CN112549043B

CN112549043B - Collision prediction method and device for construction operation equipment and construction operation equipment

Info

Publication number: CN112549043B
Application number: CN202011353446.4A
Authority: CN
Inventors: 周童; 常先伟; 黄智伟; 邓小梅; 成学标
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-11-26
Filing date: 2020-11-26
Publication date: 2022-02-11
Anticipated expiration: 2040-11-26
Also published as: CN114021850A; CN114021850B; CN112549043A

Abstract

The application relates to a collision prediction method and device for construction operation equipment and the construction operation equipment. The construction work equipment comprises a chassis, a mechanical arm and an actuator, wherein the mechanical arm is provided with a base, a plurality of joints and a plurality of connecting rods, the joints are installed on the base and are used for connecting two adjacent connecting rods, the mechanical arm is installed on the chassis through the base, the actuator is installed at the tail end of the mechanical arm, and the collision prediction method comprises the following steps: determining position information of a base and angle information of a plurality of joints according to a target operation point of an actuator; determining a risk building component near the target operation point according to the position of the target operation point in the building information model; and judging whether the mechanical arm collides with the risk building component or not according to the position information of the base, the angle information of the joints and the position information of the risk building component. The collision prediction method, the collision prediction device and the construction operation equipment provided by the embodiment of the application can improve the accuracy of a collision prediction result.

Description

Collision prediction method and device for construction operation equipment and construction operation equipment

Technical Field

The application relates to the technical field of design and manufacture of construction operation equipment, in particular to a collision prediction method and device of construction operation equipment and the construction operation equipment.

Background

With the continuous updating and development of the automation technology, the upgrading and transformation of the building industry are driven, the intelligent building operation equipment also gradually becomes a medium current position of the building industry, the computer technology and the control technology are taken as the core of the building operation equipment, the problems of high labor cost, low safety, non-uniform process standard and low construction efficiency in the traditional building industry are solved, and the method is the development direction of the future building industry. However, the operation of the construction work equipment often needs to involve collision detection in order to prevent the construction work equipment from colliding with a plurality of construction elements present in the environment in which the target work point is located.

In the prior art, the collision detection for construction work equipment is usually a collision detection performed with a known limited number of construction elements. However, in the construction work equipment, the construction member existing in the environment where the target work point is located is not fixed during the actual work, and therefore, the conventional collision prediction method cannot obtain an accurate collision prediction result.

Disclosure of Invention

An object of the present invention is to provide a method and an apparatus for predicting a collision of a construction work machine, and a construction work machine, which solve the above problems.

In a first aspect, an embodiment of the present application provides a collision prediction method for construction work equipment, where the construction work equipment includes a chassis, a robot arm, and an actuator, the robot arm has a base, and a plurality of joints and a plurality of links that are mounted on the base, the joints are used to connect two adjacent links, the robot arm is mounted on the chassis through the base, and the actuator is mounted at an end of the robot arm, the collision prediction method includes:

determining position information of a base and angle information of a plurality of joints according to a target operation point of an actuator;

determining a risk building component near the target operation point according to the position of the target operation point in the building information model;

and judging whether the mechanical arm collides with the risk building component or not according to the position information of the base, the angle information of the joints and the position information of the risk building component.

According to the collision prediction method provided by the embodiment of the application, the position information of the base and the angle information of the multiple joints can be determined according to the target operation point of the actuator, the risk building component near the target operation point can be determined according to the position of the target operation point in the building information model, and finally, whether the mechanical arm collides with the risk building component or not is judged according to the position information of the base, the angle information of the multiple joints and the position information of the risk building component. In the collision prediction method provided by the embodiment of the application, the steps of determining the position information of the base and the angle information of the plurality of joints according to the target operation point of the actuator and determining the risk building component near the target operation point according to the position of the target operation point in the building information model are all performed in advance before the building operation equipment travels to the parking position corresponding to the target operation point, all the risk building components near the target operation point can be determined according to the position of the target operation point in the building information model in the process, and whether the mechanical arm collides with the risk building component is determined according to the position information of the base, the angle information of the plurality of joints and the position information of the risk building components, so compared with the prior art, the collision detection is performed under the condition of a limited number of known building components, the accuracy of the collision prediction result can be improved.

With reference to the first aspect, an embodiment of the present application further provides a first optional implementation manner of the first aspect, and determining a risk building element near a target operation point according to a position of the target operation point in a building information model, including:

determining a plurality of building components near the target operation point according to the position of the target operation point in the building information model;

and determining the risk building component according to the distance between the target operation point and the plurality of building components.

In the above embodiment, the building information model can be directly obtained, after the building information model is obtained, the plurality of building elements near the target operation point can be directly determined according to the position of the target operation point in the building information model, and the risk building element can be determined according to the distance between the target operation point and the plurality of building elements.

With reference to the first optional implementation manner of the first aspect, an embodiment of the present application further provides a second optional implementation manner of the first aspect, where determining a risk building element according to a distance between a target operation point and a plurality of building elements includes:

if the building component is a wall body, judging whether the wall body is a risk building component or not according to the distance between the target operation point and the surface of the wall body in the X-axis direction in the base coordinate system;

if the building component is a ceiling, judging whether the ceiling is a risk building component or not according to the distance between the target operation point and the lower surface of the ceiling in the Z-axis direction in the base coordinate system;

if the building component is a floor, judging whether the floor is a risk building component or not according to the distance between the target operation point and the upper surface of the floor in the Z-axis direction in the base coordinate system;

and if the building component is a beam, judging whether the beam is a risk building component or not according to the distance between the target operation point and the lower surface of the beam in the Z-axis direction in the base coordinate system and the distance between the target operation point and the side surface of the beam in the Y-axis direction in the base coordinate system.

In the above embodiment, the plurality of building elements may include a wall, a ceiling, a floor, and a beam, and for any one of the plurality of building elements, whether or not the building element is a risk building element may be specified from a distance between the target operating point and the building element, and the comprehensiveness of the judgment of the risk building element is improved.

With reference to the first aspect, an embodiment of the present application further provides a third optional implementation manner of the first aspect, where determining whether the mechanical arm may collide with the risk building element according to the position information of the base, the angle information of the plurality of joints, and the position information of the risk building element includes:

determining the position information of the risk building component under the base coordinate system according to the position information of the center of the base in the building information model and the position information of the risk building component in the building information model;

determining the position information of the plurality of joints under the base coordinate system according to the angle information of the plurality of joints;

and judging whether the mechanical arm collides with the risk building component or not according to the position information of the risk building component in the base coordinate system and the position information of the plurality of joints in the base coordinate system.

With reference to the third optional implementation manner of the first aspect, an example of the present application further provides a fourth optional implementation manner of the first aspect, where determining whether the risk building element collides with the robot arm according to the position information of the risk building element in the base coordinate system and the position information of the multiple joints in the base coordinate system includes:

determining position parameters to be judged according to the types of the risk building components;

respectively acquiring difference values of the risk building component and the plurality of joints on position parameters according to the position information of the risk building component in the base coordinate system and the position information of the plurality of joints in the base coordinate system;

determining a risk joint corresponding to the risk building component according to the difference value of the position parameters of the risk building component and the joints;

and judging whether the risk joint collides with the risk building component or not to obtain a collision prediction result for representing whether the mechanical arm collides with the risk building component or not.

The whole calculation flow and the judgment process included in the above embodiment are relatively simple, so that the execution efficiency of the collision prediction method can be improved, and meanwhile, according to the difference values of the risk building component and the plurality of joints on the position parameters, the risk joint corresponding to the risk building component can be accurately determined, so that the accuracy of the collision prediction result can be further improved.

With reference to the fourth alternative implementation manner of the first aspect, the present application provides a fifth alternative implementation manner of the first aspect, and the determining whether the risk joint may collide with the risk building element includes:

acquiring a radius value of a risk joint;

and judging whether the risk joint collides with the risk building component according to the relation between the distance between the risk joint and the risk building component and the radius value.

In the above embodiment, the determining whether the risk joint may collide with the risk building member includes: and acquiring the radius value of the risk joint, and judging whether the risk joint collides with the risk building component according to the relation between the distance between the risk joint and the risk building component and the radius value. Obviously, the radius value of the risk joint is considered in the process of judging whether the risk joint collides with the risk building component, for example, the radius value of the risk joint is compensated for the risk building component, and therefore, the accuracy of the collision prediction result can be further improved.

With reference to the fourth optional implementation manner of the first aspect, in this application, an embodiment provides a sixth optional implementation manner of the first aspect, where if the risk building element is a beam, determining whether the risk building element will collide with the robot arm according to position information of the risk building element in the base coordinate system and position information of the plurality of joints in the base coordinate system, the method further includes:

determining a risk connecting rod connected with a risk joint;

and judging whether the risk connecting rod collides with the beam or not to obtain a collision prediction result for representing whether the mechanical arm collides with the beam or not.

In the above embodiment, if the risk building member is a beam, determining whether the risk building member collides with the robot arm based on the position information of the risk building member in the base coordinate system and the position information of the plurality of joints in the base coordinate system, further includes: and determining a risk connecting rod connected with the risk joint, and judging whether the risk connecting rod collides with the beam or not to obtain a collision prediction result for representing whether the mechanical arm collides with the beam or not, so that the reliability of the collision prediction result is improved.

With reference to the sixth optional implementation manner of the first aspect, the present application provides a seventh optional implementation manner of the first aspect, and the determining whether the risk link collides with the beam to obtain a collision prediction result for characterizing whether the mechanical arm collides with the beam includes:

acquiring a radius value and a linear coordinate vector of the risk connecting rod, wherein the linear coordinate vector is used for representing the position information of the axis of the risk connecting rod under a base coordinate system;

compensating the beam by taking the radius value of the risk connecting rod as an additional thickness to obtain a component to be predicted;

judging whether an intersection point exists between the axis of the risk connecting rod and the member to be predicted according to the coordinate information of the member to be predicted in the base coordinate system and the linear coordinate vector of the risk connecting rod;

and if the intersection point exists between the axis of the risk connecting rod and the member to be predicted, judging that the risk connecting rod and the beam have the collision risk, and obtaining a collision prediction result for representing that the risk joint and the beam have the collision risk.

In a second aspect, an embodiment of the present application further provides a collision prediction apparatus for construction work equipment, where the construction work equipment includes a chassis, a robot arm having a base, and a plurality of joints and a plurality of links mounted on the base, the joints being used to connect two adjacent links, the robot arm being mounted on the chassis via the base, and an actuator being mounted at an end of the robot arm, the collision prediction apparatus including:

the information acquisition module is used for determining the position information of the base and the angle information of the plurality of joints according to the target operation point of the actuator;

the risk building component determining module is used for determining risk building components near the target operation point according to the position of the target operation point in the building information model;

and the collision prediction module is used for judging whether the mechanical arm collides with the risk building component or not according to the position information of the base, the angle information of the joints and the position information of the risk building component.

The collision prediction device provided by the embodiment of the application has the same beneficial effects as the collision prediction method, and is not described herein again.

In a third aspect, an embodiment of the present application further provides a construction work device, which includes a controller and a memory, where the memory stores a computer program, and the controller is configured to execute the computer program to implement the collision prediction method provided in the first aspect or any optional implementation manner of the first aspect.

The construction operation equipment provided by the embodiment of the application has the same beneficial effects as the collision prediction method, and the details are not repeated herein.

In a fourth aspect, the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the collision prediction method provided in the first aspect or any optional implementation manner of the first aspect is implemented.

The computer-readable storage medium provided in the embodiment of the present application has the same beneficial effects as those of the collision prediction method, and is not described herein again.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic connection diagram of main electrical structural components in a construction work apparatus according to an embodiment of the present application.

Fig. 2 is a schematic physical structure diagram of a construction operation device according to an embodiment of the present application.

Fig. 3 is a flowchart illustrating steps of a collision prediction method according to an embodiment of the present application.

Fig. 4 is a schematic physical structure diagram of a construction work apparatus according to an embodiment of the present application.

Fig. 5 is an auxiliary explanatory diagram of a collision prediction process when a risk component is a wall according to an embodiment of the present application.

Fig. 6 is an auxiliary explanatory diagram of a collision prediction process when the risk component is a ceiling according to an embodiment of the present application.

Fig. 7 is an auxiliary explanatory diagram of a collision prediction process when a risk component is a floor according to an embodiment of the present application.

Fig. 8 is an auxiliary explanatory diagram of a collision prediction process when a risk component is a beam according to an embodiment of the present application.

Fig. 9 is a schematic structural block diagram of a collision prediction apparatus according to an embodiment of the present application.

Reference numerals: 100-construction work equipment; 110-a processor; 120-a memory; 130-a chassis; 140-a robotic arm; 141-a base; 143-joint; 144-a connecting rod; 200-collision prediction means; 210-an information acquisition module; 220-a risk building element determination module; 230-collision prediction module.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. Furthermore, it should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

Referring to fig. 1, in order to illustrate the connection relationship between the main electrical components of the construction work device 100 according to the embodiment of the present application, the construction work device 100 may include a processor 110 and a memory 120. In the present embodiment, the construction work apparatus 100 may be, but is not limited to, a robot arm, or a construction robot including a robot arm.

The processor 110 and the memory 120 are electrically connected, directly or indirectly, to enable data transfer or interaction, for example, the components may be electrically connected to each other via one or more communication buses or signal lines. The collision prediction means comprises at least one software module which may be stored in the form of software or Firmware (Firmware) in the memory 120 or solidified in an Operating System (OS) of the construction work device 100. The processor 110 is configured to execute executable modules stored in the memory 120, such as software functional modules and computer programs included in the collision prediction apparatus, so as to implement the collision prediction method.

The processor 110 may execute the computer program upon receiving the execution instruction. The processor 110 may be an integrated circuit chip having signal processing capabilities. The Processor 110 may also be a general-purpose Processor, for example, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a discrete gate or transistor logic device, a discrete hardware component, which can implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application, and furthermore, the general-purpose Processor may be a microprocessor or any conventional Processor.

The Memory 120 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), and an electrically Erasable Programmable Read-Only Memory (EEPROM). The memory 120 is used for storing a program, and the processor 110 executes the program after receiving the execution instruction.

In addition, referring to fig. 2, the construction work equipment 100 according to the embodiment of the present disclosure may include a chassis 130, a robot arm 140, and an actuator (not shown in the drawings), wherein the robot arm 140 has a base 141, and a plurality of joints 142 and a plurality of links 143 mounted on the base 141, the joints 142 are used to connect two adjacent links 143, the robot arm 140 is mounted on the chassis 130 through the base 141, and the actuator is mounted at an end of the robot arm 140.

It is to be understood that the structures shown in fig. 1 and 2 with respect to the construction work apparatus 100 are merely illustrative, and the construction work apparatus 100 provided by the embodiment of the present application may also have fewer or more structural components than those shown in fig. 1, or have a different configuration from those shown in fig. 1, to which the embodiment of the present application is not particularly limited.

Referring to fig. 3, a flow chart of a collision prediction method according to an embodiment of the present application is shown, and the method is applied to the construction work equipment 100 shown in fig. 1 and 2. It should be noted that the model training method provided in the embodiment of the present application is not limited by the sequence shown in fig. 3 and the following, and the specific flow and steps of the model training method are described below with reference to fig. 3.

Step S100, according to the target operation point of the actuator, the position information of the base and the angle information of the plurality of joints are determined.

In the embodiment of the present application, the chassis 130 may be an Automatic Guided Vehicle (AGV), so that the parking position of the chassis 130 may be determined according to the target operation point, and further, the corresponding position Information of the parking position in a Building Information Model (BIM) may be determined, so as to determine the position Information of the base 141 according to the corresponding position Information of the parking position in the BIM and the relative position between the center of the base 141 and the center of the chassis 130.

Further, as shown in fig. 2, in the embodiment of the present application, the base 141 is mounted on the chassis 130 and located on a linear guide rail carrying the construction work equipment 100, a base coordinate system (a coordinate system created based on the base 141) may be referred to as "Oarm-XarmYarmZarm", and an origin of coordinates Oarm in the base coordinate system is a geometric center of the base 141, an axis of Xarm is parallel to a plane of the chassis 130 and a front end of the chassis 130 and points to a long side of the chassis 130, an axis of Yarm is parallel to a plane of the chassis 130 and a front end of the chassis 130 and points to a center of the chassis 130, and a positive direction of the axis of Zarm is vertically upward. In addition, in the embodiment of the present application, there is an independent autonomous coordinate system for the chassis 130: the AGV coordinate system may be referred to as Oagv-XagvYagvZagv, the origin of coordinates Oagv in the AGV coordinate system is a projection point of the geometric center of the chassis 130 on the ground, in the top view, the positive direction of the Xagv axis is horizontally rightward, the positive direction of the Yagv axis is vertically upward, and the positive direction of the Zagv axis is perpendicular to the chassis 130 and vertically upward. For the BIM information, there is also an independent autonomous coordinate system, and the BIM coordinate system can be referred to as Obim-xbaimmzbim, and the BIM coordinate system is generally at the ground of a certain wall of a building.

An implementation of determining the angle information of the plurality of joints 142 according to the target working point of the actuator in step S100 will be described below with reference to the above description of the base coordinate system, the AGV coordinate system, and the BIM coordinate system, and the implementation may include step S110 and step S120.

Step S110 is to obtain the coordinates of the corresponding operation point when the target operation point is converted from the coordinate system corresponding to the building information model information to the base coordinate system.

In this embodiment, the robot arm 140 may directly obtain the BIM information and the height information of the linear guide lifting through the communication module, where the BIM information includes the BIM information of the plurality of building components near the target operation point and the BIM information of the target operation point, and the BIM information may be specifically understood as the coordinate information of the description object in the BIM coordinate system, and the height information of the linear guide lifting is the height of the base 141. Specifically, the mechanical arm 140 serves as a module on the construction work equipment 100, and the control program thereon can also obtain the BIM information from the main control module of the construction work equipment 100 through communication methods such as Modbus or SocketTCP.

It should be noted that the size of the specific range defined by the "vicinity" in the embodiment of the present application may be set in advance according to the mechanical structure and the size of the robot arm 140, and may be set specifically by a professional in the implementation of the collision prediction method provided in the embodiment of the present application, for example, the specific range may be set within 3m of a square circle centered on the target operation point, or may be set within 5m of a square circle centered on the target operation point, which is not limited specifically by the embodiment of the present application.

In addition, it should be noted that, in the embodiment of the present application, the relative position between the origin Obim of the BIM coordinate system and the origin Oagv of the AGV coordinate system can be obtained by the navigation system of the chassis 130. In the embodiment of the application, it is assumed that the coordinate information of the origin of coordinates Obim of the BIM coordinate system in the AGV coordinate system is (-X1, Y1, 0), and based on this, a conversion matrix for converting the BIM coordinate system into the AGV coordinate system can be obtained

Comprises the following steps:

in combination with the height information H lifted by the linear guide rail, in the embodiment of the present application, it is further assumed that the distance between the origin of coordinates Oagv of the AGV coordinate system and the origin of the base coordinate system Oarm in the positive direction of the Yarm axis is Y2, and then the coordinate information of the origin of coordinates Oagv of the AGV coordinate system in the base coordinate system is (0, Y2, -H), based on which the obtained conversion moment for converting the AGV coordinate system to the base coordinate system is obtained

Comprises the following steps:

then, coordinate information of the target operation point in the BIM coordinate system

Left ride

That is, when the target operation point is converted from the coordinate system corresponding to the building information model information to the base coordinate system, the corresponding operation point coordinate coordlnbase:

it is understood that in the embodiment of the present application, the end effector is installed at the end of the robot arm 140, and of course, a hand-eye camera may be installed, even though the same conversion strategy as the method described above may be adopted to convert the target working point from the coordinate system corresponding to the building information model information to the coordinate system of the end effector or the coordinate system of the hand-eye camera, so as to facilitate the subsequent work and collision prediction of the building working equipment 100.

Step S120, obtaining angle information of a plurality of joints according to the coordinates of the operation points.

In the embodiment of the present application, after the coordinates of the working point are obtained, the kinematic inverse solution formula of the mechanical arm 140 may be obtained by an inverse solution method or a Pirper method, and then the angle information of the plurality of joints corresponding to the target working point may be solved by the kinematic inverse solution formula.

And step S200, determining a risk building component near the target operation point according to the position of the target operation point in the building information model.

In the embodiment of the application, the risk building element can be determined from the plurality of building elements according to the distance between the target operation point and the plurality of building elements nearby the target operation point. Based on this, for step S200, in the embodiment of the present application, as an optional implementation manner, it may include step S210 and step S220.

Step S210, according to the position of the target operation point in the building information model, a plurality of building components near the target operation point are determined.

Step S220, determining a risk building component according to the distance between the target operation point and the plurality of building components.

In the embodiments of the present application, the plurality of building elements in the vicinity of the target operation point may include, but are not limited to, walls, ceilings, floors, and beams. Based on this, in order to improve the comprehensiveness of the judgment of the risk building element, as for step S220, in the embodiment of the present application, it may further include step S221, step S222, step S223, and step S224.

Step S221, if the building element is a wall, determining whether the wall is a risk building element according to a distance between the target operating point and the wall surface in the X-axis direction in the base coordinate system.

In the embodiment of the application, the distance between the target operating point and the wall surface nearby the target operating point in the base coordinate system in the direction of the Xarm axis can be obtained according to the BIM information. And if the distance between the target operation point and the wall surface nearby the target operation point in the direction of the Xarm axis in the base coordinate system is in a first preset distance interval (0, Dlim), taking the wall as the risk building element. In addition, in the embodiment of the present application, the specific size of the first preset distance interval may be set according to an actual requirement, and the embodiment of the present application does not specifically limit this.

For example, the BIM information of the target job point is [ "WorkInfo": [ Xw, Yw, Zw ], "DistaneTowall": dtw ], wherein WorkInfo is the coordinate information of the target operating point information in the BIM coordinate system, and DistanceTowall is the distance between the target operating point and the wall surface near the target operating point in the direction of the Xarm axis in the AGV coordinate system, and if Dlim is 400mm and Dtw is 200mm, the wall is regarded as a risk building member, that is, the target operating point is determined to be near the internal corner formed by the wall body.

In step S222, if the building element is a ceiling, it is determined whether the ceiling is a risk building element according to the distance between the target operating point and the lower surface of the ceiling in the Z-axis direction in the base coordinate system.

In the embodiment of the application, the height of the target operation point and the height of the ceiling can be obtained according to the BIM information, and the height belongs to the measurement value in the direction of the Zarm axis in the base coordinate system, so the distance between the target operation point and the lower surface of the ceiling in the direction of the Zarm axis in the base coordinate system can be obtained according to the height of the target operation point and the height of the ceiling. And if the distance between the target operation point and the lower surface of the ceiling in the direction of the Zarm axis in the base coordinate system is in a second preset distance interval (0, HLim), taking the ceiling as a risk building component. In addition, in the embodiment of the present application, the specific size of the second preset distance interval may be set according to an actual requirement, and the embodiment of the present application does not specifically limit this.

For example, the BIM information of the target operation point is "CeilingHeight": CH, [ "WorkInfo": [ Xw, Yw, Zw ], "DistaneTowall": dtw ], wherein Ceilinghight is the height of the ceiling, when Ceilinghight-Zw < HLim, then the ceiling is taken as the risky building element.

In step S223, if the building element is a floor, it is determined whether the floor is a risk building element according to the distance between the target operating point and the upper surface of the floor in the Z-axis direction in the base coordinate system.

In the embodiment of the present application, the height of the target operation point and the height of the base 141 can be obtained according to the BIM information, and since the height belongs to the measurement value in the direction of the Zarm axis in the base coordinate system, the sum of the height of the target operation point and the height of the base 141 can be used as the distance between the target operation point and the upper surface of the floor in the direction of the Zarm axis in the base coordinate system. If the distance between the target operating point and the upper surface of the floor in the direction of the Zarm axis in the base coordinate system is less than Hmin, the floor is used as a risk building component, i.e., the third preset distance interval is [ Hmin, + ∞ ]. In addition, in this application embodiment, the specific size of the third preset distance interval may be set according to an actual requirement, and this application embodiment does not specifically limit this.

For example, the BIM information of the target job point is [ "WorkInfo": [ Xw, Yw, Zw ], "DistaneTowall": dtw ], Zw < Hmin, the floor is then used as a risk building element.

In step S224, if the building element is a beam, it is determined whether the beam is a risk building element according to the distance between the target operating point and the lower surface of the beam in the Z-axis direction in the base coordinate system and the distance between the target operating point and the side surface of the beam in the Y-axis direction in the base coordinate system.

In the embodiment of the application, the height of the target operation point and the height of the lower surface of the beam can be obtained according to the BIM information, and the height belongs to the measurement value in the direction of the Zarm axis in the base coordinate system, so the distance between the target operation point and the lower surface of the beam in the direction of the Zarm axis in the base coordinate system can be obtained according to the height of the target operation point and the height of the lower surface of the beam. And if the distance between the target operation point and the lower surface of the beam in the direction of the Zarm axis in the base coordinate system is in a fourth preset distance interval (0, L1), the beam is taken as the risk building element. In addition, in this application embodiment, the specific size of the fourth preset distance interval may be set according to an actual requirement, and this application embodiment does not specifically limit this.

In the embodiment of the application, the distance between the target operation point and the beam side surface in the Yarm axis direction in the basic coordinate system can be obtained according to the BIM information. If the distance between the target working point and the beam side surface in the Yarm axis direction in the basic coordinate system is within a fifth preset distance interval (0, L2), the beam is taken as the risk building element. In addition, in the embodiment of the present application, the specific size of the fifth preset distance interval may be set according to an actual requirement, and the embodiment of the present application does not specifically limit this.

In addition, in the embodiment of the present application, the height value BeamHeight of the beam in the base coordinate system, and the long-side coordinates Ybeam1 and Ybeam2 of the beam may also be obtained according to the BIM information. Whether the beam is in the working space of the mechanical arm 140 (the working space depends on the mechanical structure and the size of the mechanical arm 140) can be judged according to the height value BeamHeight of the beam in the base coordinate system and the long-edge coordinates Ybeam1 and Ybeam2 of the beam, and if the beam is judged to be in the working space of the mechanical arm 140, the beam is taken as a risk building component.

It should be noted that, through step S200, if a plurality of risk building elements are determined, step S300 may be executed for each risk building element in the plurality of risk building elements, respectively, to obtain a collision prediction result corresponding to each risk building element in the plurality of risk building elements, that is, obtain a plurality of collision prediction results, and then make an obstacle avoidance policy according to the plurality of collision prediction results, so as to control the building operation equipment 100 to travel according to the obstacle avoidance policy, and enter a normal working stage, and if no risk element exists in an environment where the target operation point is located, directly control the building operation equipment 100 to move, and enter a normal working stage.

And step S300, judging whether the mechanical arm collides with the risk building component or not according to the position information of the base, the angle information of the joints and the position information of the risk building component.

Regarding step S300, in the embodiment of the present application, as an optional implementation manner, it may include step S310, step S320, and step S330.

And S310, determining the position information of the risk building component under the base coordinate system according to the position information of the center of the base in the building information model and the position information of the risk building component in the building information model.

In this embodiment of the application, according to the coordinate transformation theory described in the foregoing step S110, the position information of the risk building element in the base coordinate system may be determined according to the position information of the center of the base 141 in the building information model and the position information of the risk building element in the building information model, which is not described in detail in this embodiment of the application.

In step S320, position information of the plurality of joints in the base coordinate system is determined according to the angle information of the plurality of joints.

Regarding step S320, in the embodiment of the present application, as an optional implementation manner, it may include step S321 and step S322.

In step S321, for each of the plurality of joints, a conversion matrix of the coordinate system origin of the joint with respect to the base coordinate system is obtained.

First, a DH parameter of the robot arm 140 may be created (in the embodiment of the present application, the robot arm 140 is a UR-configured robot arm, for example), and then, a DH coordinate system is created by using a modified DH parameter method, so as to obtain a DH parameter table. Referring to fig. 4, similarly, taking the robot 140 as a 6-axis robot as an example, the plurality of joints 142 disposed on the robot 140 are respectively a first joint P1, a second joint P2, a third joint P3, a fourth joint P4, a fifth joint P5 and a sixth joint P6, wherein the first joint P1 may be regarded as the base 141141, the second joint P2 may be regarded as the shoulder, the third joint P3 may be regarded as the elbow, the fourth joint P4 may be regarded as the first wrist, the fifth joint P5 may be regarded as the second wrist, and the sixth joint P6 may be regarded as the third wrist. By convention, the coordinate system origin O2 of the second joint P2 is converted to the base coordinate system as T20, the coordinate system origin O3 of the third joint P3 is converted to the base coordinate system as T30, the coordinate system origin O4 of the fourth joint P4 is converted to the base coordinate system as T40, the coordinate system origin O5 of the fifth joint P5 is converted to the base coordinate system as T50, and the coordinate system origin O6 of the sixth joint P6 is converted to the base coordinate system as T60.

In the embodiment of the present application, the mechanical arm 140 may be regarded as 2 degrees of freedom by omitting all the joints 142 and the links 143 after the second joint P2, then the positive kinematic solution may be calculated according to the DH parameter, that is, T20, the mechanical arm 140 may be regarded as 3 degrees of freedom by omitting all the joints 142 and the links 143 after the third joint P3, then the positive kinematic solution may be calculated according to the DH parameter, that is, T30, the mechanical arm 140 may be regarded as 4 degrees of freedom by omitting all the joints 142 and the links 143 after the fourth joint P4, then the positive kinematic solution may be calculated according to the DH parameter, that is, T40, the mechanical arm 140 may be regarded as 5 degrees of freedom by omitting all the joints 142 and the links 143 after the fifth joint P5, then the positive kinematic solution may be calculated according to the DH parameter, T50, and finally, the complete mechanical arm 140 may be regarded as 6 degrees of freedom, and then the positive kinematic solution may be calculated according to the DH parameter, i.e., T60.

Further, it should be noted that, in the embodiment of the present application, it is found by analysis that the first joint P1 is almost unlikely to collide with any building component, and therefore, the first joint P1 will not be analyzed in the embodiment of the present application, that is, a conversion matrix of the coordinate system origin of the first joint P1 with respect to the base coordinate system will not be acquired.

Step S322, the angle information of the joint is substituted into the corresponding transformation matrix, and the position information of the joint corresponding to the transformation matrix in the base coordinate system is obtained.

In practical implementation, the angle information corresponding to the second joint P2 may be substituted into T20 to obtain the position information of the second joint P2 in the base coordinate system, the angle information corresponding to the third joint P3 may be substituted into T30 to obtain the position information of the third joint P3 in the base coordinate system, the angle information corresponding to the fourth joint P4 may be substituted into T40 to obtain the position information of the fourth joint P4 in the base coordinate system, the angle information corresponding to the fifth joint P5 may be substituted into T50 to obtain the position information of the fifth joint P5 in the base coordinate system, and the angle information corresponding to the sixth joint P6 may be substituted into T60 to obtain the position information of the sixth joint P6 in the base coordinate system.

And step S330, judging whether the mechanical arm collides with the risk building component or not according to the position information of the risk building component in the base coordinate system and the position information of the plurality of joints in the base coordinate system.

Since the risk building member determined in step S200 may be a wall, a ceiling, a floor, or a beam, taking the type of the risk building member as a wall as an example, the position of the risk building member relative to the construction work apparatus 100 is a side orientation, for example, a left side or a right side. Taking the example where the member type of the risk member is a ceiling, the position of the risk member with respect to the construction work apparatus 100 is above. Taking the member type of the risk member as a floor, the risk member is located below with respect to the construction work equipment 100. Taking the member type of the risk member as a beam as an example, the position of the risk member with respect to the construction work apparatus 100 is obliquely upward, for example, left-side obliquely upward, right-side obliquely upward, and front-side obliquely upward.

Based on the above description, it can be understood that in the embodiment of the present application, the position parameters that need to be determined for different risk building elements are different, and therefore, for step S330, as an alternative implementation manner, the embodiment of the present application may include step S331, step S332, step S333, and step S334.

And step S331, determining position parameters needing to be judged according to the types of the risk building components.

In the embodiment of the present application, if the risk building element is a wall, the position parameter is an Xarm axis in the base coordinate system, if the risk building element is a ceiling, the position parameter is a Zarm axis in the base coordinate system, if the risk building element is a floor, the position parameter is a Zarm axis in the base coordinate system, and if the risk building element is a beam, the position parameter includes a Zarm axis in the base coordinate system and a Yarm axis in the base coordinate system.

Step S332, acquiring difference values of the risk building component and the plurality of joints in the position parameters respectively according to the position information of the risk building component in the base coordinate system and the position information of the plurality of joints in the base coordinate system.

In the embodiment of the present application, if the risk building component is a wall, the difference values of the wall surface and the plurality of joints 142 on the Xarm axis in the base coordinate system are respectively obtained, if the risk building component is a ceiling, the difference values of the ceiling lower surface and the plurality of joints 142 on the Zarm axis in the base coordinate system are respectively obtained, if the risk building component is a floor, the difference values of the floor upper surface and the plurality of joints 142 on the Xarm axis in the base coordinate system are respectively obtained, if the risk building component is a beam, the difference values of the beam lower surface and the plurality of joints 142 on the Zarm axis in the base coordinate system are respectively obtained, and simultaneously, the difference values of the beam side surface and the plurality of joints 142 on the Yarm axis in the base coordinate system are respectively obtained.

And S333, determining a risk joint corresponding to the risk building component according to the difference value of the position parameters of the risk building component and the joints.

In the embodiment of the present application, a safe distance value may be preset, and if a difference between the risk building component and a position parameter of one joint 142 of the plurality of joints 142 is smaller than the safe distance value, it is determined that the joint 142 is a risk joint corresponding to the risk building component. In addition, in the embodiment of the present application, the safe distance value may be set according to a safety requirement policy, which is not specifically limited in the embodiment of the present application.

Referring to fig. 2 and 4, taking the robot arm 140 as a 6-axis robot arm, the working posture of which is specifically shown in fig. 2, and the type of the member of the risk building element is a wall, the position of the risk building element relative to the construction work equipment 100 is a lateral direction, and among the plurality of joints 142, the joint 142 having a difference in the position parameter from the risk building element smaller than the safe distance value includes a second joint P2, a third joint P3, a fourth joint P4 or a sixth joint P6, and the second joint P2, the third joint P3, the fourth joint P4 or the sixth joint P6 is taken as a risk joint, respectively.

Referring to fig. 2 and 4, taking the robot arm 140 as a 6-axis robot arm, the working posture of which is specifically shown in fig. 2, and the type of the risk building component is a ceiling, the position of the risk building component relative to the construction work equipment 100 is above, and the joint 142, which has a difference in the position parameter from the risk building component smaller than the safe distance value, among the plurality of joints 142 includes a third joint P3, the third joint P3 is taken as the risk joint.

Referring to fig. 2 and 4, taking the robot arm 140 as a 6-axis robot arm, the working posture of which is specifically shown in fig. 2, and the type of the risk building component is a floor, the position of the risk building component relative to the construction work equipment 100 is below, and the joints 142, which have a difference in the position parameter from the risk building component smaller than the safe distance value, among the plurality of joints 142 include a sixth joint P6, the sixth joint P6 is used as the risk joint.

Referring to fig. 2 and 4, taking the robot arm 140 as a 6-axis robot arm, the working posture of which is specifically shown in fig. 2, and the type of the risk component is a beam as an example, the position of the risk component relative to the construction work equipment 100 is obliquely upward, and the joint 142 having a difference in the position parameter from the risk construction component smaller than the safe distance value among the plurality of joints 142 includes a third joint P3, and the third joint P3 is used as the risk joint.

Step 334, judging whether the risk joint collides with the risk building component or not to obtain a collision prediction result for representing whether the mechanical arm collides with the risk building component or not.

In the embodiment of the present application, since the position information of all the joints 142 in the base coordinate system is represented by the origin of the coordinate system of the joint 142, the radius value of the risk joint needs to be considered in the process of determining whether the risk joint collides with the risk building element, and based on this, in the embodiment of the present application, as an optional implementation manner for step S334, the embodiment of the present application may include step S3341 and step S3342.

Step S3341, the radius value of the risk joint is acquired.

Step S3342, judging whether the risk joint collides with the risk building component according to the relationship between the distance between the risk joint and the risk building component and the radius value.

It is understood that, in the embodiment of the present application, the step S3341 and the step S3342 are actually performed to compensate the radius value of the risk joint to the risk building element, and therefore, the accuracy of the collision prediction result can be further improved.

Referring to fig. 5, taking the example that the robot arm 140 is a 6-axis robot arm, the working posture thereof is specifically as shown in fig. 2, and the position of the wall with respect to the construction work equipment 100 is the left side, when step S200 is executed, the risk building component near the target working point is determined to be the wall, and when step S333 is executed, the fourth joint P4 is determined from the plurality of joints 142. Since the radius value R4 of the fourth joint P4 is always greater than the distance D between the center P4E of the end of the fourth joint P4 and the risk collision point on the wall surface, in the embodiment of the present application, collision prediction can be performed by only calculating the spatial coordinates of P4E in the base coordinate system.

In the embodiment of the present application, the first coordinate information of the coordinate system origin P4 of the fourth joint P4 in the base coordinate system may be obtained by step S320. In the embodiment of the present application, the spatial coordinates of the center P4E of the end of the fourth joint P4 may be obtained from the origin P4 of the coordinate system of the fourth joint P4 by using a spatial vector method. Further, from the configuration of the robot arm 140, it is known that: a vector P2P1 formed by a coordinate system origin P2 of the second joint P2 and a coordinate system origin P1 of the first joint P1 is always parallel to a vector P4P4E formed by a coordinate system origin P4 of the fourth joint P4 and a center P4E of the tail end of the fourth joint P4.

Then, the known vector P2P1 ═ X2-X1, Y2-Y1, Z2-Z1]Length of vector P2P1 sqrt ((X2-X1)²+(Y2-Y1)²+(Z2-Z1)²) Wherein, (X1, Y1, Z1) is first coordinate information of a coordinate system origin P1 of the first joint P1 in the base coordinate system, (X2, Y2, Z2) is first coordinate information of a coordinate system origin P2 of the second joint P2 in the base coordinate system, then a unit vector UnitP2P1 of the vector P2P1 is P2P1/Length, and further, according to the configuration of the mechanical arm 140, a straight-line distance between the coordinate system origin P4 of the fourth joint P4 and a center P4E of the end of the fourth joint P4 is obtained as L4E, and then P4E is P4+ L4E is UnitP2P 1. Thus, the space coordinates of the center P4E of the tail end of the fourth joint P4 under the basic coordinate system can be obtained, then, whether the transverse coordinate component of the center P4E of the tail end of the fourth joint P4 is greater than (-Xw + Dtw-R4) or not is judged, if the transverse coordinate component of the center P4E of the tail end of the fourth joint P4 is greater than (-Xw + Dtw-R4), the distance between the fourth joint P4 and the wall body on the position parameter is smaller than the radius value, a collision prediction result for representing that the tail end of the fourth joint P4 has the collision risk with the wall body is obtained, and if the transverse coordinate component of the center P4E of the tail end of the fourth joint P4 is smaller than or equal to (-Xw + Dtw-R4), the collision prediction result is shown that the fourth joint P4 has the collision risk with the wall bodyThe distance between the P4 and the wall body on the position parameter is larger than or equal to the radius value, and the fourth joint P4 is represented that the tail end of the fourth joint does not have collision risk with the wall body. In addition, in the embodiment of the present application, the lateral coordinate is a coordinate on the Xarm axis in the base coordinate system.

Referring to fig. 6, taking the robot arm 140 as a 6-axis robot arm as an example, the operation posture thereof is specifically as shown in fig. 2, when step S200 is executed, the ceiling is identified as the risk building member near the target operation point, and when step S333 is executed, the third joint P3 is identified from the plurality of joints 142. Thereafter, the radius value R3 of the third joint P3 is compensated for the ceiling, that is, when it is determined that the distance between the third joint P3 and the ceiling on the Zarm axis in the base coordinate system is smaller than the radius value, a collision prediction result is obtained for characterizing that the third joint P3 has a collision risk with the ceiling.

Referring to fig. 7, taking the robot arm 140 as a 6-axis robot arm as an example, the operation posture thereof is specifically as shown in fig. 2, and when step S200 is executed, the risk building member near the target working point is identified as a floor, and when step S333 is executed, the sixth joint P6 is identified as a risk joint from among the plurality of joints 142. Thereafter, the radius value R6 of the sixth joint P6 is compensated for the floor, i.e. when the distance of the sixth joint P6 from the floor in the basic coordinate system on the Zarm axis is smaller than the radius value, a collision prediction result is obtained for characterizing the risk of collision of the third joint P3 with the ceiling.

For example, the coordinate value of the sixth joint P6 on the Zarm axis of the base coordinate system is-500 mm, the height of the base 141 is 700mm, the radius value R6 of the sixth joint P6 is 40mm, and since (-500+700) > (0+40), it indicates that the distance between the sixth joint P6 and the floor on the Zarm axis of the base coordinate system is greater than the radius value, the collision prediction result for representing that the third joint P3 does not have the collision risk with the ceiling is obtained. As another example, the coordinate value of the sixth joint P6 on the Zarm axis of the base coordinate system is-700 mm, the height of the base 141 is 700mm, the radius value R6 of the sixth joint P6 is 40mm, since (-700+700) < (0+40), it indicates that the distance between the sixth joint P6 and the floor on the Zarm axis of the base coordinate system is smaller than the radius value, and the collision prediction result is obtained for representing the collision risk of the third joint P3 and the ceiling.

Referring to fig. 8, taking the robot arm 140 as a 6-axis robot arm as an example, the working posture thereof is specifically as shown in fig. 2, when step S200 is executed, the risk building member near the target working point is identified as a beam, and when step S333 is executed, the third joint P3 is identified as a risk joint from among the plurality of joints 142. Thereafter, the radius value R3 of the third joint P3 is compensated for the beam, that is, when it is determined that the distance between the third joint P3 and the lower surface of the beam on the Zarm axis in the base coordinate system is smaller than the radius value, a collision prediction result is obtained for representing that the third joint P3 has a collision risk with the beam. Further, in the embodiment of the present application, if the risk member is a beam, step S330 may further include step S335 and step S336.

In step S335, a risk link connected to the risk joint is determined.

In the embodiment of the present application, after step S333 is executed to determine the risk joint corresponding to the risk building element, the risk link closest to the risk building element may be determined from the two links 143 understood by the risk joint according to the position information of the risk building element in the base coordinate system and the position information of the plurality of joints 142 in the base coordinate system.

Referring to fig. 8, taking the robot 140 as a 6-axis robot as an example again, the working posture thereof is specifically as shown in fig. 2, when step S333 is executed, the third joint P3 is identified from the plurality of joints 142, and when step S335 is executed, the link 143 closest to the beam, that is, the link 143 between the third joint P3 and the fourth joint P4, may be selected from the two links 143 connected to the third joint P3, and may be referred to as a risk link P3P 4.

Step S336, determining whether the risk connecting rod collides with the beam to obtain a collision prediction result for representing whether the mechanical arm collides with the beam.

In the embodiment of the present application, since all the risk links are represented by axes, that is, the risk links are regarded as straight line segments, when step S336 is executed, the radius value of the risk link needs to be used as an additional thickness to compensate for the beam, and then it is further determined whether there is a collision risk between the risk link and the beam, based on this, for step S336, as an optional implementation manner, the embodiment of the present application may further include step S3361, step S3362, step S3363, and step S3364.

Step S3361, acquiring the radius value and the linear coordinate vector of the risk connecting rod, wherein the linear coordinate vector is used for representing the position information of the axis of the risk connecting rod in the base coordinate system.

And step S3362, compensating the beam by taking the radius value of the risk connecting rod as an additional thickness, and obtaining the component to be predicted.

And step S3363, judging whether the axis of the risk connecting rod and the member to be predicted have an intersection point according to the coordinate information of the member to be predicted in the base coordinate system and the linear coordinate vector of the risk connecting rod.

And S3364, if the intersection point exists between the axis of the risk connecting rod and the member to be predicted, judging that the risk connecting rod and the beam have the collision risk, and obtaining a collision prediction result for representing the collision risk between the risk joint and the beam.

Referring to fig. 8, taking the robot arm 140 as a 6-axis robot arm and the chassis 130 oriented perpendicular to the longitudinal direction of the beam as an example, the operation posture of the robot arm 140 is specifically as shown in fig. 2, when step S333 is executed, the third joint P3 is identified from the plurality of joints 142 as a risk joint, and when step S335 is executed, the link P3P4 between the third joint P3 and the fourth joint P4 can be selected from the two links 143 connected to the third joint P3 as a risk link.

Thereafter, coordinate information P3(X3, Y3, Z3) of the third joint P3 in the base coordinate system and coordinate information P4(X4, Y4, Z4) of the fourth joint P4 in the base coordinate system are calculated by the piecewise positive kinematics, based on which a straight-line segment vector corresponding to the connecting rod P3P4 can be expressed as P34 ═ P4-P3, an intersection point where the axis and the member to be predicted exist is recorded as (X, Y, Z), an equation (Y-Y3)/(h-Z3) ═ P34[1]/P34[2] is created, and thus, coordinate information of the intersection point can be obtained. The radius value of the risk connecting rod is used as an additional thickness to compensate the beam, and after the component to be predicted is obtained, the height value of the lower surface of the component to be predicted is as follows: h BeamHeight-R34, P34[1] is the component of vector P34 on the Yarm axis in the base 141 system, and P34[2] is the component of vector P34 on the Zarm axis in the base 141 system.

After coordinate information (X, Y and Z) of the intersection point is obtained, the coordinate information is compared with two edges of the section of the member to be predicted, whether collision occurs can be judged, specifically, if Ybeam2 is smaller than Y < Ybeam1, the fact that the actual intersection point exists between the connecting rod P3P4 and the member to be predicted is judged, then the fact that the collision risk exists between the connecting rod P3P4 and the beam is judged, and finally, a collision prediction result is obtained and used for representing the fact that the collision risk exists between the risk joint and the beam.

Based on the same inventive concept as the above collision prediction method, the embodiment of the present application also provides a collision prediction apparatus 200 applied to the construction work equipment 100 shown in fig. 1 and 2. Referring to fig. 9, a collision prediction apparatus 200 according to an embodiment of the present application includes an information acquisition module 210, a risk building component determination module 220, and a collision prediction module 230.

And the information acquisition module 210 is used for determining the position information of the base and the angle information of the plurality of joints according to the target operation point of the actuator.

And the risk building component determining module 220 is used for determining risk building components near the target operation point according to the position of the target operation point in the building information model.

And a collision prediction module 230, configured to determine whether the mechanical arm may collide with the risk building component according to the position information of the base, the angle information of the plurality of joints, and the position information of the risk building component.

In an embodiment of the present application, the risk building element determination module 220 may comprise a building element determination unit and a risk building element determination unit.

And the building component determining unit is used for determining a plurality of building components near the target operation point according to the position of the target operation point in the building information model.

And the risk building component determining unit is used for determining the risk building component according to the distance between the target operation point and the plurality of building components.

In an embodiment of the present application, the risk building element determination unit may comprise a first risk building element determination subunit, a second risk building element determination subunit, a third risk building element determination subunit and a fourth risk building element determination subunit.

And the first risk building component determining subunit is used for judging whether the wall is a risk building component or not according to the distance between the target operation point and the wall surface in the X-axis direction in the base coordinate system when the building component is the wall.

And a second risk building element determination subunit for, when the building element is a ceiling, determining whether the ceiling is a risk building element, based on a distance between the target operating point and the lower surface of the ceiling in the Z-axis direction in the base coordinate system.

And the third risk building component determining subunit is used for judging whether the floor is a risk building component or not according to the distance between the target operation point and the upper surface of the floor in the Z-axis direction in the base coordinate system when the building component is the floor.

And the fourth risk building component determining subunit is used for determining whether the beam is a risk building component or not according to the distance between the target operation point and the lower surface of the beam in the Z-axis direction in the base coordinate system and the distance between the target operation point and the side surface of the beam in the Y-axis direction in the base coordinate system when the building component is the beam.

In the embodiment of the present application, the collision prediction module 230 may include a first position information determination module, a second position information determination module, and an actual prediction module.

And the first position information determining module is used for determining the position information of the risk building component under the base coordinate system according to the position information of the center of the base in the building information model and the position information of the risk building component in the building information model.

And the second position information determining module is used for determining the position information of the plurality of joints under the base coordinate system according to the angle information of the plurality of joints.

And the actual prediction module is used for judging whether the mechanical arm collides with the risk building component or not according to the position information of the risk building component in the base coordinate system and the position information of the joints in the base coordinate system.

In an embodiment of the present application, the actual prediction module may include a position parameter determination unit, a difference calculation unit, a risk joint determination unit, and a first prediction result acquisition unit.

And the position parameter determining unit is used for determining the position parameters to be judged according to the types of the risk building components.

And the difference value calculating unit is used for respectively acquiring the difference values of the risk building component and the joints on the position parameters according to the position information of the risk building component in the base coordinate system and the position information of the joints in the base coordinate system.

And the risk joint determining unit is used for determining a risk joint corresponding to the risk building component according to the difference value of the risk building component and the position parameters of the joints.

And the first prediction result acquisition unit is used for judging whether the risk joint collides with the risk building component or not so as to obtain a collision prediction result for representing whether the mechanical arm collides with the risk building component or not.

In this embodiment, the prediction result obtaining unit may include a radius value obtaining subunit and a prediction result obtaining subunit.

And the radius value acquisition subunit is used for acquiring the radius value of the risk joint.

And the prediction result acquisition subunit is used for judging whether the risk joint collides with the risk building component according to the relationship between the distance between the risk joint and the risk building component and the radius value.

In the embodiment of the present application, the collision prediction module 230 may further include a risk link determination unit and a second prediction result acquisition unit.

And the risk connecting rod determining unit is used for determining the risk connecting rod connected with the risk joint.

And the second prediction result acquisition unit is used for judging whether the risk connecting rod collides with the beam or not so as to obtain a collision prediction result for representing whether the mechanical arm collides with the beam or not.

In this embodiment, the second prediction result obtaining unit may include a vector obtaining subunit, a component to be predicted obtaining subunit, an intersection judging subunit, and a second prediction result obtaining subunit.

And the vector acquisition subunit is used for acquiring the radius value and the linear coordinate vector of the risk connecting rod, and the linear coordinate vector is used for representing the position information of the axis of the risk connecting rod under the base coordinate system.

And the component to be predicted acquiring subunit is used for compensating the beam by taking the radius value of the risk connecting rod as the additional thickness to acquire the component to be predicted.

And the intersection point judging subunit is used for judging whether an intersection point exists between the axis of the risk connecting rod and the member to be predicted according to the coordinate information of the member to be predicted in the base coordinate system and the linear coordinate vector of the risk connecting rod.

And the second prediction result acquisition subunit is used for judging that the risk connecting rod and the beam have the collision risk when the intersection point exists between the axis of the risk connecting rod and the member to be predicted so as to obtain a collision prediction result for representing that the risk joint and the beam have the collision risk.

Since the collision prediction apparatus 200 provided in the embodiment of the present application is implemented based on the same inventive concept as the collision prediction method, specific descriptions of each software module and each software unit in the collision prediction apparatus 200 can be referred to the related descriptions of the corresponding steps in the embodiment of the collision prediction method, and are not repeated herein.

In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the collision prediction method provided in the foregoing method embodiment is implemented, which may be specifically referred to in the foregoing method embodiment, and details of the collision prediction method are not described in this embodiment of the present application.

In summary, the collision prediction method provided by the embodiment of the present application can determine the position information of the base and the angle information of the plurality of arm shafts according to the target operation point of the actuator, determine the risk building component near the target operation point according to the position of the target operation point in the building information model, and finally determine whether the mechanical arm collides with the risk building component according to the position information of the base, the angle information of the plurality of arm shafts and the position information of the risk building component. In the collision prediction method according to the embodiment of the present application, the steps of determining the position information of the base and the angle information of the plurality of arm axes according to the target operation point of the actuator, and determining the risk building component near the target operation point according to the position of the target operation point in the building information model are performed in advance before the building operation equipment travels to the parking position corresponding to the target operation point, and based on the position information of the target operation point in the building information model in the foregoing process, all the risk building components near the target operation point can be determined, and then based on the position information of the base, the angle information of the plurality of arm axes, and the position information of the risk building components, it is determined whether the robot arm will collide with the risk building component, so compared to the prior art collision detection performed under the condition of a limited number of known building components, the accuracy of the collision prediction result can be improved.

The collision prediction device, the construction work equipment and the computer readable storage medium provided by the embodiment of the application have the same beneficial effects as the collision prediction method, and are not repeated herein.

In the embodiments provided in the present application, it should be understood that the disclosed method and apparatus can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, the functional modules in each embodiment of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

Further, the functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method described in each embodiment of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

Claims

1. A collision prediction method of construction work equipment including a chassis, a robot arm having a base, and a plurality of joints and a plurality of links mounted on the base, the joints for connecting two adjacent links, the robot arm being mounted on the chassis via the base, and an actuator mounted on an end of the robot arm, the collision prediction method comprising:

determining position information of the base and angle information of the plurality of joints according to a target operation point of the actuator;

determining a risk building component near the target operation point according to the position of the target operation point in a building information model;

judging whether the mechanical arm collides with the risk building component or not according to the position information of the base, the angle information of the joints and the position information of the risk building component; wherein the content of the first and second substances,

the step of determining a risk building component near the target operation point according to the position of the target operation point in a building information model comprises the following steps:

determining a plurality of building components near the target operation point according to the position of the target operation point in a building information model;

if the building component is a wall body, judging whether the wall body is the risk building component or not according to the distance between the target operation point and the surface of the wall body in the X-axis direction in a base coordinate system;

if the building component is a ceiling, judging whether the ceiling is the risk building component or not according to the distance between the target operation point and the lower surface of the ceiling in the Z-axis direction in the base coordinate system;

if the building component is a floor, judging whether the floor is the risk building component or not according to the distance between the target operation point and the upper surface of the floor in the Z-axis direction in the base coordinate system;

2. The collision prediction method according to claim 1, wherein the determining whether the robot arm may collide with the risk building member based on the positional information of the base, the angle information of the plurality of joints, and the positional information of the risk building member includes:

determining the position information of the risk building component under a base coordinate system according to the position information of the center of the base in the building information model and the position information of the risk building component in the building information model;

determining the position information of the joints under the base coordinate system according to the angle information of the joints;

and judging whether the mechanical arm collides with the risk building component or not according to the position information of the risk building component in a base coordinate system and the position information of the joints in the base coordinate system.

3. The collision prediction method according to claim 2, wherein the determining whether the risk building member may collide with the robot arm based on the position information of the risk building member in a base coordinate system and the position information of the plurality of joints in the base coordinate system includes:

determining position parameters needing to be judged according to the types of the risk building components;

respectively acquiring difference values of the risk building component and the joints on the position parameters according to the position information of the risk building component in a base coordinate system and the position information of the joints in the base coordinate system;

4. The collision prediction method according to claim 3, wherein the determining whether the risk joint will collide with the risk building element comprises:

acquiring a radius value of the risk joint;

and judging whether the risk joint collides with the risk building component or not according to the relation between the distance between the risk joint and the risk building component and the radius value.

5. The collision prediction method according to claim 3, wherein, if the risk building member is a beam, determining whether the risk building member may collide with the robot arm based on the position information of the risk building member in a base coordinate system and the position information of the plurality of joints in the base coordinate system, further comprises:

determining a risk connecting rod connected with the risk joint;

and judging whether the risk connecting rod collides with the beam or not so as to obtain a collision prediction result for representing whether the mechanical arm collides with the beam or not.

6. The collision prediction method according to claim 5, wherein the determining whether the risk link may collide with the beam to obtain a collision prediction result for indicating whether the robot arm may collide with the beam comprises:

acquiring a radius value and a linear coordinate vector of the risk connecting rod, wherein the linear coordinate vector is used for representing the position information of the axis of the risk connecting rod under the base coordinate system;

compensating the radius value of the risk connecting rod to the beam by taking the radius value of the risk connecting rod as an additional thickness to obtain a component to be predicted;

and if the intersection point exists between the axis of the risk connecting rod and the member to be predicted, judging that the risk connecting rod and the beam have the collision risk, so as to obtain a collision prediction result for representing that the risk joint and the beam have the collision risk.

7. A collision prediction apparatus of construction work equipment, characterized in that the construction work equipment includes a chassis, a robot arm having a base, and a plurality of joints and a plurality of links mounted on the base, the joints being for connecting two adjacent links, the robot arm being mounted on the chassis through the base, and the actuator being mounted on an end of the robot arm, the collision prediction apparatus comprising:

a collision prediction module for judging whether the mechanical arm collides with the risk building component according to the position information of the base, the angle information of the plurality of joints and the position information of the risk building component; wherein the content of the first and second substances,

the risk building element determination module comprises a building element determination unit and a risk building element determination unit;

the building component determining unit is used for determining a plurality of building components near the target operation point according to the position of the target operation point in the building information model;

the risk building component determining unit is used for determining a risk building component according to the distance between the target operation point and the plurality of building components;

the risk building element determination unit comprises a first risk building element determination subunit, a second risk building element determination subunit, a third risk building element determination subunit and a fourth risk building element determination subunit;

the first risk building component determining subunit is used for judging whether the wall is a risk building component or not according to the distance between the target operation point and the surface of the wall in the X-axis direction in the base coordinate system when the building component is the wall;

the second risk building component determining subunit is used for judging whether the ceiling is a risk building component or not according to the distance between the target operation point and the lower surface of the ceiling in the Z-axis direction in the base coordinate system when the building component is the ceiling;

the third risk building component determination subunit is used for judging whether the floor is a risk building component or not according to the distance between the target operation point and the upper surface of the floor in the Z-axis direction in the base coordinate system when the building component is the floor;

and the fourth risk building component determination subunit is used for determining whether the beam is a risk building component or not according to the distance between the target operation point and the lower surface of the beam in the Z-axis direction in the base coordinate system and the distance between the target operation point and the side surface of the beam in the Y-axis direction in the base coordinate system when the building component is the beam.

8. A construction work apparatus comprising a controller and a memory, the memory having a computer program stored thereon, the controller being configured to execute the computer program to implement the collision prediction method according to any one of claims 1 to 6.

9. A computer-readable storage medium, having stored thereon a computer program which, when executed, implements a collision prediction method according to any one of claims 1 to 6.