment of the invention, the asymmetric independent perturbation term of the trigonometric functions can impart a variable, flexible shape to the trajectory.

[0030] Optionally, based on the hydraulic cylinder phase deformation parameters, hydraulic cylinder physical stroke, and preset disturbance conditions of each drive structure, a trajectory disturbance equation is constructed, including: determining the disturbance amplitude and the skew factor of the peak value during hydraulic cylinder movement based on the hydraulic cylinder phase deformation parameters and hydraulic cylinder physical stroke of each drive structure; and constructing the trajectory disturbance equation based on the disturbance amplitude, skew factor, and preset disturbance conditions.

[0031] For each hydraulic cylinder, multiple independent mutation parameters, i.e., phase deformation parameters, can be assigned to control the morphology of the disturbance bulge. The physical stroke of the hydraulic cylinder can be its maximum physical stroke. For example, the disturbance amplitude is: The skewness factor is: .

[0032] In the formula, It is the disturbance amplitude of the i-th hydraulic cylinder; It is the skew factor of the i-th hydraulic cylinder, representing the left and right offset of the peak value; and It is the dimensionless phase deformation parameter assigned to the i-th hydraulic cylinder, with a value range of 0.1 to 0.9; This is the maximum physical stroke of the hydraulic cylinder; It is the scaling factor.

[0033] A trigonometric polynomial can be constructed based on the disturbance amplitude and skew factor. Solving this polynomial using preset disturbance conditions yields the trajectory disturbance equation. Constructing the trajectory disturbance equation using a trigonometric polynomial allows for convenient calculation of velocity, acceleration, and jerk while maintaining analytical differentiability. Furthermore, it strictly satisfies the requirement that disturbances at both ends of the trajectory automatically disappear without violating the physical boundary conditions of the quintic spline of the initial trajectory equation.

[0034] To prevent accidents such as cylinder collisions caused by the hydraulic cylinder exceeding its mechanical hard limit after superimposed disturbances, this invention can also introduce a dynamic physical margin safety cutoff mechanism. The maximum permissible physical movement margin in both the positive and negative directions is calculated under the current physical stroke of the hydraulic cylinder. and Based on this, the disturbance amplitude is adaptively truncated to obtain the final applied disturbance amplitude: .

[0035] In the formula, Let be the final disturbance amplitude of the i-th hydraulic cylinder. The disturbance amplitude is determined for the i-th hydraulic cylinder based on the phase deformation parameters and the physical stroke of the hydraulic cylinder; in When greater than or equal to 0, according to and the maximum permissible physical movement margin of the i-th hydraulic cylinder in the positive direction. Determine the final amplitude of the disturbance; in When less than 0, according to and the maximum permissible physical movement margin in the negative direction of the i-th hydraulic cylinder Determine the final amplitude of the disturbance. and It can be dynamically calculated based on the final physical boundary and safety margin of the hydraulic cylinder.

[0036] Introducing phase angle transformation For example, the trajectory perturbation equation can be obtained as follows: Displacement disturbance equation: ; Velocity perturbation equation: ; Acceleration perturbation equation: ; Jump perturbation equation: .

[0037] In the formula, , , , These correspond to the displacement, velocity, acceleration, and jump compensation amounts of the asymmetric disturbance terms in the trajectory disturbance equation. Using the aforementioned trajectory disturbance equation, the additional disturbance can be confined to the middle section of the trajectory, causing the disturbance terms to automatically become zero at the start and end points; the disturbance displacement is zero at both ends, and the velocity and acceleration disturbances are also automatically zero at the boundaries. The purpose of this is to adjust the waveform only during the intermediate motion process without changing the original quintic spline trajectory's start and end point positions, velocity, and acceleration constraints in the initial trajectory equation, thereby altering the distribution of peak velocity, peak acceleration, and peak flow. This achieves waveform modulation in the middle section of the trajectory without affecting the displacement, velocity, and acceleration constraints at the start and end points, thus realizing adjustable asymmetric offset of the peak velocity and acceleration values ​​in the middle section of the trajectory, while ensuring that the disturbance terms do not disrupt the original position, velocity, and acceleration boundary conditions at the start and end points of the motion. Trigonometric functions are used to provide phase adjustment capability, and a polynomial envelope function is used to ensure that the disturbance term and its derivative automatically decay to zero at the boundary. Then, the velocity, acceleration, and jerk compensation equations are obtained by continuously differentiating the disturbance displacement function. This approach enables asymmetric waveform modulation while maintaining the physical continuity and optimizability of the trajectory.

[0038] The final generated initial trajectory equation is a linear superposition of the basis terms and the trajectory disturbance equation, yielding the hydraulic cylinder control trajectory equation. For example, the final displacement trajectory equation of the hydraulic cylinder is: The final velocity trajectory equation of the hydraulic cylinder is: The final acceleration trajectory equation of the hydraulic cylinder is: The final equation for the jump trajectory of the hydraulic cylinder is: The hydraulic cylinder control trajectory equation does not involve numerical differentiation, completely eliminating the amplification of high-order derivative noise caused by step size discretization, and ensuring the absolute smoothness of acceleration when executing servo commands for heavy engineering machinery with a load capacity of several tons.

[0039] Step 130: Obtain the hydraulic cylinder oil supply flow requirements of each drive structure, and optimize the movement time of the demolition robot and the phase deformation parameters of each hydraulic cylinder under the preset optimization objective based on the hydraulic cylinder control trajectory equation and the oil supply flow requirements to obtain the target solution.

[0040] The hydraulic drive system is the core power source of heavy-duty demolition robots. Unlike lightweight industrial robot arms driven by distributed independent servo motors, heavy-duty hydraulic robot arms typically use a centralized pump station for unified oil supply. In situations requiring simultaneous multi-joint movements, the total instantaneous flow demand of all system actuators often easily exceeds the main pump's maximum oil supply capacity. Once flow saturation occurs, the hydraulic system will experience severe flow insufficiency and lag, resulting in actual joint execution speeds lower than the planned speed. This not only causes significant trajectory deviations but also triggers strong hydraulic shock effects, directly threatening the equipment's lifespan.

[0041] This invention introduces rigid flow constraints at the foundational level of trajectory planning. For the four closed-loop drive systems in a demolition robot—comprising a rotating body, main arm, secondary arms, and a hydraulic breaker—the instantaneous flow demand generated by the piston rod's extension and retraction is directly affected by the differential structure of the hydraulic cylinder. In hydraulic cylinder control, the hydraulic cylinder's oil supply flow demand can be acquired in real time to avoid flow saturation. For example, the hydraulic cylinder's oil supply flow can be detected in real time using sensors to determine the required flow. Alternatively, the hydraulic cylinder's oil supply flow demand can be determined in real time through calculation. For instance, the hydraulic cylinder's effective working area and piston rod speed can be used to determine the required flow.

[0042] Optionally, the hydraulic cylinder oil supply flow requirements of each drive structure are obtained, including: determining the rodless chamber area and rod chamber area of ​​the hydraulic cylinder based on the inner diameter and piston rod diameter of each drive structure; and determining the hydraulic cylinder oil supply flow requirements of each drive structure based on the piston rod movement speed, movement direction, rodless chamber area and rod chamber area of ​​each drive structure during the movement of the demolition robot from the initial pose to the target pose.

[0043] For example, the effective working area models for rodless and rod-type cavities are established as follows: ; In the formula, This represents the effective rodless chamber actuation area of ​​the i-th hydraulic cylinder. This represents the effective rod-side actuating area of ​​the i-th hydraulic cylinder. Let be the inner diameter of the i-th hydraulic cylinder. Let be the diameter of the piston rod of the i-th hydraulic cylinder.

[0044] For asymmetric single-piston differential hydraulic cylinders, there are significant differences in flow consumption characteristics between the extension and retraction actions. Based on this, this invention establishes a piecewise mapping model for the instantaneous flow demand of a single cylinder. For example, the hydraulic cylinder oil supply flow demand of the boom, second boom, and hydraulic breaker in a demolition robot can be expressed as: .

[0045] In the formula, It is the instantaneous oil supply flow requirement of the i-th hydraulic cylinder at time t; It is the instantaneous velocity of the piston rod of the i-th hydraulic cylinder. The extension stroke is defined as positive and the return stroke is defined as negative. The velocity of the hydraulic cylinder piston rod can be determined by the velocity trajectory equation in the hydraulic cylinder control trajectory equation. It is a scaling factor used to standardize volumetric flow rate in L / min. When the value is greater than or equal to 0, i.e. during the piston extension stroke of the hydraulic cylinder, the oil supply flow requirement is determined by the area of ​​the rodless chamber and the piston rod movement speed. When the value is less than 0, i.e. during the return stroke of the hydraulic cylinder piston, the oil supply flow requirement is determined by the area of ​​the rod chamber and the absolute value of the piston rod movement speed.

[0046] For a rotating body driven by two cylinders, since the velocities of the two cylinders are in opposite directions during rotation, the instantaneous hydraulic cylinder oil supply flow requirement can be expressed as the sum of the displacements of the rodless chamber and the rod chamber: ; In the formula, It is the instantaneous hydraulic cylinder oil supply flow requirement of the rotating body. The instantaneous speed of the piston rod of the rotating hydraulic cylinder. This refers to the effective rodless chamber actuation area of ​​the rotary hydraulic cylinder. This refers to the effective rod-side working area of ​​the rotary hydraulic cylinder.

[0047] Based on the hydraulic cylinder oil supply flow requirements of each branch mentioned above, the total flow requirement of the entire unit acting on the main pump station at any given time can be expressed as: . This represents the instantaneous total flow requirement of the demolition robot. To ensure the safety and stability of the robot during its operation, preset flow conditions are set, such as a red line for the maximum allowable flow. If the planned trajectory causes the total flow to exceed this red line, it is considered a physical boundary breach. This invention can transform this into a strict anti-saturation breach penalty function: .

[0048] In the formula, It is the boundary crossing function for the demolition robot's traffic boundary crossing. It is the travel time from the initial pose to the target pose; This is the maximum oil supply flow rate of the main pump station of the demolition robot, for example, set to 105 L / min. This boundary-crossing function defines the feasible region of trajectory planning from a mechanical-fluid perspective. Any trajectory scheme that results in a boundary-crossing degree greater than zero is considered an infeasible solution in a real-world engineering environment.

[0049] To enable the trajectory planning optimization model to search for the optimal solution within complex physical boundaries, a genetic space for the independent variables of the architecture can be established. The decision space vector is composed of the global movement time and the phase deformation parameters of each hydraulic cylinder. For example, a 9-dimensional continuous decision space vector can be constructed as follows: .

[0050] In the formula, It is a vector of decision variables; It is the movement time from the initial pose to the target pose, with its physical boundary set to 3.0 to 15.0 s; and Let represent the phase deformation parameters of the i-th hydraulic cylinder, which are dimensionless parameters.

[0051] For these multidimensional decision variables, preset optimization objectives can be established. There can be one or more optimization objectives. For example, the optimization objective could be related to the movement time. Or, the optimization objective could be related to the phase deformation parameters of the hydraulic cylinder. Or, the optimization objective could be related to the impact strength of the hydraulic cylinder, etc.

[0052] For example, this invention establishes two conflicting optimization objectives. The first objective is to minimize the travel time of the entire motion, and the second objective is to minimize the impact on the hydraulic cylinder structure. Since heavy equipment must prioritize avoiding sudden torque changes, in this invention, the maximum absolute jump of each hydraulic cylinder throughout the entire motion cycle can be used as a smoothness evaluation index. The preset optimization objectives are: .

[0053] In the formula, It is a moving-time objective function that reflects time efficiency, i.e., the first optimization objective; The objective function reflecting the maximum structural impact strength of the demolition robot is the smoothness objective function, i.e., the second optimization objective. It is the jump of the i-th hydraulic cylinder at time t, which can be determined by the jump trajectory equation in the hydraulic cylinder control trajectory equation.

[0054] Within the range of travel time and phase deformation parameters of each hydraulic cylinder, the optimal solution can be obtained through various methods under the constraints of the preset optimization objective and oil supply flow requirement. Specifically, with multiple sets of given travel time and phase deformation parameters of each hydraulic cylinder, the hydraulic cylinder control trajectory equation, travel time, hydraulic cylinder oil supply flow requirement, and hydraulic cylinder impact intensity can be determined. This allows for the evaluation of the performance of the preset optimization objective and the selection of the optimal solution. For example, the penalty function method can be used to modify the preset optimization objective to obtain the optimal solution, or algorithms such as genetic algorithms or Pareto optimal front solutions can be used.

[0055] By considering preset optimization targets for movement time and hydraulic cylinder impact intensity, a physical balance can be explored in pursuit of shorter dismantling time and lower equipment impact. The optimization also takes into account the flow saturation problem of the hydraulic cylinder to avoid triggering strong hydraulic impact effects and to avoid causing significant trajectory deviation.

[0056] Step 140: Determine the trajectory planning result of the demolition robot based on the phase deformation parameter values ​​of each hydraulic cylinder in the target solution and the hydraulic cylinder control trajectory equation.

[0057] Substituting the phase deformation parameter values ​​of each hydraulic cylinder in the target solution into the hydraulic cylinder control trajectory equation yields the trajectory planning result of the demolition robot. This allows for smooth trajectory control of the demolition robot in the hydraulic cylinder actuator space, rather than joint angle control.

[0058] The technical solution of this embodiment, by considering the trajectory disturbance equation based on the initial trajectory equation, can make the trajectory curves of velocity, acceleration, and jump asymmetrical, avoiding the overlap of flow peaks of each hydraulic cylinder at the same time point caused by the peak at the midpoint, thus preventing frequent flow saturation; and can make the hydraulic cylinder control trajectory equation satisfy the physical boundary conditions; by considering the oil supply flow requirement in the objective solution, the trajectory control can avoid exceeding the limit oil supply capacity of the main pump, avoiding strong hydraulic shock effects; when planning the trajectory of the demolition robot, considering the phase deformation, physical stroke, and physical boundary conditions of the hydraulic cylinder can transform the trajectory optimization problem of the demolition robot from the joint space to the actuator space of the hydraulic cylinder, realizing the smooth extension and retraction of the hydraulic cylinder; by considering the optimization objectives of movement time and hydraulic cylinder impact intensity, a physical balance can be found between shorter demolition time and lower equipment impact intensity, resulting in a smooth trajectory connecting the initial posture and the target posture in the hydraulic cylinder drive space; avoiding the limitations of dynamic impact intensity and hydraulic supply capacity of the hydraulic cylinder, combining rigid flow boundary with asymmetrical shape.

[0059] Example 2 Figure 3 This is a flowchart of a trajectory planning method for a demolition robot according to Embodiment 2 of the present invention. This embodiment is a further refinement of the above technical solution, and the technical solution in this embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 3 As shown, the method includes: Step 310: Obtain the initial length of the hydraulic cylinders of each drive structure of the demolition robot in the initial pose, and obtain the target length of the hydraulic cylinders of each drive structure of the demolition robot in the target pose.

[0060] The initial length of the hydraulic cylinder can be directly observed in the initial pose of the demolition robot. Alternatively, the target length of the previous hydraulic cylinder can be used as the initial length of the hydraulic cylinder in the current trajectory planning. The target length of the hydraulic cylinder can be mapped from the position information and pitch angle of the target pose to the target length of the hydraulic cylinder through various methods such as correspondence or simulation results. For example, a nonlinear correspondence between the joint space of the demolition robot and the execution space of the hydraulic cylinder can be pre-constructed, and then the position information and pitch angle of the target pose can be mapped to the target length of the hydraulic cylinder based on this nonlinear correspondence. In addition, due to the nonlinearity of the correspondence, it may be difficult to find a pose that is completely consistent with the target pose from the correspondence or simulation results and directly use its corresponding hydraulic cylinder length as the target length of the hydraulic cylinder. Therefore, the mapped target length of the hydraulic cylinder can be further adjusted to make the target length of the hydraulic cylinder more accurate.

[0061] Optionally, obtaining the target length of the hydraulic cylinders of each drive structure of the demolition robot when it is in the target pose includes: obtaining the pose data of the end effector of the demolition robot when the hydraulic cylinder lengths of each drive structure of the demolition robot are given; determining candidate poses in the pose data according to the target pose, and determining the candidate length of the hydraulic cylinder corresponding to the candidate pose according to the candidate poses and the correspondence between the pose data and the hydraulic cylinder lengths; constructing the hydraulic cylinder length increment value according to the error value between the candidate pose and the target pose, and determining the target length of the hydraulic cylinder according to the hydraulic cylinder length increment value and the candidate length of the hydraulic cylinder.

[0062] The correspondence between the hydraulic cylinder length and the pose data can be determined through experimental testing or obtained through simulation by constructing a motion model of the demolition robot. For example, the motion model of the demolition robot can be modeled and simulated using DH (Denavit-Hartenberg) modeling or MDH (modified DH) modeling to obtain the correspondence between the hydraulic cylinder length and the pose data.

[0063] For example, Monte Carlo simulation can be used to obtain the correspondence between the length of a hydraulic cylinder and its pose data. Given a target pose... It is a four-dimensional task vector containing three-dimensional Cartesian coordinates. and a specific pitch angle Given a target pose, the target length of the hydraulic cylinder can be determined. , Let be the target length of the i-th hydraulic cylinder.

[0064] Figure 4 This is a schematic diagram of a process for determining the target length of a hydraulic cylinder according to Embodiment 2 of the present invention. Figure 4As shown, the seed node closest to the target pose can be searched in the global Monte Carlo sampling point library as a candidate pose, providing a good initial value for determining the target length of the hydraulic cylinder. Based on the candidate hydraulic cylinder lengths corresponding to the candidate poses in the global Monte Carlo sampling point library, and combined with the error value between the candidate pose and the target pose, the hydraulic cylinder length increment value is determined, thereby determining the target length of the hydraulic cylinder.

[0065] When determining candidate poses, the position and angle errors in the pose can be standardized in terms of dimensions. For example, angle errors can be converted into arc lengths using equivalent arc lengths, allowing candidate poses to be determined based on the target pose under a standardized dimension, thus resolving the imbalance problem in optimization weights caused by inconsistent dimensions. An example is the link length of the end effector of a demolition robot. The joint displacement parameters are 234.54 mm. The length is 1939.78 mm, and the total equivalent arm length of the demolition robot is approximately... ≈1953.9mm. The comprehensive error evaluation function with unified dimensions between the candidate pose and the target pose is: .

[0066] In the formula, , These represent the position and pitch angle of the candidate pose, respectively. , These are the target's position and pitch angle, respectively. To convert pitch angle error into a weighting coefficient for equivalent arc length, it can be determined based on the total equivalent arm length of the demolition robot, such as... This perfectly converts the attitude angle error into an equivalent physical space circular arc length displacement penalty. Through global traversal evaluation, the minimum pose data of the comprehensive error evaluation function E can be used as a candidate pose, and the corresponding hydraulic cylinder length can be used as a candidate hydraulic cylinder length.

[0067] like Figure 4 As shown, after determining the candidate length of the hydraulic cylinder, the candidate length can be further fine-tuned to obtain the precise target length of the hydraulic cylinder. For example, based on the error value between the candidate pose and the target pose, the damped least squares method or the pseudo-inverse Jacobian matrix method can be combined to determine the increment value of the hydraulic cylinder length. This makes the increment value of the hydraulic cylinder length and the sum of the candidate lengths more closely approximate the target length of the hydraulic cylinder.

[0068] For example, the increment value of the hydraulic cylinder length can be calculated using the formula... Confirmed. In the formula, This represents the increment value of the hydraulic cylinder length; The error value between the candidate pose and the target pose can be determined in real time based on the difference between the pose data corresponding to the candidate length of the hydraulic cylinder and the target pose. , The pose data is determined based on the candidate length of the hydraulic cylinder and the motion model of the demolition robot. The approximate Jacobian matrix of the hydraulic cylinder length relative to the end breaker in the current state in the four-dimensional task space can be determined by the error value and the first-order partial derivative of the pose data. For adaptive damping factor, It is the identity matrix. Through the damping factor... The dynamic adjustment mechanism, in the error value When rapidly decreasing The algorithm tends towards the Gauss-Newton method to accelerate convergence as the error value decreases. When the decrease tends to level off or the system approaches an ill-conditioned matrix By increasing the size of the algorithm, it smoothly transitions to gradient descent to significantly improve the robustness of the optimization.

[0069] The target length of the hydraulic cylinder can be directly determined based on the hydraulic cylinder length increment and the candidate lengths. Alternatively, the candidate lengths can be corrected and updated based on the hydraulic cylinder length increment. By iteratively calculating and updating the hydraulic cylinder length increment, the target length of the hydraulic cylinder can be obtained based on the hydraulic cylinder length increment and the candidate lengths when a preset number of iterations is reached or the error value is less than a preset error.

[0070] In addition, to ensure that the target length of the hydraulic cylinder is within the range of its physical stroke, an anti-collision truncation constraint can be applied to the physical stroke of the hydraulic cylinder when updating the candidate length based on the hydraulic cylinder length increment: .

[0071] In the formula, and Let be the minimum and maximum physical strokes of the i-th hydraulic cylinder, respectively. Let be the candidate length of the hydraulic cylinder in the k-th iteration. The candidate length of the hydraulic cylinder in the (k+1)th iteration can be used as the target length of the hydraulic cylinder when the iteration terminates. This represents the length increment of the i-th hydraulic cylinder.

[0072] By employing a two-tiered calculation approach—a global coarse search followed by fine-tuning based on error values—the precise target length of the hydraulic cylinder is determined. This achieves a balance between the breadth of the spatial search and the accuracy of local gradients. The global coarse search avoids getting trapped in erroneous initial values, while the fine-tuning prevents numerical divergence in singular regions. The target matching error can be significantly reduced to a positional error of less than or equal to 1.0 × 10⁻⁶. -6 mm, angular error less than or equal to 1.0 × 10 -6 The accuracy level of the degree. By employing damped regularization in the solution, instead of directly calculating the pseudo-inverse Jacobian matrix, divergence due to matrix condition number deterioration near singular positions can be avoided. Add a damping term This ensures the matrix remains stable and invertible, thus avoiding the singular divergence problem of the pseudo-inverse Jacobi method. The process of solving for the target length of the hydraulic cylinder not only verifies the accuracy of the aforementioned working area analysis but also provides a reliable basis for the actuator space endpoints in the subsequent stage of trajectory planning for the demolition robot, considering multiple physical constraints such as mechanical impact and system flow saturation.

[0073] The demolition robot has four active joints. By constraining four independent spatial dimensions—three-dimensional translational degrees of freedom and one pitch orientation degree of freedom—it presents a constrained kinematic closed-loop optimization problem. Furthermore, a strongly nonlinear inverse cosine mapping exists within the hydraulic closed-loop drive triangle. The hydraulic cylinder target length calculation method in this embodiment avoids the aforementioned problem, which leads to the robot easily getting trapped in local minima when facing large-span nonlinear spaces, and even avoids matrix inversion divergence when approaching singular configurations.

[0074] Step 320: Use the initial length of each hydraulic cylinder, the target length of each hydraulic cylinder, and the velocity correlation conditions of each hydraulic cylinder in the initial pose and the target pose as the physical boundary conditions of the hydraulic cylinder.

[0075] Step 330: Determine the initial trajectory equation of the demolition robot from the initial pose to the target pose based on the physical boundary conditions and the preset trajectory algorithm.

[0076] Step 340: Determine the disturbance amplitude and the skew factor of the peak value during hydraulic cylinder movement based on the hydraulic cylinder phase deformation parameters and physical stroke of each drive structure.

[0077] Step 350: Construct the trajectory perturbation equation based on the perturbation amplitude, skew factor, and preset perturbation conditions.

[0078] Step 360: Determine the hydraulic cylinder control trajectory equations for each drive structure based on the initial trajectory equation and the trajectory disturbance equation.

[0079] Step 370: Determine the rodless chamber area and rod chamber area of ​​the hydraulic cylinder based on the inner diameter of the hydraulic cylinder and the diameter of the piston rod of each drive structure.

[0080] Step 380: Based on the movement speed, direction, rodless chamber area, and rod chamber area of ​​the hydraulic cylinder piston rods of each drive structure during the movement of the demolition robot from the initial pose to the target pose, determine the hydraulic cylinder oil supply flow requirements of each drive structure.

[0081] Step 390: Based on the hydraulic cylinder control trajectory equation and oil supply flow requirements, optimize the movement time of the demolition robot and the phase deformation parameters of each hydraulic cylinder under the preset optimization objective to obtain the target solution.

[0082] Optionally, based on the hydraulic cylinder control trajectory equation and the oil supply flow requirement, the movement time of the demolition robot and the phase deformation parameters of each hydraulic cylinder are optimized under a preset optimization objective to obtain the target solution. This includes: taking the movement time as the first optimization objective and determining the hydraulic cylinder impact intensity based on the hydraulic cylinder control trajectory equation, and taking the impact intensity as the second optimization objective; generating an initial group based on the range of the movement time and the range of the phase deformation parameters of each hydraulic cylinder; determining whether the hydraulic cylinder oil supply flow requirement in the initial group meets the preset flow condition, and comparing the individual merits of the initial group based on the judgment result under the first and second optimization objectives; eliminating individuals in the initial group based on the comparison result, and updating the initial group according to crossover mutation to return to the individual merits comparison elimination step, thereby obtaining the optimized solution set of the flow constraint; constructing the target solution decision function based on the first and second optimization objectives, and determining the target solution in the optimized solution set based on the target solution decision function.

[0083] The impact intensity of the hydraulic cylinder can be determined based on the jump in the hydraulic cylinder control trajectory equation. An initial group is generated based on the range of movement time and the range of phase deformation parameters for each hydraulic cylinder. For example, the initial group is randomly generated within a pre-defined range of variable values. , Several sets of decision variable combinations are randomly generated within the target solution. When the target solution is determined and the system starts, 400 sets of non-repeating parameter gene combinations can be randomly generated within the defined boundary using a uniform random distribution function. These 400 sets of compliant data constitute the first generation of the most primitive initial population.

[0084] In specific comparisons of individual performance, any two individuals in the group can be judged based on their constrained dominance relationships. First, if both individuals in the group violate the preset flow conditions, the individual with the smaller violation degree has a dominance advantage because it is closer to the feasible solution region. Second, if one individual meets the preset flow conditions, indicating that its violation degree is close to the minimum tolerance, while the other does not, the compliant individual directly dominates the violating individual, regardless of how well the violating individual performs on the first or second optimization objective. Finally, only when both individuals safely meet the preset flow conditions can the Pareto dominance relationship be used to evaluate their performance on the biobjective function. For example, for individuals A and B, if A is not inferior to B on all objectives and is superior to B on at least one optimization objective, then A dominates B. For example, in this invention, if A's move time is not greater than B's, its maximum jump is not greater than B's, and at least one of these indicators is better, then A dominates B.

[0085] The constrained dominance relationship is the evaluation rule for comparing the merits of individuals. Based on the preset flow conditions, the feasibility of individuals is judged, and those that meet the preset flow conditions are prioritized for retention. When two individuals both satisfy the constraints, a Pareto comparison is performed based on the two optimization objectives: movement time and maximum jump. Through continuous judgment, screening, crossover, and mutation of this dominance relationship, individuals that violate the constraints or have poor performance are gradually eliminated, while those that satisfy the constraints and have better overall performance are retained. The population gradually converges towards a better region, ultimately obtaining the Pareto optimal solution set that satisfies the preset flow conditions, i.e., the optimized solution set of the flow constraints.

[0086] To maintain population diversity, crowding distance calculations for non-dominant individuals are introduced at the same level to ensure that the obtained physical trade-off solutions are uniformly distributed on the Pareto front, avoiding local crowding of the solution set. Figure 5 This is a schematic diagram of crowding ordering for non-dominant individuals according to Embodiment 2 of the present invention. Figure 5 As shown, when multiple individuals belong to the same Pareto level, individuals with larger crowding distances can be prioritized for retention. This is because these individuals are located in sparser regions of the current solution set, which improves the uniformity of the Pareto front distribution and avoids a large concentration of solutions in localized areas. This results in a uniform Pareto front, rather than solutions clustered in a single local optimum. The crowding distance ensures good dispersion of the final Pareto solution set, providing a more comprehensive pool of candidate solutions for selecting the optimal compromise solution.

[0087] Figure 5 The text demonstrates the generation of the next generation population P during intergenerational evolution. t+1 The filtering mechanism. First, the algorithm selects the parent P... t and offspring Q t The individuals are merged into a single mixed population, doubled in size, and then non-dominatedly ordered, classifying all individuals into different ranks from best to worst (e.g., F1, F2, F3, etc.). Subsequently, individuals are added to the next generation population P in order of rank. t+1 In, until a certain layer is filled (e.g. Figure 5 When the F3 layer is reached, it is found that the number of individuals in this layer exceeds the remaining vacancy quota. At this point, for the F3 layer which is in a critical state, the crowding distance sorting mechanism is activated to prioritize retaining those individuals that are more sparsely distributed in the target space, i.e., those with larger crowding distances, in order to fill P. t+1 The remaining clustered individuals in that layer, along with those of lower rank, will be eliminated.

[0088] For example, the crowding distance sorting method could be: In the formula, , where is the crowding distance of the kth individual within its respective non-dominant level; m is the subscript of the preset optimization target, which can take values ​​of 1 and 2 in this invention, corresponding to the two targets of movement time and maximum impact intensity, respectively; and These represent the objective function evaluation values ​​of two adjacent individuals after sorting by the m-th objective value; and These are the maximum and minimum values ​​of the m-th objective within the non-dominated level, respectively. The crowding distance is obtained by calculating the neighborhood distance for each optimization objective and then summing the distances across objectives. This crowding distance measures the sparsity of solutions around an individual. A larger crowding distance indicates a sparser distribution of solutions around the individual, which is more conducive to maintaining the diversity of the solution set and is therefore preferred. The initial population is then updated through selection, crossover, and mutation, and the process of comparing and selecting individual merits is repeated. For example, the initial population is set to 400, and the maximum number of generations is set to 500. To maintain elite gene diversity during evolution, a simulated binary crossover probability of 0.9 and a polynomial mutation probability of 0.2 are used. As iterations proceed, individuals with poor performance or those violating preset flow conditions are gradually eliminated, while individuals that meet the preset flow conditions and have better overall performance gradually cluster towards the frontier, ultimately forming a Pareto optimal frontier between time and impact. Since each solution on the frontier represents a different trade-off, this algorithm does not directly seek a single optimal solution. Instead, after obtaining the Pareto optimal solution set, it evaluates each objective based on engineering preference weights and selects the final best compromise solution. It achieves a balance between wide-area exploration capability in high-dimensional phase space and convergence accuracy for local extrema. Through a non-dominated sorting mechanism based on the constraint-dominated principle, it eliminates cumbersome weight parameter tuning and assigns direct veto power to previously constructed hydraulic cylinder oil supply flow demand exceeding the violation degree function.

[0089] In practical engineering decision-making, each non-dominated solution on the Pareto front represents a specific compromise. To accurately extract the optimal compromise solution suitable for practical operation from hundreds of non-dominated solutions, this invention introduces a preference decision-making mechanism based on extreme value space normalization, i.e., constructing the objective solution decision function. Considering the significant differences in dimensions and orders of magnitude between the travel time and the maximum impact intensity, these two objectives are linearly normalized: In the formula, m is the preset optimization target, with values ​​of 1 and 2 corresponding to the movement time and the maximum absolute jump, respectively; The normalized dimensionless target evaluation value; and These are the maximum and minimum values ​​of the optimization objective value corresponding to the Pareto front solution set, respectively. To optimize the target value.

[0090] After obtaining the dimensionless solution set, a comprehensive evaluation objective decision function is constructed. Considering that the service life of heavy equipment directly determines maintenance costs, shock suppression during operation has a slightly higher priority than the maximum speed in this invention. Therefore, the objective decision function is constructed as follows: .

[0091] In the formula, It is the value of the objective solution decision function; This is the preference weight for travel time, such as setting it to 0.4; This is a preference weight for the impact strength of the hydraulic cylinder structure, such as set to 0.6. The Pareto front solution set is traversed to identify the factors that make the impact strength of the hydraulic cylinder structure more favorable. A minimized genome can scientifically extract a comprehensive optimal solution that takes into account multiple physical requirements, i.e., the target solution. The target solution includes the movement time and the phase deformation parameter values ​​of each hydraulic cylinder.

[0092] Step 3100: Determine the trajectory planning result of the demolition robot based on the phase deformation parameter values ​​of each hydraulic cylinder in the target solution and the hydraulic cylinder control trajectory equation.

[0093] Substituting the phase deformation parameters and movement time of each hydraulic cylinder in the target solution into the hydraulic cylinder control trajectory equation, the complete displacement, velocity, acceleration, and jump trajectory equations for each hydraulic cylinder can be obtained. Since there is a geometric constraint relationship between the hydraulic cylinder length and the joint configuration of the demolition robot, the corresponding joint angle trajectory can be calculated from the hydraulic cylinder length trajectory. Then, substituting the joint states at each moment into the forward kinematics model of the demolition robot, the position matrix of the demolition robot can be used to calculate the joint angle trajectory. P and attitude matrix R The spatial position and pitch angle changes of the end effector are calculated, and the complete spatial motion trajectory of the end effector of the demolition robot from the initial pose to the target pose is finally obtained.

[0094] To verify the effectiveness of the trajectory planning method for the demolition robot provided by this invention, a virtual simulation environment for the demolition robot can be constructed based on a simulation platform. In the simulation, several physical boundary conditions are first established: for example, the oil supply capacity of the hydraulic pump station is limited to 105 L / min, serving as a global rigid flow constraint red line. Simultaneously, the initial and target poses of the end effector hammer actuator are set in a three-dimensional complex rubble environment. Through the correspondence between pose data and hydraulic cylinder lengths, and through fine-tuning methods, they are mapped to non-singular solutions for the target lengths of the four sets of driving hydraulic cylinders.

[0095] Figure 6 This is a schematic diagram of the scatter distribution characteristics of an optimized solution set for flow constraints provided in Embodiment 2 of the present invention. Figure 7 This is a three-dimensional mapping diagram of the working trajectory of the end effector of a demolition robot according to Embodiment 2 of the present invention. Figure 6 As shown, it can be clearly seen that the historical search points continuously converge to the lower left. The obtained optimized solution set of the flow constraint exhibits a significant nonlinear negative correlation trade-off between the movement time and the maximum impact intensity, with the curve roughly resembling a hyperbola bulging towards the origin. The optimized solution set of the flow constraint essentially reveals the inherent contradiction between the dynamic responsiveness of the demolition robot and the resulting internal mechanical load. The optimal movement at the left end of the curve reduces the total movement time to 4.70 seconds. In order for the heavy demolition robot to complete a large stroke movement in such a short time, the acceleration of each joint undergoes a sharp abrupt change. Therefore, the corresponding maximum absolute jump rises to the peak of the curve, which is 121.59 mm / s. 3 Such a high impact intensity, if applied directly to a demolition robot, could instantly damage the hinge pins of the robot arm and easily induce destructive cavitation in the hydraulic circuit. Conversely, the optimal motion at the rightmost end of the curve limits the maximum impact intensity to 3.12 mm / s². 3 The stable and safe zone is achieved. However, its movement time is too long, reaching 15 seconds, which is unacceptably inefficient for high-demand demolition operations. The target solution is identified at the point of greater curvature in the middle segment of the curve using the target solution decision function. This balanced motion scheme achieves a significant reduction in impact intensity with a movement time of 7.71 seconds, reaching the optimal mechanical trade-off.

[0096] like Figure 7 The spatial trajectory diagram shown represents the optimized output motion path of the end effector's center point. Driven by multi-dimensional phase deformation parameter reconstruction, the end effector traces an extremely smooth transition curve in three-dimensional space. This trajectory precisely connects the initial pose and the target pose, exhibiting no sharp turns or abrupt changes in attitude throughout the long-distance traversal. This verifies the effectiveness of this invention in low-impact path planning at the macroscopic kinematic level by reconstructing the hydraulic cylinder control trajectory equation through trajectory perturbation equations.

[0097] To fundamentally verify the safety and feasibility of the target solution, this invention verifies the full-order kinematics of the driving space and the dynamics of the actuator. Figure 8 This is a schematic diagram of the trajectory planning result of a target dismantling and demolition robot according to Embodiment 2 of the present invention. Figure 8 As shown, the continuous-time response curves of displacement, velocity, and acceleration of the four core actuators driven by the trajectory in the demolition robot, as well as the dynamic flow curves of each actuator and the superimposed curve of the total flow of the whole machine. Figure 8 In the diagram, J1 is the driving hydraulic cylinder for the rotating body, J2 is the driving hydraulic cylinder for the boom, J3 is the driving hydraulic cylinder for the second boom, and J4 is the driving hydraulic cylinder for the end breaker.

[0098] The initial length of the hydraulic cylinder is L1 = [1050.26, 1893.91, 1539.79, 1690.46] T The target length of the hydraulic cylinder is L 2 = [928.40, 1852.82, 1638.39, 1865.69] T At that time, we obtained the following: Figure 8 The trajectory planning result is shown. Figure 8 As shown, the four sets of hydraulic cylinders in the demolition robot terminate at time T. f The trajectory smoothly reaches its target travel distance ΔLi, achieving attitude positioning with zero steady-state error. Furthermore, the velocity and acceleration curves are strictly zero at the start and end points of the motion, satisfying the physical boundary conditions set at the beginning of the trajectory design.

[0099] like Figure 8 As shown, a detailed analysis of the peak shape characteristics of velocity, acceleration, and hydraulic cylinder oil supply flow reveals the significant role of asymmetric disturbance phase deformation parameters. Figure 8 The waveforms in the model transcend the inherent absolute symmetry constraints of traditional polynomial programming. In the response of each hydraulic cylinder, an asymmetric offset is adaptively introduced at the velocity peak, effectively reducing peak acceleration during the final deceleration phase. This intelligent adjustment of micro-phase deformation fundamentally alleviates the heavy-load, low-frequency shocks generated by dynamic sources during startup and shutdown.

[0100] like Figure 8 As shown, observing the flow demand curve of the entire hydraulic system reveals that under the complex multi-joint linkage conditions of heavy-duty hydraulic equipment, planning schemes lacking physical constraints often lead to the simultaneous superposition of instantaneous flow demand peaks in each branch, thereby exceeding the system's oil supply capacity limit. Under the constraints of the constrained dominance model established in this invention, the dynamic flow curves of the four cylinders exhibit obvious staggered peak characteristics. Although several significant peaks appear during the entire dismantling motion cycle as the intensity of the robot arm's motion increases, the total flow peak is still strictly limited to below the oil supply limit of 105 L / min, and no boundary exceedance occurs during the entire operation.

[0101] The above data not only demonstrates the reliability of the target solution optimization but also solves the actuator deceleration and hydraulic water hammer problems caused by flow saturation. By achieving a trade-off trajectory that balances impact strength and movement efficiency, the optimized trajectory planning results ensure that the heavy-duty demolition robot maintains sufficient oil supply during rapid multi-joint operation, thus providing solid theoretical and data-driven support for safe and efficient automation performance.

[0102] The technical solution of this invention obtains the accurate target length of the hydraulic cylinder for the demolition robot at the target pose by determining the candidate length of the hydraulic cylinder through coarse search and fine-tuning it with error values. This achieves global coarse positioning and local high-precision optimization, effectively eliminating dead zones and divergence problems. Based on the target length and initial length of the hydraulic cylinder, a hydraulic cylinder control trajectory equation with added perturbation is generated and solved, planning a smooth trajectory connecting the initial and target poses within the drive space. In trajectory planning, the limitations of dynamic impact intensity and hydraulic supply capacity faced by heavy engineering machinery in actual operations are considered. To address the flow saturation and mechanical impact phenomena easily generated in the high-speed multi-joint linkage of heavy hydraulic demolition robots, this invention proposes a high-order analytical trajectory reconstruction method that combines rigid flow boundaries with asymmetric morphological parameters. Furthermore, a bi-objective optimization model based on the restricted dominance principle is constructed using fast non-dominated sorting genetics with an elite strategy. This invention addresses the engineering challenges encountered by heavy-duty hydraulic demolition robots in high-speed, multi-joint operations, such as cleaning electrolytic aluminum anodes, including transient mechanical shocks and system flow saturation. A dynamic mathematical model of differential flow in a multi-cylinder combination with a flow constraint of 105 L / min is constructed. By designing a quintic spline trajectory incorporating asymmetric perturbation terms and utilizing the deformation capability of asymmetric waveforms, mechanical shocks are suppressed at the dynamic root during heavy-load start-up and shutdown. A compromise solution extracted through bi-objective optimization significantly limits the maximum absolute jump to 22.94 mm / s. 3 Meanwhile, the efficient demolition time is ensured to be 7.71 seconds. Full-stage dynamic simulation verifies that the total superimposed flow rate of the four cylinders is strictly kept below the flow constraint throughout the entire cycle, which basically eliminates the risk of actuator stalling and hydraulic water hammer caused by flow saturation, thereby improving the operational stability of the demolition robot and extending the equipment life.

[0103] Based on the above implementation, optionally, obtaining the pose data of the end effector of the demolition robot when the hydraulic cylinder lengths of each drive structure of the demolition robot are given includes: decomposing the end effector structure of the demolition robot into orthogonal horizontal and vertical components, and performing joint angle phase correction so that the joint axis of the end coordinate system is along the direction of the chisel axis; determining the structural parameters of each drive structure of the demolition robot after structural decomposition; constructing each drive structure in the demolition robot into a closed-loop triangle formed by the connecting rod, hydraulic cylinder, and frame; establishing an analytical relationship between the hydraulic cylinder length and the interior angle of the triangle based on the closed-loop triangle and each structural parameter; the interior angle of the triangle is the angle formed by the connecting rod and the frame; determining the mapping relationship between the interior angle of the triangle and the corresponding joint angle in the structural parameters based on the analytical relationship; determining the joint angle of each drive structure joint axis of the demolition robot when the hydraulic cylinder length is given based on the mapping relationship; determining the attitude description rotation matrix and position description vector of the end coordinate system based on the target homogeneous coordinate transformation matrix of the end effector relative to the base coordinate system and the joint angle, thereby obtaining the pose data of the end effector.

[0104] In demolition robots, directly connecting the tip of the end effector to the joint center to establish a coordinate system can lead to joint angle errors. For example, in a demolition robot model, the rotation angle error is 6.89°, which is a non-orthogonal geometric angle. In this embodiment of the invention, to avoid the large errors caused by non-orthogonal geometric angles in the determination of demolition robot parameters, leading to parameter singularity, the end effector structure of the demolition robot is decomposed into orthogonal horizontal and vertical components. For example, virtual link parameters are introduced, and the L-shaped structure of the end effector of the demolition robot is decomposed into strictly orthogonal horizontal components. and vertical components That is, a virtual connecting rod length is shifted upwards along the center of the end-effector joint. And then along A virtual link offset is translated vertically. The joint angle error of the end effector was changed from 6.89° to 90°, avoiding non-integer and non-orthogonal angles. By correcting the joint angle phase of the end effector by 90°, the joint axis of the end effector coordinate system is aligned with the chisel axis, thus improving the positional accuracy of the end effector. With this 90° joint angle phase correction, the working angle of the end effector chisel can be directly described using the angles of the end effector coordinate system in polar coordinates.

[0105] Several methods can be used to determine the structural parameters of each drive structure of a demolition robot after structural decomposition. For example, a kinematic model of the robot can be established by creating a coordinate system based on the joint centers of each drive structure, thus determining the structural parameters. Alternatively, the kinematic model of the demolition robot can be established using the DH or MD-H methods. Or, the structural parameters can be determined using spinor theory or Lie group and Lie algebra methods.

[0106] Optionally, the structural parameters of each drive structure of the demolition robot after structural decomposition are determined, including: establishing a kinematic model of the demolition robot after structural decomposition of the end effector using the MD-H method to obtain the structural parameters of each drive structure in the demolition robot. For example, Figure 9 This is a schematic diagram of the demolition robot coordinate system established according to Embodiment 2 of the present invention. The coordinate system is established using the MD-H method as follows: Figure 9 The coordinate system of the demolition robot is shown as follows: 1) Locate each joint axis and draw its extension; 2) Find the common perpendicular or the first intersection point between joint axes i and i+1, and use this first intersection point, or the second intersection point between the common perpendicular and the joint axis, as the origin of the link coordinate system {i}; 3) Define the direction of the joint axis Zi along joint axis i; 4) Define the direction of the link axis Xi along the common perpendicular. If joint axes i and i+1 intersect, then define the Xi axis as perpendicular to the plane containing joint axes i and i+1; 5) Determine the Yi axis according to the right-hand rule. In the structural parameters, the link length... The distance traveled along the Xi-1 axis from the Zi-1 axis to the Zi axis; the link twist angle. The angle of rotation from the Zi-1 axis to the Zi axis around the Xi-1 axis; connecting rod offset. The distance traveled along the Zi axis from the Xi-1 axis to the Xi axis; joint angle. The angle of rotation from the Xi-1 axis to the Xi axis around the Zi axis.

[0107] like Figure 9 As shown, the origin of the base coordinate system {0} is defined as the intersection of the lower surface of the fixed box 9 and the center of rotation of the rotating body 7. Vertically upward. Based on the coordinate system establishment method described above, establish the following coordinate systems: slewing body connecting rod coordinate system {1}, boom connecting rod coordinate system {2}, second boom connecting rod coordinate system {3}, breaker connecting rod coordinate system {4}, and chisel end coordinate system {5}. The rotation angle of the slewing body is set as follows: The rotation angle of the boom is set to The rotation angle of the two arms is set as follows: The rotation angle of the hydraulic breaker is set to The end coordinate system {5} is fixed at the end of the drill rod, and its rotation angle is defined. Always 0. Based on the geometric parameters of the demolition robot, the parameters in the MD-H model are calibrated. Among them, the vertical height of the fixed box is... = 761mm, effective length of the rotating body = 325mm, effective length of upper arm = 2000mm, effective length of the two arms = 1532.72mm, L-shaped orthogonal decomposition of hydraulic breaker = 234.54mm and = 1939.78mm. Table 1 shows the structural parameters of a demolition robot.

[0108] Table 1 Figure 10 This is a closed-loop triangular schematic diagram of each drive structure in the demolition robot provided according to Embodiment 2 of the present invention. Figure 10 As shown, the demolition robot may include a drive closed-loop triangle for the rotating body, a drive closed-loop triangle for the main arm, a drive closed-loop triangle for the two arms, and a drive closed-loop triangle for the hydraulic breaker. The drive closed-loop triangle for the rotating body consists of connecting rods of fixed length. Fixed-length frame and the length of the variable-side hydraulic cylinder Formed. The drive closed-loop triangle of the boom is formed by a link of fixed length. Fixed-length frame and the length of the variable-side hydraulic cylinder Formed. The two-arm drive closed-loop triangle is formed by connecting rods of fixed length. Fixed-length frame and the length of the variable-side hydraulic cylinder Formed. The drive closed-loop triangle of the hydraulic breaker is formed by a connecting rod of fixed length. Fixed-length frame and the length of the variable-side hydraulic cylinder Formation. For ease of subsequent calculations, for any joint i, the two fixed sides of the driving closed-loop triangle can be defined as... , , variable edge is The included angle between the two fixed sides, i.e., the interior angle of the triangle formed by the connecting rod and the frame, is... .

[0109] Optionally, performance metrics for each drive structure are determined using the triangle theorem within the closed-loop triangle, and the drive structure design for the demolition robot is based on these metrics. The performance metrics for each drive structure within the closed-loop triangle can be determined using the triangle theorem. The triangle theorem may include, but is not limited to, the cosine theorem, the sine theorem, and area formulas. Performance metrics for the drive structure may include, for example, the effective lever arm, transmission sensitivity, the pitch angle of the end effector, and the position coordinates of the end effector.

[0110] The effective lever arm characterizes the geometric efficiency of converting unit hydraulic driving force into joint output torque, intuitively reflecting the "ease of force application" under the current posture. The effective lever arm can be the relationship between the joint angle (or the interior angle of a triangle) and the length of the hydraulic cylinder. Transmission sensitivity characterizes the response rate of hydraulic cylinder displacement changes to joint angles. The effective lever arm and transmission sensitivity allow for quantitative analysis of the nonlinear driving characteristics of the drive structure. The pitch angle of the end effector can be determined based on the joint angles (or the interior angles of a triangle) to determine whether the end effector strikes vertically. The position coordinates of the end effector can be determined based on the lengths of each axis in the demolition robot and the joint angles (or the interior angles of a triangle) to determine the reachable position of the end effector.

[0111] The triangle theorem in a closed-loop triangle can be used to derive the relationship between joint angles and the interior angles of the triangle, as well as the relationship between the hydraulic cylinder length and the joint angles (or the interior angles of the triangle), thereby determining the effective lever arm and transmission sensitivity. Given the hydraulic cylinder length, the joint angles can be determined, which in turn determines the pitch angle and position coordinates of the end effector, thus determining the reachable pose of the end effector. Therefore, one or more of the effective lever arm, transmission sensitivity, pitch angle, and position coordinates can guide the design of the demolition robot. For example, if performance does not meet expectations based on performance metrics, the demolition robot parameters can be adjusted; if performance meets expectations, the demolition robot parameters can be saved, and the performance can be quantified using performance metrics to achieve a reasonable design of the demolition robot.

[0112] Optionally, based on the triangle theorem in the closed-loop triangle, the performance metrics of each drive structure are determined, and the drive structure design of the demolition robot is carried out based on the performance metrics. This includes: determining the area of ​​the closed-loop triangle based on the lengths of the connecting rod and the frame, and the sine of the interior angles of the triangle, given the length of the hydraulic cylinder; where the interior angles of the triangle are the angles formed by the connecting rod and the frame; determining the effective lever arm of each drive structure based on the ratio of the area to the given hydraulic cylinder length; and measuring the performance of the drive structure design of the demolition robot based on the effective lever arm.

[0113] like Figure 10In each of the closed-loop triangles shown, the area can be calculated using the triangle area equivalence theorem, specifically the sine of the lengths of two adjacent sides and their included angle. Alternatively, the area of ​​the same triangle can be expressed as the product of the hydraulic cylinder length and the effective lever arm. Through area substitution, the effective lever arm is determined. Therefore, the formula for the effective lever arm of the drive structure is: In the formula, Let be the sine of the interior angle of the triangle.

[0114] Based on the principle of torque transmission, the output torque of a joint Axial driving force of hydraulic cylinder With instantaneous effective lever arm Co-coupling determines, and follows the equations of mechanics In this relationship, the effective lever arm Essentially, it acts as an amplification factor for mechanical gain. Under the premise of constant hydraulic cylinder output thrust, a larger effective lever arm value can significantly improve the joint's output torque. The effective lever arm directly determines the robotic arm's ability to overcome resistance torque under extreme loads and the overall system's driving efficiency. Therefore, in the robotic arm's drive structure design stage, kinematic constraints are introduced to actively avoid areas of inefficient effective lever arm. That is, through parameter optimization, it is ensured that during high-intensity demolition operations, the hydraulic cylinder always operates within the stroke range of a high effective lever arm, thereby preventing insufficient driving force due to insufficient geometric gain.

[0115] Optionally, based on the triangle theorem in the closed-loop triangle, the performance evaluation index of each drive structure is determined, and the drive structure design of the demolition robot is carried out based on the performance evaluation index. This includes: establishing the analytical relationship between the hydraulic cylinder length and the interior angle of the triangle based on the closed-loop triangle and the parameters of each structure; determining the transmission sensitivity of the hydraulic cylinder length to the interior angle of the triangle based on the analytical relationship of the closed-loop triangle; and evaluating the performance of the drive structure design of the demolition robot based on the transmission sensitivity.

[0116] like Figure 10 Based on the law of cosines, an analytical relationship can be established between the length of the hydraulic cylinder and the interior angles of the triangle shown. Transmission sensitivity aims to quantify the motion resolution of the drive structure, that is, to characterize the rate of change of joint angle caused by a small displacement of the linear input of the hydraulic cylinder. Therefore, by differentiating the analytical relationship, we can obtain... By performing algebraic transformations and simplifications on the differential results, a differential relationship between the small displacement of the hydraulic cylinder and the change in joint angle is established, resulting in the analytical formula for the transmission sensitivity of each joint of the demolition robot. .

[0117] Based on the principles of differential kinematics, the instantaneous angular velocity of a joint Linear drive speed of hydraulic cylinder With transmission sensitivity Co-coupling determines, and follows the kinematic equations In this relationship, transmission sensitivity Acting as a motion transmission factor, a higher transmission sensitivity value means that, under the premise of constant hydraulic input flow, a small displacement of the hydraulic cylinder can be converted into a significant joint angle. Transmission sensitivity directly affects the pose resolution and overall trajectory tracking accuracy of the drive structure in a demolition robot during dynamic adjustments. If the transmission sensitivity is too high, the inherent pressure pulsations of the hydraulic system will be geometrically amplified into significant joint jitter, severely compromising operational stability. Therefore, during the design phase of the demolition robot's drive structure, transmission sensitivity parameters must be constrained to actively avoid high-sensitivity ranges, ensuring the robot possesses excellent anti-disturbance capabilities within its core operating domain, thus suppressing the impact of pressure pulsations on accuracy from the source of the drive structure.

[0118] Optionally, the drive structure design of the demolition robot is carried out according to performance measurement indicators, including: designing each drive structure in the demolition robot according to the effective lever arm and transmission sensitivity, so that the working posture of the drive structure of the demolition robot is in the target area; the target area is the area where the transmission sensitivity is lower than the preset sensitivity and the effective lever arm is greater than the preset lever arm.

[0119] For example, Figure 11 This is a schematic diagram of the performance of the rotating body in the demolition robot provided in Embodiment 1 of the present invention. Figure 12 This is a schematic diagram of the performance of the boom in the demolition robot provided in Embodiment 1 of the present invention. Figure 13 This is a schematic diagram of the performance of the two arms in the demolition robot provided according to Embodiment 1 of the present invention. Figure 14 This is a schematic diagram illustrating the performance of the hydraulic breaker in a demolition robot according to Embodiment 1 of the present invention. Figures 11 to 14 As shown, traversing all lengths of the hydraulic cylinder The effective lever arm corresponding to different extension lengths is calculated. With transmission sensitivity Based on the length of the hydraulic cylinder The x-axis represents the effective lever arm. and transmission sensitivity Plot the effective lever arm curve and transmission sensitivity curve for each joint, using the vertical axis as the ordinate. Effective lever arm of each joint. The effective lever arm exhibits an "arched" distribution as the hydraulic cylinder length changes. At both ends of the stroke, the effective lever arm decreases significantly; in a specific region in the middle of the stroke, the effective lever arm reaches its peak. Transmission sensitivity... The curves exhibit a U-shaped distribution. Within the range of maximum effective lever arm, the transmission sensitivity is lowest, meaning that the change in joint angle caused by a unit displacement of the hydraulic cylinder is minimal, and the demolition robot's ability to suppress hydraulic fluctuations is strongest. Conversely, at the ends of the stroke, the sensitivity is higher, indicating that the demolition robot is significantly more susceptible to error amplification.

[0120] For the high-load core operation areas involved in cleaning electrolytic aluminum anode white material, such as strong demolition and anode block twisting, a fixed side length of the drive closed-loop triangle is used. , The hinge point installation position was adjusted to force the drive structure to be in the target area of ​​"low transmission sensitivity and high effective lever arm" under critical operating postures. From the geometric configuration source, this ensures that the demolition robot's robotic arm has both torque transmission efficiency and stability during operation.

[0121] The technical solution of this embodiment decomposes the end effector of the demolition robot into orthogonal horizontal and vertical components, and performs joint angle phase correction to ensure that the joint axes of the end effector coordinate system are aligned with the axis of the chisel. It then determines the structural parameters of each drive structure of the demolition robot after structural decomposition. Each drive structure in the demolition robot is constructed as a closed-loop triangle formed by connecting rods, hydraulic cylinders, and the frame. Based on the triangle theorem in the closed-loop triangle, performance metrics for each drive structure are determined. The drive structure design of the demolition robot is then based on these performance metrics, solving the problem of bias in the analysis of each drive structure. Orthogonal decomposition of the end effector eliminates calculation errors caused by irregular structures, achieving accurate parameter description of the demolition robot. Determining performance metrics by constructing a closed-loop triangle of the drive structure allows for performance quantification of the demolition robot, improving the rationality of the demolition robot design.

[0122] Based on the physical installation position and motion logic of each joint, determine the interior angles of the triangle. With joint angle The mapping relationship between them is linear. For example, a linear relationship can be established between the interior angles of a triangle and the joint angles, and the specific expression of this mapping relationship can be determined by using the measured values ​​of the joint angles and the interior angles of the triangle under one or more given hydraulic cylinder lengths.

[0123] Optionally, the mapping relationship between the interior angles of the triangle and the corresponding joint angles in the structural parameters is determined based on the analytical relationship, including: determining the correlation coefficient between the joint angles and the interior angles of the triangle based on the relationship between the change in the hydraulic cylinder length and the change in the joint angle in each drive structure; determining the zero-point offset value in the mapping relationship based on the joint angles and the interior angles of the triangle when the demolition robot has a given hydraulic cylinder length; and determining the mapping relationship between the interior angles of the triangle and the joint angles in each drive structure based on the correlation coefficient and the zero-point offset value.

[0124] interior angles of triangle With joint angle The mapping relationship between them is .in, The correlation coefficient indicates that when the hydraulic cylinder extends and the joint angle increases, the change in hydraulic cylinder length and joint angle is positively correlated. = +1; When the hydraulic cylinder extends and the joint angle decreases, the change in hydraulic cylinder length and joint angle is negatively correlated. =-1. This is the zero-point offset value, which is derived from the physical calibration point. This represents the driving triangle interior angle when the joint angle is 0°. The degree of [the object]. For example, by calibrating a specific known pose on a physical model, measuring the actual extension and retraction length of the hydraulic cylinder and the corresponding joint angle, and substituting the mapping relationship into the inverse solution, we obtain [the result]. .

[0125] By obtaining the mapping relationship between joint angles and the interior angles of a triangle, and combining this with the analytical relationship between the interior angles of the triangle and the length of the hydraulic cylinder, the relationship between joint angles and the length of the hydraulic cylinder can be obtained. Furthermore, given the length of the hydraulic cylinder, the joint angles of each drive structure joint axis of the demolition robot can be determined.

[0126] For example, in this demolition robot model, the rotating body is responsible for driving the entire boom to rotate left and right. The two fixed sides of the closed-loop triangle driven by the rotary joint have the following lengths: =922.87mm =177mm, Length range of swing hydraulic cylinder mm. Because the rotating body extends with the hydraulic cylinder, the joint rotates in the negative direction, and the drive correlation coefficient is... = -1. Based on measurements of the demolition robot model, when the hydraulic cylinder length... When the diameter is 928.4 mm, the rotation is at the center position. = 0°, Substituting the above data into the analytical and mapping relationships, the solution can be obtained inversely. Therefore, the mapping relationship of the rotary joint is as follows: .

[0127] For the upper arm joint, the two fixed sides of the driving closed-loop triangle are: =1716.17mm =517.23mm, boom hydraulic cylinder length range mm. Since the hydraulic cylinder is mounted below the boom, as the cylinder extends, the joint rotates in the positive direction, and the drive correlation coefficient is... =+1. Based on measurements of the demolition robot model, when the hydraulic cylinder length... When the diameter is 1460.91mm, the boom is in a horizontal position. = 0°, Substituting the above data into the analytical and mapping relationships, the solution can be obtained inversely. Therefore, the mapping relationship of the upper arm joint is as follows: .

[0128] For the biarm joint, the lengths of the two fixed sides of the driving closed-loop triangle are: =1697.77mm =545.55mm, length range of the two-arm hydraulic cylinder mm. Since the hydraulic cylinder is mounted above the boom, as the cylinder extends, the joint rotates in the negative direction, and the drive correlation coefficient is... =-1. Based on measurements of the demolition robot model, when the hydraulic cylinder length is shortest... When =1387mm, the angle of the biarm joint is =-26.13°, substituting the above data into the analytical and mapping relationships, we can solve the problem in reverse. Therefore, the mapping relationship between the two arm joints is as follows: .

[0129] For a hydraulic breaker, the two fixed sides of the drive closed-loop triangle are: =1599.52mm =407.88mm, length range of the rotating hammer hydraulic cylinder mm. Since the hydraulic cylinder is mounted above the two arms, as the hydraulic cylinder extends, the joint rotates in the negative direction, and the drive correlation coefficient is... =-1. Based on measurements of the demolition robot model, when the hydraulic cylinder length is shortest... When =1280mm, the joint angle of the hydraulic breaker is... =10.61°. Substituting the above data into the analytical and mapping relationships, we can obtain the inverse solution. Therefore, the mapping relationship of the hydraulic breaker joints is as follows: .

[0130] By utilizing the nonlinear relationship between the joint angles of the aforementioned drive structure joints and the length of the hydraulic cylinder, the parameter values ​​of the joint angles can be determined for a given hydraulic cylinder length, realizing parameter mapping from the drive space to the joint space and providing accurate input variables for kinematic calculations.

[0131] The pitch angle of the end effector hammer of the demolition robot is determined based on the joint angles of each drive structure joint axis. The pitch angle of the end effector hammer can be obtained through mathematical calculations based on the joint angles of each drive structure joint axis. For example, using the formula... Determine the pitch angle of the end effector hammer of the demolition robot. In the formula, The axis of the hydraulic breaker's chisel in the base coordinate system The projected components on the axis directly reflect the directional properties of the hydraulic breaker in the vertical dimension. Let be the projection modulus of the hydraulic breaker's chisel axis onto the xoy horizontal plane of the base coordinate system. , , It is determined based on the joint angles of each drive structure joint axis, where, , , .

[0132] Optionally, the pitch angle of the end effector of the demolition robot is determined based on the joint angles of each drive structure joint axis, including: determining the target homogeneous coordinate transformation matrix of the end effector relative to the base coordinate system based on the homogeneous transformation matrix between adjacent link coordinate systems and each structural parameter; determining the attitude description rotation matrix of the end effector coordinate system based on the target homogeneous coordinate transformation matrix; and determining the pitch angle of the end effector using a bivariate arctangent function based on the direction components of the joint axis of the end effector coordinate system in the attitude description rotation matrix and the joint angle under a given hydraulic cylinder length.

[0133] Wherein, the homogeneous transformation matrix between adjacent link coordinate systems, such as from {i-1} to {i}, is: Substituting the structural parameters from Table 1 into the homogeneous transformation matrix, we can obtain the homogeneous transformation matrices for each stage. The homogeneous transformation matrix from the base coordinate system {0} to the rotating link coordinate system {1} is: The homogeneous transformation matrix from the rotating body coordinate system {1} to the boom link coordinate system {2} is: The homogeneous transformation matrix from the main arm link coordinate system {2} to the second arm link coordinate system {3} is: The homogeneous transformation matrix from the two-arm connecting rod coordinate system {3} to the breaker connecting rod coordinate system {4} is: The homogeneous transformation matrix from the hydraulic breaker connecting rod coordinate system {4} to the chisel end coordinate system {5} is: The geometric features of the L-shaped end are described by a constant matrix.

[0134] The transformation matrix of the end effector of the demolition robot relative to the target homogeneous coordinate system can be obtained through matrix multiplication. To obtain, that is .in, , , , , , , , , , , , , .

[0135] The attitude description rotation matrix of the end-point coordinate system is: The position description vector of the end coordinate system is... The position description vector gives the position of the impact point of the end effector hammer in the base coordinate system, and the attitude description rotation matrix describes the spatial attitude of the hammer. The position description vector can be used to evaluate the workspace of the end effector of the demolition robot arm, and the attitude description rotation matrix can be used to solve for the breaking angle, i.e., the pitch angle. The third column of the attitude description rotation matrix contains elements... for The directional component of the axis. This represents the projection component of the unit vector of the hydraulic breaker's chisel axis in the base coordinate system. To avoid singularities and ensure the numerical stability of the global angle calculation, this embodiment of the invention uses a bivariate arctangent function to represent the pitch angle of the hydraulic breaker. Perform the solution, that is . This indicates the angle between the axis of the hydraulic breaker's chisel and the horizontal plane.

[0136] Determine whether the end effector of the demolition robot strikes vertically based on the pitch angle. A pitch angle of -90° indicates that the hydraulic breaker is in an ideal, absolutely vertical downward striking posture, i.e., vertical strike. The pitch angle is a core indicator for evaluating the "attitude accessibility" of a demolition robot. By determining the pitch angle of the demolition robot within its entire workspace, it is possible to verify whether the robot's drive structure meets the "vertical strike" process constraint within its operating range. Vertical strike verification can define the "golden zone" for effective operation. The pitch angle serves as a key basis in demolition robot design, guiding the specific settings of link dimensions and hinge point positions. Verifying the pitch angle of the end effector hydraulic breaker ensures that the robotic arm configuration meets spatial accessibility requirements while matching the vertical demolition process demands in electrolytic aluminum production.

[0137] The performance of the demolition robot's drive structure design is evaluated based on at least one of the following: effective lever arm, transmission sensitivity, and pitch angle. The design avoids inefficient areas where the effective lever arm is less than a preset value, avoids operational jitter areas where the transmission sensitivity is greater than a preset value, and ensures that the end effector hammer strikes vertically as much as possible to improve the robot's operational performance. Optionally, performance metrics for each drive structure are determined using the triangle theorem in a closed-loop triangle, and the drive structure design of the demolition robot is based on these metrics. This includes: determining the position description vector of the end effector coordinate system based on the target homogeneous coordinate transformation matrix; determining the position coordinates of the end effector hammer based on the position description vector, structural parameters, and joint angles under multiple given hydraulic cylinder lengths; determining the reachable pose of the end effector hammer based on each position coordinate and the corresponding pitch angle, and designing the drive structure of the demolition robot based on the reachable pose.

[0138] Wherein, the position description vector of the end coordinate system is Given the length of the hydraulic cylinder, the corresponding joint angles can be determined based on the aforementioned information. Substituting the joint angles and the length data of each structure in the demolition robot into the position description vector, the position coordinates of the end effector hammer under each given hydraulic cylinder length can be obtained. Therefore, the reachable working range of the end effector hammer can be determined based on its position coordinates. Combining the reachable working range with the corresponding pitch angle yields the reachable pose of the end effector hammer. The reachable pose allows for evaluation of whether the designed demolition robot's reachable working range and pitch angle are suitable for the corresponding application scenario, thus guiding the design of the demolition robot.

[0139] In this embodiment of the invention, a fully parameterized, full-domain kinematics simulation verification platform for a demolition robot can be built using a simulation environment. For example, in the physical stroke space of a hydraulic cylinder... The Monte Carlo method is used to generate uniformly distributed random samples. The number of samples is set. N =2000000 to ensure the statistical reliability of the results. Since the piston movement of the hydraulic cylinder is linear, the point cloud density generated by this sampling method can more realistically reflect the physical probability distribution in the actual operation of the demolition robot, avoiding sampling distortion caused by nonlinear mapping.

[0140] The simulation model calculation process for the demolition robot is as follows: First, the sampled discrete hydraulic cylinder length sequence is... Substituting the nonlinear driving analytical relationships and mapping relationships of each joint, the corresponding joint angle space sequence is calculated. The joint angle sequence is then input into the target homogeneous coordinate transformation matrix to obtain a large number of end-effector pose matrices. Based on this, the attitude description rotation matrix of the end-effector coordinate system is determined according to the target homogeneous coordinate transformation matrix. and position description vector Rotation matrix described by attitude Calculate the pitch angle of the hydraulic breaker Finally, the position coordinates and attitude angle information (pitch angle) are fused to generate a three-dimensional point cloud map that reflects the spatial distribution characteristics of the demolition angle.

[0141] Figure 15 This is a three-dimensional point cloud diagram of the reachable pose of the demolition robot according to Embodiment 2 of the present invention. Figure 16 This is a schematic diagram of a three-dimensional point cloud cross-section of the reachable pose of the demolition robot according to Embodiment 2 of the present invention. Figure 15 and Figure 16 As shown, the achievable working range of the end effector of the demolition robot is in the base coordinate system as follows: , , . Figure 15 and Figure 16 Each discrete sampling point in the system precisely corresponds to a theoretically reachable position coordinate of the end effector of the demolition robot, and a color gradient is used to intuitively represent the pitch angle value of the breaker at that position. Figure 15 and Figure 16 The pitch angle range of the medium hydraulic breaker is: Through such Figure 15 and Figure 16 The simulation results clearly define the effective workspace boundary of the demolition robot and enable a visualized and quantitative assessment of the distribution of vertical strike capability across the entire domain.

[0142] To further illustrate the practical application of the design method for the demolition robot provided in this embodiment of the invention, optionally, the method further includes: in the demolition of electrolytic aluminum anode white material, defining a cubic envelope region according to the demolition target; filtering effective position coordinates falling into the cubic envelope region based on the position coordinates under multiple given hydraulic cylinder lengths; determining whether the end effector of the demolition robot is a vertical strike based on the pitch angle corresponding to the effective position coordinates; obtaining the joint angles of each drive structure in each effective position coordinate, and determining the working stroke range of each hydraulic cylinder based on the analytical relationship, mapping relationship, and joint angles; determining the corresponding effective lever arm and transmission sensitivity within the working stroke range of each hydraulic cylinder; and verifying the performance of the demolition robot in the demolition of electrolytic aluminum anode white material based on the effective lever arm and transmission sensitivity.

[0143] The technical solution of this invention involves decomposing the end effector of a demolition robot into orthogonal horizontal and vertical components, and performing joint angle phase correction to ensure that the joint axes of the end effector coordinate system are aligned with the axis of the chisel. The structural parameters of each drive structure of the demolition robot after structural decomposition are determined. Each drive structure in the demolition robot is constructed as a closed-loop triangle formed by connecting rods, hydraulic cylinders, and a frame. Given the length of the hydraulic cylinder, the area of ​​the closed-loop triangle is determined based on the lengths of the connecting rods and the frame, and the sine of the interior angles. The effective lever arm of each drive structure is determined based on the ratio of the area to the given hydraulic cylinder length. The hydraulic cylinder length is established based on the closed-loop triangle and the structural parameters. The analytical relationship between degrees and interior angles of a triangle is established. Based on the analytical relationship of a closed-loop triangle, the transmission sensitivity of the hydraulic cylinder length to the interior angles of the triangle is determined. Based on the analytical relationship, the mapping relationship between the interior angles of the triangle and the corresponding joint angles in the structural parameters is determined. Based on the mapping relationship, the joint angles of each drive structure joint axis of the demolition robot are determined for a given hydraulic cylinder length. Based on the joint angles of each drive structure joint axis, the pitch angle of the end effector of the demolition robot is determined. Based on the pitch angle, it is determined whether the end effector of the demolition robot is a vertical strike. The design performance of the drive structure of the demolition robot is evaluated based on at least one of the effective lever arm, transmission sensitivity, and pitch angle, thus solving the problem of bias in the analysis of each drive structure of the demolition robot.

[0144] In embodiments of the present invention, such as Figure 15 He Ru Figure 16 The Monte Carlo simulation results shown are generated from the mapping relationship between pose data and hydraulic cylinder length. This can be achieved through methods such as... Figure 15 He Ru Figure 16 In the Monte Carlo simulation results shown, a coarse search is performed to obtain candidate poses that are close to the target pose. And based on... Figure 15 He Ru Figure 16 The mapping relationship shown determines the candidate length of the hydraulic cylinder corresponding to the candidate pose. This, combined with the aforementioned fine-tuning method based on the error value between the candidate pose and the target pose, determines the precise target length of the hydraulic cylinder. Furthermore, trajectory optimization is performed in the actuator space of the hydraulic cylinder of the demolition robot under the initial and target lengths of the hydraulic cylinder. Optionally, after obtaining the final trajectory planning result of the demolition robot, the impact performance of the target pose can be evaluated using the aforementioned methods for determining the effective lever arm, transmission sensitivity, and pitch angle.

[0145] Example 3 Figure 17 This is a schematic diagram of the trajectory planning device for a demolition robot according to Embodiment 3 of the present invention. Figure 17As shown, the device includes: an initial trajectory equation determination module 1701, a hydraulic cylinder control trajectory equation determination module 1702, a target solution determination module 1703, and a trajectory planning result determination module 1704. Wherein: The initial trajectory equation determination module 1701 is used to obtain the physical boundary conditions of the hydraulic cylinders of each drive structure when the demolition robot moves from the initial pose to the target pose; and to determine the initial trajectory equation of the demolition robot from the initial pose to the target pose based on the physical boundary conditions and the preset trajectory algorithm. The hydraulic cylinder control trajectory equation determination module 1702 is used to construct the trajectory disturbance equation based on the hydraulic cylinder phase deformation parameters, hydraulic cylinder physical stroke and preset disturbance conditions of each drive structure; and to determine the hydraulic cylinder control trajectory equation of each drive structure based on the initial trajectory equation and the trajectory disturbance equation. The target solution determination module 1703 is used to obtain the hydraulic cylinder oil supply flow requirements of each drive structure, and optimize the movement time of the demolition robot and the phase deformation parameters of each hydraulic cylinder under the preset optimization target based on the hydraulic cylinder control trajectory equation and the oil supply flow requirements to obtain the target solution. The trajectory planning result determination module 1704 is used to determine the trajectory planning result of the demolition robot based on the phase deformation parameter values ​​of each hydraulic cylinder in the target solution and the hydraulic cylinder control trajectory equation.

[0146] Optionally, the initial trajectory equation determination module 1701 includes: The hydraulic cylinder length acquisition unit is used to acquire the initial length of the hydraulic cylinder of each drive structure of the demolition robot when it is in the initial pose, and to acquire the target length of the hydraulic cylinder of each drive structure of the demolition robot when it is in the target pose. The physical boundary condition determination unit is used to take the initial length of each hydraulic cylinder, the target length of each hydraulic cylinder, and the velocity association conditions of each hydraulic cylinder in the initial pose and the target pose as the physical boundary conditions of the hydraulic cylinder.

[0147] Optionally, the hydraulic cylinder control trajectory equation determination module 1702 includes: The disturbance parameter determination unit is used to determine the disturbance amplitude and the skew factor of the peak value during hydraulic cylinder movement based on the hydraulic cylinder phase deformation parameters of each drive structure and the physical stroke of the hydraulic cylinder. The trajectory perturbation equation determination unit is used to construct the trajectory perturbation equation based on the perturbation amplitude, skew factor, and preset perturbation conditions.

[0148] Optionally, the target solution determination module 1703 includes: The effective area determination unit is used to determine the rodless chamber area and rod chamber area of ​​the hydraulic cylinder based on the inner diameter of the hydraulic cylinder and the diameter of the piston rod of each drive structure. The flow demand determination unit is used to determine the hydraulic cylinder oil supply flow demand of each drive structure based on the movement speed, movement direction, rodless cavity area and rod cavity area of ​​the hydraulic cylinder piston rod of each drive structure during the movement of the demolition robot from the initial pose to the target pose.

[0149] Optionally, the target solution determination module 1703 includes: The optimization target determination unit is used to take the movement time as the first optimization target, and determine the hydraulic cylinder impact intensity according to the hydraulic cylinder control trajectory equation, and take the impact intensity as the second optimization target. The initial group generation unit is used to generate an initial group based on the range of the movement time and the range of the phase deformation parameters of each hydraulic cylinder. The individual performance comparison unit is used to determine whether the hydraulic cylinder oil supply flow demand in the initial group meets the preset flow conditions, and to compare the individual performance of the initial group under the first optimization objective and the second optimization objective based on the judgment result. The optimized solution set determination unit is used to eliminate individuals in the initial population based on the comparison results, and update the initial population according to the crossover mutation to return the individual quality comparison and elimination steps, thereby obtaining the optimized solution set of the flow constraint; The objective solution determination unit is used to construct an objective solution decision function based on a first optimization objective and a second optimization objective, and to determine the objective solution in the set of optimized solutions based on the objective solution decision function.

[0150] Optionally, the hydraulic cylinder length acquisition unit includes: The correspondence acquisition unit is used to acquire the pose data of the end-effector of the demolition robot when the hydraulic cylinder lengths of each drive structure of the demolition robot are given. The hydraulic cylinder candidate length determination unit is used to determine the candidate pose in the pose data according to the target pose, and to determine the candidate hydraulic cylinder length corresponding to the candidate pose according to the candidate pose and the correspondence between the pose data and the hydraulic cylinder length. The hydraulic cylinder target length determination unit is used to construct the hydraulic cylinder length increment value based on the error value between the candidate pose and the target pose, and to determine the hydraulic cylinder target length based on the hydraulic cylinder length increment value and the hydraulic cylinder candidate length.

[0151] Optional, the correspondence retrieval unit is specifically used for: The end effector structure of the demolition robot is decomposed into orthogonal horizontal and vertical components, and joint angle phase correction is performed to make the joint axis of the end effector coordinate system follow the direction of the chisel axis. Determine the structural parameters of each drive structure of the demolition robot after structural decomposition; The drive structure in the demolition robot is constructed as a closed-loop triangle formed by connecting rods, hydraulic cylinders, and the frame. Based on the closed-loop triangle and various structural parameters, an analytical relationship is established between the length of the hydraulic cylinder and the interior angles of the triangle; the interior angles of the triangle are the angles formed by the connecting rod and the frame. Determine the mapping relationship between the interior angles of the triangle and the corresponding joint angles in the structural parameters based on the analytical relationship; The joint angles of each drive structure joint axis of the demolition robot are determined based on the mapping relationship, given the length of the hydraulic cylinder; Based on the target homogeneous coordinate transformation matrix of the end effector relative to the base coordinate system and the joint angles, the attitude description rotation matrix and position description vector of the end effector coordinate system are determined, and the pose data of the end effector is obtained.

[0152] The trajectory planning device for the demolition robot provided in this embodiment of the invention can execute the trajectory planning method for the demolition robot provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0153] Example 4 Figure 18 This is a schematic diagram of the structure of an electronic device that implements the trajectory planning method for a demolition robot according to embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0154] like Figure 18 As shown, the electronic device includes at least one processor 11 and a memory, such as a read-only memory (ROM) or random access memory (RAM), communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 may also store various programs and data required for the operation of the electronic device. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. Input / output (I / O) interfaces are also connected to the bus 14.

[0155] Multiple components in the electronic device are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the electronic device to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0156] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as trajectory planning methods for demolition robots.

[0157] In some embodiments, the trajectory planning method for the demolition robot can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on an electronic device via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the trajectory planning method for the demolition robot described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the trajectory planning method for the demolition robot by any other suitable means (e.g., by means of firmware).

[0158] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0159] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0160] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0161] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0162] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0163] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0164] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0165] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A trajectory planning method for a demolition robot, characterized in that, include: The physical boundary conditions of the hydraulic cylinders of each drive structure are obtained when the demolition robot moves from the initial pose to the target pose; and the initial trajectory equation of the demolition robot from the initial pose to the target pose is determined according to the physical boundary conditions and the preset trajectory algorithm. Based on the hydraulic cylinder phase deformation parameters, hydraulic cylinder physical stroke, and preset disturbance conditions of each drive structure, a trajectory disturbance equation is constructed; and based on the initial trajectory equation and the trajectory disturbance equation, the hydraulic cylinder control trajectory equation of each drive structure is determined. The hydraulic cylinder oil supply flow requirements of each drive structure are obtained, and the movement time of the demolition robot and the phase deformation parameters of each hydraulic cylinder are optimized under the preset optimization target based on the hydraulic cylinder control trajectory equation and the oil supply flow requirements to obtain the target solution. Based on the phase deformation parameter values ​​of each hydraulic cylinder in the target solution and the control trajectory equation of the hydraulic cylinder, the trajectory planning result of the demolition robot is determined.

2. The method according to claim 1, characterized in that, Obtain the physical boundary conditions of the hydraulic cylinders of each drive structure as the demolition robot moves from the initial pose to the target pose, including: Obtain the initial length of the hydraulic cylinders of each drive structure of the demolition robot when it is in the initial pose, and obtain the target length of the hydraulic cylinders of each drive structure of the demolition robot when it is in the target pose. The initial length of each hydraulic cylinder, the target length of each hydraulic cylinder, and the velocity correlation conditions of each hydraulic cylinder in the initial and target poses are used as the physical boundary conditions of the hydraulic cylinder.

3. The method according to claim 1, characterized in that, Based on the hydraulic cylinder phase deformation parameters, hydraulic cylinder physical stroke, and preset disturbance conditions of each drive structure, trajectory disturbance equations are constructed, including: Based on the hydraulic cylinder phase deformation parameters and physical stroke of each drive structure, determine the disturbance amplitude and the skew factor of the peak value during hydraulic cylinder movement; Based on the disturbance amplitude, the skew factor, and the preset disturbance conditions, a trajectory disturbance equation is constructed.

4. The method according to claim 1, characterized in that, Obtain the hydraulic cylinder oil supply flow requirements for each drive structure, including: Based on the inner diameter of the hydraulic cylinder and the diameter of the piston rod of each drive structure, determine the rodless chamber area and the rod chamber area of ​​the hydraulic cylinder; Based on the movement speed, direction, rodless cavity area, and rod cavity area of ​​the hydraulic cylinder piston rods of each drive structure during the movement of the demolition robot from the initial pose to the target pose, the hydraulic cylinder oil supply flow requirements of each drive structure are determined.

5. The method according to claim 1, characterized in that, Based on the hydraulic cylinder control trajectory equation and the oil supply flow requirement, the movement time of the demolition robot and the phase deformation parameters of each hydraulic cylinder are optimized under a preset optimization objective to obtain the target solution, including: The movement time is taken as the first optimization objective, and the hydraulic cylinder impact intensity is determined according to the hydraulic cylinder control trajectory equation, and the impact intensity is taken as the second optimization objective. An initial group is generated based on the range of the movement time and the range of the phase deformation parameters of each hydraulic cylinder. Determine whether the hydraulic cylinder oil supply flow demand in the initial group meets the preset flow conditions, and based on the determination result, compare the individual merits of the initial group under the first optimization objective and the second optimization objective; Based on the comparison results, individuals in the initial group are eliminated, and the initial group is updated according to the crossover mutation to return the elimination steps of individual merit comparison, so as to obtain the optimized solution set of the flow constraint; Based on the first optimization objective and the second optimization objective, a target solution decision function is constructed, and the target solution is determined in the optimized solution set based on the target solution decision function.

6. The method according to claim 2, characterized in that, Obtain the target lengths of the hydraulic cylinders of each drive structure of the demolition robot when it is in the target pose, including: Obtain the pose data of the end effector hammer of the demolition robot when the hydraulic cylinder lengths of each drive structure of the demolition robot are given; Based on the target pose, a candidate pose is determined from the pose data, and based on the candidate pose and the correspondence between the pose data and the hydraulic cylinder length, the candidate hydraulic cylinder length corresponding to the candidate pose is determined. Based on the error value between the candidate pose and the target pose, a hydraulic cylinder length increment value is constructed, and based on the hydraulic cylinder length increment value and the candidate hydraulic cylinder length, the target hydraulic cylinder length is determined.

7. The method according to claim 6, characterized in that, Obtaining the pose data of the end effector hammer of the demolition robot, given the lengths of the hydraulic cylinders of each drive structure of the demolition robot, includes: The end effector structure of the demolition robot is decomposed into orthogonal horizontal and vertical components, and joint angle phase correction is performed to make the joint axis of the end effector coordinate system follow the direction of the chisel axis. Determine the structural parameters of each drive structure of the demolition robot after structural decomposition; The drive structure in the demolition robot is constructed as a closed-loop triangle formed by connecting rods, hydraulic cylinders, and the frame. Based on the closed-loop triangle and various structural parameters, an analytical relationship is established between the length of the hydraulic cylinder and the interior angles of the triangle; the interior angles of the triangle are the angles formed by the connecting rod and the frame. The mapping relationship between the interior angles of the triangle and the corresponding joint angles in the structural parameters is determined based on the analytical relationship. The joint angles of each drive structure joint axis of the demolition robot are determined based on the mapping relationship, given the length of the hydraulic cylinder; Based on the target homogeneous coordinate transformation matrix of the end effector relative to the base coordinate system and the joint angle, the attitude description rotation matrix and position description vector of the end effector coordinate system are determined to obtain the pose data of the end effector.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to said at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the trajectory planning method for the demolition robot according to any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the trajectory planning method for the demolition robot according to any one of claims 1-7.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the trajectory planning method for the demolition robot according to any one of claims 1-7.

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