CN108789402A - A kind of active collision prevention method of special type mobile robot multi-arm movement - Google Patents
A kind of active collision prevention method of special type mobile robot multi-arm movement Download PDFInfo
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- CN108789402A CN108789402A CN201710298041.7A CN201710298041A CN108789402A CN 108789402 A CN108789402 A CN 108789402A CN 201710298041 A CN201710298041 A CN 201710298041A CN 108789402 A CN108789402 A CN 108789402A
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- China
- Prior art keywords
- collision prevention
- interference
- movement
- mobile robot
- active collision
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Classifications
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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
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
A kind of active collision prevention method of special type mobile robot multi-arm movement is that more mechanical arms of the drill jumbo controlled for computer are likely to occur movement interference and the active collision prevention measure that proposes during working motion, first, the posture of forward beam is significantly to reduce the possibility of movement interference in control machinery arm motion process, second is that calculating the shortest distance between each moving link in real time, forecast is carried out to interference and anticollision is handled.Both measures are all based on the Real-time solution algorithm realization of Robot kinematics equations.
Description
Technical field
Drill jumbo be tunnel, underground engineering construction of explosion method a kind of engineer equipment；With computer controlled automatic work(
The drill jumbo of energy is also referred to as problem of rock-drilling robot, is a kind of extraordinary mobile robot；The present invention is directed to this with double mechanical arms
The extraordinary mobile robot of kind, realizes the collision-free motion of its both arms.
Background technology
Drill bursting construction is the major processes of current tunnel excavation, and wherein drill jumbo is the important engineering of drilling and blasting method
Equipment.In China, pneumatic rock drilling jumbo due to operating environment is severe, the health of operator is brought seriously threaten and by
Step steps down from the stage of history；Fully-hydraulic drilling rig significantly improves the working condition of worker, becomes the master of various constructing tunnels
It equips.With the development of computer and control technology, full-computerized drill jumbo is improving the labor intensity of worker, is improving labour
There is significant advantage in terms of productivity, becomes a kind of developing direction.The technical advantage of full-computerized drill jumbo rests in Duo Shan
Northern European countries company's hand in, such as AMV companies of Norway, the Atlas companies of Sweden, Sandvik companies of Sweden etc..These are public
The computer control aspect taken charge of in drill jumbo has put into huge research effort, and the description in product introduction includes full-automatic
Mobile drill boom, full-automatic rock drilling, laser scanning section carry out Location vehicle etc..These achievements in research have simultaneously had not seen detailed skill
The academic report of art description.On the other hand, just from the point of view of the practical application of domestic these products introduced, the practicability of automation
Also be far from expected effect.Domestic manufacturing enterprise is substantially using hydraulic drill ring as main product, colleges and universities, institute
Also many research efforts have been put into, many call oneself that also have for being seen in document is to realize full automatic computer control, but practical
On engineer application, there is not yet the domestic drill jumbo automatically controlled, in the underground coal mine with requirement of explosion proof, not seen in
Homemade goods.
In order to improve the working efficiency of drill jumbo, the automatic drill jumbo of computer is often configured with multiple working arms.In reality
Multiple mechanical arms work independently in the operation process of border, therefore mechanical arm may occur mutually to collide during the motion, that is, go out
Existing movement interference phenomenon.This movement interference possibly is present between the component of a mechanical arm, it is also possible to appear in different machines
Between tool arm member.The collision that interference generates can bring serious destruction to mechanical arm, or even bring personal injury, and being must be tight
What lattice prevented.Reality careful operation that is main or relying on operative employee in operation process at present, artificial realization collision prevention.
Interference about multi-arm is studied, and existing documents and materials are substantially carried out interference analysis, find out interference region.For more
There are no effective methods for the automatic Collision Avoidance of the initiative of arm rock drilling jumbo.
Invention content
The present invention includes the measure of two aspects using initiative collision prevention as target, when the athletic posture of control machinery arm,
Its possibility for occurring interfering during the motion is set to greatly reduce.The forward beam of rock drilling machinery arm is that rock drilling machinery arm is moved through
Scope of activities is maximum in journey, movement velocity is most fast, the part of movement interference most easily occurs with other components.Active collision prevention measure
First method is exactly to adjust the posture of forward beam in real time during drill boom motion, reduces the occupied space of single mechanical arm.
According to the motion process of this principle control machinery arm, the probability of movement interference can be reduced to the maximum extent
Second method of active collision prevention is real-time acquisition mechanical arm immediate 2 points of distance during the motion, root
Collision prediction and anticollision processing are carried out according to this shortest distance.
Active collision prevention is divided into two parts from logical constitution, and one is mounted in the sensor on each joint of mechanical arm,
For obtaining joint position and movable information in real time；Second is that the kinematical equation of mechanical arm and the algorithm of kinematics solution, this is
It controls forward beam posture and calculates the basic foundation of the shortest distance.
Claims (3)
1. a kind of active collision prevention method of special type mobile robot multi-arm movement, it is characterized in that in the motion process of rock drilling machinery arm
In the measure of taking the initiative prevent movement interference.
2. according to claim 1, this method controls the athletic posture of forward beam in mechanical arm moving process, and it is dry to reduce movement
The probability related to.
3. according to claim 1, this method calculates the minimum range between moving link in real time, and interference is forecast and prevented
Hit-treatment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298041.7A CN108789402A (en) | 2017-04-29 | 2017-04-29 | A kind of active collision prevention method of special type mobile robot multi-arm movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298041.7A CN108789402A (en) | 2017-04-29 | 2017-04-29 | A kind of active collision prevention method of special type mobile robot multi-arm movement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108789402A true CN108789402A (en) | 2018-11-13 |
Family
ID=64053454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710298041.7A Pending CN108789402A (en) | 2017-04-29 | 2017-04-29 | A kind of active collision prevention method of special type mobile robot multi-arm movement |
Country Status (1)
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| CN (1) | CN108789402A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112372640A (en) * | 2020-11-30 | 2021-02-19 | 倍仪昇智能科技(苏州)有限公司 | Anti-collision operation method for multiple mechanical arms |
Citations (8)
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|---|---|---|---|---|
| JPH08128291A (en) * | 1994-10-27 | 1996-05-21 | Nittoc Constr Co Ltd | Enlarging excavating device for recessed part for housing anchor body head part |
| CN1623741A (en) * | 2004-05-24 | 2005-06-08 | 熊勇刚 | Method for testing collision between joint of robot with multiple mechanical arm |
| KR20090044130A (en) * | 2007-10-31 | 2009-05-07 | 한국기계연구원 | Self collision control method for dual arm robot system |
| CN201714391U (en) * | 2010-05-31 | 2011-01-19 | 三一重型装备有限公司 | Excavating equipment body |
| CN204510303U (en) * | 2015-03-16 | 2015-07-29 | 江西蓝翔重工有限公司 | Multi-arm combination amplitude variation type excavates and bores dress all-in-one |
| CN105781415A (en) * | 2016-05-07 | 2016-07-20 | 江西蓝翔重工有限公司 | Double-arm four-drill drilling, anchoring and loading integrated machine |
| CN105888644A (en) * | 2016-04-05 | 2016-08-24 | 中国铁建重工集团有限公司 | Anti-collision method and anti-collision system for arm supports |
| CN106166749A (en) * | 2016-06-29 | 2016-11-30 | 北京控制工程研究所 | The motion track planing method of multi-arm robot is moved in a kind of space |
-
2017
- 2017-04-29 CN CN201710298041.7A patent/CN108789402A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08128291A (en) * | 1994-10-27 | 1996-05-21 | Nittoc Constr Co Ltd | Enlarging excavating device for recessed part for housing anchor body head part |
| CN1623741A (en) * | 2004-05-24 | 2005-06-08 | 熊勇刚 | Method for testing collision between joint of robot with multiple mechanical arm |
| KR20090044130A (en) * | 2007-10-31 | 2009-05-07 | 한국기계연구원 | Self collision control method for dual arm robot system |
| CN201714391U (en) * | 2010-05-31 | 2011-01-19 | 三一重型装备有限公司 | Excavating equipment body |
| CN204510303U (en) * | 2015-03-16 | 2015-07-29 | 江西蓝翔重工有限公司 | Multi-arm combination amplitude variation type excavates and bores dress all-in-one |
| CN105888644A (en) * | 2016-04-05 | 2016-08-24 | 中国铁建重工集团有限公司 | Anti-collision method and anti-collision system for arm supports |
| CN105781415A (en) * | 2016-05-07 | 2016-07-20 | 江西蓝翔重工有限公司 | Double-arm four-drill drilling, anchoring and loading integrated machine |
| CN106166749A (en) * | 2016-06-29 | 2016-11-30 | 北京控制工程研究所 | The motion track planing method of multi-arm robot is moved in a kind of space |
Non-Patent Citations (1)
| Title |
|---|
| 王恒升 等: "基于末端杆件姿态约束的串联机器臂避碰策略", 《同济大学学报（自然科学版）》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112372640A (en) * | 2020-11-30 | 2021-02-19 | 倍仪昇智能科技(苏州)有限公司 | Anti-collision operation method for multiple mechanical arms |
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Application publication date: 20181113 |
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