Lifting arm, mobile lifting work platform and high-redundancy cooperative control method thereof

Abstract

The application discloses a lifting arm, a mobile lifting work platform and a high-redundancy cooperative control method thereof, and belongs to the technical field of agriculture. The lifting arm comprises a first-stage arm, a second-stage arm and a third-stage arm which are sequentially connected in a sliding mode. The lower end of the first-stage arm is fixed with a retraction device A, and the upper end of the first-stage arm is fixed with a driving pulley. The lower end of the second-stage arm is fixed with a driving rope, and the other end of the driving rope is connected with the retraction device A after winding around the driving pulley. The upper end of the second-stage arm is fixed with a transmission pulley, and the lower end of the first-stage arm is fixed with a transmission rope. The other end of the transmission rope is connected with the lower end of the third-stage arm after winding around the transmission pulley. The third-stage arm is slidably connected with a horizontal sliding table. The lower end of the third-stage arm is fixed with a retraction device B, and the upper end of the third-stage arm is fixed with a fine pulley. The horizontal sliding table is fixed with a fine rope, and the other end of the fine rope is connected with the retraction device B after winding around the fine pulley. The lifting arm has the advantages of lifting and fast response speed, and the mobile lifting work platform has higher efficiency.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a lifting arm, a mobile lifting operation platform, and a highly redundant collaborative control method thereof. Background Technology

[0002] Existing agricultural robots often suffer from slow lifting and lowering speeds and poor responsiveness. This slowness not only affects the robot's operational efficiency but also increases operating costs. Furthermore, the slow speed prevents the robot from reacting quickly to unexpected events, such as accidents, leading to potential damage.

[0003] Existing agricultural robots still suffer from low precision in their lifting functions, preventing them from performing tasks accurately. This lack of precision hinders their ability to perform tasks such as pollination, harvesting, and pruning, resulting in low operational efficiency. Summary of the Invention

[0004] In view of the problems of slow speed and insufficient response speed in the lifting function of existing robotic arms, the purpose of this invention is to provide a lifting arm, a mobile lifting work platform and its highly redundant collaborative control method, so as to at least partially solve the above problems.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] In a first aspect, the present invention provides a lifting arm, comprising a lifting arm body, the lifting arm body including a first-stage arm, a second-stage arm whose lower end is slidably connected to the first-stage arm, and a third-stage arm whose lower end is slidably connected to the second-stage arm; a retraction device A is fixed to the lower end of the first-stage arm, a drive pulley is fixed to the upper end of the first-stage arm, a drive rope is fixed to the lower end of the second-stage arm, and the other end of the drive rope is fixedly connected to the retraction device A after passing through the drive pulley; a transmission pulley is fixed to the upper end of the second-stage arm, a transmission rope is fixed to the lower end of the first-stage arm, and the other end of the transmission rope is fixedly connected to the lower end of the third-stage arm after passing through the transmission pulley;

[0007] The third-stage arm is slidably connected to a horizontal slide table. A take-up and release device B is fixed to the lower end of the third-stage arm. A fine pulley is fixed to the upper end of the third-stage arm. A fine rope is fixed to the horizontal slide table. The other end of the fine rope passes around the fine pulley and is fixedly connected to the take-up and release device B.

[0008] Secondly, the present invention provides a mobile lifting work platform, including a mobile chassis, a lifting arm, a telescopic arm, and an actuator. The lifting arm is fixedly installed on the mobile chassis, and the lifting arm is the lifting arm disclosed in the above-mentioned scheme. The telescopic arm is fixedly installed on the output end of the horizontal slide, and the actuator is fixedly installed on the telescopic arm.

[0009] Thirdly, the present invention provides a high-redundancy collaborative control method for a mobile lifting operation platform, the method comprising the following steps:

[0010] S1. Divide the work area into several sequentially adjacent task spaces along the forward direction of the mobile chassis;

[0011] S2. The mobile chassis maintains continuous movement along its forward direction;

[0012] S3. For any current task space of the executor path, construct the shortest task path connecting all task points therein;

[0013] S4. The actuator is driven to move by the lifting arm, the horizontal slide and the telescopic arm, so that the actuator performs operations on each task point in the current task space based on the shortest task path;

[0014] S5. After the actuator has performed operations on all task points within the current task space, the height of the lifting arm remains unchanged, and the actuator is driven by the horizontal slide to move to the end of the horizontal slide's forward direction at a predetermined speed.

[0015] S6. When the mobile chassis drives the actuator into the next task space, repeat the contents of steps S3-S5 until all task points in all task spaces have completed the operation.

[0016] In the forward direction of the mobile chassis, the actuator moves at an absolute speed. V The actuator performs the operation; and when the actuator has performed the operation on all the task points in the current task space and moves to the end of the horizontal slide in the forward direction, the moving chassis just drives the actuator into the next task space.

[0017] Preferably, the speed at which the mobile chassis moves from the current task space to the next task space... V C = L / ( t 1 +t 2 ); L The span of the current task space along the direction of travel of the mobile chassis; t 1The duration for which the actuator performs the task in the current task space. t 1 = S / V , S The projection length of the shortest task path corresponding to the current task space in the forward direction of the mobile chassis; t 2 The time it takes for the actuator to move from the last task point in the current task space to the end of the horizontal slide in the forward direction.

[0018] Preferably, the actual speed at which the horizontal slide table drives the actuator to move is the absolute speed of the actuator. V With the forward speed of the mobile chassis V C The difference, that is, the horizontal slide provides the actuator with an additional forward speed relative to the moving chassis. V C The opposite is the compensation speed.

[0019] Fourthly, the present invention provides a high-redundancy collaborative control method for a mobile lifting operation platform, the method comprising the following steps:

[0020] S01. Divide the work area into several sequentially adjacent task spaces along the forward direction of the mobile chassis, and divide each task space into several sequentially adjacent task subspaces along the lifting direction;

[0021] S02. For each task space along the mobile chassis path, the retraction device A drives the lifting arm body to continuously lift and lower in one direction;

[0022] S03. For any current task subspace of the executor path, construct the shortest task path connecting all task points therein;

[0023] S04. The actuator is driven to move by the retraction device B, the horizontal slide and the telescopic arm, so that the actuator performs operations on each task point in the current task subspace based on the shortest task path;

[0024] S05. After the actuator has performed operations on all task points in the current task subspace, the position of the horizontal slide remains unchanged, and the actuator is driven by the retraction device B to move at a predetermined speed along the lifting direction to the end of the third-stage arm;

[0025] S06. When the lifting arm body drives the actuator into the next task subspace, repeat the contents of steps S03-S05 until all task points in all task subspaces have completed their work.

[0026] S07. The mobile chassis drives the actuator into the next task space, the lifting arm body moves up and down in the opposite direction, and repeats the contents of steps S03-S06 until all task points in all task spaces have completed the work.

[0027] In step S05, the actuator moves at an absolute lifting speed in the lifting direction. V 1 The actuator performs the operation; and when the actuator has performed the operation on all the task points in the current task subspace and moves to the end of the lifting direction of the third-level arm, the lifting arm body just drives the actuator into the next task subspace.

[0028] The beneficial effects of the present invention using the above technical solution are as follows: When the lifting arm disclosed in the present invention is used, the retraction device drives the second-stage arm to rise relative to the first-stage arm through the active rope, and the transmission pulley also rises accordingly. With the length of the transmission rope remaining unchanged, the third-stage arm also rises synchronously relative to the second-stage arm. The rise of the third-stage arm relative to the second-stage arm is equal to the rise of the second-stage arm relative to the first-stage arm. In this way, the second-stage arm and the third-stage arm can be driven to rise synchronously through a single retraction device, thereby significantly improving the lifting speed and response speed.

[0029] In addition, the mobile lifting work platform provided by this invention can provide redundant degrees of freedom in the forward direction of the mobile chassis and the lifting direction of the actuator during operation. By coordinating the motion scheduling between the degrees of freedom in the same direction, the goal of improving task efficiency can be achieved. This reduces energy consumption and improves work efficiency, thus replacing the intermittent operation solutions currently on the market. Attached Figure Description

[0030] Figure 1 This is a front view of the lifting arm in Embodiment 1 of the present invention;

[0031] Figure 2 This is a schematic diagram of the main body of the lifting arm in Embodiment 1 of the present invention;

[0032] Figure 3 This is a side view of the lifting arm body in Embodiment 1 of the present invention;

[0033] Figure 4 This is a schematic diagram of the structure of the mobile lifting operation platform in Embodiment 2 of the present invention;

[0034] Figure 5 A flowchart illustrating the workflow of intermittent pollination schemes in existing technologies;

[0035] Figure 6 This is a flowchart of the high-redundancy collaborative control method for a mobile lifting operation platform in Embodiment 3 of the present invention;

[0036] Figure 7 This is a flowchart illustrating the process from the start-up to the operation phase of the method in Embodiment 3 of the present invention;

[0037] Figure 8 This is a flowchart illustrating the process from the start to the end of the method in Embodiment 3 of the present invention;

[0038] Figure 9 This is a schematic diagram of the process after the method in Embodiment 4 of the present invention is run.

[0039] In the diagram: 1-First stage arm, 2-Second stage arm, 3-Third stage arm, 4-Retracting / unloading device A, 5-Active pulley, 6-Active rope, 7-Active hook, 8-Transmission pulley, 9-Transmission steel rope, 10-Transmission hook, 11-Horizontal slide, 12-Retracting / unloading device B, 13-Fine pulley, 14-Fine rope, 15-First connector, 16-Second connector A, 17-Second connector B, 18-Third connector A, 19-Third connector B, 20-Support frame, 100-Mobile chassis, 200-Lifting arm, 300-Telescopic arm, 400-Actuator. Implementation

[0040] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted that these descriptions are for the purpose of aiding understanding the present invention, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0041] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the description of the structure of this invention shown in the accompanying drawings. They are only for the convenience of describing this invention and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0042] The terms "first" and "second" in this technical solution are merely designations for corresponding structures that are identical or similar, or that perform similar functions. They do not represent an arrangement of the importance of these structures, nor do they imply any ranking, comparison of size, or other meaning.

[0043] Furthermore, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two structures. Those skilled in the art can understand the specific meaning of the above terms in this invention by considering the overall concept of the invention and the specific context of the solution. Example

[0044] A type of lifting arm, such as Figure 1-3 As shown, the device includes a lifting arm body, which comprises a first-stage arm 1, a second-stage arm 2, and a third-stage arm 3. All three arms are vertically arranged and have a certain vertical height, and are sequentially slidably connected. For example, in this embodiment, the first-stage arm 1, second-stage arm 2, and third-stage arm 3 are configured to have the same height. Slide rails are fixedly installed on both the first-stage arm 1 and the second-stage arm 2, while sliders that cooperate with the slide rails are fixedly installed at the lower ends of the second-stage arm 2 and the third-stage arm 3.

[0045] The first-stage arm 1 has a retraction / release device A4 fixed to its lower end and a drive pulley 5 fixed to its upper end. The second-stage arm 2 has a drive rope 6 fixed to its lower end, with the other end of the rope 6 passing around the drive pulley 5 and fixedly connected to the retraction / release device A4. For ease of connection, a drive hook 7 for connecting the drive rope 6 is fixed to the lower end of the second-stage arm 2. This configuration allows the second-stage arm 2 to rise relative to the first-stage arm 1 via the retraction / release device A4, and conversely, the second-stage arm 2 to descend relative to the first-stage arm 1 under the influence of gravity.

[0046] The upper end of the second-stage arm 2 is fixed with a transmission pulley 8, and the lower end of the first-stage arm 1 is fixed with a transmission rope 9. The other end of the transmission rope 9 is fixedly connected to the lower end of the third-stage arm 3 after passing through the transmission pulley 8. Similarly, the lower end of the third-stage arm 3 is fixed with a transmission hook 10 for connecting the transmission rope 9. This arrangement ensures that when the retraction device A4 drives the second-stage arm 2 to rise relative to the first-stage arm 1, the transmission pulley 8 also rises accordingly. At this time, the transmission pulley 8 acts as a movable pulley. With the length of the transmission rope 9 remaining unchanged, the third-stage arm 3 also rises synchronously relative to the second-stage arm 2, and the rise of the third-stage arm 3 relative to the second-stage arm 2 is equal to the rise of the second-stage arm 2 relative to the first-stage arm 1. That is, in the ground reference frame, assuming the first-stage arm 1 is fixed, when the second-stage arm 2 rises a distance a, the third-stage arm 3 rises a distance 2a.

[0047] In this embodiment, the third-stage arm 3 is also vertically fixed with a slide rail, on which a slider is fixed. The slider is fixedly connected to a horizontal slide table 11 (a slide table bracket is fixed on the horizontal slide table 11, and the slider is fixedly connected to the slide table bracket). Simultaneously, a retraction device B12 is fixed to the lower end of the third-stage arm 3, and a fine pulley 13 is fixed to the upper end of the third-stage arm 3. A fine rope 14 is fixed to the horizontal slide table 11, and the other end of the fine rope 14 is fixedly connected to the retraction device B12 after passing through the fine pulley 13. This arrangement allows the horizontal slide table 11 to be raised and lowered independently.

[0048] In this embodiment, to improve the structural stability of the lifting arm, two first-stage arms 1, two second-stage arms 2, and two third-stage arms 3 are provided, arranged in parallel and opposite directions. Furthermore, the upper ends of the two first-stage arms 1 are fixed by first connectors 15, the upper and lower ends of the two second-stage arms 2 are fixed by second connectors A16 and B17 respectively, and the upper and lower ends of the two third-stage arms 3 are fixed by third connectors A18 and B19 respectively, thus giving the lifting arm a frame-like structure. Moreover, the frame planes formed by the two first-stage arms 1, the two second-stage arms 2, and the two third-stage arms 3 are all located in the same plane and are arranged sequentially from the outside to the inside.

[0049] Based on this, two of each of the aforementioned active pulley 5, active rope 6, transmission pulley 8, transmission rope 9, active hook 7, transmission hook 10, fine pulley 13, and fine rope 14 are configured. Both the take-up and undo device A4 and the take-up and undo device B12 are electric winders or electric drums. The take-up and undo device A4 is equipped with two take-up rollers driven by the same motor, corresponding to the two active ropes 6 respectively. Similarly, the take-up and undo device B12 is also equipped with two take-up rollers driven by the same motor, corresponding to the two fine ropes 14 respectively.

[0050] In this embodiment, to avoid interference between the ropes, the active rope 6, transmission rope 9, and fine steel cable 14 are positioned in different working planes. For example, in this embodiment, the first connecting member 15 and the second connecting member B17 are located in the same plane, and this plane is a distance b from the front side of the frame plane where the lifting arm body is located. The active pulley 5 is placed on the first connecting member 15, and the active hook 7 is placed on the second connecting member B17, so that the plane where the active rope 6 is located is a distance b from the front side of the frame plane where the lifting arm body is located. Alternatively, the second connecting member A16 and the third connecting member B19 are located in another plane, and this plane is a distance c from the front side of the frame plane where the lifting arm body is located. The transmission pulley 8 is placed on the second connecting member A16, and the transmission hook 10 is placed on the third connecting member B19, so that the plane where the transmission rope 9 is located is a distance c from the front side of the frame plane where the lifting arm body is located. In addition, the third connector A18 is set in the frame plane where the lifting arm body is located, and the fine pulley 13 is set on the third connector A18. At the same time, the horizontal slide 11 and the take-up and release device B12 are installed on the rear side of the third stage arm 3. By setting the position of the fine rope 14 and the horizontal slide 11 and the take-up and release device B12, the plane where the fine rope 14 is located is located in the frame plane where the lifting arm body is located.

[0051] Typically, a support frame 20 is fixed to the lower end of the first-stage arm 1 so that the lifting arm provided in this embodiment can be fixed to a mobile chassis for use. The horizontal slide 11 is configured as a linear slide module, and its output end can be used to directly or indirectly mount actuators, as will be described in detail in the following embodiments.

[0052] When the lifting arm provided in this embodiment of the invention is in use, the retraction device A4 drives the second-stage arm 2 to rise relative to the first-stage arm 1 via the active rope 6. At this time, the transmission pulley 8 also rises accordingly. The transmission pulley 8 acts as a movable pulley. With the length of the transmission rope 9 remaining unchanged, since the length of the transmission rope 9 between the transmission pulley 8 and the lower end of the first-stage arm 1 increases, the length of the transmission rope 9 between the lower end of the third-stage arm 3 and the transmission pulley 8 will correspondingly shorten. This causes the third-stage arm 3 to rise synchronously relative to the second-stage arm 2, and the rise of the third-stage arm 3 relative to the second-stage arm 2 is equal to the rise of the second-stage arm 2 relative to the first-stage arm 1. That is, in the ground reference frame, assuming the first-stage arm 1 is fixed, when the second-stage arm 2 rises a distance 'a', the third-stage arm 3 rises a distance '2a'. Thus, the lifting arm provided in this embodiment of the invention can synchronously drive the second-stage arm 2 and the third-stage arm 3 to rise using only one retraction device A4, thereby significantly improving the lifting speed and response speed. Example

[0053] A mobile lifting work platform, such as Figure 4As shown, it includes a mobile chassis 100, a lifting arm 200, a telescopic arm 300, and an actuator 400.

[0054] The mobile chassis 100 has wheels and a drive motor for rotating the wheels, enabling the mobile chassis 100 to move forward in one direction. The lifting arm 200 is configured as the lifting arm provided in the above embodiment, with its lower end fixedly mounted on one side of the top surface of the mobile chassis 100. The telescopic arm 300 is fixedly mounted on the output end of the horizontal slide table 11, and the actuator 400 is fixedly mounted on the end of the telescopic arm 300.

[0055] The movement direction of the mobile chassis 100, the lifting direction of the lifting arm 200, and the extension direction of the telescopic arm 300 are all perpendicular to each other, while the movement direction of the output end of the horizontal slide table 11 is parallel to the movement direction of the mobile chassis 100.

[0056] By changing the type of actuator 400, multiple functions such as monitoring plants and crops, pollination, pruning branches and leaves, fertilization, and harvesting can be achieved. Example

[0057] A highly redundant collaborative control method for a mobile lifting operation platform is provided, which is applied to the mobile lifting operation platform provided in Embodiment 2.

[0058] In existing technologies, mobile lifting operation platforms (or similar agricultural robots) typically operate within greenhouses in automated farms. Crops in these farms (taking tomatoes as an example) are usually planted in rows, with each tomato plant spaced at intervals. Steel tracks connect the rows of tomatoes, and the mobile lifting operation platform moves along these tracks to pollinate the tomato flowers sequentially. Since tomatoes are self-pollinating plants, the actuator 400 is configured as a vibrating pollinator. When the vibrating pollinator contacts a flower, the vibration causes pollen from the stamens to transfer to the pistil of the same flower, thus completing the pollination process for that flower.

[0059] In this scenario, mobile lifting platforms face the following problems:

[0060] 1. To ensure pollination success rate, for the same row of tomato plants, all flowers in this row need to be pollinated. To ensure pollination efficiency, the actuator 400 needs to find the shortest possible traversal path while traversing all tomato flowers.

[0061] 2. Because the working space of the robotic arm (including the lifting arm 200 and the telescopic arm 300) is limited when the mobile chassis 100 is in the stopped position, and the rows of tomato plants to be pollinated extend very long, the mobile chassis 100 and the robotic arm need to work together to complete the pollination of the entire crop.

[0062] 3. Due to the characteristics of the plants and the planting efficiency requirements of automated farms, each tomato plant is usually quite tall, about 1.0 to 3.0m.

[0063] In this scheme, the mobile chassis 100 and the robotic arm move independently, and their movements do not overlap in time. Although this intermittent pollination scheme is not very efficient, it can partially solve the above-mentioned problems and complete the pollination task. That is, when the mobile chassis 100 is stationary in a fixed position, the direction that the robotic arm faces is the robot's workspace at that time.

[0064] For problem 1 above, if the robotic arm wants to pollinate all the flowers in the same row of tomatoes sequentially while ensuring efficiency, the calculation of the pollination order is transformed into a classic combinatorial optimization problem: the Traveling Salesman Problem (TSP). This problem involves finding the shortest path that traverses all cities exactly once and returns to the starting city (in this case, returning to the starting point is not required) given a set of cities and the distances (or costs) between each pair of cities. Specifically, suppose there are n cities, which can be represented by a set X = {1, 2, ..., n}. Suppose the distances or costs between these cities can be represented by an n^n matrix D, where D(i, j) represents the distance or cost from city i to city j. Then, the goal of the Traveling Salesman Problem is to find a path P = {1, 2, ..., n, 1} starting from city 1 such that the length of path P is minimized. .

[0065] Where P i Let represent the i-th city in path P. It's important to note that path P must include each city exactly once and return to the starting city. The Traveling Salesman Problem (TSP) is a very challenging problem because its solution space grows exponentially when the number of cities, n, is large. Therefore, for large-scale problems, finding an exact solution has very high time complexity. Thus, existing techniques typically use heuristic or approximate algorithms to solve the TSP, aiming to find a near-optimal solution within an acceptable timeframe. Heuristic algorithms guide the search algorithm through a series of rules or strategies, hoping to find a better solution within an acceptable time. Common heuristic algorithms include simulated annealing, genetic algorithms, and ant colony optimization.

[0066] For a row of tomato plants, the number of flowers far exceeds the computational limit of the host computer configured for the current mobile lifting platform. Furthermore, due to size limitations, the mobile lifting platform cannot perform a comprehensive, one-time search of the target points over a large area. If the mobile chassis 100 needs to move while the robotic arm performs dynamic shortest path planning (i.e., the area the mobile chassis 100 is about to move into is a completely unknown area for the actuator 400), then the problem transforms into the Dynamic Traveling Salesman Problem (DTSP). In DTSP, the size of the distance matrix D and the value of D(i,j) are constantly changing. Such problems are difficult to solve with precise algorithms, and the computational load and accuracy are even worse for planning large-scale task points in a robot's work scenario.

[0067] The intermittent pollination control scheme divides the entire pollination area into several workspaces, and handles the TSP problem within each workspace to achieve complete pollination. Without considering the vertical task dimension, the specific strategy is as follows: divide the entire pollination area into n adjacent workspaces (rounding up any fraction less than one workspace).

[0068] like Figure 5 As shown, when the moving chassis 100 begins the pollination task of the plants in this row in workspace 1, the moving chassis 100 stops moving, and the robotic arm begins to pollinate all the flowers in workspace 1. At this time, the pollination order problem of the robotic arm does not care about the entire area to be pollinated, but is limited to workspace 1. That is, at this time, the host computer only calculates the TSP problem in workspace 1 and finds an optimal path (without returning to the starting point). The TSP problem task node at this time includes the initial position of the robotic arm ( Figure 6 (Middle circular marker) and all flowers within workspace 1. In this embodiment, the calculation of the TSP problem is performed using Google's open-source solver OR-TOOLS. After the robotic arm completes the pollination task in workspace 1 according to the planned sequence, the robotic arm stops at the last flower on the planned path. Then, the moving chassis 100 starts, driving the robotic arm to workspace 2, which is adjacent to workspace 1. At this time, the robotic arm follows... Figure 6 The arrow indicates that the movement has reached the star-shaped marker in workspace 2.

[0069] At this point, the robotic arm's pollination sequence planning is also limited to workspace 2. The star-shaped starting point and all the flowers within workspace 2 constitute all the task points for this TSP. After the robotic arm completes the pollination task in workspace 2 according to the planned sequence, it stops at the last flower on the planned path. At this time, the moving chassis 100 starts, moving the robotic arm to workspace 3, which is adjacent to workspace 2, and so on, until the last workspace. After the above process is completed, the robotic arm returns to the standby position (e.g., the circular marker in workspace 4), thus completing the pollination task for this row of plants.

[0070] In summary, the intermittent pollination control scheme can alleviate the difficulty of global TSP calculation to some extent, traversing and pollinating all flowers in the target pollination area and finding a relatively short path. However, this scheme separates the robotic arm and the moving chassis 100, resulting in some inefficiency. Therefore, the method provided in this embodiment of the invention enables the moving chassis 100 and the actuator 400 to move synchronously, thereby improving efficiency, such as... Figure 6 As shown, the method includes the following steps:

[0071] S1. Divide the work area into several sequentially adjacent task spaces along the forward direction of the mobile chassis 100;

[0072] S2. The mobile chassis 100 maintains continuous movement along its forward direction, thereby driving the actuator 400 to pass through each task space in sequence;

[0073] S3. For any number of current task spaces in the executor 400 path, construct the shortest task path that connects all task points within it;

[0074] S4. The actuator 400 is driven to move by the cooperation of the lifting arm 200, the horizontal slide table 11 and the telescopic arm 300, so that the actuator 400 performs operations on each task point in the current task space based on the shortest task path.

[0075] S5. After the actuator 400 has performed operations on all task points in the current task space, the height of the lifting arm 200 remains unchanged, and the actuator 400 is driven by the horizontal slide 11 to move to the end of the horizontal slide 11 in the forward direction at a predetermined speed.

[0076] S6. When the mobile chassis 100 drives the actuator 400 into the next task space, repeat the contents of steps S3-S5 until all task points in all task spaces have completed the operation.

[0077] In the forward direction of the mobile chassis 100, the actuator 400 moves at an absolute speed VThe actuator 400 performs the operation on all task points in the current task space and moves to the end of the horizontal slide 11 in the forward direction. The moving chassis 100 then drives the actuator 400 into the next task space.

[0078] It is understandable that the speed at which the mobile chassis 100 moves from the current task space to the next task space is... V C = L / ( t 1 +t 2 ),in, L This represents the span of the current mission space along the forward direction of the mobile chassis 100. L It is usually a fixed value, that is, the area to be worked is divided equally along the forward direction of the mobile chassis 100. t 1 The duration for actuator 400 to execute the job in the current task space. t 1 = S / V , S This is the projection length of the shortest task path corresponding to the current task space in the forward direction of the moving chassis 100. After the shortest task path is calculated... t 1 It is knowable. t 2 This refers to the time it takes for the actuator 400 to move from the last task point in the current task space to the forward end of the horizontal slide 11. Similarly, after the shortest task path is calculated, the location of the last task point in the current task space is also known, and its distance from the forward end of the horizontal slide 11 is also known. t 2 It is also knowable.

[0079] The actual speed at which the horizontal slide 11 drives the actuator 400 (relative to the moving chassis 100) is the absolute speed of the actuator 400. V With the forward speed of the mobile chassis 100 V C The difference, that is, the horizontal slide 11 provides an additional forward speed to the actuator 400 compared to the moving chassis 100. V C The opposite is the compensation speed.

[0080] Typically, the span of the task space is smaller than the working width (i.e., the width of the workspace) of the actuator 400 when the mobile chassis 100 is stationary. For example, the sum of the spans of two task spaces equals the width of one workspace. Based on this, for task space 1 (i.e., the first task space in the forward direction of the mobile chassis 100), the mobile chassis 100 does not need to move. The actuator 400 performs the task according to an intermittent pollination scheme. Only after all task points in task space 1 have completed their work, and the actuator 400, driven by the horizontal slide table 11, enters the... Figure 7 At the star-shaped marker in task space 2 shown, the moving chassis 100 is at this point... V C The actuator 400 moves forward at a speed of [speed], and operates according to steps S3-S5 described above. When the mobile chassis 100 moves to the end of the work area, that is, [it will move as follows]... Figure 8 As shown, actuator 400 enters the star-shaped mark in task space 2n. At this time, the moving chassis 100 stops moving. Actuator 400 works according to the intermittent pollination scheme to pollinate task space 2n. After all is completed, actuator 400 returns to the initial position, and the work ends. Example

[0081] A highly redundant collaborative control method for a mobile lifting work platform is also applied to the mobile lifting work platform provided in the above embodiments. In the height direction, the actuator 400 is provided with lifting motion function by the retraction device A4 and the retraction device B12. Therefore, based on the method provided in the above embodiments, the degree of freedom in the height direction can also be controlled with high redundancy. The method includes the following steps:

[0082] S01. Divide the work area into several adjacent task spaces along the forward direction of the mobile chassis 100, and divide each task space into several adjacent task subspaces along the lifting direction of the actuator 400.

[0083] S02. For each task space along the path of the mobile chassis 100, the retraction device A4 drives the lifting arm body to perform continuous unidirectional lifting and lowering;

[0084] S03. For any current task subspace of executor 400, construct the shortest task path that connects all task points within it;

[0085] S04. The actuator 400 is driven to move by the retraction device B12, the horizontal slide table 11 and the telescopic arm 300, so that the actuator 400 can perform operations on each task point in the current task subspace based on the shortest task path.

[0086] S05. After the actuator 400 has performed operations on all task points in the current task subspace, keep the position of the horizontal slide 11 unchanged, and drive the actuator 400 to move along the lifting direction at a predetermined speed to the end of the third-stage arm 3 through the take-up and release device B12.

[0087] S06. When the lifting arm body drives the actuator 400 into the next task subspace, repeat the contents of steps S03-S05 until all task points in all task subspaces have completed their work.

[0088] S07. Keeping the lifting arm 200 at a fixed height, move the chassis 100 to drive the actuator 400 into the next task space. At this time, the main body of the lifting arm rises and falls in the opposite direction, and repeats steps S03-S06 until all task points in all task spaces have completed their work. The movement trajectory of the actuator 400 is as follows: Figure 9 As shown;

[0089] In step S05, the actuator 400 moves at an absolute lifting speed in the lifting direction. V 1 The operation is carried out; and when the actuator 400 has performed the operation on all the task points in the current task subspace and moves to the end of the third-level arm 3 in the lifting direction, the main body of the lifting arm just drives the actuator 400 into the next task subspace.

[0090] Among them, the speed at which the lifting arm moves from the current task subspace to the next task subspace. V C1 = L 1 / ( t 11 + t 21 ).in, L 1 The span of the current task subspace along the ascending / descending direction, for example... L 1 If it is half the size of a single-stage arm, then a workspace contains 12 task subspaces. t 11 The duration for executor 400 to execute the job in the current task subspace. t 11 = S 1 / V 1 , S 1 This is the projection length of the shortest task path corresponding to the current task subspace in the ascending / descending direction. t 21The duration for actuator 400 to move from the last task point in the current task subspace to the lifting end of the third-stage arm 3.

[0091] The actual lifting speed (relative to the lifting speed of the movable chassis 100) of the horizontal slide table 11 driven by the retraction device B12 is the absolute lifting speed of the actuator 400. V 1 Lifting speed of the lifting arm body V C1 The difference, that is, the retraction device B12 additionally provides the actuator 400 with a lifting speed that is consistent with the lifting arm body. V C1 The opposite is the compensation speed.

[0092] It is understood that the method provided in this embodiment can be executed alone or simultaneously with the method provided in Embodiment 3, without affecting the effectiveness of either method.

[0093] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and these variations still fall within the protection scope of the present invention.

Claims

1. A highly redundant cooperative control method for a mobile elevating work platform, characterized by: The mobile lifting work platform comprises a mobile chassis, a lifting arm, a telescopic arm and an executor, the lifting arm is fixedly installed on the mobile chassis, the lifting arm comprises a lifting arm body, the lifting arm body comprises a first-stage arm, a second-stage arm in sliding connection with the first-stage arm at a lower end and a third-stage arm in sliding connection with the second-stage arm at a lower end; a retraction device A is fixed to a lower end of the first-stage arm, a driving pulley is fixed to an upper end of the first-stage arm, a driving rope is fixed to a lower end of the second-stage arm, and the other end of the driving rope is fixedly connected with the retraction device A after winding around the driving pulley; a transmission pulley is fixed to an upper end of the second-stage arm, a transmission rope is fixed to a lower end of the first-stage arm, and the other end of the transmission rope is fixedly connected with the lower end of the third-stage arm after winding around the transmission pulley; wherein a horizontal sliding table is further in sliding connection with the third-stage arm, a retraction device B is fixed to a lower end of the third-stage arm, a fine pulley is fixed to an upper end of the third-stage arm, and a fine rope is fixed to the horizontal sliding table, and the other end of the fine rope is fixedly connected with the retraction device B after winding around the fine pulley; The first-stage arm, the second-stage arm and the third-stage arm are both two and are arranged in parallel, and the two first-stage arms, the two second-stage arms and the two third-stage arms are fixed through connecting pieces; correspondingly, the driving pulley, the driving rope, the transmission pulley, the transmission rope, the fine pulley and the fine rope are all two; A driving hook for connecting the driving rope is fixed to a lower end of the second-stage arm, and a transmission hook for connecting the transmission rope is fixed to a lower end of the third-stage arm; The telescopic arm is fixedly installed at an output end of the horizontal sliding table, and the executor is fixedly installed on the telescopic arm; The method comprises the following steps: S1. dividing a to-be-worked region into a plurality of sequentially adjacent task spaces along the advancing direction of the mobile chassis; S2. keeping the mobile chassis continuously moving along its advancing direction; S3. for any current task space to be passed through by the executor, constructing a shortest task path connecting all task points in the current task space; S4. moving the executor through the lifting arm, the horizontal sliding table and the telescopic arm, so that the executor works on each task point in the current task space based on the shortest task path; S5. after the executor works on all task points in the current task space, keeping the height of the lifting arm unchanged, and moving the executor to the end of the horizontal sliding table in the advancing direction of the horizontal sliding table at a predetermined speed through the horizontal sliding table; S6. when the mobile chassis enters the next task space with the executor, repeating the contents of steps S3-S5 until all task points in all task spaces are completed; wherein, in the moving direction of the mobile chassis, the implementer moves at an absolute speed V to perform a task; and when the implementer has performed a task on all task points in the current task space and moves to the end of the moving direction of the horizontal slide, the mobile chassis just drives the implementer into the next task space.

2. The high-redundancy cooperative control method according to claim 1, characterized by: a speed of the mobile chassis moving from the current task space to the next task space V C = L / ( t 1 +t 2 ); L a span of the current task space along the mobile chassis advancing direction; t 1 a duration of the executor performing a job in the current task space, t 1 = S / V , S a projection length of the shortest task path corresponding to the current task space in the mobile chassis advancing direction; t 2 a duration of the executor moving from the last task point in the current task space to the end of the horizontal sliding table advancing direction.

3. The high-redundancy cooperative control method according to claim 2, characterized by: The actual speed at which the horizontal slide moves the effector is the absolute speed of the effector V minus the difference between the forward speed of the mobile chassis V C , i.e. the horizontal slide provides an additional compensation speed to the effector opposite to the forward speed of the mobile chassis V C .

4. The method according to any one of claims 1 to 3, characterized in that: The moving direction of the mobile chassis, the lifting direction of the lifting arm and the telescopic direction of the telescopic arm are all perpendicular to each other.

5. A high-redundancy cooperative control method for a mobile lifting work platform, characterized in that: The mobile lifting work platform comprises a mobile chassis, a lifting arm, a telescopic arm and an executor, the lifting arm is fixedly installed on the mobile chassis, the lifting arm comprises a lifting arm body, the lifting arm body comprises a first-stage arm, a second-stage arm slidably connected with the first-stage arm at a lower end and a third-stage arm slidably connected with the second-stage arm at a lower end; a retraction device A is fixed to a lower end of the first-stage arm, a driving pulley is fixed to an upper end of the first-stage arm, a driving rope is fixed to a lower end of the second-stage arm, and the other end of the driving rope is fixedly connected with the retraction device A after winding around the driving pulley; a transmission pulley is fixed to an upper end of the second-stage arm, a transmission rope is fixed to a lower end of the first-stage arm, and the other end of the transmission rope is fixedly connected with the lower end of the third-stage arm after winding around the transmission pulley; wherein a horizontal sliding table is further slidably connected to the third-stage arm, a retraction device B is fixed to a lower end of the third-stage arm, a fine pulley is fixed to an upper end of the third-stage arm, and a fine rope is fixed to the horizontal sliding table, and the other end of the fine rope is fixedly connected with the retraction device B after winding around the fine pulley; The first-stage arm, the second-stage arm and the third-stage arm are both two and are arranged in parallel, and the two first-stage arms, the two second-stage arms and the two third-stage arms are fixed by connecting pieces; correspondingly, the driving pulley, the driving rope, the transmission pulley, the transmission rope, the fine pulley and the fine rope are all two; A driving hook for connecting the driving rope is fixed to the lower end of the second-stage arm, and a transmission hook for connecting the transmission rope is fixed to the lower end of the third-stage arm; The telescopic arm is fixedly installed at an output end of the horizontal sliding table, and the executor is fixedly installed on the telescopic arm; The method comprises the following steps: S01. Dividing a to-be-worked region into a plurality of sequentially adjacent task spaces along the advancing direction of the mobile chassis, and dividing each task space into a plurality of sequentially adjacent task subspaces along the lifting direction; S02. For each task space passed by the mobile chassis, the retraction device A drives the lifting arm body to continuously lift in one direction; S03. For any current task subspace passed by the executor, constructing a shortest task path connecting all task points in the current task subspace; S04. Driving the executor to move through the retraction device B, the horizontal sliding table and the telescopic arm, so that the executor works on each task point in the current task subspace based on the shortest task path; S05. After the executor works on all task points in the current task subspace, keeping the position of the horizontal sliding table unchanged, and driving the executor to move to the end of the third-stage arm along the lifting direction at a predetermined speed through the retraction device B; S06. When the lifting arm body drives the executor to enter the next task subspace, repeating the contents of steps S03-S05 until all task points in all task subspaces are completed. S07. The mobile chassis drives the implementer into the next task space, the lifting arm body reverses lifting, and the contents of steps S03-S06 are repeated until all task points in all task spaces are completed. In step S05, the actuator is moved in the lifting direction at an absolute lifting speed V 1 carries out the work; and when the actuator has finished working on all the task points in the current task subspace and moves to the end of the third-stage arm lifting direction, the lifting arm body just drives the actuator into the next task subspace.

6. The high-redundancy cooperative control method according to claim 5, characterized in that: a speed of the lifting arm body moving from the current task subspace to the next task subspace V C1 = L 1 / ( t 11 +t 21 ); L 1 a span of the current task subspace along the lifting direction; t 11 a time length of the executor performing a job in the current task subspace, t 11 = S 1 / V 1 , S 1 a projection length of the shortest task path corresponding to the current task subspace in the lifting direction; t 21 a time length of the executor moving from the last task point in the current task subspace to the end of the lifting direction of the third arm The actual lifting speed of the horizontal sliding table driven by the retraction and extension device B is the absolute lifting speed of the actuator V 1 The difference between the lifting speed of the lifting arm body and the lifting speed of the actuator, that is, the retraction and extension device B additionally provides an opposite compensation speed to the actuator V C1 The difference between the lifting speed of the lifting arm body and the lifting speed of the actuator, that is, the retraction and extension device B additionally provides an opposite compensation speed to the actuator V C1 The difference between the lifting speed of the lifting arm body and the lifting speed of the actuator, that is, the retraction and extension device B additionally provides an opposite compensation speed to the actuator 7. The method according to any one of claims 5-6, characterized by: The moving direction of the mobile chassis, the lifting direction of the lifting arm, and the telescopic direction of the telescopic arm are perpendicular to each other.

Images