Anti-collision processing method and device for arm support of arch anchor trolley

Abstract

The application provides an arch anchor jumbo arm frame anti-collision processing method and device, and relates to the technical field of engineering machinery.The method comprises the following steps: a trapezoidal relationship curve of controller output current and time is established; the output current of the arm frame controller is adjusted according to the operation angle of the operation handle and the trapezoidal relationship curve, and the predicted displacement of the arm frame is determined according to the output current curve of the arm frame controller; the arm frame envelope box of each arm frame and the tunnel model of the tunnel rock mass are constructed; the distance between the arm frame envelope boxes is detected according to the current position of the arm frame and the position of the arm frame after the predicted displacement of the arm frame, and the collision between the arm frames is detected; the distance between the arm frame envelope box and the tunnel model is detected according to the position of the arm frame in the tunnel rock mass and the position of the arm frame in the tunnel rock mass after the predicted displacement of the arm frame, and the collision between the arm frame and the tunnel rock mass is detected; when the result of the collision detection is collision, the movement of the arm frame is stopped, and a collision warning instruction is sent.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, in particular to an arm collision prevention processing method and device for an arch anchor jumbo. BACKGROUND

[0002] This section is intended to provide background information to facilitate a better understanding of embodiments of the present application described in the claims. The description herein does not constitute admission that the information provided herein is prior art.

[0003] The movement of each joint of the existing arch anchor jumbo mechanical arm is controlled by a controller. The opening and closing of the electromagnetic valve are controlled by the output current of the controller. The flow of the hydraulic cylinder is controlled by the size of the opening and closing of the electromagnetic valve, thereby controlling the movement of the mechanical arm. The arch anchor jumbo has left, right and main arms. During the construction process, the operator in the left and right arm baskets cooperates with the operation of the three mechanical arms. The movement posture of each mechanical arm of the arch anchor jumbo cannot be observed in real time at close range, and the collision detection function of the mechanical arm movement is lacking. If the collision of the arms occurs, it will affect the construction progress and increase the construction cost. When the arch anchor jumbo is working vertically, in order to realize the stable driving of the hydraulic cylinder for the operation of the mechanical arm, the control curve of the current of the electromagnetic valve excited by the operating handle with time is trapezoidal. After the operator manually releases the operating handle, the mechanical arm can still move for a distance and then stop. When the position and posture of the mechanical arm are judged incorrectly, accidents are easily caused. The requirement for the operator is higher, and it is easy to cause the collision between the mechanical arms and between the mechanical arm and the tunnel rock mass in the operation engineering.

[0004] In view of the above, there is an urgent need for a technical solution that can overcome the above-mentioned defects and can prevent the collision of the arm of the arch anchor jumbo. SUMMARY

[0005] To solve the problems existing in the prior art, the present application provides an arm collision prevention processing method and device for an arch anchor jumbo.

[0006] In a first aspect of the embodiments of the present application, an arm collision prevention processing method for an arch anchor jumbo is provided, comprising:

[0007] establishing a trapezoidal relationship curve of the output current of the controller and time;

[0008] adjusting the output current of the arm controller according to the operation angle of the operating handle according to the trapezoidal relationship curve, and determining the predicted displacement of the arm according to the output current curve of the arm controller;

[0009] constructing an arm envelope box of each arm and a tunnel model of the tunnel rock mass;

[0010] detecting the distance between the arm envelope boxes according to the current position of the arm and the position of the arm after the predicted displacement of the arm, and detecting the collision between the arms;

[0011] The distance between the arm frame envelope box and the tunnel model is detected according to the position of the arm frame in the tunnel rock mass and the position of the arm frame in the tunnel rock mass after the predicted displacement of the arm frame, and collision detection is performed between the arm frame and the tunnel rock mass.

[0012] When the result of the collision detection is collision, the arm frame movement is stopped, and a collision warning instruction is sent.

[0013] In a second aspect of the embodiments of the present application, an arm frame anti-collision processing device of an arch anchor jumbo is provided, which comprises:

[0014] A relationship curve establishing module is configured to establish a trapezoidal relationship curve of the output current of the controller and time.

[0015] A prediction module is configured to adjust the output current of the arm frame controller according to the operation angle of the operation handle and according to the trapezoidal relationship curve, and to determine the predicted displacement of the arm frame according to the output current curve of the arm frame controller.

[0016] A construction module is configured to construct the arm frame envelope box of each arm frame and the tunnel model of the tunnel rock mass.

[0017] An arm frame collision detection module is configured to detect the distance between the arm frame envelope boxes according to the current position of the arm frame and the position of the arm frame after the predicted displacement of the arm frame, and to perform collision detection between the arm frames.

[0018] A tunnel collision detection module is configured to detect the distance between the arm frame envelope box and the tunnel model according to the position of the arm frame in the tunnel rock mass and the position of the arm frame in the tunnel rock mass after the predicted displacement of the arm frame, and to perform collision detection between the arm frame and the tunnel rock mass.

[0019] An anti-collision processing module is configured to stop the arm frame movement and send a collision warning instruction when the result of the collision detection is collision.

[0020] In a third aspect of the embodiments of the present application, a computer device is provided, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the arm frame anti-collision processing method of the arch anchor jumbo when executing the computer program.

[0021] In a fourth aspect of the embodiments of the present application, a computer readable storage medium is provided, which stores a computer program, and the computer program implements the arm frame anti-collision processing method of the arch anchor jumbo when executed by a processor.

[0022] In a fifth aspect of the embodiments of the present application, a computer program product is provided, which comprises a computer program, and the computer program implements the arm frame anti-collision processing method of the arch anchor jumbo when executed by a processor.

[0023] Compared with the prior art, the arm frame anti-collision processing method and device of the arch anchor trolley has at least the following technical effects:

[0024] 1. The controller outputs a trapezoidal current, smoothly controls the operation of the arm frame of the arch anchor trolley, reduces the shaking in the movement of the arm frame, improves the stability of the control system, and converts the displacement between the current output by the controller and the arm frame to realize displacement prediction of the arm frame.

[0025] 2. A mathematical model of the arch anchor mechanical arm is established, the minimum value of the spatial position distance of the mechanical arm is calculated according to the envelope box established by the mechanical arm, and the minimum value is compared with the critical value of collision to realize anti-collision detection of the arm frame of the arch anchor trolley.

[0026] 3. A tunnel model is established, the envelope box established by the mechanical arm and the projection on the tunnel face are judged for collision interference, which can effectively prevent the collision interference of the arch anchor trolley in the arching operation process, has high intelligence, can effectively guarantee the construction efficiency, and improves the construction safety. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0028] Figure 1 is a flowchart of the arm frame anti-collision processing method of the arch anchor trolley according to an embodiment of the present application.

[0029] Figure 2 is a schematic diagram of the current-time curve of the controller according to an embodiment of the present application.

[0030] Figure 3 is a schematic diagram of a two-cylinder envelope box collision detection model according to an embodiment of the present application.

[0031] Figure 4 is a schematic diagram of a mechanical arm arm frame model according to an embodiment of the present application.

[0032] Figure 5 is a schematic diagram of a tunnel model according to an embodiment of the present application.

[0033] Figure 6 is a schematic diagram of a tunnel face model according to an embodiment of the present application.

[0034] Figure 7 is a schematic diagram of an arm frame and tunnel rock position model according to an embodiment of the present application.

[0035] Figure 8 is a schematic diagram of the arm frame and the position of the working face of an embodiment of the present application.

[0036] Figure 9 is a schematic diagram of the arm frame anti-collision processing device architecture of the arch anchor trolley of an embodiment of the present application.

[0037] Figure 10 is a schematic diagram of the computer device architecture of an embodiment of the present application. DETAILED DESCRIPTION

[0038] The principles and spirits of the present application will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are given only to enable those skilled in the art to better understand and implement the present application, and do not limit the scope of the present application in any way. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0039] Those skilled in the art know that the embodiments of the present application can be implemented as a system, a device, an apparatus, a method or a computer program product. Therefore, the present disclosure can be embodied in the form of a complete hardware, a complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0040] According to the embodiments of the present application, an arch anchor trolley arm frame anti-collision processing method and device are proposed, which relate to the technical field of engineering machinery.

[0041] The principles and spirits of the present application will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are given only to enable those skilled in the art to better understand and implement the present application, and do not limit the scope of the present application in any way. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0042] Figure 1 is a schematic diagram of the arch anchor trolley arm frame anti-collision processing method of an embodiment of the present application. As shown in Figure 1 , the method comprises:

[0043] S1, establishing a trapezoidal relationship curve of the output current of the controller and time;

[0044] S2, adjusting the output current of the arm frame controller according to the operating angle of the operating handle according to the trapezoidal relationship curve, and determining the predicted displacement of the arm frame according to the output current curve of the arm frame controller;

[0045] S3, constructing the arm frame envelope box of each arm frame and the tunnel model of the tunnel rock mass;

[0046] S4, detecting the distance between the arm frame envelope boxes according to the current position of the arm frame and the position of the arm frame after the predicted displacement of the arm frame, and performing collision detection between the arm frames;

[0047] S5, detecting the distance between the envelope box of the arm support and the tunnel model according to the position of the arm support in the tunnel rock mass and the position of the arm support in the tunnel rock mass after the predicted displacement of the arm support, and performing collision detection between the arm support and the tunnel rock mass;

[0048] S6, when the result of the collision detection is collision, stopping the movement of the arm support and issuing a collision warning instruction.

[0049] In an embodiment, (S1) a trapezoidal relationship curve of the output current of the controller and time is established. As shown in the figure, it is a controller output current-time curve schematic diagram of an embodiment of the application. Figure 2

[0050] When the operation handle operation angle is greater than a set value, the output current gradually increases from I Min to I Max through t1.

[0051] During the process that the operation handle operation angle remains greater than the set value, the output current remains I Max for (t2-t1).

[0052] When the operation handle is released, the controller output current value gradually decreases from I Max to 0 through (t3-t2); I Min and I Max are preset minimum current value and maximum current value, and t1, t2, t3 are time points of the arm support starting stage, arm support stable running stage, and arm support deceleration stage respectively.

[0053] The starting and stopping process of the hydraulic cylinder has the characteristics of underdrive and overdrive, in order to realize the smooth control of the mechanical arm, the current-time curve output by the controller adopts a trapezoidal curve.

[0054] Specifically, the mechanical arm control of the arch anchor trolley is controlled by the controller to control the opening and closing amount of the electromagnetic valve through the output current, and then the extension and retraction of the hydraulic cylinder are controlled by the opening and closing amount of the electromagnetic valve, so as to realize the pitching, extension and rotation movement of each joint of the mechanical arm. Therefore, the movement speed of the arm support of the arch anchor trolley is determined by the current output by the controller. In order to realize the smoothness of each movement and prevent the shaking phenomenon from occurring during the movement, especially during the starting and stopping stage, the current-time curve output by the controller adopts a trapezoidal curve, and the current gradually increases from a certain value to a maximum value when the operation handle is greater than a certain value at the starting stage, and the current gradually decreases from the maximum value to zero when the operation handle is released at the stopping stage.

[0055] In an embodiment, (S2) the output current of the arm support controller is adjusted according to the operation angle of the operation handle according to the trapezoidal relationship curve, and the predicted displacement of the arm support is determined according to the output current curve of the arm support controller, including: ​

[0056] According to the trapezoidal relationship curve, the rising slope k is determined Iup And the falling slope k Idown :

[0057]

[0058]

[0059] Due to the control of the controller output current on the electromagnetic valve, the size of the opening and closing of the electromagnetic valve controls the flow of the hydraulic pressure, and the movement of each joint of the arm support is controlled by the flow of the hydraulic pressure, so the current output by the controller is considered to be proportional to the speed of the hydraulic cylinder driving the arm support.

[0060] According to the trapezoidal current curve output by the controller, the displacement of the arm support starting stage is determined as:

[0061]

[0062] In the formula, S up (t) is the displacement of the arm support starting stage, t is the time, K1 is the proportional coefficient of the current and the speed in the starting stage

[0063] The displacement of the arm support stable running stage is:

[0064]

[0065] In the formula, S st (t) is the displacement of the arm support stable running stage; K2 is the proportional coefficient of the current and the speed in the stable running stage;

[0066] The displacement of the arm support deceleration stage is:

[0067]

[0068] In the formula, S do (t) is the displacement of the arm support deceleration stage; K3 is the proportional coefficient of the current and the speed in the deceleration stage;

[0069] The total displacement of the arm support is:

[0070] S(t) = S up (t) + S st (t) + S do (t);

[0071] In the formula, S(t) is the total displacement of the arm support, which is taken as the predicted displacement of the arm support.

[0072] The present application determines the relationship between the current curve output by the controller and the displacement of each joint of the mechanical arm, predicts the displacement of the arm support, and establishes an envelope box of the arch anchor trolley arm support, and detects the anti-collision between the arm supports through the predicted displacement of the arm support and the current position of the arm support.

[0073] In the operation process of the arch anchor jumbo, a mechanical arm action control command is sent from an operating handle in a basket of the left and right arms, and after operation and processing by an internal program of a controller, the working of an electromagnetic valve and a hydraulic cylinder is controlled. The joint sensors of the arm supports are connected with the input ports of the controller, the controller performs operation and processing on the collected signals through the internal program, the current position of the mechanical arm in the space is obtained according to the mathematical model of the arch anchor mechanical arm, and the displacement amount of the corresponding joint is predicted according to the current output by the controller to different electromagnetic valves. The minimum value of the distance of the mechanical arm in the space position is calculated according to the envelope box established by the mechanical arm, and the minimum value is compared with the critical value of the collision, so that the anti-collision detection of the arm supports of the arch anchor jumbo is realized. The specific calculation method is described in the following steps.

[0074] In an embodiment, (S3) an arm support envelope box of each arm support and a tunnel model of the tunnel rock mass are constructed.

[0075] The tunnel model and the arm support model are established, and the distance between the mechanical arm and the tunnel rock mass is detected by obtaining the current position of the arm support.

[0076] In the operation process of the arch anchor jumbo, three arm supports are cooperatively operated to complete the arch erection operation. When the tunnel geometric parameters are input into the control system to determine the current displacement of the arch anchor jumbo in the tunnel, the coordinate positions of the arm supports in the tunnel are obtained by processing the joint sensor data of the arm supports by the controller.

[0077] The arm support model and the simplified model of the tunnel rock mass are established, the distance between the envelope box of the arm support and the tunnel rock mass is calculated, the minimum distance between the envelope box of the arm support and the rock mass is judged, and the collision detection between the arm support and the tunnel rock mass is realized. The specific calculation method is described in the following steps.

[0078] In an embodiment, (S4) the distance between the envelope boxes of the arm supports is detected according to the current position of the arm supports and the position of the arm supports after the predicted displacement of the arm supports, and the collision between the arm supports is detected, including:

[0079] The rod members on each arm of the arch anchor jumbo are converted into cylindrical envelope boxes;

[0080] According to the spatial positions of the cylindrical envelope boxes, the minimum distance between the cylindrical envelope boxes is determined.

[0081] Whether a collision occurs is judged according to the minimum distance between the cylindrical envelope boxes and the predicted displacement of the arm supports. Wherein, if d min = d + S(t) > 0, no collision occurs between the two cylindrical envelope boxes, otherwise, a collision occurs; d min is the minimum distance between the two cylindrical envelope boxes.

[0082] The method for calculating the minimum distance between two cylinders in space is as follows: Assume the axial segments of the envelope boxes of the two cylinders are l1 and l2, and the coordinates of the four endpoints are P1(x1,y1,z1), P2(x2,y2,z2), Q1(x3,y3,z3), and Q2(x4,y4,z4), respectively. Figure 3 As shown. Let vector vector The coordinates of any point on line segments l1 and l2 can be represented by the following two vectors:

[0083]

[0084] In the formula: λ1 and λ2 are coefficients; 0≤λ1,λ2≤1.

[0085] The shortest distance between line segments can be simplified as shown in the following formula:

[0086]

[0087] From the minimum condition, we know Expanding and simplifying the formula, we get:

[0088]

[0089] Given the radius of the cylindrical envelope, the minimum distance d between the axes of the two cylinders is calculated as d = f(λ1, λ2). Then, based on d and the predicted displacement S(t), the minimum distance d between the cylindrical envelopes can be obtained. min d min = f(λ1,λ2)+S(t).

[0090] Based on the minimum distance d min This function determines whether a collision occurs between cylindrical envelope boxes, enabling collision detection between the booms of the arched anchor trolley. If d min If the value is greater than 0, then no collision occurs between the two cylindrical envelope boxes; otherwise, a collision occurs.

[0091] In one embodiment, (S5) based on the position of the boom in the tunnel rock mass and the position of the boom in the tunnel rock mass after the predicted displacement of the boom, the distance between the boom envelope box and the tunnel model is detected, and collision detection is performed between the boom and the tunnel rock mass.

[0092] Specifically, the rods on each arm of the arch anchor trolley are converted into cylindrical envelope boxes, and the tunnel rock mass is converted into a tunnel model. Based on the cylindrical envelope boxes and the tunnel model, the collision detection between the boom and the tunnel rock mass can be performed using the following methods:

[0093] Determine whether there is interference in the projection of the cylindrical envelope box on the heading face of the tunnel model. Among them, if d1 < R - l1 - S(t), there is no interference, otherwise there is interference and it is determined that a collision phenomenon occurs; d1 is the distance from the end point of the projection of the cylindrical envelope box to the center of the circle, and the center of the circle is the center of the tunnel arc on the upper half of the heading face of the tunnel model; R is the radius of the tunnel arc; l1 is the distance between the projection B of the point where the hanging basket is close to the rock mass on the heading face and the projection of the center O on the heading face.

[0094] In one embodiment, (S5) further includes:

[0095] When detecting whether a collision occurs between the hanging basket and the tunnel rock mass, obtain the projection B of the point where the hanging basket is close to the rock mass on the heading face and the projection O' of the center O on the heading face, then Substitute into d1 < R - l1 - S(t) for anti-collision detection.

[0096] In one embodiment, (S5) further includes:

[0097] First, establish the xyz axes based on the principle of the right-handed Cartesian coordinate system. The x-axis direction of the tunnel model is the direction of the side-view tunnel model, the y-axis direction is the direction of the front-view tunnel model, and the z-axis is perpendicular to the x and y axes and points upward. Determine whether there is interference in the projection of the cylindrical envelope box in the x-axis direction of the tunnel model. Among them, if d2 < L - y b - S(t), there is no interference, otherwise there is interference and it is determined that a collision phenomenon occurs; d2 is the distance from the end point of the projection of the cylindrical envelope box in the y-axis direction to the heading face, L is the distance between two measurement points on the tunnel side, and y b is the coordinate of the projection of the point where the hanging basket is close to the rock mass on the heading face on the y-axis.

[0098] Due to the design of the automatic leveling system for the hanging basket of the arch anchor trolley, the hanging basket always maintains a horizontal state (as Figure 4 shown, it is a schematic diagram of the structural relationship of the hanging basket), so only by obtaining the coordinates of both ends of the boom can the current position and current attitude of the boom be obtained. By inputting the coordinates of the tunnel cross-section target measured by the total station and the coordinates of the vehicle body prism, it can be determined whether a collision occurs between the boom and the tunnel rock mass through coordinate calculation.

[0099] Convert the collision detection problem between the mechanical arm of the arch anchor trolley and the tunnel rock mass into an interference problem of the projection of the cylindrical envelope box in the tunnel model. The tunnel model is obtained from 10 coordinate points measured before and after by the total station, that is, T1(x1, y1, z1), T2(x2, y2, z2), T3(x3, y3, z3), T4(x4, y4, z4), T5(x5, y5, z5), T6(x6, y6, z6), T7(x7, y7, z7), T8(x8, y8, z8), T9(x9, y9, z9), T 10 (x10 , y 10 , z 10 ). The simplified model of the tunnel contour is as shown in Figure 5 . In the figure, the x, y, and z - axis directions are shown. The arc segment is the upper contour line of the tunnel wall, the straight - line segments T1T2 and T4T5 are the left and right contour lines of the tunnel wall respectively, the straight - line segment G1G2 is the ground plane, H is the height of the straight - line segment of the tunnel wall, W is the width of the tunnel, and L is the length between the front and rear test points of the tunnel; The simplified model of the tunnel face is as shown in Figure 6 . Point O is the center of the arc segment T7T9, point T8 is the mid - point of the arc segment T7T9, and point A is the mid - point of the straight - line segment T7T9. From the construction drawing, the coordinate values of each point on the tunnel contour line in the tunnel - face coordinate system and the arch height h of the arc segment can be obtained. First, calculate the radius R of the arc segment and the coordinate values of the center O. The calculation results are as follows:

[0100]

[0101] O(x8, L, z8 - R)

[0102] where x8 and z8 are the X - axis and Z - axis coordinate values of T8 respectively.

[0103] When detecting the anti - collision between the boom and the tunnel rock mass, the following three methods are mainly used:

[0104] 1. Convert the collision - detection problem between the arch - anchor trolley boom and the tunnel rock - face into an interference problem of the projection of the bounding box on the tunnel simplified model and the tunnel face. As shown in Figure 7 , the radius and center of the tunnel arc segment are R and O respectively. If the distance from the endpoint of the bounding - box projection to the center O is less than the difference between the two radii, that is, when d1 < R - l1 - S(t), there is no interference; otherwise, interference occurs.

[0105] 2. When detecting whether there is a collision between the inspection basket and the tunnel rock mass, by obtaining the projection B(x b , z b ) of the point where the inspection basket is close to the rock mass on the tunnel face and the projection O'(x8, z8) of point O on the tunnel face, then substitute it into d1 < R - l1 - S(t) for anti - collision detection.

[0106] 3. Convert the collision - detection problem between the arch - anchor boom and the tunnel wall into an interference problem of the projection of the bounding box in the x - direction of the tunnel simplified model. As shown in Figure 8 , the distance between two measurement points on the side of the tunnel is L. If the distance from the endpoint of the boom bounding - box projection in the y - axis direction to the tunnel face is less than the difference, that is, when d2 < L - y b - S(t), there is no interference; otherwise, interference occurs.

[0107] In an embodiment, (S6) when the result of the collision detection is that a collision occurs, the arm movement is stopped, and a collision warning instruction is issued.

[0108] In an actual application scenario, the position information of the tunnel can be input through a man-machine interface, and the arm state of the arch anchor trolley can be displayed in real time through an online monitoring system, and the control parameters can be adjusted and set in real time according to the construction needs.

[0109] The input ports of the joint sensors and the controller of the arm of the arch anchor trolley are connected, which is used for monitoring the working state of each joint of the arm of the arch anchor trolley. The controller processes the collected sensor signals to obtain the control position of each joint of the arm, and transmits the control position to the monitoring display through the CAN bus. The operator can observe the arm of the trolley and the related parameter information in real time on the monitoring display, and can also adjust and set the control parameters in real time according to the needs of the on-site construction.

[0110] It should be noted that although the operations of the method of the present application are described in a specific order in the above embodiments and drawings, this does not require or imply that the operations must be performed in this specific order, or that all of the shown operations must be performed to achieve the desired result. Additionally or alternatively, certain steps can be omitted, a plurality of steps can be combined into one step, and / or one step can be divided into a plurality of steps.

[0111] After introducing the method of the exemplary embodiment of the present application, next, with reference to Figure 9 The arm anti-collision processing device of the arch anchor trolley of the exemplary embodiment of the present application is introduced.

[0112] The implementation of the arm anti-collision processing device of the arch anchor trolley can be referred to the implementation of the above method, and the repeated parts will not be described again. The term "module" or "unit" used below can be a combination of software and / or hardware that realizes a predetermined function. Although the device described in the following embodiments is preferably realized in software, hardware, or a combination of software and hardware is also possible and conceived.

[0113] Based on the same inventive concept, the present application also proposes an arm anti-collision processing device of an arch anchor trolley, as shown in the figure, which comprises: Figure 9

[0114] The relationship curve establishing module 910 is used for establishing a trapezoidal relationship curve of the output current of the controller and time;

[0115] The prediction module 920 is used for adjusting the output current of the arm controller according to the operation angle of the operation handle according to the trapezoidal relationship curve, and determining the predicted displacement of the arm according to the output current curve of the arm controller. ​

[0116] The construction module 930 is configured to construct an arm support envelope box of each arm support and a tunnel model of the tunnel rock mass;

[0117] The arm support collision detection module 940 is configured to detect a distance between the arm support envelope boxes according to current positions of the arm supports and positions of the arm supports after a predicted displacement of the arm supports, and perform collision detection between the arm supports.

[0118] The tunnel collision detection module 950 is configured to detect a distance between the arm support envelope boxes and the tunnel model according to positions of the arm supports in the tunnel rock mass and positions of the arm supports in the tunnel rock mass after a predicted displacement of the arm supports, and perform collision detection between the arm supports and the tunnel rock mass.

[0119] The anti-collision processing module 960 is configured to stop the movement of the arm supports and issue a collision warning instruction when the result of the collision detection is that a collision occurs.

[0120] It should be noted that although several modules of the arm support anti-collision processing device of the arch anchor jumbo are mentioned in the foregoing detailed description, such division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules described above can be embodied in one module. Conversely, the features and functions of one module described above can be further divided into several modules.

[0121] Based on the foregoing inventive concept, as shown in Figure 10 The present application further proposes a computer device 1000, which comprises a memory 1010, a processor 1020, and a computer program 1030 stored in the memory 1010 and executable on the processor 1020, wherein the processor 1020 implements the foregoing arm support anti-collision processing method of the arch anchor jumbo when executing the computer program 1030.

[0122] Based on the foregoing inventive concept, the present application proposes a computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the foregoing arm support anti-collision processing method of the arch anchor jumbo.

[0123] Based on the foregoing inventive concept, the present application proposes a computer program product, which comprises a computer program, wherein the computer program is executed by a processor to implement the arm support anti-collision processing method of the arch anchor jumbo.

[0124] Compared with the prior art, the arm support anti-collision processing method and device of the arch anchor jumbo proposed by the present application at least have the following technical effects:

[0125] 1. By outputting a trapezoidal current through the controller, the operation of the boom of the anchor trolley is smoothly controlled, reducing the shaking during the boom movement and improving the stability of the control system. Furthermore, the displacement of the boom is predicted by converting the current output by the controller with the displacement of the boom.

[0126] 2. Establish a mathematical model of the arch anchor robotic arm, calculate the minimum distance of the robotic arm's spatial position based on the envelope box established by the robotic arm, and compare the minimum value with the collision threshold to achieve anti-collision detection of the arch anchor trolley boom.

[0127] 3. Establish a tunnel model and judge collision interference based on the envelope box established by the robotic arm, the simplified fuzzy tunnel, and the projection on the tunnel face. This can effectively prevent collision interference that occurs during the arch anchoring trolley during the arch erection operation. It has a high degree of intelligence, which can effectively ensure construction efficiency and improve construction safety.

[0128] The acquisition, storage, use, and processing of data in this application comply with relevant laws and regulations.

[0129] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0130] This invention is described with reference to flowchart illustrations and / or block diagrams of methods and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0131] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1the function specified in the one or more blocks.

[0132] These computer program instructions can also be loaded into computer or other programmable data processing devices, so that a series of operation steps are performed on the computer or other programmable data processing devices to generate computer-implemented processes, so that the instructions executed on the computer or other programmable data processing devices provide processes for implementing the flow Figure 1 one or more flows and / or blocks Figure 1 the function specified in the one or more blocks.

[0133] Finally, it should be noted that the above-described embodiments are merely specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, rather than limiting the same. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can make modifications or easily think of changes to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some of the technical features, within the technical scope disclosed by the present application. Such modifications, changes or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for preventing collision of a boom of an arch anchor jumbo, characterized by, The method comprises the following steps: establishing a trapezoidal relationship curve of the output current of the controller and time; adjusting the output current of the boom controller according to the operation angle of the operation handle according to the trapezoidal relationship curve, and determining the predicted displacement of the boom according to the output current curve of the boom controller; constructing a boom envelope box of each boom and a tunnel model of the tunnel rock mass; detecting the distance between the boom envelope boxes according to the current position of the boom and the position of the boom after the predicted displacement of the boom, and performing collision detection between the booms; detecting the distance between the boom envelope boxes and the tunnel model according to the position of the boom in the tunnel rock mass and the position of the boom in the tunnel rock mass after the predicted displacement of the boom, and performing collision detection between the booms and the tunnel rock mass; stopping the movement of the boom and issuing a collision warning instruction when the result of the collision detection is collision; wherein the step of establishing a trapezoidal relationship curve of the output current of the controller and time comprises: When the operation handle operation angle is greater than a set value, the output current is increased from I Min to I Max over t1 During the operation of the handle operation angle being kept greater than the set value, the output current is kept as I Max ; When the operating handle is loosened, the controller output current value decreases from I Max Gradually decreases to 0 in (t3-t2); I Min And I Max Is the preset minimum current value and maximum current value, t1, t2, t3 are time points of the boom starting stage, the boom stable running stage and the boom deceleration stage respectively. wherein the step of adjusting the output current of the boom controller according to the operation angle of the operation handle according to the trapezoidal relationship curve and determining the predicted displacement of the boom according to the output current curve of the boom controller comprises: According to the trapezoidal relationship curve, the rising slope k is determined Iup and the falling slope k Idown : determining the displacement of the boom in the starting stage according to the trapezoidal current curve of the controller as: In the formula, S up (t) is the displacement of the boom starting stage, t is the time, and K1 is the proportional coefficient of the current and the speed in the starting stage the displacement of the boom in the stable running stage is: In the formula, S st (t) is the displacement of the boom during the smooth running stage; K2 is the proportional coefficient of the current and the speed during the smooth running stage; the displacement of the boom in the deceleration stage is: In the formula, S do (t) is the displacement of the boom during the deceleration phase; K3 is the proportional coefficient of the current and speed during the deceleration phase; the total displacement of the boom is: S(t) = S up (t) + S st (t) + S do (t); wherein S(t) is the total displacement of the boom, and the total displacement of the boom is taken as the predicted displacement of the boom.

2. The method of claim 1, wherein, The step of detecting the distance between the boom envelope boxes according to the current position of the boom and the position of the boom after the predicted displacement of the boom, and performing collision detection between the booms comprises: converting the rod on each arm of the arch anchor trolley into a cylindrical envelope box; determining the minimum distance between the cylindrical envelope boxes according to the spatial positions of the cylindrical envelope boxes; According to the minimum distance between the cylindrical envelope boxes and the predicted displacement of the cantilever, it is judged whether a collision occurs; wherein if d min When S(t)>0, no collision occurs between the two cylindrical envelope boxes, otherwise a collision occurs;d min d is the minimum distance between the two cylindrical envelope boxes.

3. The method of claim 1, wherein, The step of detecting the distance between the boom envelope boxes and the tunnel model according to the position of the boom in the tunnel rock mass and the position of the boom in the tunnel rock mass after the predicted displacement of the boom, and performing collision detection between the booms and the tunnel rock mass comprises: converting the rod on each arm of the arch anchor trolley into a cylindrical envelope box, and converting the tunnel rock mass into a tunnel model; judging whether the projection of the cylindrical envelope box on the tunnel face of the tunnel model interferes; wherein if d1 < R-l1-S(t), no interference occurs, otherwise interference occurs, and it is determined that collision occurs; d1 is the distance from the end point of the projection of the cylindrical envelope box to the center of the circle, the center of the circle is the center of the tunnel arc on the upper half of the tunnel face of the tunnel model; R is the radius of the tunnel arc; l1 is the distance between the projection of the point close to the rock mass of the trolley on the tunnel face and the projection of the center O of the circle on the tunnel face.

4. The method of claim 3, wherein, The method further comprises the following steps: In detecting whether the collision between the hanging basket and the tunnel rock mass occurs, the projection B of the point of the hanging basket close to the rock mass on the tunnel face and the projection O' of the center O of the circle on the tunnel face are obtained, and then The anti-collision detection is carried out by substituting d1 < R - l1 - S(t).

5. The method of claim 3, wherein, detecting the distance between the boom envelope boxes and the tunnel model according to the position of the boom in the tunnel rock mass and the position of the boom in the tunnel rock mass after the predicted displacement of the boom, and performing collision detection between the booms and the tunnel rock mass comprises: whether the projection of the cylindrical envelope box in the x-axis direction of the tunnel model appears interference; wherein, if d2 b -S(t), no interference occurs, otherwise interference occurs, and it is determined that the collision phenomenon occurs; d2 is the distance from the end point of the projection of the cylindrical envelope box in the y-axis direction to the tunnel face, L is the distance between the two measured points of the tunnel side, y b is the coordinate of the projection B of the point where the hanging basket approaches the rock mass on the y-axis direction of the tunnel face, the xyz-axis directions of the tunnel model follow the principle of the Cartesian right coordinate system, wherein the x-axis direction is the direction of the side view of the tunnel model, the y-axis direction is the direction of the front view of the tunnel model, and the z-axis is perpendicular to the x-axis and y-axis directions and faces upward.

6. An arm collision prevention processing device of an arch anchor jumbo, characterized by, The method comprises the following steps: a relationship curve establishing module for establishing a trapezoidal relationship curve of the output current of the controller and time; a prediction module for adjusting the output current of the boom controller according to the operation angle of the operation handle according to the trapezoidal relationship curve, and determining the predicted displacement of the boom according to the output current curve of the boom controller. The construction module is configured to construct an arm support envelope box of each arm support and a tunnel model of the tunnel rock mass; The arm support collision detection module is configured to detect a distance between the arm support envelope boxes according to current positions of the arm supports and positions of the arm supports after a predicted displacement of the arm supports, and to perform collision detection between the arm supports; The tunnel collision detection module is configured to detect a distance between the arm support envelope boxes and the tunnel model according to positions of the arm supports in the tunnel rock mass and positions of the arm supports in the tunnel rock mass after a predicted displacement of the arm supports, and to perform collision detection between the arm supports and the tunnel rock mass; The anti-collision processing module is configured to stop the movement of the arm supports and to issue a collision warning instruction when a result of the collision detection indicates that a collision occurs. The trapezoidal relationship curve between the output current of the controller and time includes: When the operation handle operation angle is greater than a set value, the output current is increased from I Min through t1 to I Max ; During the operation of the handle operation angle being kept greater than the set value, the output current is kept as I Max ; When the operating handle is loosened, the controller output current value gradually decreases from I Max to 0 in (t3-t2); I Min is the preset minimum current value and maximum current value, t1, t2, t3 are time points of the boom starting stage, the boom steady running stage, and the boom deceleration stage, respectively. Max is the preset minimum current value and maximum current value, t1, t2, t3 are time points of the boom starting stage, the boom steady running stage, and the boom deceleration stage, respectively. According to the operation angle of the operation handle, the output current of the arm support controller is adjusted according to the trapezoidal relationship curve, and the predicted displacement of the arm support is determined according to the output current curve of the arm support controller, including: According to the trapezoidal relationship curve, the rising slope k is determined Iup and the falling slope k Idown : The displacement of the arm support in the starting stage is determined according to the trapezoidal current curve output by the controller, and is: In the formula, S up (t) is the displacement of the boom during the start-up phase, t is the time, and K1 is the proportionality coefficient between the current and the speed during the start-up phase The displacement of the arm support in the stable running stage is: In the formula, S st (t) is the displacement of the boom during the smooth running stage; K2 is the proportional coefficient of the current and the speed during the smooth running stage; The displacement of the arm support in the deceleration stage is: In the formula, S do (t) is the displacement of the boom during the deceleration phase; K3 is the proportional coefficient of the current and speed during the deceleration phase; The total displacement of the arm support is: S(t) = S up (t) + S st (t) + S do (t); In the formula, S(t) is the total displacement of the arm support, and the total displacement of the arm support is taken as the predicted displacement of the arm support.

7. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the method in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1 to 5.

9. A computer program product, characterised in that, The computer program product includes a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1 to 5.

Images