CN113305847B - Building 3D printing mobile mechanical arm station planning method and system - Google Patents
Building 3D printing mobile mechanical arm station planning method and system Download PDFInfo
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- CN113305847B CN113305847B CN202110646818.0A CN202110646818A CN113305847B CN 113305847 B CN113305847 B CN 113305847B CN 202110646818 A CN202110646818 A CN 202110646818A CN 113305847 B CN113305847 B CN 113305847B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention relates to a method and a system for planning station positions of a 3D printing mobile mechanical arm of a building, wherein the method comprises the following steps: obtaining a building model diagram; mapping the building model map into a global coordinate system; according to the actual reachable working space and the process constraint of the mechanical arm, dividing the working area of the building model diagram, and determining a single-time operation unit; and determining the mechanical arm station position of the single operation unit according to the actual reachable working space of the single operation unit and the mechanical arm. The invention can realize automatic area division and station planning before building construction.
Description
Technical Field
The invention relates to the technical field of building 3D printing, in particular to a building 3D printing mobile mechanical arm station position planning method and system.
Background
The building 3D printing technology is a novel building construction technology, and has the advantages of energy conservation, environmental protection, high efficiency, safety and the like compared with the traditional building construction mode. At present, a mobile mechanical arm system for building 3D printing can realize large-scale building 3D printing on a construction site. However, because the working conditions of the building environment are usually complex, in order to ensure the building construction precision, the method of printing while moving is not suitable, but an intermittent working mode is adopted, namely the mobile platform is static after reaching a position planned in advance (at the moment, the position of the center of the mobile platform is called as a standing position), then the mechanical arm executes a local 3D printing task, and the local 3D printing task is moved to the next planned position after the local 3D printing task is finished, so that the whole building printing task is finished in a circulating and alternating mode.
Therefore, before actual construction, the large building plan to be printed is often required to be divided into working areas and planned in stations. The division of the regions needs to consider the working space and the process constraint of the mechanical arm, the redundancy of the movable mechanical arm enables the robot to finish tasks at a plurality of positions, and the reasonable station has important significance on the efficiency and the quality of the mechanical arm for finishing the tasks. At present, the dividing and planning process is also finished manually according to operation requirements and experience, and the problems of low efficiency, large workload, low quality and the like exist. Therefore, it is urgently needed to provide an efficient and fast automatic station planning method.
Disclosure of Invention
The invention aims to provide a building 3D printing mobile mechanical arm station planning method and a system, so as to realize automatic area division and station planning before building construction.
In order to achieve the purpose, the invention provides the following scheme:
a building 3D printing mobile mechanical arm station planning method comprises the following steps:
obtaining a building model diagram;
mapping the building model map into a global coordinate system;
according to the actual reachable working space and the process constraint of the mechanical arm, dividing the working area of the building model diagram, and determining a single-time operation unit;
and determining the mechanical arm station position of the single operation unit according to the actual reachable working space of the single operation unit and the mechanical arm.
Optionally, before mapping the building model map into the global coordinate system, the method further includes:
and simplifying the wall body outline in the building model diagram to obtain a plane building model diagram.
Optionally, the dividing the working area of the building model diagram according to the actual reachable working space and the process constraint of the robot arm, and determining the single-operation unit specifically include:
establishing a kinematics model of the mechanical arm, and determining the original reachable working space of the mechanical arm;
according to the original reachable working space of the mechanical arm, considering the height of a base installed on a mobile platform and the size characteristic constraint of a civil building, and determining the actual reachable working space of the mechanical arm;
defining a plurality of basic geometric linear types according to the building model diagram;
determining the maximum allowable size of each operation unit of the basic geometric line type in the actual reachable working space of the mechanical arm by utilizing geometric tangency and inclusion theory according to the basic geometric line type;
and determining a single operation unit according to the actual reachable working space of the mechanical arm and the allowable maximum size of each operation unit of the basic geometric linear type in the actual reachable working space.
Optionally, the determining the manipulator station of the single operation unit according to the actual reachable working space of the single operation unit and the manipulator specifically includes:
performing line type identification on the single operation unit, and determining a basic geometric line type of the single operation unit;
determining a mechanical arm station corresponding to each section of basic geometric line type according to the basic geometric line type of the operation unit, the actual reachable working space of the mechanical arm and the maximum size allowed by the operation unit of each basic geometric line type in the actual reachable working space; the mechanical arm station comprises station position and pose numbers and a coordinate position of the mechanical arm.
Optionally, after determining the robot arm station of the single-time operation unit according to the actual reachable work space of the single-time operation unit and the robot arm, the method further includes:
judging whether the mechanical arm station of the single operation unit meets the working condition; the working condition is that all points in the printing pose sequence at the tail end of the mechanical arm can reach without collision; the non-collision specifically comprises the mechanical arm and the end tool of the mechanical arm not colliding with the finished wall body and the mechanical arm and the end tool of the mechanical arm not colliding;
if so, determining that the station position of the mechanical arm is reasonable.
A building 3D prints mobile mechanical arm station planning system, includes:
the acquisition module is used for acquiring a building model diagram;
the mapping module is used for mapping the building model map into a global coordinate system;
the working area division module is used for dividing the working area of the building model diagram according to the actual reachable working space and the process constraint of the mechanical arm and determining a single-time operation unit;
and the mechanical arm station position determining module is used for determining the mechanical arm station position of the single operation unit according to the single operation unit and the actual reachable working space of the mechanical arm.
Optionally, the method further includes:
and the simplifying module is used for simplifying the wall body outline in the building model diagram to obtain a plane building model diagram.
Optionally, the working area dividing module specifically includes:
the mechanical arm original reachable working space determining unit is used for establishing a kinematic model of the mechanical arm and determining an original reachable working space of the mechanical arm;
the actual reachable working space determining unit is used for determining the actual reachable working space of the mechanical arm according to the original reachable working space of the mechanical arm by considering the height of the base installed on the mobile platform and the size characteristic constraint of the civil building;
a defining unit for defining a plurality of basic geometric line types according to the building model diagram;
the maximum size determining unit is used for determining the maximum size allowed by each operation unit of the basic geometric linear type in the actual reachable working space of the mechanical arm according to the basic geometric linear type by utilizing geometric tangency and inclusion theory;
and the single-operation unit determining unit is used for determining the single-operation unit according to the actual reachable working space of the mechanical arm and the allowable maximum size of each operation unit of the basic geometric line type in the actual reachable working space.
Optionally, the robot arm station position determining module specifically includes:
the basic geometric line type determining unit of the single operation unit is used for identifying the line type of the single operation unit and determining the basic geometric line type of the single operation unit;
the mechanical arm station determining unit is used for determining a mechanical arm station corresponding to each section of basic geometric line type according to the basic geometric line type of the operation unit, the actual reachable working space of the mechanical arm and the allowable maximum size of each operation unit of the basic geometric line type in the actual reachable working space; the mechanical arm station comprises station position and pose numbers and a coordinate position of the mechanical arm.
Optionally, the method further includes:
the judging module is used for judging whether the mechanical arm station of the single operation unit meets the working condition or not; the working condition is that all points in the printing pose sequence at the tail end of the mechanical arm can reach without collision; the non-collision specifically comprises the mechanical arm and the end tool of the mechanical arm not colliding with the finished wall body and the mechanical arm and the end tool of the mechanical arm not colliding;
and the mechanical arm station position reasonability determining module is used for determining that the mechanical arm station position is reasonable when whether the mechanical arm station position of the single operation unit meets the working condition.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the building 3D printing mobile mechanical arm station planning method and system, the working area of the building model graph is divided according to the actual reachable working space and the process constraint of the mechanical arm, and a single operation unit is determined; and determining the mechanical arm station position of the single operation unit according to the actual reachable working space of the single operation unit and the mechanical arm. By applying the kinematics working space theory of the robot and combining the process constraint requirements in the field of buildings, the area maximization of a single operation unit is realized, so that the station moving times of the robot are greatly reduced, and the operation efficiency of the robot is remarkably improved. The single operation unit division is carried out on the large-scale geometric building plan, the minimum overlapping rate can be realized to cover the whole large-scale building plane, and the automatic area division and the station planning before the building construction are realized, so that the operation quality of the robot is obviously improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flow chart of a building 3D printing mobile mechanical arm station planning method provided by the invention;
FIG. 2 is a schematic structural diagram of a mobile robot apparatus for building 3D printing;
FIG. 3 is a schematic plan view of an example of a construction model;
FIG. 4 is a flow chart of area division and station planning;
FIG. 5 is a diagram illustrating various coordinate system relationships;
FIG. 6 is a simplified schematic representation of a planar mapping of a building model in a coordinate system;
FIG. 7 is a cloud of the original reachable workspace of an industrial robot arm;
FIG. 8 is a schematic view of the actual working range of the robot after considering constraints;
FIG. 9 is a schematic basic line diagram of a single-run unit;
FIG. 10 is a schematic diagram of the limit size of a single-operation unit in the actual working range of the robot;
FIG. 11 is a schematic view of a process of performing traversal division on the whole large building plan;
FIG. 12 is a schematic view of a particular station of the linear work cell;
FIG. 13 is a schematic view of a particular station position of a right angle work cell;
FIG. 14 is a schematic view of a particular station of the arc-shaped work cell;
FIG. 15 is a schematic diagram of a specific station of a T-shaped task unit;
fig. 16 is a schematic view of a specific station of the cross-shaped work unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a building 3D printing mobile mechanical arm station planning method and a system, so as to realize automatic area division and station planning before building construction.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the method for planning the station positions of the 3D printing mobile mechanical arm of the building provided by the invention comprises the following steps:
step 101: and obtaining a building model diagram.
Step 102: and mapping the building model map into a global coordinate system. In practical applications, step 102 further includes simplifying the wall contour in the building model map to obtain a planar building model map.
Step 103: and dividing the working area of the building model diagram according to the actual reachable working space and the process constraint of the mechanical arm, and determining a single-time operation unit. Step 103, specifically including:
and establishing a kinematic model of the mechanical arm, and determining the original reachable working space of the mechanical arm.
And determining the actual reachable working space of the mechanical arm according to the original reachable working space of the mechanical arm by considering the height of the base mounted on the mobile platform and the size characteristic constraint of the civil building.
Defining a plurality of primitive geometric line types from the building model map.
And determining the maximum allowable size of each operation unit of the basic geometric line type in the working space which can be actually reached by the mechanical arm by using geometric tangency and inclusion theory according to the basic geometric line type.
And determining a single operation unit according to the actual reachable working space of the mechanical arm and the allowable maximum size of each operation unit of the basic geometric linear type in the actual reachable working space.
Step 104: and determining the mechanical arm station position of the single operation unit according to the actual reachable working space of the single operation unit and the mechanical arm.
and identifying the line type of the single operation unit, and determining the basic geometric line type of the single operation unit.
Determining a mechanical arm station corresponding to each section of basic geometric line type according to the basic geometric line type of the operation unit, the actual reachable working space of the mechanical arm and the maximum size allowed by the operation unit of each basic geometric line type in the actual reachable working space; and the mechanical arm station comprises the station position and attitude number and the coordinate position of the mechanical arm.
In practical applications, step 104 further includes:
judging whether the mechanical arm station of the single operation unit meets the working condition; the working condition is that all points in the printing pose sequence at the tail end of the mechanical arm can reach without collision; the non-collision specifically comprises the mechanical arm and the end tool of the mechanical arm not colliding with the finished wall body and the mechanical arm and the end tool of the mechanical arm not colliding; if so, determining that the station position of the mechanical arm is reasonable. If not, return to step 103.
The invention further provides a more specific work flow of the building 3D printing mobile mechanical arm station position planning method, which comprises the following steps:
the method comprises the following steps: and establishing a global coordinate system, a vehicle body coordinate system and a mechanical arm base coordinate system, acquiring a simplified CAD building model drawing to be printed, and expressing the simplified CAD building model drawing in the global coordinate system. Simplification refers to some form of simplification of the wall profile, i.e., the unity of center line representation. In the first step, a coordinate system is established and building plan information is acquired, and the specific method comprises the following steps:
(1) And establishing a global coordinate system, a vehicle body coordinate system and a mechanical arm base coordinate system in the upper computer interface, wherein each coordinate system is a right-hand system. The vehicle body coordinate system takes the center of the mobile platform as an original point, and the mechanical arm base coordinate system takes the center of the mechanical arm base as an original point and is offset from the center of the vehicle body by a distance. The vehicle body coordinate system and the x-axis direction of the mechanical arm base coordinate system are collinear, the positive direction of the x-axis points to the original point of the mechanical arm base coordinate system from the original point of the vehicle body coordinate system, the z-axis directions of the two coordinate systems are parallel and vertically upward, and the y-axis direction can be respectively judged through a right-hand rule.
(2) After each coordinate system is established, reading the simplified dxf file of the building model, extracting and analyzing the coordinate information of the starting point and the end point of each line segment in the file, and mapping the coordinate information into a global coordinate system, wherein the origin of the coordinate system in the dxf file is consistent with the origin of the global coordinate system in an upper computer.
Step two: according to the actual maximum reachable working space of the mechanical arm and the process constraint requirements, the simplified building plan is divided into working areas, the simplified building plan is divided into various basic geometric linear types such as a linear type, an arc type, a right angle type, a T-shaped type, a cross type and the like, and each section of line is a single operation unit of the robot. According to the actual maximum reachable working space of the mechanical arm and the process constraint requirement, the working area of the simplified building plan is divided, and the specific method is as follows:
(1) The method comprises the steps of modeling the kinematics of the industrial mechanical arm, analyzing the accessibility of the industrial mechanical arm to obtain the original accessible working space of the industrial mechanical arm, and then considering the base installation height and the size characteristic constraint of the civil building to obtain the actual accessible working space of the robot.
(2) According to the geometry of the simplified actual building plan, several basic regular geometric line types are defined, such as a linear type, an arc type, a right-angle type, a T-shaped type, a cross type and the like.
(3) And calculating the allowable limit size of the operation units with various shapes in the practical maximum reachable working space according to the geometric tangency and inclusion theory.
(4) Traversing the whole building plan, and dividing according to a certain rule, wherein the specific rule is as follows: (1) size accessibility: the single-job unit size should be within the actual reachable workspace of the robot.
(2) Structural effectiveness: in order to ensure the structural strength of the wall corner, two side walls are reserved when the wall body at the corner is divided, namely the wall body at the corner is divided into a right-angle shape, a T shape or a cross shape.
(3) The structure rationality is as follows: a certain length is reserved at the dividing seam, so that the later manual splicing treatment is facilitated.
(4) Quantitative optimality: on the premise of ensuring that the whole printing task can be completed, the number of the divided single operation units is as small as possible.
Step three: and specifically planning the station positions of the single operation unit, and generating the station positions of the building operation units with different shapes in batches by adopting different station position calculation methods according to different geometric shapes of the single operation unit and based on the reachable working space and the moving range of the robot, wherein the station positions are the positions and postures of the center of the mobile platform in the global coordinate system when the mechanical arm executes the printing task and are represented as a position coordinate (x, y) and a direction angle theta.
(1) Firstly, linear recognition is carried out on each single operation unit to obtain the geometric shape of the operation unit, and then different station position calculation methods are adopted based on the working space range of the robot according to different geometric shapes to plan the station position associated with the geometric shape of the operation unit.
(2) If the geometric shape of the operation unit is linear, two station poses are planned and respectively arranged on two sides of the straight line, the specific coordinate position is on the perpendicular bisector of the straight line, the perpendicular distance between the center of the vehicle body and the wall body of the straight line is called as a safe distance parameter d, the safe distance parameter is obtained through calculation based on the working space of the robot, the type and the size of the wall body, the safe distance parameter can be properly adjusted according to requirements, and the vehicle body angle is that the x axis of a vehicle body coordinate system is perpendicular to the straight line.
(3) If the geometric shape of the operation unit is an arc shape, two station poses are planned, the two station poses are respectively arranged on the inner side and the outer side of the arc, the specific coordinate positions are respectively arranged on a connecting line of the center of the arc and the circle center, the center of the arc is taken as a reference, straight lines are similar, the safe distance parameter d is respectively deviated towards the inner side and the outer side to be taken as the position of the center of the vehicle body, and the angle of the vehicle body is that the x axis of a vehicle body coordinate system is vertical to the connecting line of the center of the arc and the circle center.
(4) If the geometric shape of the operation unit is a right-angle shape, two station positions and postures are planned respectively at the inner side and the outer side of the right angle, the specific coordinate position is on a vertical bisector of a connecting line of the starting points of the right angle, the midpoint or the vertex of the right angle of the connecting line of the starting points is taken as a reference, the offset safe distance parameter d at the inner side and the outer side is taken as the position of the center of the vehicle body, and the vehicle body angle is that the x axis of a vehicle body coordinate system is vertical to the connecting line of the starting points of the right angle.
(5) And if the geometric shape of the operation unit is T-shaped, planning a station position and posture, wherein the specific coordinate position is located on a vertical bisector of the long line, the middle point of the long line is taken as a reference, the safe distance parameter d is deviated in the reverse direction of the short line to be taken as the position of the center of the vehicle body, and the vehicle body angle is that the x axis of a vehicle body coordinate system is vertical to the long line.
(6) If the geometric shape of the operation unit is cross-shaped, the poses of two stations are planned and respectively positioned on two sides of a cross long line, the specific coordinate positions are on a perpendicular bisector of the long line, the end points of the short line are taken as the reference, the offset safe distances d on the two sides are taken as the positions of the center of the vehicle body, and the angle of the vehicle body is that the x axis of a vehicle body coordinate system is perpendicular to the long line.
Step four: and performing analog simulation on each planned station to ensure that each point in the tail end printing pose sequence under the station can be reached, and the mechanical arm and the tail end tool thereof do not collide with the finished wall body and the mechanical arm.
And checking whether each point in the tail end printing position and pose sequence has a kinematic inverse solution and meets the angle limit of each shaft joint under the planned station position by using a mechanical arm kinematic inverse solution algorithm.
And (3) constructing a visual mechanical arm motion simulation program by using three-dimensional simulation software, and verifying whether the mechanical arm collides with the vehicle body and the wall body which is being printed.
The invention also provides a building 3D printing mobile mechanical arm station planning method, which is a planning method using a building model diagram in practical application and specifically comprises the following steps:
now, taking a certain type of building 3D printing mobile mechanical arm as an example, a schematic structural diagram of which is shown in fig. 2, by using the method provided by the present invention, area division and station planning are performed on a plane of a building model example shown in fig. 3, as shown in a flow shown in fig. 4, the method includes the following steps:
(1) A user firstly establishes a global coordinate system, a vehicle body coordinate system and a mechanical arm base coordinate system in an upper computer interface, wherein each coordinate system is a right-hand system. The vehicle body coordinate system takes the center of the mobile platform as an original point, the mechanical arm base coordinate system takes the center of the mechanical arm base as an original point, and a distance offset is formed between the mechanical arm base and the vehicle body center, wherein the distance offset is 548mm. The vehicle body coordinate system and the x-axis direction of the mechanical arm base coordinate system are collinear, the positive direction of the x-axis points to the original point of the mechanical arm base coordinate system from the original point of the vehicle body coordinate system, the z-axis directions of the two coordinate systems are parallel and vertically upward, the y-axis direction can be respectively judged through a right-hand rule, and the overlooking schematic diagram of each coordinate system is shown in fig. 5.
(2) After each coordinate system is established, a dxf file after simplified processing of the building model shown in fig. 3 is loaded and read, wherein the simplified processing refers to that all outer contours are uniformly represented by a central line, and a blank is left at the door and window position for independent processing. And extracting the coordinate information of the starting point and the end point of each line segment in the dxf file after the simplification processing, and representing the coordinate information in a global coordinate system, wherein as shown in fig. 6, the origin of the coordinate system in the dxf file is consistent with the origin of the global coordinate system in the upper computer.
(3) Taking the six-degree-of-freedom industrial mechanical arm KUKAKR 90R 3100 as an example, by modeling and analyzing the accessibility of the arm in kinematics, a cloud picture of the front three joints of the mechanical arm in a single plane can be obtained by adopting a geometric method according to the DH parameters of the mechanical arm, namely, the cloud picture of the original reachable working space of the mechanical arm, as shown in fig. 7.
(4) Considering the design installation constraint that the base installation height is 880mm and the tail end printing tool length is 733mm and the size constraint that the civil building height is 2800mm, obtaining an actual reachable working space cloud picture of the robot by adopting a geometric drawing method as shown in fig. 8 (a), and a transverse working range schematic diagram as shown in fig. (b), wherein the maximum working radius Rmax =2679mm and the minimum working radius Rmin =1328mm of the transverse working range are in the shape of a semicircular ring, the mechanical arm control cabinet is an integral mechanical structure of a mobile mechanical arm system, and the mechanical arm control cabinet is positioned behind the whole locomotive body and cannot collide with the mechanical arm when the mechanical arm works.
(5) Several basic regular geometric line types are defined according to the geometry of the simplified actual building plan, and as shown in fig. 9, the basic line types include a straight line type shown in fig. 9 (a), a circular arc type shown in fig. 9 (b), a right-angle type shown in fig. 9 (c), a T-shape shown in fig. 9 (d), a cross type shown in fig. 9 (e), and the like.
According to the geometric tangency and the inclusion theory, the maximum allowable limit size of various regular-shaped single-operation units in the actual maximum reachable working space of the mechanical arm, namely the maximum size of the single-operation units of the mechanical arm, is obtained. In determining the ultimate size of a single-job unit, which involves determining the preliminary station of the unit, assuming that all job units are 200mm thick, the specific calculation for the different geometry job units is shown in fig. 11.
For the straight line type, as shown in fig. 10 (a), the initial station is set on the perpendicular bisector of the straight line, and the maximum working range ring can include the maximum straight line wall dimension Lmax of 4398.25mm, with the straight line wall tangent to the minimum working range ring as the boundary.
Regarding the right-angled type, considering two cases, fig. 10 (b) shows that when the preliminary station is located outside the right-angled wall, the unilateral length Lmax of the maximum right-angled wall that the working range circular ring can contain is 1382.18mm, and fig. 10 (c) shows that when the preliminary station is located inside the right-angled wall, the unilateral length Lmax of the maximum right-angled wall that the working range circular ring can contain is 3481.83mm.
Regarding the circular arc type, considering two cases, fig. 10 (d) shows that when the preliminary station is located outside the circular arc wall, the radius Rmax of the maximum circular arc wall that the working range circular ring can contain is 1521.30mm, and fig. 10 (e) shows that when the preliminary station is located inside the circular arc wall, the radius Rmax of the maximum circular arc wall that the working range circular ring can contain is 2574.19mm.
For the T-shape, as shown in fig. 10 (f), the preliminary station position is set on the perpendicular bisector of the long side of the T-shape, the minimum working range circle tangent to the long side of the T-shape wall is used as the boundary, the long side dimension L1max of the maximum T-shape wall included in the maximum working range circle is 4398.25mm, and the maximum short side dimension L2max is 1349.00mm.
For the cross shape, as shown in fig. 10 (g), the preliminary station position is set on the perpendicular bisector of the long side of the cross, the maximum working range circle can include the largest cross wall with the long side dimension L1max of 3315.83mm and the largest short side dimension L2max of 1249.00mm.
The above-mentioned limit size is obtained in an ideal state, however, considering the manufacturing and installation errors of the robot arm and the mobile platform, the motion performance of the robot arm near the boundary area, and other problems, the above-mentioned result should be given a certain downward trade-off in the actual application process, and generally about 80% of the theoretical result is preferable.
(6) Traversing the whole building plan, and dividing according to a certain rule, wherein the specific rule is as follows:
(1) size accessibility: the single-job unit size should be within the actual reachable workspace of the robot.
(2) Structural effectiveness: in order to ensure the structural strength of the wall corner, two side walls are reserved when the wall body at the corner is divided, namely the wall body at the corner is divided into a right-angle shape, a T-shaped shape or a cross shape.
(3) The structure rationality is as follows: a certain length is reserved at the dividing seam, so that the later manual splicing treatment is facilitated.
(4) Quantitative optimality: on the premise of ensuring that the whole printing task can be completed, the number of the divided single operation units is as small as possible.
According to the rules and constraints, traversing division is performed in the inner-outer-anticlockwise direction until the whole large building plan is covered, and the process is shown in fig. 11.
(7) After dividing the whole building plan into multiple sections of single operation units, each operation unit needs to be specifically planned to a possible station position. Firstly, performing line type identification on each single operation unit to obtain the geometric shape of the operation unit, then planning specific poses P (x, y, theta) of possible stations associated with the geometric shape of the operation unit by adopting different station calculation methods according to different geometric shapes and based on the working space range of the robot, wherein (x, y) is a coordinate of the center of a vehicle body under a global coordinate system, theta is an angle of the center of the vehicle body rotating around the z axis of a vehicle body coordinate system, the anticlockwise direction is a positive value, the range is limited between-180 degrees and 180 degrees, and the specific calculation method comprises the following steps:
(1) if the geometry of the work unit is linear, as shown in fig. 12, two possible positions are planned, one on each side of the straight line, and the specific coordinate position is on the perpendicular bisector of the straight line. Assuming that the centerline of a certain segment of a straight wall is denoted AB, the straight line is knownThe coordinates of the starting points of AB are respectively A (x)a，ya)、B(xb，yb) Then, the coordinate O (x) of the middle point of the straight line can be obtainedo，yo) In which
The vertical distance from the center of the vehicle body to the straight line AB is defined as a safety distance d, which is mainly composed of three parts, namely 548mm offset of the center of the base of the mechanical arm and the center of the vehicle body, 1328mm radius of the minimum printing range circle of the mechanical arm and the distance d from the straight line AB to the minimum printing range circle1Where the first two distances (for a particular moving arm system) are constant, d1The distance parameter can be adjusted mainly according to the actual size of the straight line AB, and the adjustable distance d of the current straight line wall size1The maximum is 963mm, the adjustable range interval of the whole safety distance parameter d is (d)min，dmax) Wherein d ismin＝548+1328＝1876mm，dmax=548+1328+963=2829mm, and the middle point of the interval is taken in a moderate condition generally. Two stations on the vertical bisector of the straight line AB are respectively P1(x1，y1，θ1)，P2(x2，y2，θ2) The following is considered case by case:
a. if AB is parallel to the x-axis of the global coordinate system
b.
θ1＝90°；
c. If AB is perpendicular to the x-axis of the global coordinate system
d. If the angle between AB and the positive direction of the x-axis of the global coordinate system is alpha and alpha is not equal to 90 DEG, the slope of the system is determined
Slope of its perpendicular bisector
Direction vector dir = (1,k) perpendicular bisector2) The variation of the safety distance Δ d = dir × d, then
(2) If the geometry of the work unit is right-angled, two possible stations are planned, one on each side of the right-angle. Suppose that the two endpoints and the vertex of the right angle are A (x) respectivelya，ya)、B(xb，yb)，O(xo，yo) Then, the slope of the connection line AB between the two terminals can be obtained
Slope of its perpendicular bisector
Direction vector dir = (1, k)2) The amount of change in the safe distance Δ d = dir × d. The calculation of the safe distance parameter d is similar to the linear type, and the difference lies in the right angle inside and outside, the safe distance parameterThe definition mode is different, and for the outside station, d is defined as the vertical distance OP from the center of the vehicle body to the right-angle vertex1(ii) a And d is defined as the vertical distance MP from the center of the vehicle body to the connecting line AB of two right-angled end points of the vehicle body2Coordinate of M Point (x)m，ym) Can be obtained from the coordinates of two points OA and the distance h of OM, i.e.
xm＝xo+dir*h，ym＝yo+ dir × h. Two stations on the vertical bisector of the straight line AB are respectively P1(x1，y1，θ1)、P2(x2，y2，θ2) Then, then
x1＝xo-Δd，y1＝yo-Δd，θ1＝arctan(k2)；
x2＝xm+Δd，y2＝ym+Δd，θ2＝arctan(k2)+180°。
(3) As shown in fig. 14, if the geometric shape of the working unit is a circular arc, two possible standing positions are planned, which are respectively located on the inner side and the outer side of the circular arc, and the specific coordinate position is located on the connecting line between the center of the circular arc and the center of the circular arc. Suppose that the two end points and the middle point of the circular arc are respectively A (X)a，ya)、B(Xb，yb)，O(xo，yo) Then, the slope of the line AB between the two terminals can be obtained
Slope of its perpendicular bisector
Direction vector dir = (1, k)2) The change in the safe distance Δ d = dir × d. The calculation of the safety distance parameter d is similar to that of a right-angle type, the safety distance parameters of the inner side and the outer side of the circular arc are different, and for an outer side station, d is defined as the vertical distance OP from the center of the vehicle body to the middle point of the circular arc1(ii) a And d is defined as the distance from the center of the vehicle body to the two ends of the circular arc for the inner side stationVertical distance MP of connecting line AB of points2Coordinate of M points (X)m，ym)，
Two station positions of a connecting line of the center of the circular arc and the circle center are respectively P1(x1，y1，θ1)、P2(x2，y2，θ2) Then, then
x1＝xo-Δd，y1＝yo-Δd，θ1＝arctan(k2)；
x2＝xm+Δd，y2＝ym+Δd，θ2＝arctan(k2)+180°。
(4) As shown in fig. 15, if the geometric shape of the working unit is T-shaped, a station is planned, and the specific coordinate position is located on the perpendicular bisector of the long line. Suppose that the three endpoints and the intersection of the T-word are A (X) respectivelya，ya)、B(Xb，yb)、C(xc，yc)、O(xo，yo) If the length of the straight line AB is greater than that of the OC, the straight line AB is a long line, and the OC is a short line. The safety distance parameter d is calculated similarly to a straight line, with the midpoint O (x) of the long lineo，yo) Setting the station position on the AB perpendicular bisector as P as a reference1(x1，y1，θ1) Consider two cases:
a. if AB is parallel to the x-axis of the global coordinate system
b. If AB is perpendicular to the x-axis of the global coordinate system
(5) If the geometry of the work unit is a cross, as shown in fig. 16And (4) planning two station positions, wherein the specific coordinate position is positioned on a vertical bisector of the cross long line. Suppose that the four endpoints and the intersection of the cross are A (X)a，ya)、B(xb，yb)、C(xc，yc)、D(xd，yd)、O(xo，yo) If the length of the straight line AB is greater than that of the CD, the straight line AB is a long line, and the CD is a short line. The calculation of the safety distance parameter D is similar to that of a linear type, and the difference is that the reference points on the two sides are respectively a point C and a point D, and the two station positions on the vertical bisector of the straight line AB are respectively P1(x1，y1，θ1)、P2(x2，y2，θ2) Consider two cases:
a. if AB is parallel to the x-axis of the global coordinate system
x1＝xd，y1＝yd-d，θ1＝90°；x2＝xc，y2＝yc+d＝，θ2＝-90°。
b. If AB is perpendicular to the x-axis of the global coordinate system
x1＝xd-d，y1＝yd，θ1＝0°；x2＝xc+d，y2＝yc，θ2＝180°。
(8) And performing analog simulation on each planned station to ensure that each point in the tail end printing pose sequence under the station can be reached and the mechanical arm does not collide with the wall body and the mechanical arm.
(1) Checking the planned station position P by applying the forward and backward kinematics of the mechanical arm and the coordinate transformation theoryi＝(xi，yi，θi) Bottom, end print pose sequence ζj＝(xj，yj，zj，αj，βj，γj) Whether the inverse kinematics solution delta exists at each point in the processk，j(k =1,2,3 \82306; 6) and satisfies the joint angle limitation of each axis, i.e., δmin＜δk，j＜δmax. If the condition is not met, returning to the step (8),and adjusting the safety distance parameter d, recalculating possible station positions, and performing the next step if the safety distance parameter d is satisfied.
(2) And (3) importing a mechanical arm three-dimensional model into software by using three-dimensional simulation software unity, constructing a visual mechanical arm motion simulation program for verifying whether the mechanical arm and a tail end printing tool thereof collide with the vehicle body, the printed wall and the self, if so, calculating a collision position point by using a positive kinematics theory of the mechanical arm, so that a worker can review the collision position point conveniently, returning to the step (8), adjusting the safe distance parameter d, recalculating a possible station position, and if not, performing the next step.
(3) And (3) repeating the steps (1) and (2) until all points in the printing pose sequence at the tail end of the station can be reached, and the mechanical arm does not collide with the wall body and the mechanical arm, so that planning is completed.
The invention provides a building 3D printing mobile mechanical arm station planning system, which comprises:
and the acquisition module is used for acquiring the building model diagram.
And the mapping module is used for mapping the building model map into a global coordinate system.
And the working area division module is used for dividing the working area of the building model diagram according to the actual reachable working space and the process constraint of the mechanical arm and determining a single operation unit.
And the mechanical arm station position determining module is used for determining the mechanical arm station position of the single operation unit according to the single operation unit and the actual reachable working space of the mechanical arm.
In practical application, the method further comprises the following steps:
and the simplifying module is used for simplifying the wall body outline in the building model diagram to obtain a plane building model diagram.
In practical application, the working area dividing module specifically includes:
and the mechanical arm original reachable working space determining unit is used for establishing a kinematic model of the mechanical arm and determining the mechanical arm original reachable working space.
And the actual reachable working space determining unit is used for determining the actual reachable working space of the mechanical arm according to the original reachable working space of the mechanical arm by considering the height of the base installed on the mobile platform and the size characteristic constraint of the civil building.
And the defining unit is used for defining a plurality of basic geometric linear types according to the building model diagram.
And the maximum size determining unit is used for determining the maximum size allowed by each operation unit of the basic geometric linear type in the actual reachable working space of the mechanical arm by utilizing geometric tangency and inclusion theory according to the basic geometric linear type.
And the single-operation unit determining unit is used for determining the single-operation unit according to the actual reachable working space of the mechanical arm and the allowable maximum size of each operation unit of the basic geometric line type in the actual reachable working space.
In practical application, the mechanical arm station position determining module specifically includes:
and the basic geometric line type determining unit of the single operation unit is used for identifying the line type of the single operation unit and determining the basic geometric line type of the single operation unit.
The mechanical arm station position determining unit is used for determining a mechanical arm station position corresponding to each section of basic geometric line type according to the basic geometric line type of the operation unit, the actual reachable working space of the mechanical arm and the allowable maximum size of each operation unit of the basic geometric line type in the actual reachable working space; and the mechanical arm station comprises the station position and attitude number and the coordinate position of the mechanical arm.
In practical application, the method further comprises the following steps:
the judging module is used for judging whether the mechanical arm station of the single operation unit meets the working condition or not; the working condition is that all points in the tail end printing pose sequence of the mechanical arm can reach without collision; the non-collision specifically includes that the mechanical arm and the end tool of the mechanical arm do not collide with the finished wall body and the mechanical arm and the end tool of the mechanical arm do not collide.
And the mechanical arm station position reasonability determining module is used for determining that the mechanical arm station position is reasonable when whether the mechanical arm station position of the single operation unit meets the working condition.
Firstly, establishing each coordinate system, simplifying and processing a building drawing to be printed, and then showing the building drawing in the coordinate system; secondly, dividing the drawing into a plurality of sections of single operation units according to the actual reachable space of the robot and the construction process constraint; then, carrying out specific station planning on the single operation units with different geometric shapes of each section; and finally, performing analog simulation on the planned station to ensure the correctness and effectiveness. The method applies the robot working space theory and combines the building process constraint requirement, realizes the area maximization of a single operation unit, reduces the station moving times of the robot, writes the method into a program interface with adjustable parameters, can realize the automatic area division and the station planning before building construction, and solves the problems of low efficiency, low quality and the like of the traditional manual method.
Compared with the prior art, the invention has the following technical effects:
by applying the kinematics working space theory of the robot and combining the process constraint requirements in the field of buildings, the area maximization of a single effective building operation unit is realized, so that the station moving times of the robot are greatly reduced, and the operation efficiency of the robot is remarkably improved.
By using the linear model with the regular geometric shape and the division method provided by the invention, the large-scale geometric building plan is divided into the single operation areas, the minimum overlapping rate can be realized to cover the whole large-scale building plane, and the operation quality of the robot is obviously improved.
The method is compiled into a computer program interface with adjustable parameters through a high-level programming language, can realize automatic area division and station planning before building construction, has certain expandability, and solves the problems of low efficiency, low quality and the like of the traditional method which relies on manual experience to carry out area division and station planning.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.
Claims (6)
1. A building 3D printing mobile mechanical arm station position planning method is characterized by comprising the following steps:
obtaining a building model diagram;
mapping the building model map into a global coordinate system;
according to the actual reachable working space and the process constraint of the mechanical arm, dividing the working area of the building model diagram, and determining a single-time operation unit; the method comprises the following steps of dividing the working area of the building model diagram according to the actual reachable working space and the process constraint of the mechanical arm, and determining a single-time operation unit, and specifically comprises the following steps:
establishing a kinematic model of the mechanical arm, and determining an original reachable working space of the mechanical arm;
according to the original reachable working space of the mechanical arm, considering the height of a base installed on a mobile platform and the size characteristic constraint of a civil building, and determining the actual reachable working space of the mechanical arm;
defining a plurality of basic geometric linear types according to the building model diagram; the basic geometric line type comprises a linear type, a right-angle type, an arc shape, a T-shaped type and a cross type;
determining the maximum size allowed by each operation unit of the basic geometric line type in the actual reachable working space of the mechanical arm by utilizing geometric tangency and inclusion theory according to the basic geometric line type;
determining a single operation unit according to the actual reachable working space of the mechanical arm and the allowable maximum size of each operation unit of the basic geometric line type in the actual reachable working space;
determining a mechanical arm station position of the single operation unit according to the actual reachable working space of the single operation unit and the mechanical arm;
the determining the mechanical arm station of the single operation unit according to the actual reachable working space of the single operation unit and the mechanical arm specifically comprises:
performing line type identification on the single operation unit, and determining a basic geometric line type of the single operation unit;
determining a mechanical arm station corresponding to each section of basic geometric line type according to the basic geometric line type of the operation unit, the actual reachable working space of the mechanical arm and the allowable maximum size of each operation unit of the basic geometric line type in the actual reachable working space; and the mechanical arm station comprises the station position and attitude number and the coordinate position of the mechanical arm.
2. The method for building 3D printing mobile mechanical arm station planning as claimed in claim 1, wherein before mapping the building model map into a global coordinate system, further comprising:
and simplifying the wall body outline in the building model diagram to obtain a plane building model diagram.
3. The method for planning the station of the mobile mechanical arm for 3D printing in the building according to claim 1, wherein the step of determining the station of the mechanical arm of the single-job unit according to the actual reachable work space of the single-job unit and the mechanical arm further comprises the following steps:
judging whether the mechanical arm station of the single operation unit meets the working condition; the working condition is that all points in the printing pose sequence at the tail end of the mechanical arm can reach without collision; the non-collision specifically comprises the mechanical arm and the tail end tool of the mechanical arm not colliding with the finished wall body and the mechanical arm and the tail end tool of the mechanical arm not colliding;
if so, determining that the station position of the mechanical arm is reasonable.
4. The utility model provides a building 3D prints and removes arm station planning system which characterized in that includes:
the acquisition module is used for acquiring a building model diagram;
the mapping module is used for mapping the building model map into a global coordinate system;
the working area division module is used for dividing the working area of the building model diagram according to the actual reachable working space and the process constraint of the mechanical arm and determining a single-time operation unit; the working area division module specifically comprises:
the mechanical arm original reachable working space determining unit is used for establishing a kinematic model of the mechanical arm and determining the mechanical arm original reachable working space;
the actual reachable working space determining unit is used for determining the actual reachable working space of the mechanical arm according to the original reachable working space of the mechanical arm by considering the height of the base installed on the mobile platform and the size characteristic constraint of the civil building;
a defining unit for defining a plurality of basic geometric line types according to the building model diagram; wherein, the basic geometric line type comprises a linear type, a right angle type, an arc shape, a T shape and a cross shape;
the maximum size determining unit is used for determining the maximum size allowed by each operation unit of the basic geometric linear type in the actual reachable working space of the mechanical arm according to the basic geometric linear type by utilizing geometric tangency and inclusion theory;
the single-time operation unit determining unit is used for determining a single-time operation unit according to the actual reachable working space of the mechanical arm and the allowable maximum size of each operation unit of the basic geometric linear type in the actual reachable working space;
the mechanical arm station position determining module is used for determining the mechanical arm station position of the single operation unit according to the single operation unit and the actual reachable working space of the mechanical arm;
the mechanical arm station position determining module specifically comprises:
the basic geometric line type determining unit of the single operation unit is used for identifying the line type of the single operation unit and determining the basic geometric line type of the single operation unit;
the mechanical arm station determining unit is used for determining a mechanical arm station corresponding to each section of basic geometric line type according to the basic geometric line type of the operation unit, the actual reachable working space of the mechanical arm and the allowable maximum size of each operation unit of the basic geometric line type in the actual reachable working space; and the mechanical arm station comprises the station position and attitude number and the coordinate position of the mechanical arm.
5. The building 3D printing mobile manipulator station planning system according to claim 4, further comprising:
and the simplifying module is used for simplifying the wall body outline in the building model diagram to obtain a plane building model diagram.
6. The building 3D printing mobile manipulator station planning system according to claim 4, further comprising:
the judging module is used for judging whether the mechanical arm station of the single operation unit meets the working condition or not; the working condition is that all points in the tail end printing pose sequence of the mechanical arm can reach without collision; the non-collision specifically comprises the mechanical arm and the tail end tool of the mechanical arm not colliding with the finished wall body and the mechanical arm and the tail end tool of the mechanical arm not colliding;
and the mechanical arm station position reasonability determining module is used for determining that the mechanical arm station position is reasonable when whether the mechanical arm station position of the single operation unit meets the working condition.
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