Sand suction operation control method and device, engineering equipment and storage medium
By using robotic arms and automated control methods in the sand-absorbing and punching system, the problems of low construction efficiency and insufficient accuracy of traditional sand-absorbing systems are solved, and efficient and precise sand-absorbing operations in marine engineering construction are achieved.
Patent Information
- Application Number
- CN202510647304.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-20
- Publication Date
- 2025-08-29
AI Technical Summary
The traditional sand-absorbing and punching system has a small operating range that requires frequent adjustment of the hull position, low construction efficiency, and manual operation is difficult to accurately control the sand-absorbing flow and depth, which affects the quality of the project.
Using engineering equipment equipped with at least two robotic arms, the operating parameters of the sand-absorbing component are automatically adjusted by collecting seabed height and operating condition data, including position and pump speed, and the path planning algorithm is used to control the movement of the robotic arm to achieve accurate position and pump speed control of the sand-absorbing component.
It improves the accuracy and construction efficiency of sand absorption operations, avoids energy waste, and ensures the automation and accuracy of construction.
Smart Images
Figure CN120556540A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of marine engineering construction technology, and in particular to a control method, device, engineering equipment and storage medium for sand suction operations. Background Art
[0002] During marine engineering construction, sand suction and flushing technology is a crucial tool for pre-layout preparation. Traditional sand suction and flushing systems often utilize fixed sand suction pipes, which present the following key challenges: 1. The limited operating range of fixed pipes necessitates frequent adjustments to the vessel's position, impacting construction efficiency. 2. Manual operation makes it difficult to precisely control the sand suction flow rate and depth, resulting in insufficient or excessive sand suction, impacting project quality. Therefore, automating the sand suction process to improve construction efficiency and precision has become a pressing issue. Summary of the Invention
[0003] The present application provides a control method, device, engineering equipment and storage medium for sand suction operations, which can automatically adjust operation parameters according to actual conditions, and can realize automated control of the sand suction operation process to improve construction efficiency and construction accuracy.
[0004] In a first aspect, the present application provides a control method for sand suction operation, which is applied to engineering equipment, wherein the engineering equipment is equipped with at least two robotic arms, each of which is equipped with a sand suction assembly, and the method comprises:
[0005] Collect current seabed height data and operation status data during sand suction operation;
[0006] determining whether to adjust operating parameters of the sand suction assembly based on the seabed height data and the operating status data, the operating parameters including an operating position and a pumping speed of a sand suction pump in the sand suction assembly;
[0007] If adjustment is required, the target operating position of the corresponding sand suction assembly is calculated based on the folding arm joint angle of each of the robotic arms and the seabed height data;
[0008] Calculating a target pump speed of the sand suction pump based on the operating status data;
[0009] The sand suction assembly is controlled to perform a sand suction operation based on the target operation position and the target pump speed.
[0010] Furthermore, the controlling of the sand suction component to perform sand suction operation based on the target working position and the target pump speed includes: planning a target movement trajectory for each of the robotic arms based on the target working position and the current working position; controlling the movement of each of the robotic arms based on the target movement trajectory so that the corresponding sand suction component moves to the target working position; and controlling the sand suction component to perform sand suction operation based on the target pump speed.
[0011] Furthermore, the target movement trajectory is planned for each of the robotic arms based on the target working position and the current working position, including: for any of the robotic arms, an initial movement trajectory is planned for the robotic arm based on the target working position and the current working position; the spatial distance of the sand suction component from the current working position to the target working position is calculated; the maximum scheduling distance constrained for the robotic arm is obtained; the difference between the maximum scheduling distance and the spatial distance is used as the position deviation of the sand suction component; if the position deviation is greater than a preset value, the initial movement trajectory is used as the target movement trajectory; if the position deviation is not greater than the preset value, the initial movement trajectory is optimized to obtain the target movement trajectory.
[0012] Furthermore, the optimization of the initial moving trajectory to obtain the target moving trajectory includes: optimizing the current working position of the sand suction component to obtain a first working position so that the position deviation of the sand suction group is greater than the preset value; based on the first working position and the target working position, the robotic arm plans the target moving trajectory.
[0013] Furthermore, the operating status data includes a current pressure value in the flushing tank pipeline and a current flow rate value of the water-sand mixture in the sand suction pipeline. The determining whether to adjust the operating parameters of the sand suction component based on the seabed height data and the operating status data includes: calculating the statistical values of the corresponding statistical indicators of the seabed height data, the current pressure value and the current flow rate value; if each of the statistical values is greater than the corresponding reference value, determining to adjust the operating parameters of the sand suction component; if there is a statistical value that is not greater than the corresponding reference value, determining not to adjust the operating parameters of the sand suction component.
[0014] Furthermore, calculating the target pump speed of the sand suction pump based on the operating status data includes: obtaining a target flow rate value of the water-sand mixture; calculating a difference between the target flow rate value and the current flow rate value; and adjusting the current pump speed of the sand suction pump using a preset feedback control algorithm based on the difference to obtain the target pump speed.
[0015] Furthermore, the robotic arm is a two-section folding arm, and the folding arm joint angle includes a first joint angle between the first section folding arm and the hull of the engineering equipment and a second joint angle between the first section folding arm and the second section folding arm. The target operating position of the corresponding sand suction component is calculated based on the folding arm joint angle of each robotic arm and the seabed height data, including: obtaining the length of the first section folding arm and the second section folding arm respectively; calculating the first direction coordinate and the second direction coordinate based on the length, the first joint angle and the second joint angle; taking the sum of the hull height of the engineering equipment and the seabed height data as the third direction coordinate; and determining the target operating position based on the first direction coordinate, the second direction coordinate and the third direction coordinate.
[0016] Furthermore, the engineering equipment includes a tank flushing component, and the method also includes: obtaining the total sand suction volume during the sand suction operation; when the total sand suction volume reaches a preset target volume or the preset tank flushing execution time is reached, controlling the sand suction component to stop the sand suction operation; and controlling the tank flushing component to perform the tank flushing operation.
[0017] In a second aspect, the present application provides a control device for sand suction operation, which is integrated into engineering equipment, wherein the engineering equipment is equipped with at least two robotic arms, each of which is equipped with a sand suction assembly. The device includes:
[0018] Data acquisition module, used to collect current seabed height data and operation status data during sand suction operation;
[0019] a data judgment module, configured to determine whether to adjust operating parameters of the sand suction assembly based on the seabed height data and the operating status data, the operating parameters including an operating position and a pumping speed of a sand suction pump in the sand suction assembly;
[0020] a first processing module, configured to calculate a target operating position of a corresponding sand suction assembly based on a folding arm joint angle of each of the robotic arms and the seabed height data if adjustment is required;
[0021] a second processing module, configured to calculate a target pumping speed of the sand suction pump based on the operation status data;
[0022] An operation control module is used to control the sand suction assembly to perform a sand suction operation based on the target operation position and the target pump speed.
[0023] In a third aspect, the present application provides an engineering device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method for sand suction operations described in any embodiment of the present application.
[0024] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method for sand suction operations described in any embodiment of the present application when executed.
[0025] To address the deficiencies of the prior art in the background art, an embodiment of the present application provides a control method for sand suction operations. Execution of this method can achieve the following beneficial effects: by collecting current seabed height data and operating status data during the sand suction operation, the operating environment and equipment status can be understood in real time. Whether to adjust the operating parameters of the sand suction component is determined based on the seabed height data and operating status data. If so, the target operating position of the corresponding sand suction component is calculated based on the folding arm joint angle of each robotic arm and the seabed height data. This allows for precise control of the position of the sand suction component in three-dimensional space, helping to ensure that the sand suction component can accurately reach the location on the seabed where sand is required, thereby improving the accuracy of the sand suction operation. By calculating the target pump speed of the sand suction pump based on the operating status data, the pump's operating speed can be dynamically adjusted to avoid energy waste and low sand suction efficiency caused by excessively high or low pump speeds. The sand suction component is controlled to perform sand suction operations based on the target operating position and target pump speed. The present application can automatically adjust operating parameters according to actual conditions, enabling automated control of the sand suction operation process to improve construction efficiency and accuracy.
[0026] It should be noted that the aforementioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer-readable storage medium may be packaged together with the processor of the sand suction operation control device, or may be packaged separately from the processor of the sand suction operation control device, and this application does not limit this.
[0027] The description of the second, third and fourth aspects in this application can refer to the detailed description of the first aspect; and the beneficial effects of the description of the second, third and fourth aspects can refer to the analysis of the beneficial effects of the first aspect, which will not be repeated here.
[0028] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description.
[0029] It is understandable that before using the technical solutions disclosed in the embodiments of this application, the type, scope of use, and usage scenarios of the personal information involved in this application should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations. BRIEF DESCRIPTION OF THE DRAWINGS
[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
[0031] Figure 1 A first flow chart of a control method for sand suction operation provided in an embodiment of the present application;
[0032] Figure 2 A second flow chart of a control method for sand suction operation provided in an embodiment of the present application;
[0033] Figure 3 A schematic structural diagram of a control device for sand suction operation provided in an embodiment of the present application;
[0034] Figure 4 This is a block diagram of engineering equipment used to implement a control method for sand suction operations according to an embodiment of the present application. DETAILED DESCRIPTION
[0035] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.
[0036] It should be noted that the terms "first," "second," "target," and "original" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or apparatus.
[0037] Figure 1 This is a first flow chart of a control method for sand suction operations provided in an embodiment of the present application. This embodiment can be applied to scenarios where sand suction operations are automatically controlled during marine engineering construction. The control method for sand suction operations provided in this embodiment can be performed by a control device for sand suction operations provided in an embodiment of the present application. The device can be implemented in software and / or hardware and integrated into an electronic device that executes this method. Preferably, the engineering equipment in the embodiment of the present application can be an engineering vessel, such as a laying ship. The engineering equipment is equipped with at least two robotic arms, and each robotic arm is equipped with a sand suction assembly.
[0038] See also Figure 1 The method of this embodiment includes but is not limited to the following steps:
[0039] S110 , collecting current seabed height data and operation status data during the sand suction operation.
[0040] Seabed height data may refer to the vertical height of the seabed surface relative to a certain reference plane. Operational status data may refer to various relevant information during the sand suction operation, including the current pressure value in the tank flushing pipeline and the current flow rate of the water-sand mixture in the sand suction pipeline. It may also include the operating parameters of the sand suction equipment, the sand suction flow rate, the working status of the equipment (such as whether it is operating normally and whether there are any fault alarms, etc.), and the operation records of the operator.
[0041] In the embodiments of the present application, during the sand suction operation, the device controller needs to collect relevant data to understand the real-time operation status and seabed changes. The specific process for collecting seabed height data is to use a sonar sensor to measure the distance from the sea surface or ship to the seabed, and then calculate the seabed height data based on the known height of the measuring device relative to a reference surface.
[0042] The specific process for collecting operational status data is as follows: The equipment controller uses a pressure sensor to monitor the pressure in the tank flushing pipeline in real time to determine whether the sand suction flow rate is normal. A concentration sensor monitors the sand concentration in real time to prevent the suction of excessive or insufficient sand. A flow meter monitors the flow rate of the water-sand mixture in the sand suction pipeline in real time to ensure that the tank flushing process meets construction requirements. These sensors monitor physical quantities such as pressure, concentration, and flow rate, converting them into electrical or digital signals for transmission to the data acquisition system.
[0043] S120: Determine whether to adjust the operating parameters of the sand suction component based on the seabed height data and the operating status data.
[0044] Specifically, the method of determining whether to adjust the operating parameters of the sand suction component based on the seabed height data and the operating status data includes the following steps: first, the device controller calculates the statistical values of the corresponding statistical indicators of the seabed height data, the current pressure value, and the current flow rate value, for example, calculating the rate of change of the seabed height data within a fixed preset time, calculating the average value of the pressure value within a fixed preset time, and calculating the average value of the flow rate value within a fixed preset time. Second, the device controller compares each statistical value with its corresponding reference value. If each statistical value is greater than the corresponding reference value, indicating that there is excessive excavation of the local seabed, the operating parameters of the sand suction component are determined to be adjusted. For example, if the change in seabed height is greater than the corresponding reference value, it indicates that the seabed in the current area is dropping too fast, and the sand suction intensity may be too strong, causing excessive damage to the seabed structure. If there is a statistical value that is not greater than the corresponding reference value, indicating that the current sand suction operation is relatively reasonable, the operating parameters of the sand suction component are determined not to be adjusted.
[0045] The sand suction component may be a sand suction head for performing sand suction operations. Operational parameters include the operating position of the sand suction component and the pumping speed of the sand suction pump in the sand suction component. The statistical indicator may be a rate of change over a period of time or other mathematical statistics.
[0046] The equipment controller determines whether to adjust the operating parameters of the sand suction component based on seabed height data and operating status data, which can achieve precise control of the sand suction operation, protect the seabed ecology and terrain structure, and improve operating efficiency and equipment stability.
[0047] S130: If adjustment is required, the target operating position of the corresponding sand suction assembly is calculated based on the folding arm joint angle of each robotic arm and the seabed height data.
[0048] Specifically, the target operating position of the corresponding sand suction component is calculated based on the folding arm joint angle and seabed height data of each robotic arm, including: the equipment controller obtains the length of the first folding arm section and the second folding arm section from a preset storage unit; then calculates the first direction coordinate and the second direction coordinate based on the length, the first joint angle and the second joint angle; then, the sum of the hull height and seabed height data of the engineering equipment is used as the third direction coordinate; finally, the target operating position is determined based on the first direction coordinate, the second direction coordinate and the third direction coordinate.
[0049] The robotic arm comprises two folding arms, and the folding arm joint angles include a first joint angle between the first folding arm segment and the hull of the engineering equipment, and a second joint angle between the first folding arm segment and the second folding arm segment. The number of folding arm joint angles is consistent with the number of folding arm segments in the robotic arm. The first direction coordinate can be the coordinate along the X-axis in a three-dimensional coordinate system, the second direction coordinate can be the coordinate along the Y-axis in the three-dimensional coordinate system, and the third direction coordinate can be the coordinate along the Z-axis in the three-dimensional coordinate system.
[0050] In the embodiment of the present application, the target operating position of the sand suction assembly can be calculated by the following formula (1):
[0051]
[0052] Where, X i is the first direction coordinate of the target operation position, Y i is the second direction coordinate of the target working position, Z i is the third direction coordinate of the target operation position, L i1 is the length of the first folding arm, L i2 is the length of the second folded arm, α i1 is the first joint angle, α i2 is the second joint angle, Z0 is the hull height, h i The seabed height data.
[0053] In one embodiment, fuzzy rules can be pre-set to adjust the robot arm's folding posture. For example, if the seabed slope is steep, the folding arm angle, such as the first joint angle or the second joint angle, can be reduced to avoid excessive sand suction. If sand suction is uneven across the working area, the folding arm's swing angle can be adjusted to increase the working range.
[0054] S140: Calculate a target pump speed of the sand suction pump based on the operation status data.
[0055] Specifically, the target pump speed of the sand suction pump is calculated based on the operating status data, including: pre-setting a target flow rate value for the water-sand mixture for the sand suction operation and storing the target flow rate value in a preset storage unit. When adjusting the pump speed of the sand suction pump, the device controller first obtains the target flow rate value of the water-sand mixture from this preset storage unit; then, calculates the difference between the target flow rate value and the current flow rate value; finally, based on the difference, a preset feedback control algorithm is used to adjust the current pump speed of the sand suction pump to obtain the target pump speed. By adjusting the pump speed of the sand suction pump in real time, the device controller can adjust the sand suction flow rate, avoid insufficient or excessive sand suction, and improve construction accuracy.
[0056] Optionally, the preset feedback control algorithm may be a proportional-integral-derivative (PID) feedback control algorithm.
[0057] In the embodiment of the present application, the target pump speed of the sand suction pump can be calculated by the following formula (2):
[0058]
[0059] Where Q new is the target pumping speed of the sand suction pump, Q current is the current pump speed of the sand suction pump, ε is the difference between the target flow rate and the current flow rate, K p is the proportionality coefficient, K i is the integral coefficient, K d is the differential coefficient.
[0060] S150: Control the sand suction component to perform sand suction operation based on the target operation position and the target pump speed.
[0061] Specifically, the sand suction assembly is controlled to perform sand suction operations based on the target operating position and target pump speed, including: the equipment controller can use a path planning algorithm (such as the Dijkstra algorithm) to plan a target movement trajectory for each robotic arm based on the target operating position and the current operating position; the target movement trajectory is then converted into a series of control instructions, which contain information such as the angle change, movement speed, and acceleration of each robotic arm at each joint. Based on the target movement trajectory, each robotic arm is controlled to move by executing these control instructions, so that the corresponding sand suction assembly moves to the target operating position; based on the target pump speed, a control signal is sent to the sand suction pump to adjust the motor speed or other control parameters of the sand suction pump so that the sand suction pump runs at the target pump speed, thereby controlling the sand suction assembly to perform sand suction operations.
[0062] When planning the target trajectory, the goal is to steer the sand suction head along the optimal path, ensuring the shortest possible path, minimizing energy consumption, and avoiding repetitive operations. The kinematic and dynamic limitations of the manipulator, such as the range of rotation of the joints, the maximum reach of the manipulator, and speed limits, must also be considered to ensure the target trajectory is achievable. Furthermore, collisions between adjacent manipulators and with the surrounding environment must be avoided to ensure the safety and feasibility of the trajectory.
[0063] In one embodiment, the engineering equipment includes a tank flushing component, and the control method of the sand suction operation of the present application also includes an automated control logic for automatically stopping sand suction, specifically: the equipment controller obtains the total sand suction volume during the sand suction operation; when the total sand suction volume reaches a preset target volume or the preset tank flushing execution time is arrived, the equipment controller controls the sand suction component to stop the sand suction operation, and controls the tank flushing component to perform the tank flushing operation.
[0064] The technical solution provided by this embodiment can understand the operating environment and equipment status in real time by collecting the current seabed height data and operating status data during the sand suction operation. Based on the seabed height data and operating status data, it is determined whether to adjust the operating parameters of the sand suction component; if adjusted, the target operating position of the corresponding sand suction component is calculated based on the folding arm joint angle of each robotic arm and the seabed height data, which can accurately control the position of the sand suction component in three-dimensional space, helping to ensure that the sand suction component can accurately reach the position on the seabed where sand needs to be sucked, thereby improving the accuracy of the sand suction operation. The target pump speed of the sand suction pump is calculated based on the operating status data, and the operating speed of the pump can be dynamically adjusted to avoid energy waste, low sand suction efficiency and other problems caused by excessively high or too low pump speeds. The sand suction component is controlled to perform sand suction operations based on the target operating position and target pump speed. The present application can automatically adjust the operating parameters according to actual conditions, and can realize automated control of the sand suction operation process to improve construction efficiency and construction accuracy.
[0065] Figure 1 The corresponding embodiment is to optimize the operating parameters of the sand suction component during the sand suction operation. Before the sand suction operation, the operating parameters of the sand suction component can be set by the operator based on experience. The set operating parameters can at least include the sand suction depth, sand suction flow, tank flushing execution time and arm joint angle. Based on the operating parameters, a path planning algorithm is used to plan the movement trajectory for each robotic arm. In addition, the operator can also input historical operation data into the flow prediction model in the engineering equipment. The speed of the sand suction pump can be obtained based on the output result of the flow prediction model. The historical operation data can at least include the historical sand suction flow, seabed soil quality and flushing pressure. Based on the movement trajectory, each robotic arm is controlled to move to the corresponding operation position, and then the sand suction head is controlled based on the speed of the sand suction pump to perform the sand suction operation.
[0066] The following further describes the control method for sand suction operation provided by the embodiment of the present application. Figure 2 This is a second flow chart of a control method for sand suction operation provided in an embodiment of the present application. This embodiment of the present application is optimized based on the above embodiments, and the specific optimization is as follows: This embodiment provides a detailed explanation of the planning process of the target movement trajectory.
[0067] See also Figure 2 The method of this embodiment includes but is not limited to the following steps:
[0068] S210 : For any robotic arm, plan an initial movement trajectory for the robotic arm based on the target working position and the current working position.
[0069] In the embodiment of the present application, the sand suction operation is a collaborative operation of multiple robotic arms, each of which has its own specific motion requirements and control logic. For each robotic arm, the robotic arm needs to accurately move the sand suction component connected to it from the current working position to the target working position to carry out the subsequent sand suction work.
[0070] The device controller uses various sensors installed on the robotic arm (such as position sensors and arm angle sensors) to obtain the current working position of the robotic arm in real time. Based on the target and current working positions, the device controller combines a path planning algorithm (such as the Dijkstra algorithm) with the robotic arm's kinematic model (a mathematical model describing the relationship between the robotic arm's joint angles and end position) to calculate an initial trajectory from the current working position to the target working position. This initial trajectory includes information such as the robotic arm's path in space and the sequence and magnitude of changes in the various joint angles.
[0071] S220: Calculate the spatial distance between the sand suction assembly and the target operating position.
[0072] In an embodiment of the present application, the sand suction component needs to move from the current working position to the target working position. In order to accurately control the movement process of the sand suction component and understand the difficulty of its movement and the required resources, it is necessary to calculate the spatial distance between the two positions.
[0073] Assume that the three-dimensional coordinates of the current working position of the sand suction component are (x1, y1, z1), the three-dimensional coordinates of the target working position are (x2, y2, z2), and the spatial distance is d. Use the spatial distance calculation formula, such as the Euclidean distance formula To obtain the spatial distance of the sand suction component from the current working position to the target working position.
[0074] S230: Obtain the maximum scheduling distance constrained for the robotic arm.
[0075] In the embodiments of the present application, in actual operation, the robotic arm has a maximum maneuverable distance due to limitations of its structure, drive capability, operating environment, and other factors. This maximum maneuverable distance constrains the robotic arm. This is a key parameter determined by the robotic arm's design and operating characteristics. For example, some robotic arms may only operate within a specific spatial range due to factors such as the range of motion of their joints, motor power, and arm length. If this range is exceeded, the robotic arm may not function properly or may be damaged.
[0076] S240: The difference between the maximum scheduling distance and the spatial distance is used as the position deviation of the sand suction component.
[0077] In this embodiment, the spatial distance between the sand suction assembly's current operating position and its target operating position is calculated. This is the actual distance the assembly needs to move. This spatial distance is then subtracted from the maximum dispatch distance constrained by the robotic arm. The resulting difference is the positional deviation of the sand suction assembly. This positional deviation reflects the relationship between the distance the robotic arm needs to move to complete the current task and its maximum possible travel distance.
[0078] S250: If the position deviation is greater than a preset value, the initial movement trajectory is used as the target movement trajectory.
[0079] In this embodiment of the present application, if the position deviation is no greater than a preset value, indicating that the robot arm has sufficient capacity to complete the task with a certain margin, the initial movement trajectory is used as the target movement trajectory. The preset value is a standard value set in advance based on the robot arm's performance, task requirements, etc., and the specific value can be set according to actual application needs.
[0080] S260: If the position deviation is not greater than the preset value, the initial movement trajectory is optimized to obtain the target movement trajectory.
[0081] In the embodiment of the present application, if the position deviation is not greater than the preset value, it indicates that there may be some problems with the currently planned initial movement trajectory. For example, the robot arm may be too close to its movement limit during movement, or the robot arm's movement may not be efficient or smooth. In this case, it is necessary to optimize the initial movement trajectory.
[0082] Specifically, the initial moving trajectory is optimized to obtain the target moving trajectory, including: optimizing the current working position of the sand suction component to obtain a first working position so that the position deviation of the sand suction group is greater than a preset value; and planning the target moving trajectory by the robotic arm based on the first working position and the target working position.
[0083] The sand suction component's current operating position is its spatial location at the start of its mission. Due to the maximum dispatch distance of the robotic arm (i.e., the maximum range of its movement), the current operating position needs to be adjusted if the calculated position deviation between the initial current operating position and the target operating position is no greater than a preset value.
[0084] The goal of adjusting the current operating position is to ensure that the calculated positional deviation between the adjusted position (i.e., the first operating position) and the target operating position is greater than a preset value. When the positional deviation is greater than the preset value, it indicates that the robot arm has more reasonable movement space and safety margin when moving the sand suction component, enabling it to better complete the task and avoiding potential problems caused by too small a positional deviation (which means the robot arm may be nearing its movement limit), such as unstable movement and mechanical damage.
[0085] After obtaining the optimized first operating position and the known target operating position, the target movement trajectory is calculated using a path planning algorithm and the robot's kinematic model, taking into account factors such as the robot's motion constraints (such as joint range of motion and speed limits), obstacle avoidance requirements (avoiding collisions with surrounding objects), and operational efficiency. Using this planned target movement trajectory, the robot can move the sand suction component from the first operating position to the target operating position in a more rational, safer, and more efficient manner, successfully completing the sand suction task.
[0086] The technical solution provided in this embodiment plans the initial movement trajectory of the robot arm based on the target working position and the current working position for any robot arm; calculates the spatial distance of the sand suction component from the current working position to the target working position; obtains the maximum scheduling distance constrained by the robot arm; uses the difference between the maximum scheduling distance and the spatial distance as the position deviation of the sand suction component, which can accurately understand the relationship between the movement requirements of the robot arm in this task and its own capacity limitations; if the position deviation is greater than the preset value, the initial movement trajectory is used as the target movement trajectory; if the position deviation is not greater than the preset value, the initial movement trajectory is optimized to obtain the target movement trajectory. This application makes the movement trajectory of the robot arm more in line with its actual working capacity and task requirements by planning and evaluating the initial movement trajectory and optimizing and adjusting the initial movement trajectory according to the position deviation, effectively reducing the risk of failure or accident of the robot arm due to exceeding its movement limit during movement, improving the safety and reliability of the robot arm movement, ensuring the smooth progress of the sand suction operation, and also reducing problems such as energy waste caused by unreasonable movement, thereby realizing the effective use of resources.
[0087] The following is an introduction to the collaborative operation of multiple robotic arms:
[0088] Multiple robotic arms may simultaneously perform tasks within the same work area (e.g., sand extraction). Their movements must be coordinated to avoid interference and improve efficiency. The goal of the multi-arm collaborative optimization algorithm is to rationally plan the paths and movements of multiple robotic arms to avoid interference. By properly allocating work areas, conflicts between robotic arms are avoided, improving task execution efficiency.
[0089] The coordinated control of multiple robotic arms requires the following considerations: 1. Sand suction target area setting: First, the target sand suction area for each robotic arm must be clearly defined. Each robotic arm corresponds to a sand suction head, each tasked with covering a different area. 2. Mutual interference prevention: When multiple robotic arms operate simultaneously, boundaries and time windows can be set to prevent cross-interference between their paths and working areas.
[0090] To enable multiple robotic arms to work together efficiently, a distributed collaborative optimization algorithm is often used to calculate the optimal schedule. Each robotic arm independently processes its tasks and adjusts its behavior based on the collaborative optimization algorithm. Specifically, the distributed collaborative optimization process can include the following steps:
[0091] 1. Initialize the target area: assign an initial sand suction area to each robot arm and set the initial position.
[0092] 2. Constraint setting: Set the constraints that each robotic arm needs to comply with when completing the task, such as time limit, maximum scheduling distance, minimum sand suction volume, etc.
[0093] 3. Local optimization: Each robotic arm performs local optimization within its own target area, adjusting its sand suction path and speed to meet its own mission objectives.
[0094] 4. Global coordination: The local optimization results of each robot arm are adjusted through a collaborative optimization algorithm to ensure that the paths and tasks of each robot arm do not conflict and the overall efficiency of completing the task is maximized.
[0095] In practice, collaborative optimization problems often incorporate constraints. These constraints can include: 1. Spatial constraints: The working areas of each robotic arm cannot overlap, preventing multiple robotic arms from competing for the same space. 2. Time constraints: Each robotic arm must complete its task within a specified timeframe, coordinating with the operating schedules of other robotic arms to avoid conflicts. 3. Task constraints: Each robotic arm must complete the sand suction operation in a specific order and manner to ensure the efficiency of the entire sand suction process.
[0096] Optimization algorithms typically solve problems based on objective functions. In this case, these objective functions might include: 1. Minimize task completion time: Complete all sand extraction tasks in the shortest possible time. 2. Minimize travel distance: Each robot arm's travel distance should be minimized to save energy and time. 3. Minimize interference: Ensure that interference between each robot arm is minimized to prevent overlapping tasks.
[0097] Figure 3 A schematic diagram of a control device for sand suction operation provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the device 300 is integrated into engineering equipment, and the engineering equipment is equipped with at least two robotic arms, each of which is equipped with a sand suction component, which may include:
[0098] The data acquisition module 310 is used to collect the current seabed height data and operation status data during the sand suction operation;
[0099] a data determination module 320 for determining whether to adjust operating parameters of the sand suction assembly based on the seabed height data and the operating status data, the operating parameters including an operating position and a pumping speed of a sand suction pump in the sand suction assembly;
[0100] A first processing module 330 is configured to calculate a target operating position of a corresponding sand suction assembly based on the folding arm joint angle of each of the robotic arms and the seabed height data if adjustment is required;
[0101] A second processing module 340 is configured to calculate a target pumping speed of the sand suction pump based on the operation status data;
[0102] The operation control module 350 is used to control the sand suction assembly to perform a sand suction operation based on the target operation position and the target pump speed.
[0103] Furthermore, the above-mentioned operation control module 350 can be specifically used to: plan a target movement trajectory for each of the robotic arms based on the target operation position and the current operation position; control the movement of each of the robotic arms based on the target movement trajectory so that the corresponding sand suction component moves to the target operation position; and control the sand suction component to perform sand suction operations based on the target pump speed.
[0104] Furthermore, the above-mentioned operation control module 350 can also be specifically used to: for any of the robotic arms, plan an initial movement trajectory for the robotic arm based on the target operation position and the current operation position; calculate the spatial distance of the sand suction component from the current operation position to the target operation position; obtain the maximum scheduling distance constrained on the robotic arm; use the difference between the maximum scheduling distance and the spatial distance as the position deviation of the sand suction component; if the position deviation is greater than a preset value, use the initial movement trajectory as the target movement trajectory; if the position deviation is not greater than the preset value, optimize the initial movement trajectory to obtain the target movement trajectory.
[0105] Furthermore, the above-mentioned operation control module 350 can also be specifically used to: optimize the current operating position of the sand suction component to obtain a first operating position, so that the position deviation of the sand suction group is greater than the preset value; based on the first operating position and the target operating position, the robotic arm plans the target movement trajectory.
[0106] In one embodiment, the operation status data includes a current pressure value in the tank flushing pipeline and a current flow rate value of the water-sand mixture in the sand suction pipeline.
[0107] Furthermore, the above-mentioned data judgment module 320 can be specifically used to: calculate the statistical values of the corresponding statistical indicators of the seabed height data, the current pressure value and the current flow rate value; if each of the statistical values is greater than the corresponding reference value, determine to adjust the operating parameters of the sand suction component; if there is a statistical value that is not greater than the corresponding reference value, determine not to adjust the operating parameters of the sand suction component.
[0108] Furthermore, the second processing module 340 can be specifically used to: obtain a target flow rate value of the water-sand mixture; calculate the difference between the target flow rate value and the current flow rate value; and adjust the current pump speed of the sand suction pump based on the difference using a preset feedback control algorithm to obtain the target pump speed.
[0109] In one embodiment, the robotic arm is a two-section folding arm, and the folding arm joint angles include a first joint angle between the first section folding arm and the hull of the engineering equipment and a second joint angle between the first section folding arm and the second section folding arm.
[0110] The above-mentioned first processing module 330 can be specifically used to: obtain the lengths of the first section folding arm and the second section folding arm respectively; calculate the first direction coordinate and the second direction coordinate based on the length, the first joint angle and the second joint angle; take the sum of the hull height of the engineering equipment and the seabed height data as the third direction coordinate; determine the target operating position based on the first direction coordinate, the second direction coordinate and the third direction coordinate.
[0111] In one embodiment, the engineering equipment includes a tank flushing assembly.
[0112] The above-mentioned operation control module 350 can also be specifically used to: obtain the total sand suction volume during the sand suction operation; when the total sand suction volume reaches a preset target volume or the preset tank flushing execution time is reached, control the sand suction component to stop the sand suction operation; control the tank flushing component to perform the tank flushing operation.
[0113] The control device for sand suction operation provided in this embodiment can be applied to the control method for sand suction operation provided in any of the above embodiments, and has corresponding functions and beneficial effects.
[0114] Figure 4 1 is a block diagram of an engineering device for implementing a control method for sand suction operation of an embodiment of the present application. Engineering device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Engineering device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.
[0115] like Figure 4 As shown, engineering device 10 includes at least one processor 11 and memory, such as read-only memory (ROM) 12 and random access memory (RAM) 13, communicatively connected to at least one processor 11. The memory stores computer programs executable by the at least one processor. Processor 11 can perform various appropriate actions and processes based on the computer programs stored in ROM 12 or loaded from storage unit 18 into RAM 13. RAM 13 can also store various programs and data required for the operation of engineering device 10. Processor 11, ROM 12, and RAM 13 are interconnected via bus 14. An input / output (I / O) interface 15 is also connected to bus 14.
[0116] Several components in the engineering device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the engineering device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.
[0117] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the control method for the sand suction operation.
[0118] In some embodiments, the sand suction operation control method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on engineering equipment 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the sand suction operation control method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to execute the sand suction operation control method in any other suitable manner (e.g., via firmware).
[0119] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.
[0120] Computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.
[0121] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system, device or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
[0122] To provide interaction with a user, the systems and techniques described herein can be implemented on an engineering device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the engineering device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).
[0123] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.
[0124] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.
[0125] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. For example, those skilled in the art can use the various forms of processes shown above, reorder, add, or delete steps; and can perform the steps described in the present application in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present application can be achieved, and this document does not limit them here.
[0126] The above specific embodiments do not limit the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.
Claims
1. A control method for sand suction operation, characterized in that: Applied to engineering equipment, the engineering equipment is equipped with at least two robotic arms, each of which is equipped with a sand suction assembly, the method comprising: Collect current seabed height data and operation status data during sand suction operation; determining whether to adjust operating parameters of the sand suction assembly based on the seabed height data and the operating status data, the operating parameters including an operating position and a pumping speed of a sand suction pump in the sand suction assembly; If adjustment is required, the target operating position of the corresponding sand suction assembly is calculated based on the folding arm joint angle of each of the robotic arms and the seabed height data; Calculating a target pump speed of the sand suction pump based on the operating status data; The sand suction assembly is controlled to perform a sand suction operation based on the target operation position and the target pump speed.
2. The control method for sand suction operation according to claim 1, characterized in that: The step of controlling the sand suction assembly to perform the sand suction operation based on the target operating position and the target pump speed includes: Planning a target movement trajectory for each of the robotic arms based on the target working position and the current working position; Controlling the movement of each of the robotic arms based on the target movement trajectory so that the corresponding sand suction assembly moves to the target operating position; The sand suction assembly is controlled to perform a sand suction operation based on the target pump speed.
3. The control method for sand suction operation according to claim 2, characterized in that: The planning of a target movement trajectory for each of the robotic arms based on the target working position and the current working position includes: For any of the robotic arms, planning an initial movement trajectory for the robotic arm based on the target working position and the current working position; Calculating the spatial distance between the sand suction assembly and the target operating position; Get the maximum scheduling distance constrained for the robot arm; The difference between the maximum scheduling distance and the spatial distance is used as the position deviation of the sand suction assembly; If the position deviation is greater than a preset value, the initial movement trajectory is used as the target movement trajectory; If the position deviation is not greater than the preset value, the initial movement trajectory is optimized to obtain the target movement trajectory.
4. The control method for sand suction operation according to claim 3, characterized in that: The optimizing the initial movement trajectory to obtain the target movement trajectory includes: Optimizing the current operating position of the sand suction assembly to obtain a first operating position so that the position deviation of the sand suction assembly is greater than the preset value; The robotic arm plans the target movement trajectory based on the first working position and the target working position.
5. The control method for sand suction operation according to claim 1, characterized in that: The operating status data includes a current pressure value in the tank flushing pipeline and a current flow rate value of the water-sand mixture in the sand suction pipeline. The determining whether to adjust the operating parameters of the sand suction component based on the seabed height data and the operating status data includes: Calculating statistical values of statistical indicators corresponding to the seabed height data, the current pressure value, and the current flow velocity value; If each of the statistical values is greater than the corresponding reference value, determining to adjust the operating parameters of the sand suction component; If there is a statistical value that is not greater than the corresponding reference value, it is determined that the operating parameters of the sand suction component are not adjusted.
6. The control method for sand suction operation according to claim 5, characterized in that: The calculating the target pump speed of the sand suction pump based on the operating status data includes: Obtaining a target flow rate value of the water-sand mixture; Calculating a difference between the target flow rate value and the current flow rate value; Based on the difference, a preset feedback control algorithm is used to adjust the current pump speed of the sand suction pump to obtain the target pump speed.
7. The control method for sand suction operation according to claim 1, characterized in that: The mechanical arm is a two-section folding arm, and the folding arm joint angles include a first joint angle between the first section folding arm and the hull of the engineering equipment and a second joint angle between the first section folding arm and the second section folding arm. The target operating position of the corresponding sand suction assembly is calculated based on the folding arm joint angle of each mechanical arm and the seabed height data, including: respectively obtaining the lengths of the first folding arm and the second folding arm; calculating a first direction coordinate and a second direction coordinate based on the length, the first joint angle, and the second joint angle; Taking the sum of the hull height of the engineering equipment and the seabed height data as the third direction coordinate; The target working position is determined based on the first direction coordinate, the second direction coordinate, and the third direction coordinate.
8. The control method for sand suction operation according to claim 1, characterized in that: The engineering equipment includes a tank flushing assembly, and the method further includes: Obtaining the total amount of sand sucked during the sand suction operation; When the total sand suction amount reaches a preset target amount or the preset tank flushing execution time is reached, the sand suction component is controlled to stop the sand suction operation; The can flushing assembly is controlled to perform a can flushing operation.
9. A control device for sand suction operation, characterized in that: Integrated into engineering equipment, the engineering equipment is equipped with at least two robotic arms, each of which is equipped with a sand suction assembly, and the device includes: Data acquisition module, used to collect current seabed height data and operation status data during sand suction operation; a data judgment module, configured to determine whether to adjust operating parameters of the sand suction assembly based on the seabed height data and the operating status data, the operating parameters including an operating position and a pumping speed of a sand suction pump in the sand suction assembly; a first processing module, configured to calculate a target operating position of a corresponding sand suction assembly based on a folding arm joint angle of each of the robotic arms and the seabed height data if adjustment is required; a second processing module, configured to calculate a target pumping speed of the sand suction pump based on the operation status data; An operation control module is used to control the sand suction assembly to perform a sand suction operation based on the target operation position and the target pump speed.
10. An engineering equipment, characterized in that: The engineering equipment includes: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method for sand suction operation according to any one of claims 1 to 8.
11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method for sand suction operations according to any one of claims 1 to 8 when executed.