A method and system for motion path planning of an operating robot arm for construction machinery

Abstract

The present invention discloses a motion path planning method and system for a working robot arm for construction machinery, which relates to the field of robot arm technology, including: constructing a three-dimensional model of a construction area; constructing a robot arm model; obtaining the initial position and form of the working robot arm at the current moment; determining the working position and form of the working robot arm; generating a preliminary motion path; judging whether the preliminary motion path collides with an object in the construction area; obtaining the working robot arm position and form of all working robot arms in the construction area - a moment-to-moment dynamic change instruction; judging whether all working robot arms in the construction area have working robot arms with position interference at the same moment. The advantages of the present invention are: combining all working robot arms in the construction site to comprehensively plan and adjust the motion path, so as to maximize the working efficiency of the working robot arm, and at the same time, it can realize the coordinated work of multiple robot arms, realize the efficient and stable construction work, and greatly improve the efficiency of the construction work.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a motion path planning method and system for an operating mechanical arm of a construction machine. Background Art

[0002] Robotic arms are the most widely used automated mechanical devices in the field of robotics, and can be found in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration, etc. Although they have different forms, they all have one common feature, which is the ability to receive instructions and accurately locate a point in three-dimensional (or two-dimensional) space to perform operations.

[0003] With the development of the construction industry, especially the application of 3D printing technology and prefabricated assembly building technologies in the construction industry, operating robots are playing an increasingly important role in the construction process. During the operation of existing operating robots, the control instructions rely on the control of the operating staff. When multiple operating robots interfere with each other, it is difficult to comprehensively plan and adjust the motion paths of all the operating robots in the construction site, which makes it difficult to maximize the working efficiency of the operating robots. Summary of the invention

[0004] In order to solve the above-mentioned technical problems, a method and system for motion path planning of a working robot arm for construction machinery are provided. This technical solution solves the above-mentioned application in the construction industry. The working robot arm plays an increasingly important role in the construction operation process. During the operation of the existing working robot arm, the control instructions rely on the control of the operating staff. When multiple working robot arms interfere with each other in motion, it is difficult to comprehensively plan and adjust the motion path of all the working robot arms in the construction site, which makes it difficult to maximize the working efficiency of the working robot arm.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is:

[0006] A method for motion path planning of a working robot arm for a construction machine, comprising:

[0007] Acquire all three-dimensional data of the building area, and simulate and construct a three-dimensional model of the building area based on all the three-dimensional data of the building area;

[0008] Obtain the size parameters, motion parameters and position parameters of all operating robot arms in the construction area;

[0009] Based on the size parameters and position parameters of all the operating mechanical arms in the construction area, a mechanical arm model of corresponding proportion is constructed at the corresponding position of the three-dimensional model of the construction area;

[0010] Get the initial position of the robot arm at the current moment;

[0011] Obtaining an operation instruction of the operation robot arm, and determining an operation position and form of the operation robot arm based on the operation instruction of the operation robot arm;

[0012] Based on the motion parameters of the working robot arm, the motion path of the working robot arm in an unobstructed state is automatically generated and recorded as the preliminary motion path;

[0013] Conducting a running simulation of the preliminary motion path in the three-dimensional model of the building area to determine whether the preliminary motion path collides with objects in the building area. If so, based on the preliminary motion path and the operation instructions of the operating robot arm, performing obstacle avoidance planning on the path in the preliminary motion path that collides with objects in the building area is recorded as the obstacle avoidance motion path. If not, the preliminary motion path is recorded as the obstacle avoidance motion path.

[0014] Based on the initial position and shape of the working robot arm at the current moment and the obstacle avoidance action path, determine the position and shape of the working robot arm that the working robot arm needs to complete the working instruction - the moment-to-moment dynamic change instruction;

[0015] Obtain the position and form of all the working manipulators in the construction area - dynamic change instructions at all times;

[0016] When all the working robots in the construction area simultaneously execute the working robot position form-time dynamic change instruction, whether there are working robots with position interference at the same time. If so, based on the obstacle avoidance action path, through the path dynamic planning algorithm, dynamic avoidance planning of at least one working robot with position interference is planned in the area of ​​position interference, and recorded as the final action path. If not, the obstacle avoidance action path is used as the final action path.

[0017] Preferably, the automatic generation of the motion path of the operating robot arm in an unobstructed state based on the motion parameters of the operating robot arm, recorded as the preliminary motion path, specifically includes:

[0018] Determine the working point of the operating robot arm based on the operating instruction of the operating robot arm;

[0019] Determine the initial position point of the working point of the operating robot arm based on the initial position shape of the operating robot arm;

[0020] Determine the working position point of the working point of the working robot arm based on the working position form of the working robot arm;

[0021] The connection line between the initial position point of the working point of the working robot arm and the working position point of the working point of the working robot arm is used as the working point working path of the working robot arm;

[0022] Based on the working path of the working point of the working robot arm, the motion control parameters of each joint point of the working robot arm are automatically calculated and recorded as preliminary control parameters;

[0023] Determine the motion trajectory of each point of the entire operating robot arm under the control of the preliminary control parameters, which is the preliminary motion path.

[0024] Preferably, the obstacle avoidance planning based on the preliminary motion path and the operation instruction of the operation robot arm on the path that collides with the object in the building area in the preliminary motion path specifically includes:

[0025] Determine the area of ​​the operating robot arm where the preliminary action path collides with objects in the building area and record it as the area to be avoided;

[0026] Determine the point in the area to be avoided under the preliminary action path where the motion trajectory is the farthest from the surface of the three-dimensional model of the building area as the obstacle avoidance operation point;

[0027] Determine the start time and end time of collision between the obstacle avoidance operation point and the three-dimensional model of the building area, which are recorded as the obstacle avoidance start time point and the obstacle avoidance end time point respectively;

[0028] Determine the positions of the obstacle avoidance operation points in the preliminary action path at the obstacle avoidance start time point and the obstacle avoidance end time point, which are recorded as the obstacle avoidance start position point and the obstacle avoidance end position point respectively;

[0029] Generate several curves that can completely avoid the surface of the three-dimensional model at the obstacle avoidance starting point and the obstacle avoidance ending point, which are recorded as preliminary obstacle avoidance curves;

[0030] The initial obstacle avoidance curve with the shortest distance is selected and recorded as the optimal obstacle avoidance curve. The optimal obstacle avoidance curve replaces the line connecting the obstacle avoidance starting point and the obstacle avoidance ending point in the initial action path to obtain the obstacle avoidance path of the obstacle avoidance operation point.

[0031] Based on the obstacle avoidance path of the obstacle avoidance operation point, the motion control parameters of each joint point of the operating robot arm are automatically calculated and recorded as obstacle avoidance control parameters;

[0032] Determine the motion trajectory of each point of the entire operating robot arm under the control of the obstacle avoidance control parameters, which is the obstacle avoidance action path.

[0033] Preferably, the path dynamic planning algorithm specifically includes:

[0034] Determine two interfering operating mechanical arms, which are respectively recorded as a first operating mechanical arm and a second operating mechanical arm;

[0035] Determine the start time and end time of the position interference of the working robot arm, which are recorded as the interference start time and the interference end time;

[0036] Determine the areas where the positions of the two operating mechanical arms interfere with each other, which are respectively recorded as the first interference area and the second interference area, and the first interference area and the second interference area correspond to the first operating mechanical arm and the second operating mechanical arm respectively;

[0037] Determine the two points with the longest path trajectories in the first interference area and the second interference area under the obstacle avoidance action paths of the two working robot arms, and record them as the first interference operation point and the second interference operation point respectively;

[0038] Based on the avoidance planning algorithm, an avoidance path when avoiding the first interfering operation point and the second interfering operation point is determined, which is recorded as a first avoidance curve and a second avoidance curve;

[0039] Calculate the avoidance indexes of the first avoidance curve and the second avoidance curve respectively, and select the first avoidance curve or the second avoidance curve with the smallest avoidance index as the optimal avoidance curve;

[0040] Determine the operating robot arm corresponding to the optimal avoidance curve, record it as the avoidance operating robot arm, replace the paths of the interference start time and the interference end time of the interference operating point in the avoidance operating robot arm with the optimal avoidance curve, and obtain the avoidance path of the interference operating point;

[0041] Based on the avoidance path of the obstacle avoidance operation point, the motion control parameters of each joint point of the operation robot arm are automatically calculated and recorded as the avoidance control parameters;

[0042] Determine the motion trajectory of each point of the entire operating robot arm under the control of the avoidance control parameters, which is the final action path.

[0043] Preferably, the avoidance planning algorithm is specifically:

[0044] Determine all spaces swept by the first interference area or the second interference area at the interference start time and the interference end time under the obstacle avoidance action path, and record them as the first interference space or the second interference space;

[0045] Based on the position of the first interference operation point or the second interference operation point between the interference start time and the interference end time, a plurality of curves that can completely avoid the second interference space or the first interference space are generated, which are recorded as preliminary avoidance curves;

[0046] The preliminary avoidance curve with the shortest distance is selected and recorded as the first avoidance curve or the second avoidance curve.

[0047] Preferably, the calculation method of the avoidance index is:

[0048] Determine respectively the power consumption increase values ​​caused when the first operating mechanical arm and the operating mechanical arm move according to the first avoidance curve or the second avoidance curve, and record them as the first power consumption increase value and the second power consumption increase value respectively;

[0049] Determine the time increase value caused by the first operating robot arm and the operating robot arm moving according to the first avoidance curve or the second avoidance curve, respectively, and record them as the first time increase value and the second time increase value;

[0050] Calculate the avoidance index of the first avoidance curve and the second avoidance curve based on the avoidance index calculation formula;

[0051] The avoidance index calculation formula is specifically:

[0052]

[0053] In the formula, is the avoidance index of the first avoidance curve, is the avoidance index of the second avoidance curve, is the first power consumption increase value, Add a value for the second power consumption, Add value to the first time consumption, Add a value to the second time. is the efficiency weight.

[0054] Furthermore, a motion path planning system for a working robot arm of a construction machine is proposed, which is used to implement the motion path planning method for a working robot arm of a construction machine as described above, comprising:

[0055] A simulation module, the simulation module is developed based on either MATLAB or ADAMS, the simulation module is used to obtain all three-dimensional data of the building area, and simulate and construct a three-dimensional model of the building area based on all the three-dimensional data of the building area, obtain size parameters, motion parameters and position parameters of all operating mechanical arms in the building area, and construct a mechanical arm model of corresponding proportion at a corresponding position of the three-dimensional model of the building area based on the size parameters and position parameters of all operating mechanical arms in the building area, and control the operating mechanical arm to perform operation simulation;

[0056] A path initial generation module, the path initial generation module is used to obtain the initial position and form of the working robot arm at the current moment, obtain the working instruction of the working robot arm, determine the working position and form of the working robot arm based on the working instruction of the working robot arm, and automatically generate the working robot arm motion path in an unobstructed state based on the motion parameters of the working robot arm, which is recorded as the initial motion path;

[0057] An obstacle avoidance module, the obstacle avoidance module is electrically connected to the simulation module and the path initial generation module, and is used for performing obstacle avoidance planning on the path that collides with the object in the building area in the preliminary action path when the preliminary action path collides with the object in the building area, and recording it as the obstacle avoidance action path;

[0058] The interference avoidance module is electrically connected to the obstacle avoidance module and the simulation module. The interference avoidance module is used to plan the dynamic avoidance plan of at least one operating robot arm with position interference in the area of ​​position interference based on the obstacle avoidance action path through a path dynamic planning algorithm when multiple operating robot arms have motion interference, and the plan is recorded as the final action path.

[0059] Optionally, the obstacle avoidance module includes:

[0060] An obstacle avoidance point analysis unit, the obstacle avoidance point analysis unit is used to determine the area of ​​the operating robot arm where the preliminary action path collides with an object in the building area, recorded as the area to be avoided, and determine the point in the area to be avoided under the preliminary action path where the motion trajectory is farthest from the surface of the three-dimensional model of the building area as the obstacle avoidance operation point;

[0061] An obstacle avoidance planning unit, the obstacle avoidance planning unit is used to determine the start time and end time of the collision between the obstacle avoidance operation point and the three-dimensional model of the building area, which are recorded as the obstacle avoidance start time point and the obstacle avoidance end time point respectively, determine the position of the obstacle avoidance operation point in the preliminary action path at the obstacle avoidance start time point and the obstacle avoidance end time point respectively, record them as the obstacle avoidance start position point and the obstacle avoidance end position point, generate several curves that can completely avoid the surface of the three-dimensional model at the obstacle avoidance start position point and the obstacle avoidance end position point, record them as preliminary obstacle avoidance curves, and select the preliminary obstacle avoidance curve with the shortest distance, which is recorded as the optimal obstacle avoidance curve;

[0062] An obstacle avoidance replacement unit is used to replace the line connecting the obstacle avoidance starting position point and the obstacle avoidance ending position point in the preliminary action path with the optimal obstacle avoidance curve to obtain the obstacle avoidance path of the obstacle avoidance operation point. Based on the obstacle avoidance path of the obstacle avoidance operation point, the motion control parameters of each joint point of the operating robot arm are automatically calculated and recorded as the obstacle avoidance control parameters. The motion trajectory of each point of the entire operating robot arm under the control of the obstacle avoidance control parameters is determined, which is the obstacle avoidance action path.

[0063] Optionally, the interference avoidance module includes:

[0064] An interference analysis unit, the interference analysis unit is used to determine the two operating mechanical arms that interfere with each other, which are respectively recorded as the first operating mechanical arm and the second operating mechanical arm, determine the start time and the end time of the position interference of the operating mechanical arms, which are recorded as the interference start time and the interference end time, determine the areas where the two operating mechanical arms interfere with each other, which are respectively recorded as the first interference area and the second interference area, the first interference area and the second interference area correspond to the first operating mechanical arm and the second operating mechanical arm one by one, determine the two points with the farthest path trajectory distance in the first interference area and the second interference area under the obstacle avoidance action path of the two operating mechanical arms, which are respectively recorded as the first interference operation point and the second interference operation point, and determine the avoidance path when the first interference operation point and the second interference operation point avoid each other based on the avoidance planning algorithm, which are recorded as the first avoidance curve and the second avoidance curve;

[0065] An avoidance robot arm determination unit, the avoidance robot arm determination unit is used to calculate avoidance indices of the first avoidance curve and the second avoidance curve respectively, and select the first avoidance curve or the second avoidance curve with the smallest avoidance index, which is recorded as the optimal avoidance curve, and determine the operating robot arm corresponding to the optimal avoidance curve, which is recorded as the avoidance operating robot arm;

[0066] An avoidance replacement unit is used to replace the paths of the interference start time and the interference end time of the interference operation point in the avoidance operation robot arm with the optimal avoidance curve to obtain the avoidance path of the interference operation point. Based on the avoidance path of the obstacle avoidance operation point, the motion control parameters of each joint point of the operation robot arm are automatically calculated and recorded as the avoidance control parameters. The motion trajectory of each point of the entire operation robot arm under the control of the avoidance control parameters is determined, which is the final action path.

[0067] Compared with the prior art, the present invention has the following beneficial effects:

[0068] The present invention proposes a motion path planning method for a working robot arm for construction machinery. The motion path of the working robot arm is comprehensively analyzed based on all three-dimensional data inside the construction area and the working robot arm. First, the shortest moving path to complete the work instruction is planned based on the working instruction of the working robot arm, and subsequent obstacle avoidance path planning and interference avoidance path planning are performed based on the shortest moving path. The energy consumption of the working robot arm when completing the work can be greatly reduced. The motion path is adjusted by comprehensively planning in combination with all the working robots in the construction site to maximize the work efficiency of the working robot arm. At the same time, multiple robots can work together to achieve efficient and stable construction work, greatly improving the efficiency of construction work. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 This is a flow chart of the motion path planning method for the working robot arm of the construction machinery proposed in this scheme;

[0070] Figure 2 Flowchart of the method for generating preliminary action paths proposed for this solution;

[0071] Figure 3 Flowchart of the method for obstacle avoidance planning proposed for this scheme;

[0072] Figure 4 A method flow chart of the path dynamic planning algorithm proposed for this scheme;

[0073] Figure 5 A method flow chart of the avoidance planning algorithm proposed for this scheme;

[0074] Figure 6 Flowchart of the calculation method of the avoidance index proposed for this scheme. DETAILED DESCRIPTION

[0075] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0076] Reference Figure 1 As shown, a method for motion path planning of a working robot arm for a construction machine comprises:

[0077] Acquire all three-dimensional data of the building area, and simulate and construct a three-dimensional model of the building area based on all the three-dimensional data of the building area;

[0078] Obtain the size parameters, motion parameters and position parameters of all operating robot arms in the construction area;

[0079] Based on the size parameters and position parameters of all the operating mechanical arms in the construction area, a mechanical arm model of corresponding proportion is constructed at the corresponding position of the three-dimensional model of the construction area;

[0080] Get the initial position of the robot arm at the current moment;

[0081] Obtaining an operation instruction of the operation robot arm, and determining an operation position and form of the operation robot arm based on the operation instruction of the operation robot arm;

[0082] Based on the motion parameters of the working robot arm, the motion path of the working robot arm in an unobstructed state is automatically generated and recorded as the preliminary motion path;

[0083] Conducting a running simulation of the preliminary motion path in the three-dimensional model of the building area to determine whether the preliminary motion path collides with objects in the building area. If so, based on the preliminary motion path and the operation instructions of the operating robot arm, performing obstacle avoidance planning on the path in the preliminary motion path that collides with objects in the building area is recorded as the obstacle avoidance motion path. If not, the preliminary motion path is recorded as the obstacle avoidance motion path.

[0084] Based on the initial position and shape of the working robot arm at the current moment and the obstacle avoidance action path, determine the position and shape of the working robot arm that the working robot arm needs to complete the working instruction - the moment-to-moment dynamic change instruction;

[0085] Obtain the position and form of all the working manipulators in the construction area - dynamic change instructions at all times;

[0086] When all the working robots in the construction area simultaneously execute the working robot position form-time dynamic change instruction, whether there are working robots with position interference at the same time. If so, based on the obstacle avoidance action path, through the path dynamic planning algorithm, dynamic avoidance planning of at least one working robot with position interference is planned in the area of ​​position interference, and recorded as the final action path. If not, the obstacle avoidance action path is used as the final action path.

[0087] This solution is based on a comprehensive overall analysis of all the three-dimensional data and operating robotic arms within the construction area. The motion path of the operating robotic arms can greatly reduce the energy consumption of the operating robotic arms when completing their work. Combined with all the operating robotic arms in the construction site, the motion paths are comprehensively planned and adjusted to maximize the working efficiency of the operating robotic arms. At the same time, multiple robotic arms can work together to improve construction efficiency.

[0088] Reference Figure 2 As shown, based on the motion parameters of the working robot arm, the motion path of the working robot arm in the unobstructed state is automatically generated, which is recorded as the preliminary motion path and specifically includes:

[0089] Determine the working point of the operating robot arm based on the operating instruction of the operating robot arm;

[0090] Determine the initial position point of the working point of the operating robot arm based on the initial position shape of the operating robot arm;

[0091] Determine the working position point of the working point of the working robot arm based on the working position form of the working robot arm;

[0092] The connection line between the initial position point of the working point of the working robot arm and the working position point of the working point of the working robot arm is used as the working point working path of the working robot arm;

[0093] Based on the working path of the working point of the working robot arm, the motion control parameters of each joint point of the working robot arm are automatically calculated and recorded as preliminary control parameters;

[0094] Determine the motion trajectory of each point of the entire operating robot arm under the control of the preliminary control parameters, which is the preliminary motion path.

[0095] Based on the working instructions of the working robot arm, the shortest moving path to complete the working instructions is planned as the preliminary action path. The preliminary action path represents the most efficient path for the working robot arm to complete the working instructions in an unobstructed state throughout the process. Subsequent obstacle avoidance path planning and interference avoidance path planning based on this path can greatly reduce the energy consumption of the working robot arm when completing the work.

[0096] Reference Figure 3 As shown, based on the preliminary motion path and the operation instructions of the working robot arm, the obstacle avoidance planning of the path that collides with the objects in the building area in the preliminary motion path specifically includes:

[0097] Determine the area of ​​the operating robot arm where the preliminary action path collides with objects in the building area and record it as the area to be avoided;

[0098] Determine the point in the area to be avoided under the preliminary action path where the motion trajectory is the farthest from the surface of the three-dimensional model of the building area as the obstacle avoidance operation point;

[0099] Determine the start time and end time of collision between the obstacle avoidance operation point and the three-dimensional model of the building area, which are recorded as the obstacle avoidance start time point and the obstacle avoidance end time point respectively;

[0100] Determine the positions of the obstacle avoidance operation points in the preliminary action path at the obstacle avoidance start time point and the obstacle avoidance end time point, which are recorded as the obstacle avoidance start position point and the obstacle avoidance end position point respectively;

[0101] Generate several curves that can completely avoid the surface of the three-dimensional model at the obstacle avoidance starting point and the obstacle avoidance ending point, which are recorded as preliminary obstacle avoidance curves;

[0102] The initial obstacle avoidance curve with the shortest distance is selected and recorded as the optimal obstacle avoidance curve. The optimal obstacle avoidance curve replaces the line connecting the obstacle avoidance starting point and the obstacle avoidance ending point in the initial action path to obtain the obstacle avoidance path of the obstacle avoidance operation point.

[0103] Based on the obstacle avoidance path of the obstacle avoidance operation point, the motion control parameters of each joint point of the operating robot arm are automatically calculated and recorded as obstacle avoidance control parameters;

[0104] Determine the motion trajectory of each point of the entire operating robot arm under the control of the obstacle avoidance control parameters, which is the obstacle avoidance action path.

[0105] Reference Figure 4As shown, the path dynamic planning algorithm specifically includes:

[0106] Determine two interfering operating mechanical arms, which are respectively recorded as a first operating mechanical arm and a second operating mechanical arm;

[0107] Determine the start time and end time of the position interference of the working robot arm, which are recorded as the interference start time and the interference end time;

[0108] Determine the areas where the positions of the two operating mechanical arms interfere with each other, which are respectively recorded as the first interference area and the second interference area, and the first interference area and the second interference area correspond to the first operating mechanical arm and the second operating mechanical arm respectively;

[0109] Determine the two points with the longest path trajectories in the first interference area and the second interference area under the obstacle avoidance action paths of the two working robot arms, and record them as the first interference operation point and the second interference operation point respectively;

[0110] Based on the avoidance planning algorithm, an avoidance path when avoiding the first interfering operation point and the second interfering operation point is determined, which is recorded as a first avoidance curve and a second avoidance curve;

[0111] Calculate the avoidance indexes of the first avoidance curve and the second avoidance curve respectively, and select the first avoidance curve or the second avoidance curve with the smallest avoidance index as the optimal avoidance curve;

[0112] Determine the operating robot arm corresponding to the optimal avoidance curve, record it as the avoidance operating robot arm, replace the paths of the interference start time and the interference end time of the interference operating point in the avoidance operating robot arm with the optimal avoidance curve, and obtain the avoidance path of the interference operating point;

[0113] Based on the avoidance path of the obstacle avoidance operation point, the motion control parameters of each joint point of the operation robot arm are automatically calculated and recorded as the avoidance control parameters;

[0114] Determine the motion trajectory of each point of the entire operating robot arm under the control of the avoidance control parameters, which is the final action path.

[0115] Reference Figure 5 As shown in Figure 2, the avoidance planning algorithm is as follows:

[0116] Determine all spaces swept by the first interference area or the second interference area at the interference start time and the interference end time under the obstacle avoidance action path, and record them as the first interference space or the second interference space;

[0117] Based on the position of the first interference operation point or the second interference operation point between the interference start time and the interference end time, a plurality of curves that can completely avoid the second interference space or the first interference space are generated, which are recorded as preliminary avoidance curves;

[0118] The preliminary avoidance curve with the shortest distance is selected and recorded as the first avoidance curve or the second avoidance curve.

[0119] Reference Figure 6 As shown in the figure, the calculation method of the avoidance index is:

[0120] Determine respectively the power consumption increase values ​​caused when the first operating mechanical arm and the operating mechanical arm move according to the first avoidance curve or the second avoidance curve, and record them as the first power consumption increase value and the second power consumption increase value respectively;

[0121] Determine the time increase value caused by the first operating robot arm and the operating robot arm moving according to the first avoidance curve or the second avoidance curve, respectively, and record them as the first time increase value and the second time increase value;

[0122] Calculate the avoidance index of the first avoidance curve and the second avoidance curve based on the avoidance index calculation formula;

[0123] The calculation formula of the avoidance index is as follows:

[0124]

[0125] In the formula, is the avoidance index of the first avoidance curve, is the avoidance index of the second avoidance curve, is the first power consumption increase value, Add a value for the second power consumption, Add value to the first time consumption, Add a value to the second time. is the efficiency weight.

[0126] In this scheme, the avoidance index is proposed to conduct a comprehensive analysis of the avoidance evaluation of the operating robot arm in combination with the avoidance power loss and avoidance time of the operating robot arm. At the same time, the efficiency weight is set to adjust the influence weight of the time consumption in the avoidance index. When the building area requires efficient operation, the value of the efficiency weight can be increased, so that the robot arm can focus more on low time consumption when avoiding.

[0127] Among them, it can be understood that intelligently calculating the motion control parameters of each joint point of the working robot arm based on the work point path is a mature existing technology in this field and will not be elaborated in this solution.

[0128] Further, based on the same inventive concept as the above-mentioned method for planning a motion path of a working robot arm for a construction machine, the present solution proposes a system for planning a motion path of a working robot arm for a construction machine, comprising:

[0129] A simulation module is developed based on MATLAB or ADAMS. The simulation module is used to obtain all three-dimensional data of the building area, and to simulate and construct a three-dimensional model of the building area based on all the three-dimensional data of the building area, to obtain size parameters, motion parameters and position parameters of all operating mechanical arms in the building area, and to construct a mechanical arm model of corresponding proportion at a corresponding position of the three-dimensional model of the building area based on the size parameters and position parameters of all operating mechanical arms in the building area, and to control the operating mechanical arms to perform operation simulation;

[0130] The path initial generation module is used to obtain the initial position and shape of the working robot arm at the current moment, obtain the working instructions of the working robot arm, determine the working position and shape of the working robot arm based on the working instructions of the working robot arm, and automatically generate the working robot arm motion path in an unobstructed state based on the motion parameters of the working robot arm, which is recorded as the initial motion path;

[0131] The obstacle avoidance module is electrically connected to the simulation module and the path initial generation module. The obstacle avoidance module is used to plan the path that collides with the object in the building area in the preliminary action path when the preliminary action path collides with the object in the building area, and the path is recorded as the obstacle avoidance action path;

[0132] The interference avoidance module is electrically connected to the obstacle avoidance module and the simulation module. The interference avoidance module is used to plan the dynamic avoidance plan of at least one operating robot arm with position interference in the area of ​​position interference based on the obstacle avoidance action path through the path dynamic planning algorithm when multiple operating robot arms have motion interference, and the plan is recorded as the final action path.

[0133] The obstacle avoidance module includes:

[0134] The obstacle avoidance point analysis unit is used to determine the area of ​​the operating robot arm where the preliminary action path collides with the object in the building area, which is recorded as the area to be avoided, and determine the point in the area to be avoided under the preliminary action path where the motion trajectory is farthest from the surface of the three-dimensional model of the building area as the obstacle avoidance operation point;

[0135] The obstacle avoidance planning unit is used to determine the start time and end time of the collision between the obstacle avoidance operation point and the three-dimensional model of the building area, which are recorded as the obstacle avoidance start time point and the obstacle avoidance end time point respectively, determine the position of the obstacle avoidance operation point in the preliminary action path at the obstacle avoidance start time point and the obstacle avoidance end time point respectively, and generate several curves that can completely avoid the surface of the three-dimensional model at the obstacle avoidance start position point and the obstacle avoidance end position point, which are recorded as preliminary obstacle avoidance curves, and select the preliminary obstacle avoidance curve with the shortest distance, which is recorded as the optimal obstacle avoidance curve;

[0136] The obstacle avoidance replacement unit is used to replace the line connecting the obstacle avoidance starting position point and the obstacle avoidance ending position point in the preliminary action path with the optimal obstacle avoidance curve to obtain the obstacle avoidance path of the obstacle avoidance operation point. Based on the obstacle avoidance path of the obstacle avoidance operation point, the motion control parameters of each joint point of the operating robot arm are automatically calculated, recorded as the obstacle avoidance control parameters, and the motion trajectory of each point of the entire operating robot arm under the control of the obstacle avoidance control parameters is determined, which is the obstacle avoidance action path.

[0137] The interference avoidance module includes:

[0138] An interference analysis unit, the interference analysis unit is used to determine the two operating mechanical arms that interfere with each other, which are respectively recorded as the first operating mechanical arm and the second operating mechanical arm, determine the start time and the end time of the position interference of the operating mechanical arms, which are recorded as the interference start time and the interference end time, determine the areas where the two operating mechanical arms interfere with each other, which are respectively recorded as the first interference area and the second interference area, the first interference area and the second interference area correspond to the first operating mechanical arm and the second operating mechanical arm one by one, determine the two points with the farthest path trajectory distance in the first interference area and the second interference area under the obstacle avoidance action path of the two operating mechanical arms, which are respectively recorded as the first interference operation point and the second interference operation point, and determine the avoidance path when the first interference operation point and the second interference operation point avoid each other based on the avoidance planning algorithm, which are recorded as the first avoidance curve and the second avoidance curve;

[0139] The avoidance mechanical arm determination unit is used to calculate the avoidance indexes of the first avoidance curve and the second avoidance curve respectively, and select the first avoidance curve or the second avoidance curve with the smallest avoidance index, which is recorded as the optimal avoidance curve, and determine the operating mechanical arm corresponding to the optimal avoidance curve, which is recorded as the avoidance operating mechanical arm;

[0140] The avoidance replacement unit is used to replace the paths of the interference start and end times of the interference working points in the avoidance operation robot arm with the optimal avoidance curve, and obtain the avoidance path of the interference working point. Based on the avoidance path of the obstacle avoidance working point, the motion control parameters of each joint point of the operation robot arm are automatically calculated, recorded as the avoidance control parameters, and the motion trajectory of each point of the entire operation robot arm under the control of the avoidance control parameters is determined, which is the final action path.

[0141] The use process of the above-mentioned construction machinery operation robot arm motion path planning system is as follows:

[0142] The simulation module obtains all three-dimensional data of the building area, and constructs a three-dimensional model of the building area based on all the three-dimensional data of the building area, obtains size parameters, motion parameters and position parameters of all operating mechanical arms in the building area, and constructs a mechanical arm model of corresponding proportion at the corresponding position of the three-dimensional model of the building area based on the size parameters and position parameters of all operating mechanical arms in the building area;

[0143] The path initial generation module obtains the initial position and form of the working robot arm at the current moment, obtains the working instructions of the working robot arm, determines the working position and form of the working robot arm based on the working instructions of the working robot arm, and automatically generates the working robot arm motion path in an unobstructed state based on the motion parameters of the working robot arm, which is recorded as the initial motion path, and is fed back to the simulation module to simulate the initial motion path, and determines whether the initial motion path collides with objects in the building area. If so, a signal is output to the obstacle avoidance module. If not, the initial motion path is recorded as the obstacle avoidance motion path and output to the interference avoidance module;

[0144] When the obstacle avoidance module receives the signal from the initial path generation module, it calls the obstacle avoidance point analysis unit to determine the area of ​​the operating robot arm where the preliminary action path collides with the object in the building area, which is recorded as the area to be avoided. The point in the area to be avoided under the preliminary action path where the motion trajectory is farthest from the surface of the three-dimensional model of the building area is determined as the obstacle avoidance operation point. Then, the obstacle avoidance planning unit is called to determine the starting time and the ending time of the collision between the obstacle avoidance operation point and the three-dimensional model of the building area, which are recorded as the obstacle avoidance starting time point and the obstacle avoidance ending time point, respectively. The positions of the obstacle avoidance operation points in the preliminary action path at the obstacle avoidance starting time point and the obstacle avoidance ending time point are determined, which are recorded as the obstacle avoidance starting position point and the obstacle avoidance ending position point, respectively. At the obstacle avoidance starting point and the obstacle avoidance ending point, several curves that can completely avoid the surface of the three-dimensional model are generated, which are recorded as preliminary obstacle avoidance curves. The preliminary obstacle avoidance curve with the shortest distance is screened out, which is recorded as the optimal obstacle avoidance curve. Finally, the obstacle avoidance replacement unit is called to replace the connecting line between the obstacle avoidance starting point and the obstacle avoidance ending point in the preliminary action path with the optimal obstacle avoidance curve, and the obstacle avoidance path of the obstacle avoidance operation point is obtained. Based on the obstacle avoidance path of the obstacle avoidance operation point, the motion control parameters of each joint point of the operating robot arm are automatically calculated, which are recorded as obstacle avoidance control parameters. The motion trajectory of each point of the entire operating robot arm under the control of the obstacle avoidance control parameters is determined, which is the obstacle avoidance action path output to the interference avoidance module;

[0145] When the interference avoidance module receives the obstacle avoidance action path, it feeds back the obstacle avoidance action paths of all the manipulators to the simulation module for simulation action simulation, and at the same time determines whether there are manipulators with the same time and position interference when all the manipulators in the building area simultaneously execute the manipulator position form-time dynamic change instruction. If so, the interference analysis unit is called to determine the two manipulators that interfere, which are respectively recorded as the first manipulator and the second manipulator, and to determine the start time and the end time of the manipulator position interference, which are recorded as the interference start time and the interference end time. The areas where the two manipulators interfere with each other are determined, which are respectively recorded as the first interference area and the second interference area. The first interference area and the second interference area correspond to the first manipulator and the second manipulator respectively, and the two points with the farthest path trajectory distance in the first interference area and the second interference area under the obstacle avoidance action path of the two manipulators are determined, which are respectively recorded as the first interference area. point and the second interference operation point, based on the avoidance planning algorithm, determine the avoidance path when avoiding the first interference operation point and the second interference operation point, which are recorded as the first avoidance curve and the second avoidance curve, and then call the avoidance robot arm determination unit to calculate the avoidance indexes of the first avoidance curve and the second avoidance curve respectively, and screen out the first avoidance curve or the second avoidance curve with the smallest avoidance index, which is recorded as the optimal avoidance curve, and determine the operating robot arm corresponding to the optimal avoidance curve, which is recorded as the avoiding operating robot arm. Finally, call the avoidance replacement unit to replace the path of the interference start time and the interference end time of the interference operation point in the avoiding operating robot arm with the optimal avoidance curve, and obtain the avoidance path of the interference operation point. Based on the avoidance path of the obstacle avoidance operation point, the motion control parameters of each joint point of the operating robot arm are automatically calculated, which are recorded as the avoidance control parameters, and the motion trajectory of each point of the entire operating robot arm under the control of the avoidance control parameters is determined, which is the final action path. If not, the obstacle avoidance action path is used as the final action path.

[0146] To sum up, the advantages of the present invention are: comprehensive planning and adjustment of the action paths of all the operating robotic arms in the construction site can maximize the working efficiency of the operating robotic arms, and at the same time, multiple robotic arms can work together to achieve efficient and stable construction work, greatly improving the efficiency of construction work.

[0147] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for planning a motion path of a working robot arm for a construction machine, characterized in that: include: Acquire all three-dimensional data of the building area, and simulate and construct a three-dimensional model of the building area based on all the three-dimensional data of the building area; Obtain the size parameters, motion parameters and position parameters of all operating robot arms in the construction area; Based on the size parameters and position parameters of all the operating mechanical arms in the construction area, a mechanical arm model of corresponding proportion is constructed at the corresponding position of the three-dimensional model of the construction area; Get the initial position of the robot arm at the current moment; Obtaining an operation instruction of the operation robot arm, and determining an operation position and form of the operation robot arm based on the operation instruction of the operation robot arm; Based on the motion parameters of the working robot arm, the motion path of the working robot arm in an unobstructed state is automatically generated and recorded as the preliminary motion path; Conducting a running simulation of the preliminary motion path in the three-dimensional model of the building area to determine whether the preliminary motion path collides with objects in the building area. If so, based on the preliminary motion path and the operation instructions of the operating robot arm, performing obstacle avoidance planning on the path in the preliminary motion path that collides with objects in the building area is recorded as the obstacle avoidance motion path. If not, the preliminary motion path is recorded as the obstacle avoidance motion path. Based on the initial position and shape of the working robot arm at the current moment and the obstacle avoidance action path, determine the position and shape of the working robot arm that the working robot arm needs to complete the working instruction - the moment-to-moment dynamic change instruction; Obtain the position and form of all the working manipulators in the construction area - dynamic change instructions at all times; When all the working manipulators in the construction area simultaneously execute the working manipulator position form-time dynamic change instruction, whether there are working manipulators with position interference at the same time, if so, based on the obstacle avoidance action path, through the path dynamic planning algorithm, the dynamic avoidance planning of at least one working manipulator with position interference is planned in the area of ​​position interference, and recorded as the final action path, if not, the obstacle avoidance action path is used as the final action path; The automatic generation of the motion path of the operating robot arm in an unobstructed state based on the motion parameters of the operating robot arm, recorded as the preliminary motion path, specifically includes: Determine the working point of the operating robot arm based on the operating instruction of the operating robot arm; Determine the initial position point of the working point of the operating robot arm based on the initial position shape of the operating robot arm; Determine the working position point of the working point of the working robot arm based on the working position form of the working robot arm; The connection line between the initial position point of the working point of the working robot arm and the working position point of the working point of the working robot arm is used as the working point working path of the working robot arm; Based on the working path of the working point of the working robot arm, the motion control parameters of each joint point of the working robot arm are automatically calculated and recorded as preliminary control parameters; Determine the motion trajectory of each point of the entire operating robot arm under the control of the preliminary control parameters, which is the preliminary motion path; The obstacle avoidance planning based on the preliminary motion path and the operation instruction of the operation robot arm on the path that collides with the object in the building area in the preliminary motion path specifically includes: Determine the area of ​​the operating robot arm where the preliminary action path collides with objects in the building area and record it as the area to be avoided; Determine the point in the area to be avoided under the preliminary action path where the motion trajectory is the farthest from the surface of the three-dimensional model of the building area as the obstacle avoidance operation point; Determine the start time and end time of collision between the obstacle avoidance operation point and the three-dimensional model of the building area, which are recorded as the obstacle avoidance start time point and the obstacle avoidance end time point respectively; Determine the positions of the obstacle avoidance operation points in the preliminary action path at the obstacle avoidance start time point and the obstacle avoidance end time point, which are recorded as the obstacle avoidance start position point and the obstacle avoidance end position point respectively; At the obstacle avoidance starting point and the obstacle avoidance ending point, several curves are generated that can completely avoid the surface of the three-dimensional model, which are recorded as preliminary obstacle avoidance curves; The initial obstacle avoidance curve with the shortest distance is selected and recorded as the optimal obstacle avoidance curve. The optimal obstacle avoidance curve replaces the line connecting the obstacle avoidance starting point and the obstacle avoidance ending point in the initial action path to obtain the obstacle avoidance path of the obstacle avoidance operation point. Based on the obstacle avoidance path of the obstacle avoidance operation point, the motion control parameters of each joint point of the operating robot arm are automatically calculated and recorded as obstacle avoidance control parameters; Determine the motion trajectory of each point of the entire operating robot arm under the control of the obstacle avoidance control parameters, which is the obstacle avoidance action path; The path dynamic planning algorithm specifically includes: Determine two interfering operating mechanical arms, which are respectively recorded as a first operating mechanical arm and a second operating mechanical arm; Determine the start time and end time of the position interference of the working robot arm, which are recorded as the interference start time and the interference end time; Determine the areas where the positions of the two operating mechanical arms interfere with each other, which are respectively recorded as the first interference area and the second interference area, and the first interference area and the second interference area correspond to the first operating mechanical arm and the second operating mechanical arm respectively; Determine the two points with the longest path trajectories in the first interference area and the second interference area under the obstacle avoidance action paths of the two working robot arms, and record them as the first interference operation point and the second interference operation point respectively; Based on the avoidance planning algorithm, an avoidance path when avoiding the first interfering operation point and the second interfering operation point is determined, which is recorded as a first avoidance curve and a second avoidance curve; Calculate the avoidance indexes of the first avoidance curve and the second avoidance curve respectively, and select the first avoidance curve or the second avoidance curve with the smallest avoidance index as the optimal avoidance curve; Determine the operating robot arm corresponding to the optimal avoidance curve, record it as the avoidance operating robot arm, replace the paths of the interference start time and the interference end time of the interference operating point in the avoidance operating robot arm with the optimal avoidance curve, and obtain the avoidance path of the interference operating point; Based on the avoidance path of the obstacle avoidance operation point, the motion control parameters of each joint point of the operation robot arm are automatically calculated and recorded as the avoidance control parameters; Determine the motion trajectory of each point of the entire operating robot arm under the control of the avoidance control parameters, which is the final motion path; The avoidance planning algorithm is specifically as follows: Determine all spaces swept by the first interference area or the second interference area at the interference start time and the interference end time under the obstacle avoidance action path, and record them as the first interference space or the second interference space; Based on the position of the first interference operation point or the second interference operation point between the interference start time and the interference end time, a plurality of curves that can completely avoid the second interference space or the first interference space are generated, which are recorded as preliminary avoidance curves; A preliminary avoidance curve with the shortest distance is selected and recorded as the first avoidance curve or the second avoidance curve; The calculation method of the avoidance index is: Determine respectively the power consumption increase values ​​caused when the first operating mechanical arm and the operating mechanical arm move according to the first avoidance curve or the second avoidance curve, and record them as the first power consumption increase value and the second power consumption increase value respectively; Determine the time increase value caused by the first operating robot arm and the operating robot arm moving according to the first avoidance curve or the second avoidance curve, respectively, and record them as the first time increase value and the second time increase value; Calculate the avoidance index of the first avoidance curve and the second avoidance curve based on the avoidance index calculation formula; The avoidance index calculation formula is specifically: In the formula, is the avoidance index of the first avoidance curve, is the avoidance index of the second avoidance curve, is the first power consumption increase value, Add a value for the second power consumption, Add value to the first time consumption, Add a value to the second time. is the efficiency weight.

2. A motion path planning system for a construction machine operating robot arm, characterized in that: The method for implementing the motion path planning method of a working robot arm for a construction machine as claimed in claim 1 comprises: A simulation module, the simulation module is developed based on either MATLAB or ADAMS, the simulation module is used to obtain all three-dimensional data of the building area, and simulate and construct a three-dimensional model of the building area based on all the three-dimensional data of the building area, obtain size parameters, motion parameters and position parameters of all operating mechanical arms in the building area, and construct a mechanical arm model of corresponding proportion at a corresponding position of the three-dimensional model of the building area based on the size parameters and position parameters of all operating mechanical arms in the building area, and control the operating mechanical arm to perform operation simulation; A path initial generation module, the path initial generation module is used to obtain the initial position and form of the working robot arm at the current moment, obtain the working instruction of the working robot arm, determine the working position and form of the working robot arm based on the working instruction of the working robot arm, and automatically generate the working robot arm motion path in an unobstructed state based on the motion parameters of the working robot arm, which is recorded as the initial motion path; An obstacle avoidance module, the obstacle avoidance module is electrically connected to the simulation module and the path initial generation module, and is used for performing obstacle avoidance planning on the path that collides with the object in the building area in the preliminary action path when the preliminary action path collides with the object in the building area, and recording it as the obstacle avoidance action path; The interference avoidance module is electrically connected to the obstacle avoidance module and the simulation module. The interference avoidance module is used to plan the dynamic avoidance plan of at least one operating robot arm with position interference in the area of ​​position interference based on the obstacle avoidance action path through a path dynamic planning algorithm when multiple operating robot arms have motion interference, and the plan is recorded as the final action path.

3. The motion path planning system for a construction machine working robot arm according to claim 2, characterized in that: The obstacle avoidance module comprises: An obstacle avoidance point analysis unit, the obstacle avoidance point analysis unit is used to determine the area of ​​the operating robot arm where the preliminary action path collides with an object in the building area, recorded as the area to be avoided, and determine the point in the area to be avoided under the preliminary action path where the motion trajectory is farthest from the surface of the three-dimensional model of the building area as the obstacle avoidance operation point; An obstacle avoidance planning unit, the obstacle avoidance planning unit is used to determine the start time and end time of the collision between the obstacle avoidance operation point and the three-dimensional model of the building area, which are recorded as the obstacle avoidance start time point and the obstacle avoidance end time point respectively, determine the position of the obstacle avoidance operation point in the preliminary action path at the obstacle avoidance start time point and the obstacle avoidance end time point respectively, record them as the obstacle avoidance start position point and the obstacle avoidance end position point, generate several curves that can completely avoid the surface of the three-dimensional model at the obstacle avoidance start position point and the obstacle avoidance end position point, record them as preliminary obstacle avoidance curves, and select the preliminary obstacle avoidance curve with the shortest distance, which is recorded as the optimal obstacle avoidance curve; An obstacle avoidance replacement unit is used to replace the line connecting the obstacle avoidance starting position point and the obstacle avoidance ending position point in the preliminary action path with the optimal obstacle avoidance curve to obtain the obstacle avoidance path of the obstacle avoidance operation point. Based on the obstacle avoidance path of the obstacle avoidance operation point, the motion control parameters of each joint point of the operating robot arm are automatically calculated and recorded as the obstacle avoidance control parameters. The motion trajectory of each point of the entire operating robot arm under the control of the obstacle avoidance control parameters is determined, which is the obstacle avoidance action path.

4. A motion path planning system for a construction machine operating robot arm according to claim 3, characterized in that: The interference avoidance module comprises: An interference analysis unit, the interference analysis unit is used to determine the two operating mechanical arms that interfere with each other, which are respectively recorded as the first operating mechanical arm and the second operating mechanical arm, determine the start time and the end time of the position interference of the operating mechanical arms, which are recorded as the interference start time and the interference end time, determine the areas where the two operating mechanical arms interfere with each other, which are respectively recorded as the first interference area and the second interference area, the first interference area and the second interference area correspond to the first operating mechanical arm and the second operating mechanical arm one by one, determine the two points with the farthest path trajectory distance in the first interference area and the second interference area under the obstacle avoidance action path of the two operating mechanical arms, which are respectively recorded as the first interference operation point and the second interference operation point, and determine the avoidance path when the first interference operation point and the second interference operation point avoid each other based on the avoidance planning algorithm, which are recorded as the first avoidance curve and the second avoidance curve; An avoidance robot arm determination unit, the avoidance robot arm determination unit is used to calculate avoidance indices of the first avoidance curve and the second avoidance curve respectively, and select the first avoidance curve or the second avoidance curve with the smallest avoidance index, which is recorded as the optimal avoidance curve, and determine the operating robot arm corresponding to the optimal avoidance curve, which is recorded as the avoidance operating robot arm; An avoidance replacement unit is used to replace the paths of the interference start time and the interference end time of the interference operation point in the avoidance operation robot arm with the optimal avoidance curve to obtain the avoidance path of the interference operation point. Based on the avoidance path of the obstacle avoidance operation point, the motion control parameters of each joint point of the operation robot arm are automatically calculated and recorded as the avoidance control parameters. The motion trajectory of each point of the entire operation robot arm under the control of the avoidance control parameters is determined, which is the final action path.

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