CN112110343A - Multi-machine intelligent cooperative control system and method for folding arm crane based on 5G network - Google Patents

Multi-machine intelligent cooperative control system and method for folding arm crane based on 5G network Download PDF

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CN112110343A
CN112110343A CN202011058539.4A CN202011058539A CN112110343A CN 112110343 A CN112110343 A CN 112110343A CN 202011058539 A CN202011058539 A CN 202011058539A CN 112110343 A CN112110343 A CN 112110343A
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coordinate system
vehicle
crane
mechanical arm
lifting device
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CN112110343B (en
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张燕军
韩甲文
张永超
李文峰
卞隆元
陈兆勇
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Jiangsu Hongchang Tianma Logistics Equipment Co ltd
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Jiangsu Hongchang Tianma Logistics Equipment Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices

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  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

A multi-machine intelligent cooperative control system and method for a folding arm crane based on a 5G network. The invention relates to the technical field of crane equipment, in particular to a multi-machine intelligent cooperative control system, method and method for a folding arm crane based on a 5G network. The system and the method for the cooperative control of the mechanical arm cranes of the double cranes in series solve the problems of high stress, high torque, long transportation time and the like caused by poor matching of the existing double cranes. Comprises a plurality of parallel cranes; the crane comprises a hoisting platform, a hydraulic lifting device, a mechanical arm, a telescopic rope and a fixing buckle; the number of the cranes is two. According to the invention, the motion trail is calculated, the matching of the two arms is realized, the synchronization rate of the double cranes can be further improved, and the transportation scientificity, safety and normalization of the two mechanical arms are improved.

Description

Multi-machine intelligent cooperative control system and method for folding arm crane based on 5G network
Technical Field
The invention relates to the technical field of crane equipment, in particular to a multi-machine intelligent cooperative control system, method and method for a folding arm crane based on a 5G network.
Background
Along with the popularization of special mechanical equipment in China, the transportation industry develops vigorously in recent years, the requirement on transportation specification and weight is higher and higher, meanwhile, the coming of the 5G era means that the speed of signal transmission is further developed, and in addition, the development of the double-arm cooperation technology of the robot brings a solution to the problems of high matching stress of a mechanical arm and the like in simple movement under the traditional double-crane transportation. Based on this, through the two hoist arms of 5G signal transmission series connection, calculate both arms orbit simultaneously and carry out coordinated control has a non-trivial effect to the transportation.
Disclosure of Invention
Aiming at the problems, the invention provides a system and a method for cooperatively controlling the mechanical arm crane series connection of the double cranes, which solve the problems of high stress, high torque, long transportation time and the like caused by poor matching of the existing double cranes.
The technical scheme of the invention is as follows: a folding arm crane multi-machine intelligent cooperative control system and method based on a 5G network comprises a plurality of parallel cranes; the crane comprises a hoisting platform, a hydraulic lifting device, a mechanical arm, a telescopic rope and a fixing buckle;
the mechanical arm is lifted or rotated on the lifting platform through a hydraulic lifting device;
one end of the telescopic rope is hung and buckled at the tail end of the mechanical arm, and the other end of the telescopic rope is connected with the hook lock;
two ends of the fixing buckle are respectively fixed on the object to be tested;
and the fixing buckle is provided with a positioning system for acquiring the positions of the fixing buckle and the crane.
The number of the cranes is two.
A method for the tandem cooperative control of the mechanical arm cranes of the crane as claimed in claim 3,
1) establishing a system model for cooperatively controlling the transport belt object by connecting two crane mechanical cranes in series;
1.1) respectively fixing two fixing buckles with positioning systems on an object to be processed;
1.2) the two cranes are respectively a driving vehicle a and a cooperative driven vehicle b, and coordinate system coordinates O are respectively establishedaDot and ObPoint;
the center of the vehicle a is marked as a world point O, the direction of gravity borne by the vehicle a is a Z-axis negative direction, a parallel straight line in the connecting line direction of the two vehicles is an X-axis direction, the vehicle b is shown as a positive direction and a negative direction, the X axis and the Z axis form a plane vertical line and are intersected in the body center point direction of the animal to be treated, the Y axis is a Y axis direction, and the direction of the Y axis far away from the crane is a positive direction. I.e. OaDot [0, 0, 0, 1 ]]TThe coordinate systems of the two cranes and the world point only have coordinate translation transformation, so the coordinate system of the a vehicle is OaDot [0, 0, 0, 1 ]]TB vehicle coordinate system coordinate is Ob[Xb，0，0，1]TThe attitude is the same as the world coordinate system;
2) calculating the relationship between the motion of the object to be moved and the rotation of the two crane lifting platforms, the rotation and the extension of the mechanical arm and the length of the extension rope through the motion trail to form a related motion system;
2.1) analyzing the vehicle a of the main motor vehicle, and hooking and locking the pose of the vehicle a in a vehicle coordinate system;
the height of the crane is laSo that the coordinate system of the end of the crane is Oa1Left-hand multiplication of the operator by T, relative to a fixed coordinate systema1＝(0，0，la，1)，
Figure BDA0002711605970000021
At the end of the crane tower coordinate system Oa1Coordinate position of
Figure BDA0002711605970000022
The position in the coordinate system of the a vehicle is
Figure BDA0002711605970000023
Hydraulic lifterThe coordinate system of the end of the rotating device in the lifting device is Oa2The Z-axis height of the rotating device is la1The rotation angle is theta, X, Y is changed into X 'and Y' after rotation
Figure BDA0002711605970000024
Therefore at Oa2Coordinate position under coordinate system
Figure BDA0002711605970000025
At Oa1The position in the coordinate system is
Figure BDA0002711605970000026
The rotating device of the hydraulic lifting device is a hybrid transformation
Wherein the rotation transformation matrix is
Figure BDA0002711605970000027
Wherein the translation transformation matrix is
Figure BDA0002711605970000028
Figure BDA0002711605970000031
The lifting device is connected with the mechanical arm, the included angle between the mechanical arm and the XOY plane is alpha, the initial extending direction of the mechanical arm and the offset of the y axis are beta, and the alpha angle can be adjusted through the control device and can be monitored through the distance sensor in real time. The same direction of beta and theta around the z axis is positive, and the reverse direction is negative;
the mechanical arm has a protruding length d1
dy＝d1cosαcosβ
dx＝d1cosαsinβ
dz＝d1sinα
Therefore, the tail end coordinate system O of the lower mechanical arm of the lifting device of the hydraulic lifting devicea3Position under a coordinate system
Figure BDA0002711605970000032
At Oa2The position under the coordinate system is
Figure BDA0002711605970000033
Wherein the translation is changed
Figure BDA0002711605970000034
And the initial distance of the hook lock is d3, the hook lock is in the terminal coordinate system Oa3Position under coordinate system:
Figure BDA0002711605970000035
2.2) analyzing the vehicle b, and hooking and locking the pose under the coordinate system of the vehicle b;
b vehicle origin coordinate system ObAnd a vehicle starting point coordinate system OaFor translation transformation
Figure BDA0002711605970000041
Position under the coordinate system of the vehicle b
Figure BDA0002711605970000042
The position in the a-vehicle coordinate system is expressed as
Figure BDA0002711605970000043
The height of the crane is lbSo that the coordinate system of the end of the crane is Ob1Left-hand multiplication of the operator by T, relative to a fixed coordinate systemb1＝(0，0，lb，1)，
Figure BDA0002711605970000044
At the end of the crane tower coordinate system Ob1In a coordinate position of
Figure BDA0002711605970000045
The position in the coordinate system of the vehicle b is
Figure BDA0002711605970000046
The coordinate system of the end of the rotating device in the hydraulic lifting device is Ob2The Z-axis height of the rotating device is lb1The rotation angle is gamma, X, Y is changed into X 'and Y' after rotation
Figure BDA0002711605970000047
Therefore at Ob2Coordinate position under coordinate system
Figure BDA0002711605970000048
At Ob1The position in the coordinate system is
Figure BDA0002711605970000049
Therefore, the rotating device of the hydraulic lifting device is in hybrid transformation:
wherein the rotation transformation matrix is
Figure BDA00027116059700000410
Wherein the translation transformation matrix is
Figure BDA00027116059700000411
Figure BDA0002711605970000051
The lifting device is connected with the mechanical arm; the mechanical arm and the XOY plane form an included angle of
Figure BDA0002711605970000052
The offset between the initial extending direction of the mechanical arm and the y-axis is,
Figure BDA0002711605970000053
the angle can be controlledThe device is used for adjusting and monitoring the feedback angle in real time through a distance sensor;
positive in the same direction of gamma around the z axis and negative in the opposite direction;
the mechanical arm has a protruding length d 2;
Figure BDA0002711605970000054
Figure BDA0002711605970000055
Figure BDA0002711605970000056
therefore, the tail end coordinate system O of the lower mechanical arm of the lifting device of the hydraulic lifting deviceb3Position under a coordinate system
Figure BDA0002711605970000057
At Ob2The position under the coordinate system is
Figure BDA0002711605970000058
Wherein the translation is changed
Figure BDA0002711605970000059
The initial extension of the hook lock is d 4;
and the hook is locked at the end coordinate system Ob3Position under a coordinate system
Figure BDA00027116059700000510
To keep the system operating cooperatively, the two cooperating end points of the two robotic arms are hooked at the same time tx，vy，vzThe same is unified into a-car coordinate system:
Figure BDA0002711605970000061
wherein the relationship of the a car tail end hook lock in a car coordinate system is as follows:
Figure BDA0002711605970000062
wherein the relationship of the hook at the tail end of the car b in the coordinate system of the car a in the motion process is as follows:
Figure BDA0002711605970000063
the relative distance of which remains constant, i.e. Pbx1-Pax1＝0，Pbx2-Pax2＝0，Pbx3-Pax3D3-d4 are constant values, and the mathematical model is as follows:
Figure BDA0002711605970000064
Figure BDA0002711605970000065
Figure BDA0002711605970000066
Figure BDA0002711605970000067
Figure BDA0002711605970000068
Figure BDA0002711605970000071
therefore, the cooperative uniformity of the two mechanical arms can be well controlled by controlling the extension length and the rotary lifting of the mechanical arms;
and (3) simultaneously calculating the formulas (1), (2) and (3) to obtain a control constraint condition as follows:
Figure BDA0002711605970000072
Figure BDA0002711605970000073
the movement is controlled through the conditions, namely, the object to be processed can move according to the speed and the track through the double-arm cooperative movement.
The method mainly comprises the following steps:
step 1, establishing a model of a double-crane mechanical arm-crane series cooperative control system, comprising the following steps of: the two cranes comprise a crane platform, a mechanical arm, a telescopic rope, a hydraulic lifting device, a to-be-moved object and a fixing buckle with a positioning system.
The hydraulic lifting device comprises a lifting device and a rotating device.
And 2, connecting the fixing buckle with the tail end of the crane, and collecting the positions of the fixing buckle and the crane. The middle point of the fixing buckle is an initial coordinate point.
And 3, establishing a coordinate system respectively taking the crane as a coordinate origin, and perfecting the reverse kinematic motion trail of the mechanical arm and the coordinate system of the lifting platform, the mechanical arm and the telescopic rope.
And 4, calculating the relationship between the motion of the object to be moved and the rotation of the two crane lifting platforms, the rotation and the extension of the mechanical arm and the length of the extension rope through the motion track to form a related motion system.
The present case combines together motion state collection and trajectory planning and the terminal motion of arm, through calculating the movement track, realizes both arms cooperation, can further improve two hoist synchronous rate, improves two arm transportation scientificity, security and standardization.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the coordinated movement structure of the mechanical arms of the double crane of the present invention;
FIG. 3 is a schematic view of the kinematic coordinate architecture of FIG. 1;
FIG. 4 is a coordinate system diagram of a kinematic fixture of a robotic arm;
FIG. 5 is a view of the kinematic fixed table coordinate system of the robot arm of the machine b;
FIG. 6 is a mathematical model diagram of a machine arm;
FIG. 7 is a mathematical model diagram of a manipulator of the machine b;
in the figure, 1 is an object to be processed, 2 is a vehicle a hoisting platform, 3 is a vehicle a hydraulic lifting device, 4 is a vehicle a mechanical arm, 5 is a vehicle a telescopic rope, 6 is a vehicle a fixed buckle, 7 is a vehicle b hoisting platform, 8 is a vehicle b hydraulic lifting device, 9 is a vehicle b mechanical arm, 10 is a vehicle b telescopic rope, and 11 is a vehicle b fixed buckle.
Detailed Description
The invention is further described below with reference to the accompanying drawings, as shown in figures 1-7:
a folding arm crane multi-machine intelligent cooperative control system and method based on a 5G network comprises a plurality of parallel cranes; the crane comprises a hoisting platform supported by the ground, a hydraulic lifting device, a mechanical arm, a telescopic rope (comprising a vehicle telescopic rope 5 and a vehicle telescopic rope 10) and a fixing buckle (comprising a vehicle fixing buckle 6 and a vehicle fixing buckle 11);
the mechanical arm is lifted or rotated on the lifting platform through a hydraulic lifting device; the hydraulic lifting device has the same structure as that in the prior art, comprises a lifting device and a rotating device, and realizes the lifting and rotating functions of the mechanical arm;
one end of the telescopic rope is hung and buckled at the tail end (the end far away from the hoisting platform) of the mechanical arm, and the other end of the telescopic rope is connected with the hook lock;
two ends of the fixing buckle are respectively fixed on the object 1 to be processed;
be equipped with the collection on the fixed knot (fixed knot is the tensioning iron chain that has the screw at both ends, screw and treat animal 1 zonulae occludens) and the positioning system of hoist position (positioning system is present conventional integrated system, belongs to prior art), and the fixed middle point of detaining is the initial coordinate point.
The number of the cranes is two.
The serial cooperative control method for the mechanical arm cranes of the crane,
1) establishing a system model for cooperatively controlling the transport belt object by connecting two crane mechanical cranes in series;
1.1) respectively fixing two fixing buckles with positioning systems on an object to be processed 1;
1.2) the two cranes are respectively a driving vehicle a and a cooperative driven vehicle b, and coordinate system coordinates O are respectively establishedaDot and ObPoint;
the center of the vehicle a is marked as a world point O, the direction of gravity borne by the vehicle a is a Z-axis negative direction, a parallel straight line in the connecting line direction of the two vehicles is an X-axis direction, the vehicle b is shown as a positive direction and a negative direction, the X axis and the Z axis form a plane vertical line and are intersected in the mass center point direction of the object 1 to be processed, the Y axis is a Y axis direction, and the direction of the Y axis far away from the crane is a positive direction. I.e. OaDot [0, 0, 0, 1 ]]TThe coordinate systems of the two cranes and the world point only have coordinate translation transformation, so the coordinate system of the a vehicle is OaDot [0, 0, 0, 1 ]]TB vehicle coordinate system coordinate is Ob[Xb，0，0，1]TThe attitude is the same as the world coordinate system;
2) calculating the relationship between the motion of the object 1 to be moved and the rotation of the two crane lifting platforms, the rotation and the extension of the mechanical arm and the length of the extension rope through the motion trail to form a related motion system;
2.1) analyzing the vehicle a of the main motor vehicle, and hooking and locking the pose of the vehicle a in a vehicle coordinate system;
a the height of the lifting platform 2 of the vehicle is laSo that the coordinate system of the end of the crane is Oa1Left-hand multiplication of the operator by T, relative to a fixed coordinate systema1＝(0，0，la，1)，
Figure BDA0002711605970000091
At the end of the crane tower coordinate system Oa1Coordinate position of
Figure BDA0002711605970000092
The position in the coordinate system of the a vehicle is
Figure BDA0002711605970000093
a coordinate system of the tail end of the rotating device in the hydraulic lifting device 3 of the vehicle is Oa2The Z-axis height of the rotating device is la1The rotation angle is theta, X, Y is changed into X 'and Y' after rotation
Figure BDA0002711605970000094
Therefore at Oa2Coordinate position under coordinate system
Figure BDA0002711605970000095
At Oa1The position in the coordinate system is
Figure BDA0002711605970000096
The rotating device of the hydraulic lifting device is a hybrid transformation
Wherein the rotation transformation matrix is
Figure BDA0002711605970000097
Wherein the translation transformation matrix is
Figure BDA0002711605970000098
Figure BDA0002711605970000099
The lifting device is connected with a machine mechanical arm 4, the included angle between the mechanical arm and an XOY plane is alpha, the initial extending direction of the mechanical arm and the offset of a y axis are beta, the alpha angle can be adjusted through the control device, and the feedback angle is monitored in real time through the distance sensor. The same direction of beta and theta around the z axis is positive, and the reverse direction is negative;
the mechanical arm has a protruding length d1
dy＝d1cosαcosβ
dx＝d1cosαsinβ
dz＝d1sinα
Therefore, the tail end coordinate system O of the lower mechanical arm of the lifting device of the hydraulic lifting devicea3Position under a coordinate system
Figure BDA0002711605970000101
At Oa2The position under the coordinate system is
Figure BDA0002711605970000102
Wherein the translation is changed
Figure BDA0002711605970000103
The calculation can be simplified without changing the orientation of the coordinate system, so that the coordinate system is not subjected to rotation change
And the initial distance of the hook lock is d3, the hook lock is in the terminal coordinate system Oa3Position under coordinate system:
Figure BDA0002711605970000104
2.2) analyzing the vehicle b, and hooking and locking the pose under the coordinate system of the vehicle b;
b vehicle origin coordinate system ObAnd a vehicle starting point coordinate system OaFor translation transformation
Figure BDA0002711605970000105
Position under the coordinate system of the vehicle b
Figure BDA0002711605970000106
The position in the a-vehicle coordinate system is expressed as
Figure BDA0002711605970000107
The height of the B vehicle hoisting platform 7 is lbSo that the coordinate system of the end of the crane is Ob1Left-hand multiplication of the operator by T, relative to a fixed coordinate systemb1＝(0，0，lb，1)，
Figure BDA0002711605970000111
At the end of the crane tower coordinate system Ob1In a coordinate position of
Figure BDA0002711605970000112
The position in the coordinate system of the vehicle b is
Figure BDA0002711605970000113
b, the coordinate system of the tail end of the rotating device in the hydraulic lifting device 8 of the vehicle is Ob2The Z-axis height of the rotating device is lb1The rotation angle is gamma, X, Y is changed into X 'and Y' after rotation
Figure BDA0002711605970000114
Therefore at Ob2Coordinate position under coordinate system
Figure BDA0002711605970000115
At Ob1The position in the coordinate system is
Figure BDA0002711605970000116
Therefore, the rotating device of the hydraulic lifting device is in hybrid transformation:
wherein the rotation transformation matrix is
Figure BDA0002711605970000117
Wherein the translation transformation matrix is
Figure BDA0002711605970000118
Figure BDA0002711605970000119
The lifting device and machineThe arms are connected; the mechanical arm and the XOY plane form an included angle of
Figure BDA00027116059700001110
The offset between the initial extending direction of the mechanical arm and the y-axis is,
Figure BDA00027116059700001111
the angle can be adjusted through a control device, and the feedback angle is monitored in real time through a distance sensor;
positive in the same direction of gamma around the z axis and negative in the opposite direction;
the mechanical arm 9 of the vehicle b extends to a length d 2;
Figure BDA0002711605970000121
Figure BDA0002711605970000122
Figure BDA0002711605970000123
therefore, the tail end coordinate system O of the lower mechanical arm of the lifting device of the hydraulic lifting deviceb3Position under a coordinate system
Figure BDA0002711605970000124
At Ob2The position under the coordinate system is
Figure BDA0002711605970000125
Wherein the translation is changed
Figure BDA0002711605970000126
The calculation can be simplified without changing the direction of the coordinate system, so that the coordinate system is not subjected to rotation change, and the initial extension length of the hook is d 4;
and the hook is locked at the end coordinate system Ob3Position under a coordinate system
Figure BDA0002711605970000127
To keep the system operating cooperatively, the two cooperating end points of the two robotic arms are hooked at the same time tx，vy，vzThe same is unified into a-car coordinate system:
Figure BDA0002711605970000128
wherein the relationship of the a car tail end hook lock in a car coordinate system is as follows:
Figure BDA0002711605970000129
wherein the relationship of the hook at the tail end of the car b in the coordinate system of the car a in the motion process is as follows:
Figure BDA0002711605970000131
the relative distance of which remains constant, i.e. Pbx1-Pax1＝0，Pbx2-Pax2＝0，Pbx3-Pax3D3-d4 are constant values, and the mathematical model is as follows:
Figure BDA0002711605970000132
Figure BDA0002711605970000133
Figure BDA0002711605970000134
Figure BDA0002711605970000135
Figure BDA0002711605970000136
Figure BDA0002711605970000137
therefore, the cooperative uniformity of the two mechanical arms can be well controlled by controlling the extension length and the rotary lifting of the mechanical arms;
wherein the vehicle a is a driving vehicle, the vehicle b is a cooperative driven vehicle, and the speed and the time of the vehicle are known in order to control the movement of the driven object. On the Z-axis, determined by the extension and the lifting angle, vxVelocity in the x-axis, vyThe speed on the y axis is determined, the required time duration is t, alpha, beta, theta, d1 is a vehicle active variable of a, and the vehicle active variable is identified through a sensing mechanism (alpha value is obtained through an angle sensor on the shaft where a lifting device in a vehicle lifting device is connected with a mechanical arm, beta value is obtained through an angle sensor of a rotating device in the vehicle lifting device of a, theta value is obtained through an angle sensor of a rotating device in a vehicle lifting device of b, and d1 value is obtained through a distance sensor at the tail end of the mechanical arm)
Figure BDA0002711605970000141
The vehicle b driven variable is controlled by acquiring information through a vehicle sensor and calculating through the mathematical model, wherein the initial offset angle beta sum is a set value, namely alpha, theta and d1 are active variables,
Figure BDA0002711605970000142
is the driven variable.
And (3) simultaneously calculating the formulas (1), (2) and (3) to obtain a control constraint condition as follows:
Figure BDA0002711605970000143
the movement is controlled through the conditions, namely, the object 1 to be processed can move according to the speed and the track through the double-arm cooperative movement.
The invention has novel composition and clear working principle, acquires relevant parameters by using the technical signal acquisition of the Internet of things, combines with the space forward kinematics of the robot, and adopts the mode of double-arm cooperative transportation of heavy objects, thereby improving the upper working limit of the transportation industry, doubling the transportation working range, and realizing scientific and large-scale transportation of heavy objects.
The disclosure of the present application also includes the following points:
(1) the drawings of the embodiments disclosed herein only relate to the structures related to the embodiments disclosed herein, and other structures can refer to general designs;
(2) in case of conflict, the embodiments and features of the embodiments disclosed in this application can be combined with each other to arrive at new embodiments;
the above embodiments are only embodiments disclosed in the present disclosure, but the scope of the disclosure is not limited thereto, and the scope of the disclosure should be determined by the scope of the claims.

Claims (3)

1. A folding arm crane multi-machine intelligent cooperative control system and method based on a 5G network comprises a plurality of parallel cranes; the crane is characterized by comprising a hoisting platform, a hydraulic lifting device, a mechanical arm, a telescopic rope and a fixing buckle;
the mechanical arm is lifted or rotated on the lifting platform through a hydraulic lifting device;
one end of the telescopic rope is hung and buckled at the tail end of the mechanical arm, and the other end of the telescopic rope is connected with the hook lock;
two ends of the fixing buckle are respectively fixed on the object to be tested;
and the fixing buckle is provided with a positioning system for acquiring the positions of the fixing buckle and the crane.
2. The multi-machine intelligent cooperative control system and method for the folding arm crane based on the 5G network as claimed in claim 1, wherein the number of the cranes is two, i.e. a driving vehicle a and a cooperative driven vehicle b.
3. A crane mechanical arm crane series connection cooperative control method as claimed in claim 2,
1) establishing a system model for cooperatively controlling the transport belt object by connecting two crane mechanical cranes in series;
1.1) fixing the fixing buckles of the two cranes on the objects to be processed respectively;
1.2) respectively establishing coordinates O of a vehicle coordinate systemaPoint and b vehicle coordinate system coordinate ObPoint;
the center of the vehicle a is marked as a world point O, the direction of gravity borne by the vehicle a is a Z-axis negative direction, a parallel straight line in the connecting line direction of the two vehicles is an X-axis direction, the vehicle b is shown as a positive direction and a negative direction, the X axis and the Z axis form a plane vertical line and are intersected in the body center point direction of the animal to be treated, the Y axis is a Y axis direction, and the direction of the Y axis far away from the crane is a positive direction. I.e. OaDot [0, 0, 0, 1 ]]TThe coordinate systems of the two cranes and the world point only have coordinate translation transformation, so the coordinate system of the a vehicle is OaDot [0, 0, 0, 1 ]]TB vehicle coordinate system coordinate is Ob[Xb，0，0，1]TThe attitude is the same as the world coordinate system;
2) calculating the relationship between the motion of the object to be moved and the rotation of the two crane lifting platforms, the rotation and the extension of the mechanical arm and the length of the extension rope through the motion trail to form a related motion system;
2.1) analyzing the vehicle a of the main motor vehicle, and hooking and locking the pose of the vehicle a in a vehicle coordinate system;
the height of the crane is laSo that the coordinate system of the end of the crane is Oa1Left-hand multiplication of the operator by T, relative to a fixed coordinate systema1＝(0，0，la，1)，
Figure FDA0002711605960000021
At the end of the crane tower coordinate system Oa1Coordinate position of
Figure FDA0002711605960000022
The position in the coordinate system of the a vehicle is
Figure FDA0002711605960000023
The coordinate system of the end of the rotating device in the hydraulic lifting device is Oa2The Z-axis height of the rotating device is la1The rotation angle is theta, therefore
Figure FDA0002711605960000024
Therefore at Oa2Coordinate position under coordinate system
Figure FDA0002711605960000025
At Oa1The position in the coordinate system is
Figure FDA0002711605960000026
The rotating device of the hydraulic lifting device is a hybrid transformation
Wherein the rotation transformation matrix is
Figure FDA0002711605960000027
Wherein the translation transformation matrix is
Figure FDA0002711605960000028
Figure FDA0002711605960000029
The lifting device is connected with the mechanical arm, the included angle between the mechanical arm and the XOY plane is alpha, the initial extending direction of the mechanical arm is beta relative to the y-axis offset angle on the XOY plane, and the alpha angle can be adjusted through the control device and can be monitored through the distance sensor in real time to obtain the feedback angle. The same direction of beta and theta around the z axis is positive, and the reverse direction is negative;
the mechanical arm has a protruding length d1
dy＝d1cosαcosβ
dx＝d1cosαsinβ
dz＝d1sinα
Therefore, the tail end coordinate system O of the lower mechanical arm of the lifting device of the hydraulic lifting devicea3Position under a coordinate system
Figure FDA0002711605960000031
At Oa2The position under the coordinate system is
Figure FDA0002711605960000032
Wherein the translation is changed
Figure FDA0002711605960000033
And the initial distance of the hook lock is d3, the hook lock is in the terminal coordinate system Oa3Position under coordinate system:
Figure FDA0002711605960000034
2.2) analyzing the vehicle b, and hooking and locking the pose under the coordinate system of the vehicle b;
b vehicle origin coordinate system ObAnd a vehicle starting point coordinate system OaFor translation transformation
Figure FDA0002711605960000035
Position under the coordinate system of the vehicle b
Figure FDA0002711605960000036
The position in the a-vehicle coordinate system is expressed as
Figure FDA0002711605960000037
The height of the crane is lbSo that the coordinate system of the end of the crane is Ob1Left-hand multiplication of the operator by T, relative to a fixed coordinate systemb1＝(0，0，lb，1)，
Figure FDA0002711605960000038
At the end of the crane tower coordinate system Ob1In a coordinate position of
Figure FDA0002711605960000041
The position in the coordinate system of the vehicle b is
Figure FDA0002711605960000042
The coordinate system of the end of the rotating device in the hydraulic lifting device is Ob2The Z-axis height of the rotating device is lb1The rotation angle is gamma, the coordinate system becomes so
Figure FDA0002711605960000043
Therefore at Ob2Coordinate position under coordinate system
Figure FDA0002711605960000044
At Ob1The position in the coordinate system is
Figure FDA0002711605960000045
Therefore, the rotating device of the hydraulic lifting device is in hybrid transformation:
wherein the rotation transformation matrix is
Figure FDA0002711605960000046
Wherein the translation transformation matrix is
Figure FDA0002711605960000047
Figure FDA0002711605960000048
The lifting device is connected with the mechanical arm; the mechanical arm and the XOY plane form an included angle of
Figure FDA0002711605960000049
The initial extending direction of the mechanical arm deviates from the y axis by the angle of xoy plane,
Figure FDA00027116059600000410
the angle can be adjusted through a control device, and the feedback angle is monitored in real time through a distance sensor; positive in the same direction of gamma around the z axis and negative in the opposite direction;
the mechanical arm has a protruding length d 2;
Figure FDA00027116059600000411
Figure FDA00027116059600000412
Figure FDA0002711605960000051
therefore, the tail end coordinate system O of the lower mechanical arm of the lifting device of the hydraulic lifting deviceb3Position under a coordinate system
Figure FDA0002711605960000052
At Ob2The position under the coordinate system is
Figure FDA0002711605960000053
Wherein the translation is changed
Figure FDA0002711605960000054
The initial extension of the hook lock is d 4;
and the hook is locked at the end coordinate system Ob3Position under a coordinate system
Figure FDA0002711605960000055
To keep the system operating cooperatively, the two cooperating end points of the two robotic arms are hooked at the same time tx，vy，vzThe same is unified into a-car coordinate system:
Figure FDA0002711605960000056
wherein the relationship of the a car tail end hook lock in a car coordinate system is as follows:
Figure FDA0002711605960000057
wherein the relationship of the hook at the tail end of the car b in the coordinate system of the car a in the motion process is as follows:
Figure FDA0002711605960000058
the relative distance of which remains constant, i.e. Pbx1-Pax1＝0，Pbx2-Pax2＝0，Pbx3-Pax3D3-d4 are constant values, and the mathematical model is as follows:
Figure FDA0002711605960000061
Figure FDA0002711605960000062
Figure FDA0002711605960000063
Figure FDA0002711605960000064
Figure FDA0002711605960000065
Figure FDA0002711605960000066
therefore, the cooperative uniformity of the two mechanical arms can be well controlled by controlling the extension length and the rotary lifting of the mechanical arms;
and (3) simultaneously calculating the formulas (1), (2) and (3) to obtain a control constraint condition as follows:
Figure FDA0002711605960000067
Figure FDA0002711605960000068
the movement is controlled through the conditions, namely, the object to be processed can move according to the speed and the track through the double-arm cooperative movement.
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