CN113818816A - Mechanical arm collision detection method for multi-arm rock drilling robot - Google Patents
Mechanical arm collision detection method for multi-arm rock drilling robot Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 57
- 238000005553 drilling Methods 0.000 title claims abstract description 51
- 239000011435 rock Substances 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 claims abstract description 38
- 238000010586 diagram Methods 0.000 description 5
- 238000005457 optimization Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
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Abstract
A mechanical arm collision detection method for a multi-arm rock drilling robot comprises the following steps: s1, converting a mechanical arm of the rock drilling robot into a set of a plurality of cylindrical enveloping boxes, converting the top wall of the tunnel into an arc line segment and constructing a fan-shaped detection surface based on the arc line segment; s2, detecting the minimum distance value between any two cylinder enveloping boxes in real time in the action process of the rock drilling robot to judge whether the mechanical arms collide; and S3, judging whether the mechanical arm collides with the top wall of the tunnel or not based on the projection of the cylindrical envelope box on the detection surface. The invention provides a mechanical arm collision detection method for a multi-arm rock drilling robot, which can accurately and comprehensively detect the collision condition of the rock drilling robot in real time, so that the system can give early warning in time to avoid collision interference accidents, and has strong real-time performance and higher efficiency.
Description
Technical Field
The invention relates to the field of rock drilling robots, in particular to a mechanical arm collision detection method for a multi-arm rock drilling robot.
Background
At present, the multi-arm rock drilling robot is widely applied to the work of coal mines, tunnel excavation and the like. Because the rock drilling robot belongs to industrial hydraulic heavy-duty mechanical arms and has the characteristics of multi-arm cooperation, complex structure and the like, the mechanical arms are easy to collide and interfere during operation in a tunnel, and extremely large casualties and economic losses can be caused in severe cases, so that the collision detection problem of the multi-arm rock drilling robot needs to be solved urgently.
Numerous scholars have hitherto studied on collision detection of a rock drilling robot, and are mainly classified into a collision detection method based on an external sensor, a collision detection method based on vision, and a collision detection method implemented by modeling. For an industrial hydraulic heavy-load robot, the collision detection method realized by modeling is easy to realize and high in data processing efficiency, so that the collision method realized by depending on modeling at present is widely applied. The method generally simplifies the robot model, and realizes the collision detection of the robot by calculating the space geometric model distance.
The first is to adopt sphere and capsule body bounding box to simplify the mechanical arm model, can realize effectual collision detection, but because of the mechanical structure's of mechanical arm joint irregularity, use the sphere envelope can cause certain influence to detecting the precision.
And thirdly, a space convex polyhedron model is used for modeling a complex object, so that collision detection can be accurately realized, but the tunnel wall where the rock drilling robot is located is relatively regular, and the collision detection efficiency of the robot and the tunnel can be reduced by using the method. The rock drilling robot collision detection research developed by depending on modeling is mostly applied among a plurality of mechanical arms of the rock drilling robot, so that the collision detection research of the mechanical arms of the rock drilling robot and a tunnel is less, and further deep research is still needed. Meanwhile, in the collision detection method realized by depending on modeling, the efficiency and the precision of a detection algorithm can be reduced by a complex modeling method and a complex calculation method.
And the third method is to adopt a cylinder bounding box to simplify a mechanical arm model and realize collision detection based on space vector operation, and compared with the first method, the method has higher precision and is simpler than the second method, but the existing method is still very complex and has lower implementation efficiency.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a mechanical arm collision detection method for a multi-arm rock drilling robot, which can accurately and comprehensively detect the collision condition of the rock drilling robot in real time, so that the system can give early warning in time to avoid collision interference accidents, and has strong real-time performance and higher efficiency.
In order to achieve the purpose, the invention adopts the specific scheme that: a mechanical arm collision detection method for a multi-arm rock drilling robot comprises the following steps:
s1, converting a mechanical arm of the rock drilling robot into a set of a plurality of cylindrical enveloping boxes, converting the top wall of the tunnel into an arc line segment and constructing a fan-shaped detection surface based on the arc line segment;
s2, detecting the minimum distance value between any two cylinder enveloping boxes in real time in the action process of the rock drilling robot to judge whether the mechanical arms collide;
and S3, judging whether the mechanical arm collides with the top wall of the tunnel or not based on the projection of the cylindrical envelope box on the detection surface.
As a further optimization of the above described mechanical arm collision detection method for a multi-arm rock drilling robot: in the S1, the mechanical arm comprises a working arm and a hanging basket arm, the working arm and the hanging basket arm respectively comprise two or more action parts, and all the action parts are converted into a cylindrical enveloping box;
respectively marking two end points of the arc segment as T1And T2If the center of the arc line is marked as O, the detection surface is sector T1OT2Radius R and pole O, OT2A polar coordinate system is constructed for the polar axis.
As the mechanical arm collision detection method for the multi-arm rock drilling robotFurther optimization of the method: in S2, if the minimum distance between the axes of the two cylindrical envelope boxes involved in the detection is d, the minimum distance between the two cylindrical envelope boxes is dmin＝d-(r1+r2) Wherein r is1And r2Respectively, the radius of two cylinders enveloping the box, if dminIf the number is more than 0, the action parts corresponding to the two cylindrical envelope boxes do not collide, otherwise, the action parts corresponding to the two cylindrical envelope boxes collide.
As a further optimization of the above described mechanical arm collision detection method for a multi-arm rock drilling robot: in S2, the method of calculating the minimum distance d between the two cylinder axes is:
s21, recording the axial line segment of the two cylinder envelope boxes as l1And l2，l1Respectively has two end point coordinates of P1(x1,y1,z1) And P2(x2,y2,z2)，l2Are respectively Q1(x3,y3,z3) And Q2(x4,y4,z4) Then l is1And l2The coordinates of any point above can be expressed as:
wherein the vector
(Vector)
λ1And λ2Is a coefficient;
s22, converting the solving process of the minimum distance d into a solving coefficient lambda1And λ2The process of the optimal solution of (a) is,
s23 minimum-based condition
The formula in S22 is simplified to obtain
S24, when 0 is not more than lambda1,λ2D is less than or equal to 12＝f(λ1,λ2) Otherwise, executing S25;
s25, when
Or
Then, P is calculated separately1To l2Distance d of1、P2To l2Distance d of2、Q1To l1Distance d of3And Q2To l2Distance d of4And has d ═ d1,d2,d3,d4}min。
As a further optimization of the above described mechanical arm collision detection method for a multi-arm rock drilling robot: the specific method of S3 is as follows:
s31, simplifying the projection of the cylindrical envelope box on the detection surface into a rectangle, and respectively recording the two ends of the axial projection of the cylindrical envelope box as K1And K2In polar coordinates, will K1、K2、T1And T2Is described as
And
and is provided with
β2＝0；
S32, when K1And K2Medium maximum polar angle less than T1And T2Minimum polar angle or K in1And K2Medium minimum polar angle greater than T1And T2At the maximum polar angle of (1), the rectangular projection falls entirely within the sector T1OT2Outside the range, the rectangular projection and the arc line section have no interference, and the action part corresponding to the rectangular projection does not collide with the top wall of the tunnel;
when T is1And T2Maximum polar angle of between K1And K2Between the minimum and maximum polar angles and T1And T2Has a minimum polar angle of less than K1And K2At the smallest polar angle of (1), K is the intersection of the rectangular projection axis and the fan-shaped edge, if
The rectangular projection and the arc line segment do not interfere with each other and the action part corresponding to the rectangular projection does not collide with the top wall of the tunnel, otherwise, the rectangular projection and the arc line segment interfere with each other and the action part corresponding to the rectangular projection collides with the top wall of the tunnel;
when T is1And T2Has a minimum polar angle between K1And K2Between the minimum and maximum polar angles and T1And T2Has a maximum polar angle greater than K1And K2At the maximum polar angle of (1), K is the intersection of the rectangular projection axis and the fan-shaped edge, if
The rectangular projection does not interfere with the arc line segment and the action part corresponding to the rectangular projection does not emit light from the top wall of the tunnelCollision occurs, otherwise, the rectangular projection interferes with the arc line segment, and the action part corresponding to the rectangular projection collides with the top wall of the tunnel;
when K is1And K2The middle maximum polar angle and the minimum polar angle are both between T1And T2In between the minimum polar angle and the maximum polar angle, if
And if not, the rectangular projection interferes with the arc line segment and the action part corresponding to the rectangular projection collides with the top wall of the tunnel.
As a further optimization of the above described mechanical arm collision detection method for a multi-arm rock drilling robot: in S3, the length of OK is d1Then calculate d1The method comprises the following steps:
computing
The vector dot product formula can be used for obtaining
From the trigonometric cosine theorem
Has the advantages that: according to the method, firstly, a collision detection model of the rock drilling robot is established, a rod piece of a mechanical arm is simplified into a cylindrical envelope box according to the structural characteristics of the robot, collision detection of a single drill arm, among three drill arms and a hanging basket arm of the rock drilling robot is realized by constantly calculating the distance of each cylindrical envelope box in space, collision detection of the rock drilling robot and a tunnel is quickly realized by analyzing and calculating the interference condition of rectangular projection of the cylindrical envelope box on the wall surface of the tunnel and the wall surface of the tunnel, the collision condition of the rock drilling robot can be detected accurately and comprehensively in real time, and the system can give early warning in time so as to avoid collision interference accidents, and is strong in real-time performance and higher in efficiency.
Drawings
FIG. 1 is a schematic diagram of a construction mode of a cylindrical envelope box;
fig. 2 is a schematic diagram of the judgment of whether or not a collision occurs between the robot arms in S2;
FIG. 3 is a schematic view of a detection surface;
FIG. 4 is a schematic diagram of a simplified model of a tunnel;
FIG. 5 is a schematic diagram A of the relative relationship between the rectangular projection and the detection surface;
fig. 6 is a schematic diagram B of the relative relationship between the rectangular projection and the detection surface.
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.
A mechanical arm collision detection method for a multi-arm rock drilling robot comprises the following steps:
s1, converting mechanical arms of the rock drilling robot into a set of a plurality of cylinder enveloping boxes, converting the top wall of the tunnel into an arc line segment and constructing a fan-shaped detection surface based on the arc line segment. In S1, the mechanical arm comprises a working arm and a hanging basket arm, the working arm and the hanging basket arm respectively comprise two or more action parts, and all the action parts are converted into a cylindrical envelope box. As shown in FIG. 3, two end points of the arc segment are respectively denoted as T1And T2If the center of the arc line is marked as O, the detection surface is sector T1OT2Radius R and pole O, OT2A polar coordinate system is constructed for the polar axis.
The rock drilling robot has a complex structure, for example, a medium iron DJ3E multi-arm rock drilling robot, which includes three drilling booms and a basket boom, wherein the three drilling booms have the same structure, and during the working process, collisions may occur between the drilling booms and the drilling booms, between the drilling booms and the basket boom, and between the drilling booms or the basket boom and the tunnel wall, and if each working boom is accurately modeled, the engineering amount is too large, and the implementation efficiency is low, so the invention uses the cylinder envelope boxes to model the working booms, each working boom may include a plurality of cylinder envelope boxes, as shown in fig. 1, the drilling booms may include four cylinder envelope boxes CS1, CS2, CS3 and CS4, and the basket boom may include two cylinder envelope boxes CS5 and CS6, modeling the working booms using the cylinder envelope boxes can effectively reduce the complexity of the model, and further reduce the difficulty of the implementation method, the operation efficiency is improved.
And S2, detecting the minimum distance value between any two cylinder enveloping boxes in real time in the action process of the rock drilling robot to judge whether the mechanical arms collide. As shown in fig. 2, in S2, if the distance between the axes of the two cylinder enveloping boxes participating in the detection is d, the minimum distance between the two cylinder enveloping boxes is dmin＝d-(r1+r2) Wherein r is1And r2Respectively, the radius of two cylinders enveloping the box, if dminIf the number is more than 0, the action parts corresponding to the two cylindrical envelope boxes do not collide, otherwise, the action parts corresponding to the two cylindrical envelope boxes collide.
Calculating the minimum distance dminThe method of (1) is S21 to S25.
S21, recording the axial line segment of the two cylinder envelope boxes as l1And l2，l1Respectively has two end point coordinates of P1(x1,y1,z1) And P2(x2,y2,z2)，l2Are respectively Q1(x3,y3,z3) And Q2(x4,y4,z4) Then l is1And l2The coordinates of any point above can be expressed as:
wherein the vector
(Vector)
λ1And λ2Are coefficients.
S22, setting the minimum distance dminIs converted into a coefficient lambda1And λ2The process of solving the optimal solution of the method,
s23 minimum-based condition
The formula in S22 is simplified to obtain
S24, when 0 is not more than lambda1,λ2D is less than or equal to 12 min＝f(λ1,λ2) Otherwise, S25 is executed.
S25, when
Or
Then, P is calculated separately1To l2Distance d of1、P2To l2Distance d of2、Q1To l1Distance d of3And Q2To l2Distance d of4And has dmin＝{d1,d2,d3,d4}min。
S3, judging the mechanical arm and the tunnel based on the projection of the cylindrical envelope box on the detection surfaceWhether the roof wall has collided. First, as shown in fig. 4, a three-axis coordinate system is established based on the situation in the tunnel, and a straight line segment T1T3、T2T4The left and right contour lines and the straight line segment T of the tunnel wall surface3T4Is a ground plane, and the O point is a circular arc line section T1T2Center of a circle of (1), T5Is a circular arc line segment T1T2Point A is a straight line segment T1T2The midpoint of the tunnel contour line can obtain the coordinate values of all points on the tunnel contour line under the tunnel face coordinate system and the arch height H of the arc line segment from the construction drawing, so that the radius R of the arc line segment and the coordinate value of the circle center O can be calculated:
O(x5,0,z5-R)；
wherein x5,z5Respectively, X, Z axis coordinate values of T5.
The specific method of S3 is S31 to S32.
S31, simplifying the projection of the cylindrical envelope box on the detection surface into a rectangle, and respectively recording the two ends of the axial projection of the cylindrical envelope box as K1And K2In polar coordinates, will K1、K2、T1And T2Is described as
And
and is provided with
β2＝0。
S32, as shown in part a of FIG. 5, when K1And K2Medium maximum polar angle less than T1And T2The most important ofSmall polar angle or K1And K2Medium minimum polar angle greater than T1And T2At the maximum polar angle of (1), the rectangular projection falls entirely within the sector T1OT2Outside the range, the rectangular projection and the arc line segment do not interfere with each other, and the action part corresponding to the rectangular projection does not collide with the top wall of the tunnel.
When T is shown as part b in FIG. 51And T2Maximum polar angle of between K1And K2Between the minimum and maximum polar angles and T1And T2Has a minimum polar angle of less than K1And K2At the smallest polar angle of (1), K is the intersection of the rectangular projection axis and the fan-shaped edge, if
And if not, the rectangular projection interferes with the arc line segment and the action part corresponding to the rectangular projection collides with the top wall of the tunnel.
When T is shown in part c of FIG. 51And T2Has a minimum polar angle between K1And K2Between the minimum and maximum polar angles and T1And T2Has a maximum polar angle greater than K1And K2At the maximum polar angle of (1), K is the intersection of the rectangular projection axis and the fan-shaped edge, if
The rectangular projection does not interfere with the arc line segment and the action part corresponding to the rectangular projection does not collide with the top wall of the tunnel, otherwise, the rectangular projection interferes with the arc line segment and the action part corresponding to the rectangular projection collides with the top wall of the tunnel.
When K is shown in part d of FIG. 51And K2The middle maximum polar angle and the minimum polar angle are both between T1And T2In between the minimum polar angle and the maximum polar angle, if
Moment of inertiaThe shape projection and the arc line segment do not interfere with each other, and the action part corresponding to the rectangular projection does not collide with the top wall of the tunnel, otherwise, the rectangular projection and the arc line segment interfere with each other, and the action part corresponding to the rectangular projection collides with the top wall of the tunnel.
As shown in FIG. 6, in S3, the length of OK is d1Then calculate d1The method comprises the following steps:
computing
The vector dot product formula can be used for obtaining
From the trigonometric cosine theorem
Whether the mechanical arm collides with the vertical side wall of the tunnel or not can be judged based on the projection of the cylinder enveloping box on the tunnel face and based on the left and right contour lines T of the cylinder enveloping box and the wall surface of the tunnel1T3、T2T4The distance between the two cylindrical envelope boxes is judged, the calculation method of the distance is the same as the calculation method of the minimum distance between the two cylindrical envelope boxes, and when the distance is more than 0, the mechanical arm does not collide with the vertical side wall of the tunnel.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A mechanical arm collision detection method for a multi-arm rock drilling robot is characterized by comprising the following steps: the method comprises the following steps:
s1, converting a mechanical arm of the rock drilling robot into a set of a plurality of cylindrical enveloping boxes, converting the top wall of the tunnel into an arc line segment and constructing a fan-shaped detection surface based on the arc line segment;
s2, detecting the minimum distance value between any two cylinder enveloping boxes in real time in the action process of the rock drilling robot to judge whether the mechanical arms collide;
and S3, judging whether the mechanical arm collides with the top wall of the tunnel or not based on the projection of the cylindrical envelope box on the detection surface.
2. A method of collision detection of a robot arm for a multi-arm rock drilling robot according to claim 1, characterized by: in the S1, the mechanical arm comprises a working arm and a hanging basket arm, the working arm and the hanging basket arm respectively comprise two or more action parts, and all the action parts are converted into a cylindrical enveloping box;
respectively marking two end points of the arc segment as T1And T2If the center of the arc line is marked as O, the detection surface is sector T1OT2Radius R and pole O, OT2A polar coordinate system is constructed for the polar axis.
3. A method of collision detection of a robot arm for a multi-arm rock drilling robot according to claim 2, characterized by: in S2, if the minimum distance between the axes of the two cylindrical envelope boxes involved in the detection is d, the minimum distance between the two cylindrical envelope boxes is dmin＝d-(r1+r2) Wherein r is1And r2Respectively, the radius of two cylinders enveloping the box, if dminIf the number is more than 0, the action parts corresponding to the two cylindrical envelope boxes do not collide, otherwise, the action parts corresponding to the two cylindrical envelope boxes collide.
4. A method of collision detection of a robot arm for a multi-arm rock drilling robot according to claim 3, characterized by: in S2, the method of calculating the minimum distance d between the two cylinder axes is:
s21, recording the axial line segment of the two cylinder envelope boxes as l1And l2，l1Respectively has two end point coordinates of P1(x1,y1,z1) And P2(x2,y2,z2)，l2Are respectively Q1(x3,y3,z3) And Q2(x4,y4,z4) Then l is1And l2The coordinates of any point above can be expressed as:
wherein the vector
(Vector)
λ1And λ2Is a coefficient;
s22, converting the solving process of the minimum distance d into a solving coefficient lambda1And λ2The process of the optimal solution of (a) is,
s23 minimum-based condition
The formula in S22 is simplified to obtain
S24, when 0 is not more than lambda1,λ2D is less than or equal to 12＝f(λ1,λ2) Otherwise, executing S25;
s25, when
Or
Then, P is calculated separately1To l2Distance d of1、P2To l2Distance d of2、Q1To l1Distance d of3And Q2To l2Distance d of4And has d ═ d1,d2,d3,d4}min。
5. A method of collision detection of a robot arm for a multi-arm rock drilling robot according to claim 2, characterized by: the specific method of S3 is as follows:
s31, simplifying the projection of the cylindrical envelope box on the detection surface into a rectangle, and respectively recording the two ends of the axial projection of the cylindrical envelope box as K1And K2In polar coordinates, will K1、K2、T1And T2Is described as
And
and is provided with
β2＝0；
S32, when K1And K2Medium maximum polar angle less than T1And T2Minimum polar angle or K in1And K2Middle minimumPolar angle greater than T1And T2At the maximum polar angle of (1), the rectangular projection falls entirely within the sector T1OT2Outside the range, the rectangular projection and the arc line section have no interference, and the action part corresponding to the rectangular projection does not collide with the top wall of the tunnel;
when T is1And T2Maximum polar angle of between K1And K2Between the minimum and maximum polar angles and T1And T2Has a minimum polar angle of less than K1And K2At the smallest polar angle of (1), K is the intersection of the rectangular projection axis and the fan-shaped edge, if
The rectangular projection and the arc line segment do not interfere with each other and the action part corresponding to the rectangular projection does not collide with the top wall of the tunnel, otherwise, the rectangular projection and the arc line segment interfere with each other and the action part corresponding to the rectangular projection collides with the top wall of the tunnel;
when T is1And T2Has a minimum polar angle between K1And K2Between the minimum and maximum polar angles and T1And T2Has a maximum polar angle greater than K1And K2At the maximum polar angle of (1), K is the intersection of the rectangular projection axis and the fan-shaped edge, if
The rectangular projection is not interfered with the arc line segment and the action part corresponding to the rectangular projection is not collided with the top wall of the tunnel, otherwise, the rectangular projection is interfered with the arc line segment and the action part corresponding to the rectangular projection is collided with the top wall of the tunnel;
when K is1And K2The middle maximum polar angle and the minimum polar angle are both between T1And T2In between the minimum polar angle and the maximum polar angle, if
And if not, the rectangular projection interferes with the arc line segment and the action part corresponding to the rectangular projection collides with the top wall of the tunnel.
6. A method of collision detection of a robot arm for a multi-arm rock drilling robot according to claim 5, characterized by: in S3, the length of OK is d1Then calculate d1The method comprises the following steps:
computing
The vector dot product formula can be used for obtaining
From the trigonometric cosine theorem
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115272379A (en) * | 2022-08-03 | 2022-11-01 | 杭州新迪数字工程系统有限公司 | Projection-based three-dimensional grid model outline extraction method and system |
| CN115463845A (en) * | 2022-09-02 | 2022-12-13 | 赛那德科技有限公司 | Identification and grabbing method based on dynamic wrapping |
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2021
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115272379A (en) * | 2022-08-03 | 2022-11-01 | 杭州新迪数字工程系统有限公司 | Projection-based three-dimensional grid model outline extraction method and system |
| CN115272379B (en) * | 2022-08-03 | 2023-11-28 | 上海新迪数字技术有限公司 | Projection-based three-dimensional grid model outline extraction method and system |
| CN115463845A (en) * | 2022-09-02 | 2022-12-13 | 赛那德科技有限公司 | Identification and grabbing method based on dynamic wrapping |
| CN115463845B (en) * | 2022-09-02 | 2023-10-31 | 赛那德科技有限公司 | Identification grabbing method based on dynamic package |
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Application publication date: 20211221 |