CN113478480A - Trajectory planning method for transverse arm material distributing machine - Google Patents
Trajectory planning method for transverse arm material distributing machine Download PDFInfo
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- CN113478480A CN113478480A CN202110692865.9A CN202110692865A CN113478480A CN 113478480 A CN113478480 A CN 113478480A CN 202110692865 A CN202110692865 A CN 202110692865A CN 113478480 A CN113478480 A CN 113478480A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
Abstract
The invention provides a trajectory planning method of a transverse arm material distributing machine, which comprises the steps of establishing a rectangular coordinate system in a horizontal plane by taking a base as an original point to obtain a specific attitude set of the material distributing machine; a plurality of lines are adopted to represent the geometric model of the cloth area outline and the obstacle; rasterizing the profile of the distribution area according to the required granularity to obtain a grid of the distribution area; taking the position of each grid as the position of the material distribution port, and calculating from the specific attitude set of the material distribution machine to obtain all effective attitude sets of the material distribution machine at the position of each grid; and the distance between the transverse folding arm under the effective postures and the profile of the cloth area and the distance between the transverse folding arm and the obstacle are comprehensively analyzed to obtain the weight of each effective posture; and according to the weight, the input starting point and the input end point, searching a planning path with the maximum distance from the profile of the distribution area and the total distance of the obstacles by using a weighted single-source shortest path algorithm to serve as an optimal planning path. The invention realizes that the material distributor actively avoids the barrier and optimally plans the motion path of the material distributor.
Description
Technical Field
The invention belongs to the field of concrete spreader application, and particularly relates to a track planning method for a transverse arm spreader.
Background
Concrete spreader is one of the most common devices in building construction.
The traditional unpowered concrete distributing machine needs an operator to manually move a distributing opening to a target position to implement distribution; the traditional motor or hydraulic material distributor can solve the power problem of material distribution, but can only control the rotation of each joint of the material distributor or the movement of a hydraulic oil cylinder, which is not intuitive, and in order to reach a target position, an operator needs to repeatedly adjust.
The concrete distributing machine is characterized in that the concrete distributing machine comprises a transverse folding arm and a vertical folding arm, the height of the vertical folding arm distributing machine can be changed in the distributing process, the distributing range of the transverse folding arm distributing machine is in a plane, and the occupied space is small. The powered cross-folding arm material distributor capable of directly controlling the absolute position of a material distributing opening and planning a path does not appear in the current market.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for planning the track of the transverse arm material distributor can realize control of the absolute position of a material distributing opening and rapid path planning.
The technical scheme adopted by the invention for solving the technical problems is as follows: a trajectory planning method of a transverse arm cloth machine comprises a base and at least 2 sections of transverse arms, wherein the base is fixed at the position of a cloth area relative to the center and does not interfere with the outline of the cloth area and obstacles in the cloth area; the head end of the 1 st section of transverse folding arm is connected with the base through a first rotating mechanism and can rotate around the rotating point of the base in a horizontal plane; the rear transverse folding arm is connected with the previous transverse folding arm through a slewing mechanism and can rotate in the horizontal plane around the tail end slewing point of the previous transverse folding arm; the tail end of the last section of the transverse folding arm is a cloth opening;
the method comprises the following steps:
s1, establishing a rectangular coordinate system in a horizontal plane by taking the base as an origin as an absolute coordinate system; obtaining a specific attitude set of the distributing machine by traversing a rotation point of each section of the transverse folding arm and a rotation angle of each section of the transverse folding arm relative to the previous section of the transverse folding arm or the base;
s2, representing the outline of the cloth area and the geometric model of the obstacle by adopting a multi-segment line;
s3, rasterizing the profile of the distribution area according to the required granularity to obtain a grid of the distribution area;
s4, taking the position of each grid as the position of the material distribution port, and calculating from the specific attitude set of the material distribution machine of S1 to obtain all effective attitude sets of the material distribution machine at the position of each grid; by a geometric calculation method, the corners of the distributing machine are ensured to be within the actual corner capability under the effective posture, and the transverse folding arms do not interfere with obstacles and contours;
meanwhile, the distance between the transverse folding arm and the profile of the cloth area and the distance between the transverse folding arm and the obstacle under each effective posture are obtained;
according to the set of all the effective postures and the distance between the cross-folding arm under the effective postures and the profile of the cloth area and the distance between the cross-folding arm under the effective postures and the obstacle, comprehensively analyzing to obtain the weight of each effective posture;
s5, according to the weight, the input starting point and the input end point, searching a planning path with the maximum distance from the distribution area outline and the total obstacle distance by using a weighted single-source shortest path algorithm, and taking the planning path as an optimal planning path; the planned path is composed of a plurality of lines, and the starting point and the end point of each line are both the origin of the grid in the S3.
According to the method, the specific attitude set of the S1 distributing machine is obtained by the following steps:
the projection outline of each section of transverse folding arm on the horizontal plane is formed by a plurality of sections of lines which are closed end to end;
taking the first-end turning point of the ith transverse folding arm as the center of a circle, setting the direction of the first-end turning point of the ith transverse folding arm pointing to the tail-end turning point of the ith transverse folding arm as the positive direction of an x axis, setting the direction of a horizontal plane vertical to the x axis as the direction of a y axis, and establishing a coordinate system of the ith transverse folding arm on the horizontal plane; using a set of points
K for describing projection outer contour multi-section lines of i-th section transverse folding arm of distributing machine in horizontal planeiThe position coordinates of the vertices; the pose of the ith knuckle of the knuckle is expressed as:
in the formula, H is a homogeneous coordinate transformation matrix of the i-th section of transverse folding arm relative to an absolute coordinate system; fiIs an i-section transverse folding arm K of a material distributoriThe position of the vertices in the absolute coordinate system;
the transverse and longitudinal coordinates of the tail end rotating point of the i-1 th section of transverse folding arm (namely the head end rotating point of the i-1 th section of transverse folding arm) under an absolute coordinate system;
the relative position of the tail end of the ith section of transverse folding arm relative to the tail end of the ith-1 section of transverse folding arm under the coordinate of the ith section of transverse folding arm;ithe turning angle of the ith section of transverse folding arm relative to the positive direction of the x axis of the absolute coordinate system; beta is akIs the angle of the k-th cross-folding arm relative to the k-1 th cross-folding arm, and beta0＝0；
The position of the tail end turning point of the ith folding arm in an absolute coordinate system,
the abscissa and ordinate of (A) are expressed as
And the pose set of all the transverse folding arms is the specific pose set of the distributing machine.
In the above method, in the step S2, the material distribution area has a profile of
Is a set of vertices of a contour polyline, the obstacles are
Is a set of vertices of the obstacle polyline.
According to the method, the step of rasterizing S3 is as follows:
summarizing and calculating the maximum moving range, the base, the obstacles and the outline of all the transverse folding arms in the space in two axial directions under an absolute coordinate system to obtain the integral range, and then uniformly rasterizing the transverse folding arms in the two axial directions under the absolute coordinate system to obtain the grids of the distribution area; the origin position of each grid represents all the actual positions inside the grid.
In the above method, the weight in S4 is obtained by:
and scoring each effective posture according to the set of all effective postures and the distance between the crossfold arm under the effective postures and the profile of the cloth area and the obstacle, and matching the weight according to the score and a preset rule.
According to the method, before scoring, all effective postures are subjected to discrete processing according to required precision.
According to the method, the geometric data of the projection profile of the ith section of transverse folding arm in the S1 on the horizontal plane are obtained by a design model of the distributing machine or a measurement entity of the distributing machine; and the geometric model of the cloth area outline and the obstacle in the S2 is obtained through a cloth area design drawing.
A cloth machine with a transverse folding arm capable of planning a track comprises a base and at least 2 sections of transverse folding arms, wherein the base is fixed at the position of a cloth area relative to the center and does not interfere with the outline of the cloth area and obstacles in the cloth area; the head end of the 1 st section of transverse folding arm is connected with the base through a first rotating mechanism and can rotate around the rotating point of the base in a horizontal plane; the rear transverse folding arm is connected with the previous transverse folding arm through a slewing mechanism and can rotate in the horizontal plane around the tail end slewing point of the previous transverse folding arm; the tail end of the last section of the transverse folding arm is a cloth opening;
each rotary point is provided with a motor and an encoder, and the motor is connected with a main control computer through a controller; and the main control computer acquires the rotation angle of each rotation point in real time, and sends a signal to the controller to control each transverse folding arm to rotate for a certain angle according to the trajectory planning method of the transverse folding arm material distributor, so that the transverse folding arm material distributor moves according to the planned trajectory.
The invention has the beneficial effects that: establishing a mathematical model of the geometric information of the profile of the material distributor, the profile of the working area and the obstacle, and rasterizing the working area to facilitate analysis by a computer; the method realizes the active avoidance of the obstacles in the movement process of the distributing machine, and simultaneously optimally plans the movement path of the distributing machine, thereby greatly improving the informatization and intelligentization degrees of the distributing machine, reducing the control cost of operators and providing reference for the unmanned distribution process.
Drawings
Fig. 1 is a top view of a cross-folding arm material distributor according to an embodiment of the present invention.
Fig. 2 is a side view of a cross-folding arm spreader in accordance with an embodiment of the present invention.
Fig. 3 is a schematic diagram of path planning according to an embodiment of the present invention.
In the figure: 1. a base; 2. a transverse folding arm; 3. a disorder; 4. a grid; 5. planning a path; 2.1 a first transverse folding arm; 2.2 second transverse folding arms; 2.3 third transverse folding arm.
Detailed Description
The invention is further illustrated by the following specific examples and figures.
The invention provides a trajectory planning method of a transverse-folding-arm material distributor, as shown in fig. 1 and fig. 2, the transverse-folding-arm material distributor comprises a base 1 and at least 2 sections of transverse folding arms 2, wherein the base 1 is fixed at the position of the relative center of a material distribution area and is not interfered with the profile of the material distribution area and obstacles in the material distribution area; the head end of the 1 st section of transverse folding arm (namely 2.1 first transverse folding arm in the figure) is connected with the base 1 through a first rotating mechanism and can rotate around the rotating point of the base 1 in the horizontal plane; the rear transverse folding arm is connected with the previous transverse folding arm through a slewing mechanism and can rotate in the horizontal plane around the tail end slewing point of the previous transverse folding arm; the tail end of the last section of transverse folding arm is provided with a material distribution port. The invention is described by taking three sections of transverse folding arms as an example, the more the transverse folding arms are, the more the postures are, and generally more than two sections of transverse folding arms are needed. The second transverse folding arm 2.2 is connected with the tail end of the first transverse folding arm 2.1 through a rotary mechanism, the third transverse folding arm 2.3 is connected with the tail end of the second transverse folding arm 2.2 through the rotary mechanism, and the tail end of the third transverse folding arm 2.3 is a material distribution opening.
The method comprises the following steps:
s1, establishing a rectangular coordinate system in a horizontal plane by taking the base 1 as an origin as an absolute coordinate system; and obtaining a specific attitude set of the distributing machine by traversing the rotation point of each section of the transverse folding arm and the rotation angle of each section of the transverse folding arm relative to the previous section of the transverse folding arm or the base.
The specific attitude set of the distributing machine is obtained by the following method:
the projection outline of each section of transverse folding arm on the horizontal plane is formed by a plurality of sections of lines which are closed end to end;
taking the first-end turning point of the ith transverse folding arm as the center of a circle, setting the direction of the first-end turning point of the ith transverse folding arm pointing to the tail-end turning point of the ith transverse folding arm as the positive direction of an x axis, setting the direction of a horizontal plane vertical to the x axis as the direction of a y axis, and establishing a coordinate system of the ith transverse folding arm on the horizontal plane; using a set of points
K for describing projection outer contour multi-section lines of i-th section transverse folding arm of distributing machine in horizontal planeiThe position coordinates of the vertices; the pose of the ith knuckle of the knuckle is expressed as:
in the formula, H is a homogeneous coordinate transformation matrix of the i-th section of transverse folding arm relative to an absolute coordinate system; fiIs an i-section transverse folding arm K of a material distributoriThe position of the vertices in the absolute coordinate system;
the transverse and longitudinal coordinates of the tail end rotating point of the i-1 th section of transverse folding arm (namely the head end rotating point of the i-1 th section of transverse folding arm) under an absolute coordinate system;
the relative position of the tail end of the ith section of transverse folding arm relative to the tail end of the ith-1 section of transverse folding arm under the coordinate of the ith section of transverse folding arm;ithe turning angle of the ith section of transverse folding arm relative to the positive direction of the x axis of the absolute coordinate system; beta is akIs the angle of the k-th cross-folding arm relative to the k-1 th cross-folding arm, and beta0＝0；
The position of the tail end turning point of the ith folding arm in an absolute coordinate system,
the abscissa and ordinate of (A) are expressed as
In S1, for a particular spreader (i.e. corresponding set of points), the angle β of each cross arm is givenlA specific attitude of the material distributor can be obtained, and the specific attitude is a point set { F) containing all vertexes of the multi-section line of the material distributori}。
And the pose set of all the transverse folding arms is the specific pose set of the distributing machine.
And S2, representing the geometric model of the cloth area outline and the obstacle by adopting a multi-segment line.
The cloth area has a profile of
Is a set of vertices of a contour polyline, the obstacles are
The vertex sets of the barrier polylines are all under an absolute coordinate system.
And S3, rasterizing the profile of the cloth area according to the required granularity to obtain the grid of the cloth area.
As shown in fig. 3, the specific steps of rasterization are:
summarizing and calculating the maximum moving range, the base, the obstacle 3 and the outline of all the transverse folding arms in the space in two axial directions under an absolute coordinate system to obtain an integral range, and then uniformly rasterizing the transverse folding arms in the two axial directions under the absolute coordinate system to obtain a grid 4 of a cloth area; the origin position of each grid 4 represents all the actual positions inside the grid 4.
Figure 3 shows the effect after rasterization of the working area. The original position of each grid is used for representing all actual positions inside the grid, and optimization through a computer is facilitated. Other typical positions (such as the center of gravity) of the grid can be used as representatives of all the positions of the grid, and all the representative points of the grid are selected to be consistent. According to the different arm section numbers of the distributing machine, when the distributing opening is positioned at the position of a certain grid, the corresponding distributing machine has 0, 1, 2 or infinite possible postures.
S4, taking the position of each grid 4 as the position of the material distribution port, and calculating from the specific attitude set of the material distribution machine of S1 to obtain all effective attitude sets of the material distribution machine under the position of each grid 4; by means of a geometric calculation method, it is guaranteed that under an effective posture, all corners of the distributing machine are located within the capacity of the actual corners, and the transverse folding arms do not interfere with obstacles and contours. Meanwhile, the distance between the transverse folding arm and the profile of the cloth area and the distance between the transverse folding arm and the obstacle under each effective posture are obtained; and comprehensively analyzing to obtain the weight of each effective posture according to the set of all effective postures and the distance between the cross-folding arm under the effective postures and the profile of the cloth area and the obstacle.
In this embodiment, the position of each grid is used as the terminal position (material distribution port position) of the last cross-folding arm of the material distributor, and all effective attitude sets of the arm sections of the material distributor at the position are solved { { F { (F) }i}; by means of the geometric calculation method, it is guaranteed that under the effective posture, all corners of the material distributor are located within the capacity of the actual corners, and the transverse folding arms do not interfere with obstacles and contours, namely, a polygon
Both positions of the distributor in fig. 2 are active positions, without interfering with the shown obstacles. Meanwhile, the distance between the arm pitch of each posture and the outline of the working area and the obstacle can be obtained, the posture can be scored according to the distance and the relative position, and the score is an index for measuring the reasonability of the posture. Since there may be numerous gestures corresponding to a grid, the gestures are discretized according to the required accuracy. The computed poses and scores are saved in a data structure corresponding to the grid.
The weights are obtained by:
according to the set of all the effective postures and the distance between the cross-folding arm under the effective postures and the outline of the cloth area and the obstacle, scoring is carried out on each effective posture, and the score is calculated as
Wherein s is a function for calculating the fraction, the inputs A and B are respectively a transverse folding arm point set and a barrier point set of the distributing machine, and the click of the profile is also added into the barrier point set and is regarded as a special barrier; f is an auxiliary function which is characterized in that when a certain section of transverse arm is close to the transverse arm, the fraction caused by the relative relation of the part is increased, and the closer the distance is, the higher the increasing speed is, and other auxiliary functions meeting the characteristic are also in the scope of the claims; d0Is a constant; the distance function calculates the closest distance between two sets of points.
And matching the weight according to the score and a preset rule.
S5, according to the weight, the input starting point and the input end point, searching a planning path 5 with the maximum distance from the distribution area outline and the total obstacle distance by using a weighted single-source shortest path algorithm, and taking the planning path 5 as an optimal planning path; the planned path is composed of a plurality of lines, and the starting point and the end point of each line are both the origin of the grid in the S3. A preferred path from the start point to the end point is shown in fig. 3, noting that the path is made up of multiple segments of lines, each with its start and end points being the grid origin (representative points of the grid).
The geometric data of the projection profile of the ith transverse folding arm in the S1 on the horizontal plane are obtained by a design model of the distributing machine or a measurement entity of the distributing machine; and the geometric model of the cloth area outline and the obstacle in the S2 is obtained through a cloth area design drawing.
The adjacent grids of the planned path should meet the continuity of the posture of the distributing machine, and the continuity condition is as follows: maxi({abs(βi,j-βi,j-1)})＜εβThat is, for two adjacent poses j and j-1 on the path, the maximum value of the relative rotation angle difference of the corresponding arm joint is less than a certain fixed value epsilonβ。
The invention also provides a transverse folding arm material distributor capable of planning the track, which comprises a base and at least 2 sections of transverse folding arms, wherein the base is fixed at the position of the relative center of the material distribution area and does not interfere with the profile of the material distribution area and the obstacles in the material distribution area; the head end of the 1 st section of transverse folding arm is connected with the base through a first rotating mechanism and can rotate around the rotating point of the base in a horizontal plane; the rear transverse folding arm is connected with the previous transverse folding arm through a slewing mechanism and can rotate in the horizontal plane around the tail end slewing point of the previous transverse folding arm; the tail end of the last section of the transverse folding arm is a cloth opening; each rotary point is provided with a motor and an encoder, and the motor is connected with a main control computer through a controller; and the main control computer acquires the rotation angle of each rotation point in real time, and sends a signal to the controller to control each transverse folding arm to rotate for a certain angle according to the trajectory planning method of the transverse folding arm material distributor, so that the transverse folding arm material distributor moves according to the planned trajectory.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the steps of the method being implemented when the processor executes the program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method.
In the actual working process, each rotary point of the distributing machine is provided with a motor and an encoder, the motor is connected to a controller, and the controller is connected with a main control computer. The main control computer can acquire the turning angle of each joint in real time and can also control each arm section to rotate a certain angle by sending a signal to the controller. The controller can interpolate the command sent by the main control computer, so that the motor rotates smoothly, and the impact is reduced.
Inputting the profile of the material distributor, the profile of the area and the top point of the obstacle multi-section line into a computer, estimating the dimension of the whole simulation area, and then gridding the area under the dimension. And the calculation performance is fully utilized, the posture of the material distributing machine of each grid is analyzed, and the effective posture is stored in the computer.
When planning the path, the input device of the remote controller of the distributing machine is used for giving the starting point and the end point of the path to be planned. When the two points are judged to be effective positions, the material distributor obtains the relative angle beta of each arm joint of the starting point by reading the encoder positioned at the rotating point of the arm jointk. And then, selecting a proper terminal attitude, and calculating a planned path. And according to the posture of each point of the planned path, the material distributor plans the motion of each joint, and then controls the motion of the actual arm section through the controller. Because the corresponding gesture of each point on the planned path is an effective gesture, the planned path and the obstacle do not interfere with each other, and the purpose of actively avoiding the obstacle is achieved.
In summary, the invention provides a trajectory planning method for a transverse arm material distributor, which establishes a mathematical model of geometric information of a material distributor profile, a working area profile and obstacles, and performs rasterization processing on the working area, so as to facilitate analysis by a computer. The method realizes active obstacle avoidance of the material distributing machine in the moving process, optimally plans the moving path of the material distributing machine, greatly improves the informatization and intelligentization degree of the material distributing machine, reduces the control cost of operators, and provides reference for the unmanned material distributing process.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (10)
1. A trajectory planning method of a transverse arm cloth machine comprises a base and at least 2 sections of transverse arms, wherein the base is fixed at the position of a cloth area relative to the center and does not interfere with the outline of the cloth area and obstacles in the cloth area; the head end of the 1 st section of transverse folding arm is connected with the base through a first rotating mechanism and can rotate around the rotating point of the base in a horizontal plane; the rear transverse folding arm is connected with the previous transverse folding arm through a slewing mechanism and can rotate in the horizontal plane around the tail end slewing point of the previous transverse folding arm; the tail end of the last section of the transverse folding arm is a cloth opening;
the method is characterized in that: the method comprises the following steps:
s1, establishing a rectangular coordinate system in a horizontal plane by taking the base as an origin as an absolute coordinate system; obtaining a specific attitude set of the distributing machine by traversing a rotation point of each section of the transverse folding arm and a rotation angle of each section of the transverse folding arm relative to the previous section of the transverse folding arm or the base;
s2, representing the outline of the cloth area and the geometric model of the obstacle by adopting a multi-segment line;
s3, rasterizing the profile of the distribution area according to the required granularity to obtain a grid of the distribution area;
s4, taking the position of each grid as the position of the material distribution port, and calculating from the specific attitude set of the material distribution machine of S1 to obtain all effective attitude sets of the material distribution machine at the position of each grid; by a geometric calculation method, the corners of the distributing machine are ensured to be within the actual corner capability under the effective posture, and the transverse folding arms do not interfere with obstacles and contours;
meanwhile, the distance between the transverse folding arm and the profile of the cloth area and the distance between the transverse folding arm and the obstacle under each effective posture are obtained;
according to the set of all the effective postures and the distance between the cross-folding arm under the effective postures and the profile of the cloth area and the distance between the cross-folding arm under the effective postures and the obstacle, comprehensively analyzing to obtain the weight of each effective posture;
s5, according to the weight, the input starting point and the input end point, searching a planning path with the maximum distance from the distribution area outline and the total obstacle distance by using a weighted single-source shortest path algorithm, and taking the planning path as an optimal planning path; the planned path is composed of a plurality of lines, and the starting point and the end point of each line are both the origin of the grid in the S3.
2. The trajectory planning method according to claim 1, characterized in that: the specific attitude set of the S1 distributing machine is obtained by the following method:
the projection outline of each section of transverse folding arm on the horizontal plane is formed by a plurality of sections of lines which are closed end to end;
taking the first-end turning point of the ith transverse folding arm as the center of a circle, setting the direction of the first-end turning point of the ith transverse folding arm pointing to the tail-end turning point of the ith transverse folding arm as the positive direction of an x axis, setting the direction of a horizontal plane vertical to the x axis as the direction of a y axis, and establishing a coordinate system of the ith transverse folding arm on the horizontal plane; using a set of points
K for describing projection outer contour multi-section lines of i-th section transverse folding arm of distributing machine in horizontal planeiThe position coordinates of the vertices; the pose of the ith knuckle of the knuckle is expressed as:
in the formula, H is a homogeneous coordinate transformation matrix of the i-th section of transverse folding arm relative to an absolute coordinate system; fiIs an i-section transverse folding arm K of a material distributoriThe position of the vertices in the absolute coordinate system;
the transverse and longitudinal coordinates of the tail end rotating point of the i-1 th horizontal folding arm under an absolute coordinate system are shown, and the tail end rotating point of the i-1 th horizontal folding arm is the head end rotating point of the i-1 th horizontal folding arm;
the relative position of the tail end of the ith section of transverse folding arm relative to the tail end of the ith-1 section of transverse folding arm under the coordinate of the ith section of transverse folding arm;ithe turning angle of the ith section of transverse folding arm relative to the positive direction of the x axis of the absolute coordinate system; beta is akIs the angle of the k-th cross-folding arm relative to the k-1 th cross-folding arm, and beta0＝0；
The position of the tail end turning point of the ith folding arm in an absolute coordinate system,
the abscissa and ordinate of (A) are expressed as
And the pose set of all the transverse folding arms is the specific pose set of the distributing machine.
3. The trajectory planning method according to claim 1, characterized in that: in the S2, the cloth area has the profile of
Is a set of vertices of a contour polyline, the obstacles are
Is a set of vertices of the obstacle polyline.
4. The trajectory planning method according to claim 1, characterized in that: the step of rasterizing S3 is as follows:
summarizing and calculating the maximum moving range, the base, the obstacles and the outline of all the transverse folding arms in the space in two axial directions under an absolute coordinate system to obtain the integral range, and then uniformly rasterizing the transverse folding arms in the two axial directions under the absolute coordinate system to obtain the grids of the distribution area; the origin position of each grid represents all the actual positions inside the grid.
5. The trajectory planning method according to claim 1, characterized in that: the weight in S4 is obtained by:
and scoring each effective posture according to the set of all effective postures and the distance between the crossfold arm under the effective postures and the profile of the cloth area and the obstacle, and matching the weight according to the score and a preset rule.
6. The trajectory planning method according to claim 5, characterized in that: and before scoring, performing discrete processing on all effective postures according to the required precision.
7. The trajectory planning method according to claim 2, characterized in that: the geometric data of the projection profile of the ith transverse folding arm in the S1 on the horizontal plane are obtained by a design model of the distributing machine or a measurement entity of the distributing machine; and the geometric model of the cloth area outline and the obstacle in the S2 is obtained through a cloth area design drawing.
8. The utility model provides a cross-fold arm cloth machine that can trajectory planning which characterized in that: the transverse folding arm material distributor comprises a base and at least 2 sections of transverse folding arms, wherein the base is fixed at the position of the relative center of a material distribution area and does not interfere with the profile of the material distribution area and obstacles in the material distribution area; the head end of the 1 st section of transverse folding arm is connected with the base through a first rotating mechanism and can rotate around the rotating point of the base in a horizontal plane; the rear transverse folding arm is connected with the previous transverse folding arm through a slewing mechanism and can rotate in the horizontal plane around the tail end slewing point of the previous transverse folding arm; the tail end of the last section of the transverse folding arm is a cloth opening;
each rotary point is provided with a motor and an encoder, and the motor is connected with a main control computer through a controller; the main control computer acquires the rotation angle of each rotation point in real time, and sends a signal to the controller to control each transverse arm to rotate by a certain angle according to the trajectory planning method of the transverse arm material distribution machine in any one of claims 1 to 7, so that the transverse arm material distribution machine moves according to the planned trajectory.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 7 are implemented when the processor executes the program.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| CN202110692865.9A CN113478480B (en) | 2021-06-22 | 2021-06-22 | Trajectory planning method for transverse arm material distributing machine |
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