Planning method for motion posture of bucket arm of insulated bucket arm vehicle and related device

Abstract

The invention provides a method for planning the motion posture of a bucket arm of an insulated bucket arm truck, and the method comprises the steps: carrying out the obstacle recognition based on an environment three-dimensional model of a working site, and recognizing an obstacle region and a movable region of the working site; on the basis of the movable area, a stop point position of a rotating base of the insulated boom truck is selected; based on the obstacle area and the movable area, the movable range of a swing arm of the insulated boom truck is determined; and on the basis of the stopping point of the rotating base, the movable range of the swing arm and the position of the target operation point position, the moving posture of the swing arm and the position information of a working bucket when the insulating bucket arm vehicle works at the target operation point position are obtained. According to the invention, the optimal placement angle of the insulated boom truck can be determined and can be accurately determined through the space coordinates, so that the reasonable planning of the movement direction can be realized.

Description

Technical Field

[0001] The present disclosure relates to the technical field of live working, and in particular to a planning method and related device for the movement posture of a bucket arm of an insulating bucket arm truck. Background Art

[0002] Live work is usually carried out using an insulated boom truck with insulated gloves. The operator needs to operate the truck while disassembling and connecting the equipment. If the operator is inexperienced or the space is narrow, it takes a lot of time to manually operate the boom truck, and even a collision with the boom may occur. It is of great practical significance to modify the operation control of the boom truck and treat the insulated boom truck as a motion control system for traditional robotic arms.

[0003] like Fig. 9 As shown, the arm joint of the hybrid arm insulated bucket truck includes six parts: a rotating base 1, a lower arm 2, an upper arm 3, an extension arm 4, a connecting device 5 and a working bucket 6. According to the traditional robotic arm, it can be regarded as a six-degree-of-freedom robotic arm. The inverse kinematics of the robotic arm refers to solving the rotation and extension of each joint when the end point is known. In the prior art, the inverse kinematics solution of the multi-degree-of-freedom robotic arm may have no solution, multiple solutions or homogeneous solutions. Summary of the invention

[0004] The present disclosure aims to at least solve the technical problem in the prior art that there may be no solution, multiple solutions or homogeneous solutions when solving the inverse kinematics of a multi-degree-of-freedom robotic arm.

[0005] To this end, an object of the present disclosure is to propose a method for planning the motion posture of the bucket arm of an insulated bucket arm vehicle, the method comprising:

[0006] Obstacle recognition is performed based on the three-dimensional model of the work site environment to identify the obstacle area and movable area of ​​the work site;

[0007] Based on the movable area, selecting a stop point of the rotating base of the insulating boom truck;

[0008] Determining the movable range of the swing arm of the insulated boom truck based on the obstacle area and the movable area;

[0009] Based on the stop position of the rotating base, the movable range of the swing arm and the position of the target working point, the movement posture of the swing arm and the position information of the working bucket of the insulated bucket arm vehicle when working at the target working point are obtained.

[0010] In some embodiments, obstacle identification is performed based on the three-dimensional model of the environment of the work site, and identifying the obstacle area and the movable area of ​​the work site includes:

[0011] Based on the three-dimensional model of the environment of the work site, obtaining a planar image of the work site;

[0012] Based on the planar image, the obstacle area and the movable area are identified.

[0013] In some embodiments, based on the obstacle area and the movable area, determining the movable range of the swing arm of the insulated boom truck includes:

[0014] Based on the obstacle area, obtaining a coordinate set of the obstacle area;

[0015] Based on the movable area and the length of the swing arm of the insulated bucket arm vehicle, determining a coordinate set of the insulated bucket arm vehicle in multiple postures in the movable area;

[0016] Based on the coordinate set of the obstacle area and the coordinate set of the insulated bucket arm vehicle in multiple postures, determining whether the insulated bucket arm vehicle will collide with the obstacle area;

[0017] Based on the judgment result, the movable range of the swing arm of the insulated boom truck is determined.

[0018] In some embodiments, a coordinate set of the insulated boom truck in multiple postures in the movable area is determined based on the stop point position of the rotating base and the length of the swing arm of the insulated boom truck.

[0019] In some embodiments, based on the stop position of the rotating base, the movable range of the swing arm and the position of the target working point, obtaining the motion posture of the swing arm and the position information of the working bucket when the insulated bucket arm vehicle is working at the target working point includes:

[0020] Based on the movable range of the swing arm, selecting the parking direction of the swing arm of the insulated bucket arm vehicle;

[0021] Based on the parking direction of the swing arm, the movement posture of the swing arm and the position information of the working bucket of the insulated bucket arm vehicle when working at the target operating point are obtained.

[0022] In some embodiments, based on the parking direction of the swing arm, obtaining the motion posture of the swing arm and the position information of the working bucket of the insulated bucket arm vehicle when working at the target operating point includes:

[0023] Based on the parking direction of the swing arm of the insulated bucket arm vehicle, determining the head end coordinate and the end end coordinate of the swing arm;

[0024] Based on the head end coordinates and the end end coordinates of the swing arm, the motion posture of the swing arm and the position information of the working bucket of the insulated bucket arm vehicle when working at the target operating point are obtained.

[0025] In some embodiments, the movement posture includes at least the rotation amount and / or extension amount of the swing arm of the insulated boom truck.

[0026] Another object of the present disclosure is to provide a motion posture planning device for an insulated boom truck, comprising:

[0027] The area recognition module performs obstacle recognition based on the three-dimensional model of the work site environment and identifies the obstacle area and movable area of ​​the work site;

[0028] A stop point selection module, used to select a stop point of the rotating base of the insulating bucket arm vehicle based on the movable area;

[0029] A motion range determination module, used to determine the movable range of the swing arm of the insulated boom truck based on the obstacle area and the movable area;

[0030] The motion posture acquisition module is used to obtain the motion posture of the swing arm and the position information of the working bucket when the insulated bucket arm vehicle is working at the target working point based on the stop point of the rotating base, the movable range of the swing arm and the position of the target working point.

[0031] Another object of the present disclosure is to provide a storage medium storing a computer program, wherein the computer program implements the steps of the above method when executed by a processor.

[0032] Another object of the present disclosure is to provide an electronic device, comprising at least a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the above method when executing the computer program in the memory.

[0033] The method for planning the movement posture of the bucket arm of an insulated bucket arm vehicle provided in the embodiment of the present disclosure has the following beneficial effects:

[0034] The present invention is based on the spatial position of the target operation point, confirms the reliable rotation position of the rotating base in the movable area in advance, and then determines the movable range of the swing arm at the operation site. Through the spatial position relationship of each swing arm at the operation site, the six-degree-of-freedom problem of the mechanical arm is degraded into a three-degree-of-freedom solution of the motion posture of the swing arm of the insulating bucket arm vehicle and the working position of the working bucket. This method is conducive to determining the optimal placement angle of the insulating bucket arm vehicle and accurately determining the target position of the working bucket through spatial coordinates, thereby realizing reasonable planning of the movement direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0036] Figure 1 is a flowchart of the steps of a method for planning the motion posture of an insulated bucket arm vehicle in an embodiment of the present disclosure;

[0037] Figure 2 is a flowchart of the steps of a method for planning the motion posture of an insulated bucket arm vehicle in an embodiment of the present disclosure;

[0038] Figure 3 is a flowchart of the steps of a method for planning the motion posture of an insulated bucket arm vehicle in an embodiment of the present disclosure;

[0039] Figure 4 is a flowchart of the steps of a method for planning the motion posture of an insulated bucket arm vehicle in an embodiment of the present disclosure;

[0040] Figure 5 is a schematic diagram of a three-dimensional model of an environment in an embodiment of the present disclosure;

[0041] Figure 6 is a rasterized modeling diagram of point cloud data of the work site in the embodiment of the present disclosure;

[0042] Figure 7 is a plan view of a work site in an embodiment of the present disclosure;

[0043] Figure 8 Schematic diagram of the movable range of the swing arm of the insulated bucket arm vehicle in the embodiment of the present disclosure;

[0044] Fig. 9 is a perspective view of an insulated bucket arm vehicle in an embodiment of the present disclosure;

[0045] Fig.10 is an XY plane diagram of the insulated bucket arm vehicle in the embodiment of the present disclosure;

[0046] Fig.11 is an XY plane diagram of the insulated bucket arm vehicle in the embodiment of the present disclosure;

[0047] Fig.12 is an XZ plane view of the insulated bucket arm vehicle in an embodiment of the present disclosure;

[0048] Reference numerals:

[0049] 1. Rotating base; 2. Lower arm; 3. Upper arm; 4. Extension arm; 5. Connecting device; 6. Working bucket. DETAILED DESCRIPTION

[0050] Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0051] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0052] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0053] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the attached drawings.

[0054] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0055] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0056] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments claimed are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0057] The first embodiment of the present disclosure provides a method for planning the movement posture of the bucket arm of an insulated bucket arm vehicle, such as Figure 1-Figure 4 As shown, the method includes:

[0058] S1: Obstacle recognition is performed based on the three-dimensional model of the work site environment to identify the obstacle area and movable area of ​​the work site.

[0059] Specifically, the three-dimensional model of the working site environment is as follows: Figure 5As shown in the figure, based on the oblique photography technology of drones, the image of the work site is collected to obtain the point cloud data collected by the oblique photography of drones. Through the sensor plug-in Point Cloud Octomap Update of Moveit! in the robot operating system ROS, the point cloud data map can be read and the OctoMap spatial map can be created based on the point cloud data.

[0060] S11: Acquire a planar image of the work site based on the environmental three-dimensional model of the work site.

[0061] Define the Point Cloud Octomap Updater plug-in in the Moveit! sensor plug-in. The point cloud data will be reconstructed in 3D in the Rviz environment. The point cloud data can be converted into raster modeling in Rviz to generate obstacle models in the Rviz simulation environment, such as Figure 6 Here, it is necessary to extract the planar obstacle relationship diagram describing the obstacles from the top view of the 3D model. Among them, the planar image describing the obstacle relationship can be obtained by extracting the current height grid information. The current height refers to the height of the preset working target position. The plane image of the working site is obtained by extracting the height grid information, such as Figure 7 shown.

[0062] S12: Based on the plane image, identify the obstacle area and the movable area.

[0063] like Figure 7 The obstacle area shown refers to the area that hinders the operation process, such as poles, trees and buildings, and the movable area refers to the area where the insulated boom truck can move freely. In the plane image, the obstacle area and the movable area can be distinguished by shape contour features.

[0064] Considering the error relationship between the insulated boom truck's obstacle avoidance in the simulation environment and the actual environment, it is required that a certain threshold should be left between the trajectory and the obstacle in the trajectory planning of the actual obstacle avoidance algorithm. When reading the environmental model, all the objects within 0.3m outside the modeling boundary are considered together with the entity modeling in the obstacle determination. By dividing the obstacle area and the movable area of ​​the work site in this way, the adverse effects of the errors in the simulation environment model and the actual environment on the calculation of the motion posture can be avoided.

[0065] S2: Based on the movable area, a stop point of the rotating base 1 of the insulated boom truck is selected.

[0066] Specifically, taking the target operating point as a reference, the parking point of the rotating base 1 of the insulated boom truck is selected, and the parking position of the rotating base 1 is determined, which is conducive to planning the movable range of the swing arm of the insulated boom truck based on this, thereby reducing the number of degrees of freedom when solving the motion posture of the swing arm.

[0067] S3: Based on the obstacle area and the movable area, determine the movable range of the swing arm of the insulated bucket arm truck.

[0068] Specifically include:

[0069] S301: Based on the obstacle area, obtain a coordinate set of the obstacle area.

[0070] On the plane map, by identifying the boundary of the obstacle area, the coordinate set of the obstacle area can be obtained. Here, after the obstacle is determined by the classification result, the coordinate set of all obstacles is obtained by reading the boundary coordinates of the obstacle.

[0071] S302: Based on the movable area and the length of the swing arm of the insulated boom truck, determine a coordinate set of the insulated boom truck in multiple postures in the movable area.

[0072] like Fig. 9 As shown, taking the insulated bucket arm vehicle including a rotating base 1, a lower arm 2, an upper arm 3, an extension arm 4, a connecting device 5 and a working bucket 6 as an example, the rotating base 1 can drive the lower arm 2 and the upper arm 3 to realize the movement of 6 degrees of freedom, and the extension arm 4 is arranged between the upper arm 3 and the connecting device 5, and can only realize the reciprocating movement along the upper arm 3. Among them, the lower arm 2, the upper arm 3 and the extension arm 4 are collectively referred to as a swing arm.

[0073] Here, the coordinate set of the insulated boom truck in multiple postures in the movable area is determined based on the stop point of the rotating base 1 and the length of the swing arm of the insulated boom truck. Specifically, the length of the lower arm 2 is used as a first extension step length Delta1, and the total length of the upper arm 3 and the maximum extension of the extension arm is used as the second extension step length Delta2. In the space of the movable area, the rotating base 1 is used as the origin to expand to any sampling point with a step length Delta1 to obtain the posture position of the lower arm 2, and the posture position of the upper arm 3 and the extension arm 4 is obtained by reverse expansion from the end point of the lower arm 2 with a step length Delta2. That is, the length of the joint of the insulated boom truck is interpolated according to a certain step length to obtain the coordinate set in multiple situations, and the coordinate set in multiple situations is the coordinate set of the insulated boom truck in multiple postures. In this way, multiple coordinate sets of each joint of the insulated boom truck at different extension lengths can be obtained.

[0074] S203: Based on the coordinate set of the obstacle area and the coordinate set of the insulated boom vehicle in multiple postures, determine whether the insulated boom vehicle will collide with the obstacle area.

[0075] Based on the coordinate set of the obstacle and the coordinate set of the insulated boom truck in multiple postures, it is judged whether the insulated boom truck will collide with the obstacle; if the coordinate set of the posture position of the swing arm has an intersection with the coordinate set of the obstacle, it is judged that the insulated boom truck will collide with the obstacle; if the coordinate set of the posture position of the swing arm does not have an intersection with the coordinate set of the obstacle, it is judged that the insulated boom truck will not collide with the obstacle.

[0076] S204: Based on the judgment result, determine the movable range of the swing arm of the insulated bucket arm truck.

[0077] Here, it means that after multiple interpolations, the coordinate sets that may cause collisions are removed, and the remaining coordinate sets of the posture positions of the insulating bucket arm joints are the safe working range in which the swing arm of the insulating bucket arm vehicle will not collide with obstacles during free movement. The working range of the swing arm is as follows: Figure 8 shown.

[0078] In this way, it can be ensured that the selected positions of the rotating base 1 and the swing arm effectively avoid the obstacle area, which is conducive to the safe operation of the insulated bucket arm truck.

[0079] S4: Based on the stop position of the rotating base, the movable range of the swing arm and the position of the target working point, the movement posture of the swing arm and the position information of the working bucket 6 when the insulating bucket arm vehicle is working at the target working point are obtained.

[0080] The motion posture here at least includes the rotation amount and / or extension amount of the swing arm of the insulated boom truck. Specifically, in this embodiment, the motion posture refers to at least one of the rotation amount of the lower arm 2, the rotation amount of the upper arm 3 and the extension amount of the extension arm 4.

[0081] The position information of the working bucket 6 here refers to the coordinate information of the working bucket 6 .

[0082] S401: Based on the movable range of the swing arm, a parking direction of the swing arm of the insulated boom truck is selected.

[0083] Here, based on the movable range of the swing arm and the target working position, a suitable docking direction of the swing arm is selected. After the docking direction of the swing arm is determined, the rotating base 1 is limited to not rotate, and the angle between the upper arm 3 and the rotating base 1 is calculated, which is the rotation angle θ1 of the rotating base 1 when the swing arm moves freely, as shown in Fig.10 shown.

[0084] S402: Based on the parking direction of the swing arm, the motion posture of the swing arm and the position information of the working bucket 6 when the insulated bucket arm vehicle is working at the target operation point are obtained.

[0085] Specifically include:

[0086] S4021: Based on the parking direction of the swing arm of the insulated boom truck, determine the head end coordinates and the end end coordinates of the swing arm.

[0087] Specifically, Figure 10-12 As shown, for the docking direction of the swing arm, according to the rotation amount θ2 of the lower arm 2 and the position coordinates of the connection between the first section of the lower arm 2 and the rotating base 1, the coordinates M1 of the end point of the lower arm 2 in the description space are (M 1x , M 1y , M 1z ):

[0088] M 1x =l1cosθ2cosθ1

[0089] M 1y =l1cosθ2sinθ1;

[0090] M 1z =h+l1sinθ2

[0091] Among them, M 1x 、M 1y and M 1z They are the three coordinate values ​​of the coordinate M1 of the end point of the lower arm 2 in the coordinate system, θ1 is the rotation angle of the rotating base 1, θ2 is the rotation angle of the lower arm 2, l1 is the length of the lower arm 2, and h is the height of the rotating base 1.

[0092] For the docking direction of the swing arm, based on the end point coordinate M1 of the lower arm 2 and the spatial geometric relationship, the first end point coordinate M2 of the upper arm 3 is described as (M 2x , M 2y , M 2z ):

[0093] M 2x =M 1x -l2sinθ1=l1cosθ2cosθ1-l2sinθ1

[0094] M 2y =M 1y +l2cosθ1=l1cosθ2sinθ1+l2cosθ1

[0095] M 2z =M 1z =h+l1sinθ2;

[0096] Wherein, l2 is the distance between the upper arm 3 and the lower arm 2.

[0097] For the docking direction of the swing arm, based on the coordinates of the head end of the upper arm 3, the coordinate point M3 of the end of the upper arm 3 is described as (M 3x , M 3y , M 3z ):

[0098]

[0099] in,

[0100] in, The coordinates of the end point of upper arm 3 and the end point of lower arm 2 are and The distance between the axes, l3 is the length of the upper arm 3, d4 is the length of the extension arm 4, and θ3-ε is the angle of the upper arm 3 to the ground.

[0101] S4022: Based on the front end coordinates and the end end coordinates of the swing arm, the motion posture of the swing arm and the position information of the working bucket 6 when the insulated bucket arm vehicle is working at the target working point are obtained.

[0102] After the swing arm position is determined, the coordinates of the leading and trailing ends of each swing arm are also determined accordingly. By combining the above equations, the rotation angle θ1 of the rotating base 1, the rotation angle θ2 of the lower arm 2, and the angle θ3-ε of the upper arm 3 to the ground can be solved, that is, the rated motion posture of each swing arm when the insulated boom truck is working at the target operation point can be solved. For example, ε is 24°.

[0103] When obtaining the position information (point coordinates) of the working bucket 6 , it is determined based on the geometric relationship between the point coordinates M3 of the end of the upper arm 3 and the point coordinates P of the working bucket 6 .

[0104] Specifically:

[0105]

[0106] where x p ,y p and z p is the spatial coordinate of point P; r is the length of the working bucket 6. In the above formula, the length of the working bucket 6 ranges from 0 to 1.5, and can also be replaced by other values ​​according to actual conditions.

[0107] The present disclosure regards the arm of the insulated bucket arm vehicle as a multi-degree-of-freedom mechanical arm, and mainly considers the posture and position of the three arms of the lower arm 2, the upper arm 3 and the extension arm 4 to solve and calculate, and performs inverse kinematics solution analysis through the idea of ​​mechanical arm geometry method. This method is based on the actual movement of the bucket arm of the insulated bucket arm vehicle during work. In the actual operation process of the hybrid arm insulated bucket arm vehicle, the movement of the insulated bucket arm vehicle is mainly controlled by the movement of the lower arm 2, the upper arm 3 and the extension arm 4. By confirming the reliable rotation position of the rotating base 1 in the movable area in advance, and then determining the movable range of the swing arm at the work site, the six-degree-of-freedom solution problem of the mechanical arm is degraded into a three-degree-of-freedom geometry method to solve the motion posture of the swing arm of the insulated bucket arm vehicle and the working point position of the working bucket 6. This method is conducive to determining the optimal placement angle of the insulated bucket arm vehicle and accurately determining it through spatial coordinates, thereby realizing reasonable planning of the movement direction.

[0108] A second embodiment of the present disclosure provides a motion posture planning device for an insulated boom truck, comprising:

[0109] The area recognition module is used to identify obstacles based on the three-dimensional model of the work site environment and to identify the obstacle area and movable area of ​​the work site;

[0110] A docking point selection module is used to select a docking point of the rotating base 1 of the insulating bucket arm vehicle based on the movable area;

[0111] A motion range determination module, used to determine the movable range of the swing arm of the insulated bucket arm vehicle based on the obstacle area and the movable area;

[0112] The motion posture acquisition module is used to obtain the motion posture of the swing arm and the position information of the working bucket 6 when the insulated bucket arm vehicle is working at the target working point based on the stop point of the rotating base, the movable range of the swing arm and the position of the target working point.

[0113] Furthermore, the region identification module includes:

[0114] A plane image acquisition unit, used for acquiring a plane image of the work site based on a three-dimensional model of the environment of the work site;

[0115] The area recognition unit is used to recognize obstacle areas and movable areas based on a plane image.

[0116] Furthermore, the motion range determination module includes:

[0117] An obstacle coordinate acquisition unit, used to acquire a coordinate set of the obstacle area based on the obstacle area;

[0118] A swing arm coordinate acquisition unit, used to determine a coordinate set of the insulating bucket arm vehicle in multiple postures in the movable area based on the movable area and the length of the swing arm of the insulating bucket arm vehicle;

[0119] A judgment unit, used for judging whether the insulated bucket arm vehicle will collide with the obstacle area based on the coordinate set of the obstacle area and the coordinate set of the insulated bucket arm vehicle in multiple postures;

[0120] The result determination unit is used to determine the movable range of the swing arm of the insulated bucket arm vehicle based on the judgment result.

[0121] Furthermore, the motion posture acquisition module includes:

[0122] A swing arm stop point selection unit is used to select the stop direction of the swing arm of the insulated bucket arm vehicle based on the movable range of the swing arm;

[0123] The motion posture acquisition unit is used to acquire the motion posture of the swing arm and the position information of the working bucket 6 when the insulated bucket arm vehicle is working at the target working point based on the parking direction of the swing arm.

[0124] The present disclosure regards the arm of the insulated boom truck as a multi-degree-of-freedom mechanical arm, and mainly considers the posture and position of the three arms of the lower arm 2, the upper arm 3 and the extension arm 4 to solve and calculate, and performs inverse kinematics solution analysis through the idea of ​​mechanical arm geometry method. This method is based on the actual movement of the arm of the insulated boom truck during work. In the actual operation process of the hybrid arm insulated boom truck, the movement is mainly controlled by the movement of the lower arm 2, the upper arm 3 and the extension arm 4. By confirming the reliable rotation position of the rotating base 1 in the movable area in advance, and then determining the movable range of the swing arm at the work site, the six-degree-of-freedom solution problem of the mechanical arm is degraded into a three-degree-of-freedom geometry method to solve the motion posture of the swing arm of the insulated boom truck and the working point position of the working bucket 6. This method is conducive to determining the optimal placement angle of the insulated boom truck and accurately determining it through spatial coordinates, thereby realizing reasonable planning of the movement direction.

[0125] A third embodiment of the present disclosure provides a storage medium storing a computer program. When the computer program is executed by a processor, the steps of implementing the above method include:

[0126] S11: Perform obstacle recognition based on the three-dimensional model of the work site environment to identify the obstacle area and movable area of ​​the work site;

[0127] S12: Based on the movable area, a stop point of the rotating base 1 of the insulating boom truck is selected;

[0128] S13: Determine the movable range of the swing arm of the insulated boom truck based on the obstacle area and the movable area;

[0129] S14: Based on the stop position of the rotating base, the movable range of the swing arm and the position of the target working point, the movement posture of the swing arm and the position information of the working bucket 6 when the insulating bucket arm vehicle is working at the target working point are obtained.

[0130] Of course, other steps of the control method can also be used to implement the above embodiment.

[0131] The present disclosure regards the arm of the insulated boom truck as a multi-degree-of-freedom mechanical arm, and mainly considers the posture and position of the three arms of the lower arm 2, the upper arm 3 and the extension arm 4 to solve and calculate, and performs inverse kinematics solution analysis through the idea of ​​mechanical arm geometry method. This method is based on the actual movement of the arm of the insulated boom truck during work. In the actual operation process of the hybrid arm insulated boom truck, the movement is mainly controlled by the movement of the lower arm 2, the upper arm 3 and the extension arm 4. By confirming the reliable rotation position of the rotating base 1 in the movable area in advance, and then determining the movable range of the swing arm at the work site, the six-degree-of-freedom solution problem of the mechanical arm is degraded into a three-degree-of-freedom geometry method to solve the motion posture of the swing arm of the insulated boom truck and the working point position of the working bucket 6. This method is conducive to determining the optimal placement angle of the insulated boom truck and accurately determining it through spatial coordinates, thereby realizing reasonable planning of the movement direction.

[0132] A fourth embodiment of the present disclosure provides an electronic device, the electronic device including at least a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the above method when executing the computer program in the memory, specifically including:

[0133] S21: performing obstacle recognition based on the three-dimensional model of the environment of the work site, and identifying the obstacle area and movable area of ​​the work site;

[0134] S22: Based on the movable area, a stop point of the rotating base 1 of the insulating boom vehicle is selected;

[0135] S23: Determine the movable range of the swing arm of the insulated boom truck based on the obstacle area and the movable area;

[0136] S24: Based on the stop position of the rotating base, the movable range of the swing arm and the position of the target working point, the movement posture of the swing arm and the position information of the working bucket 6 when the insulating bucket arm vehicle is working at the target working point are obtained.

[0137] Of course, other steps of the control method can also be used to implement the above embodiment.

[0138] The present disclosure regards the arm of the insulated boom truck as a multi-degree-of-freedom mechanical arm, and mainly considers the posture and position of the three arms of the lower arm 2, the upper arm 3 and the extension arm 4 to solve and calculate, and performs inverse kinematics solution analysis through the idea of ​​mechanical arm geometry method. This method is based on the actual movement of the arm of the insulated boom truck during work. In the actual operation process of the hybrid arm insulated boom truck, the movement is mainly controlled by the movement of the lower arm 2, the upper arm 3 and the extension arm 4. By confirming the reliable rotation position of the rotating base 1 in the movable area in advance, and then determining the movable range of the swing arm at the work site, the six-degree-of-freedom solution problem of the mechanical arm is degraded into a three-degree-of-freedom geometry method to solve the motion posture of the swing arm of the insulated boom truck and the working point position of the working bucket 6. This method is conducive to determining the optimal placement angle of the insulated boom truck and accurately determining it through spatial coordinates, thereby realizing reasonable planning of the movement direction.

[0139] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific planning method of the bucket arm movement posture of each functional unit and module is only for the convenience of distinguishing each other, and is not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0140] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0141] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0142] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0143] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0144] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0145] If the integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned motor torque control method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0146] In addition, the features of the embodiments shown in the drawings of the present application or the various embodiments mentioned in this specification are not necessarily understood as independent embodiments. Instead, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the drawings.

[0147] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for planning the motion posture of an insulated boom truck, characterized in that: include: Obstacle recognition is performed based on the three-dimensional model of the work site environment to identify the obstacle area and movable area of ​​the work site; Based on the movable area, selecting a stop point of the rotating base of the insulating boom truck; Determining the movable range of the swing arm of the insulated boom truck based on the obstacle area and the movable area; Based on the stop point of the rotating base, the movable range of the swing arm and the position of the target working point, the movement posture of the swing arm and the position information of the working bucket of the insulated bucket arm vehicle when working at the target working point are obtained.

2. The method for planning the motion posture of an insulated boom truck according to claim 1, characterized in that: Obstacle identification is performed based on the 3D model of the work site environment. The obstacle areas and movable areas of the work site are identified, including: Based on the three-dimensional model of the environment of the work site, obtaining a planar image of the work site; Based on the planar image, the obstacle area and the movable area are identified.

3. The method for planning the motion posture of an insulated boom truck according to claim 1, characterized in that: Based on the obstacle area and the movable area, determining the movable range of the swing arm of the insulated boom truck includes: Based on the obstacle area, obtaining a coordinate set of the obstacle area; Based on the movable area and the length of the swing arm of the insulated bucket arm vehicle, determining a coordinate set of the insulated bucket arm vehicle in multiple postures in the movable area; Based on the coordinate set of the obstacle area and the coordinate set of the insulated bucket arm vehicle in multiple postures, determining whether the insulated bucket arm vehicle will collide with the obstacle area; Based on the judgment result, the movable range of the swing arm of the insulated boom truck is determined.

4. The method for planning the motion posture of an insulated boom truck according to claim 3 is characterized in that: The coordinate set of the insulated bucket arm vehicle in multiple postures in the movable area is determined based on the stop point position of the rotating base and the length of the swing arm of the insulated bucket arm vehicle.

5. The method for planning the motion posture of an insulated boom truck according to claim 1, characterized in that: Based on the stop point of the rotating base, the movable range of the swing arm and the position of the target working point, obtaining the motion posture of the swing arm and the position information of the working bucket when the insulated bucket arm vehicle is working at the target working point includes: Based on the movable range of the swing arm, selecting the parking direction of the swing arm of the insulated bucket arm vehicle; Based on the parking direction of the swing arm, the movement posture of the swing arm and the position information of the working bucket of the insulated bucket arm vehicle when working at the target operating point are obtained.

6. The method for planning the motion posture of an insulated boom truck according to claim 5, characterized in that: Based on the parking direction of the swing arm, obtaining the motion posture of the swing arm and the position information of the working bucket of the insulated bucket arm vehicle when working at the target operation point includes: Based on the parking direction of the swing arm of the insulated bucket arm vehicle, determining the head end coordinate and the end end coordinate of the swing arm; Based on the head end coordinates and the end end coordinates of the swing arm, the motion posture of the swing arm and the position information of the working bucket of the insulated bucket arm vehicle when working at the target operating point are obtained.

7. The method for planning the motion posture of an insulated boom truck according to claim 5, characterized in that: The movement posture at least includes the rotation amount and / or extension amount of the swing arm of the insulated bucket arm vehicle.

8. A motion posture planning device for an insulated boom truck, characterized in that: include: The area recognition module is used to identify obstacles based on the three-dimensional model of the work site environment and to identify the obstacle area and movable area of ​​the work site; A stop point selection module, used to select a stop point of the rotating base of the insulating bucket arm vehicle based on the movable area; A motion range determination module, used to determine the movable range of the swing arm of the insulated boom truck based on the obstacle area and the movable area; The motion posture acquisition module is used to obtain the motion posture of the swing arm and the position information of the working bucket when the insulated bucket arm vehicle is working at the target working point based on the movable range of the swing arm and the position of the target working point.

9. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. An electronic device, comprising at least a memory and a processor, wherein a computer program is stored in the memory, wherein: The processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program on the memory.

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