Search

CN-116652942-B - Pose detection and control device and method for multi-joint arm support

CN116652942BCN 116652942 BCN116652942 BCN 116652942BCN-116652942-B

Abstract

The invention relates to a pose detection and control device and method of a multi-joint arm support, wherein the detection device comprises a multi-joint arm support arm, a plurality of arm support arms and a plurality of arm support arms, wherein each arm support arm can rotate relatively around the tail end of the last arm support arm; the cantilever crane support arm deflection deformation measuring device comprises a laser range finder, a photoelectric sensor and an adjustable deflection angle reflecting mirror, wherein the laser range finder is arranged at the tail end of a cantilever crane support arm, the laser range finder directs to the rotation center of the root of the cantilever crane support arm, the photoelectric sensor is arranged at the side of the laser range finder, which is perpendicular to the laser range finding direction, and faces to the cantilever crane support arm and is used for judging the deflection deformation direction of the cantilever crane support arm, and the adjustable deflection angle reflecting mirror is arranged at the rotation center of the root of the cantilever crane support arm and is coaxial with the rotation center. The invention can determine the accurate value of the actual pose at the tail end of the arm support arm and can rapidly and accurately realize the accurate control of the pose.

Inventors

  • LIAO JINJUN
  • ZHU SHUANG
  • CHEN WANG
  • XIAO ZHENGHANG
  • JIANG HAIHUA
  • YI DAYUN

Assignees

  • 中国铁建重工集团股份有限公司

Dates

Publication Date
20260512
Application Date
20230522

Claims (8)

  1. 1. The pose detection device of the multi-joint arm support comprises a plurality of sections of arm support arms (4), wherein each section of arm support arm (4) can relatively rotate around the tail end of the upper section of arm support arm (4), and is characterized by comprising a laser range finder (1) and an adjustable deflection angle reflecting mirror (3); The laser range finder (1) is arranged at the tail end of the arm support arm (4), and the laser range finding direction points to the rotation center of the root of the arm support arm (4); the deflection angle adjustable reflecting mirror (3) is arranged at the rotation center of the root part of the arm support arm (4) and is coaxial with the rotation center; the device further comprises photoelectric sensors (2) and a control system (5), wherein the number of the photoelectric sensors (2) is at least two, the photoelectric sensors (2) of the at least two are respectively arranged on two radial sides of the laser range finder (1) perpendicular to the laser range finding direction, face the rotation center and are used for judging the deflection deformation direction of the arm support arm (4); the control system (5) is electrically connected with the laser range finder (1), the photoelectric sensor (2) and the adjustable deflection angle reflecting mirror (3) respectively and is used for: driving the arm support arm (4) to rotate according to a preset angle, and controlling the deflection angle adjustable reflector (3) to conduct deflection angle fine adjustment towards the opposite direction of the deflection deformation direction according to the deflection deformation direction of the arm support arm (4) acquired by the photoelectric sensor (2), so that the laser range finder (1) receives a measuring light beam emitted by the laser range finder; When the laser range finder (1) receives a measuring beam emitted by the laser range finder, the angle information of the current position of the adjustable deflection angle reflecting mirror (3) and the distance information measured by the laser range finder (1) are read, and the actual pose of the tail end of the arm support arm (4) is obtained.
  2. 2. The multi-joint arm support pose detection device according to claim 1, wherein a pin shaft or an actuating mechanism for driving the next arm support arm (4) to rotate is arranged at the tail end of the arm support arm (4).
  3. 3. The multi-joint arm support pose detection device according to claim 2, wherein the arm support arm (4) can slide in a telescopic manner or has a fixed length in the length direction.
  4. 4. The multi-joint arm support pose detection device according to claim 1, wherein the radial two sides perpendicular to the laser ranging direction are one side of the end of the arm support arm (4) in the loading acting direction and one side of the corresponding opposite direction.
  5. 5. The pose control device of the multi-joint arm support is characterized by comprising the pose detection device of the multi-joint arm support according to any one of claims 1 to 4, wherein the control system (5) is further used for comparing the actual pose at the tail end of the arm support arm (4) with the theoretical pose, and according to the difference value of the actual pose and the theoretical pose, the rotation angle and the length of the arm support arm (4) are adjusted according to the difference value, so that the actual pose of the arm support arm (4) coincides with the theoretical pose.
  6. 6. The multi-joint boom pose control device according to claim 5, wherein the theoretical pose comprises a length of a boom arm (4) and a rotation angle of the boom arm (4) relative to a previous boom arm (4).
  7. 7. A control method of the pose control device of the multi-joint arm support according to any one of claims 5 to 6, comprising the steps of: Resetting an adjustable deflection angle reflecting mirror (3), starting a laser range finder (1), adjusting the laser range finder (1) to receive a measuring beam emitted by the laser range finder (1), and reading angle information of an initial position of the adjustable deflection angle reflecting mirror (3) and initial distance information obtained by measurement of the laser range finder (1) to obtain an initial pose of the tail end of a boom support arm (4); The cantilever crane support arm (4) is driven to rotate at a preset angle and/or extend according to a preset length on the basis of the initial pose, and the deflection angle fine adjustment of the adjustable deflection angle reflector (3) towards the opposite direction of the deflection deformation direction is controlled according to the deflection deformation direction of the cantilever crane support arm (4) acquired by the photoelectric sensor (2), so that the laser range finder (1) receives the self-emitted measuring light beam again; when the laser range finder (1) receives the measuring light beam emitted by the laser range finder, the angle information of the current position of the adjustable deflection angle reflecting mirror (3) and the distance information measured by the laser range finder (1) are read, and the actual pose of the tail end of the arm support arm (4) is obtained; And comparing the actual pose at the tail end of the arm support arm (4) with the theoretical pose, and adjusting the rotation angle and the length of the arm support arm (4) according to the difference value of the actual pose and the theoretical pose and the difference value so as to enable the actual pose of the arm support arm (4) to coincide with the theoretical pose.
  8. 8. The control method according to claim 7, wherein the steps of obtaining the actual pose of the boom arm (4) end and readjusting the rotation angle and length of the boom arm (4) according to the difference are iterated a plurality of times until the actual pose of the boom arm (4) coincides with the theoretical pose, wherein the adjustable deflection angle mirror (3) is reset before each iteration.

Description

Pose detection and control device and method for multi-joint arm support Technical Field The invention relates to the technical field of precision monitoring and control of multi-joint flexible arm support movement, in particular to a pose detection and control device and method of a multi-joint arm support. Background The multi-joint flexible arm support is widely applied to engineering machinery. The multi-joint flexible arm support relatively rotates and stretches through a plurality of hinged support arms, and an actuating mechanism arranged at the tail end of the arm support is moved to a working position according to a set angle and a set direction so as to perform construction operation on a working object. Due to the influences of the weight of the actuating mechanism, working counter force (load action) and the like, the arm support can generate deflection deformation, and errors can be generated between the actual pose situation and the theoretical calculation result, so that the accuracy of construction operation is influenced. At present, the actual inclination angle of each support arm is detected and compared with a theoretical value, and compensation parameters are substituted into a control model to correct so as to solve the problem of deflection deformation. But there are large errors in this way. Even if the inclination angle and the telescopic distance of each arm joint are accurately measured, the accurate pose parameters of the tail end of the multi-joint flexible arm support are still difficult to determine due to the accumulation of flexible deformation. Referring to fig. 1, the solid line in fig. 1 is a theoretical pose, and the two-dot chain line is an actual pose under load, and it can be seen that there is still a deviation between the actual pose and the theoretical pose under load. Disclosure of Invention First, the technical problem to be solved In view of the above-mentioned drawbacks and shortcomings of the prior art, the present invention provides a pose detection device, control device and method for a multi-joint arm support, which solve the technical problem that it is difficult to determine accurate pose parameters of the tail end of a multi-joint flexible arm support even if the inclination angle and the telescopic distance of each arm joint are accurately measured due to accumulation of flexible deformation. (II) technical scheme In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps: In a first aspect, an embodiment of the invention provides a pose detection device of a multi-joint arm support, which comprises a plurality of sections of arm support arms, wherein each section of arm support arm can relatively rotate around the tail end of the last section of arm support arm; The laser range finder is arranged at the tail end of the arm support arm, and the laser range finding direction points to the rotation center of the root of the arm support arm; The deflection angle adjustable reflecting mirror is arranged at the rotation center of the root part of the arm support arm and is coaxial with the rotation center. According to the pose detection device for the multi-joint arm support, provided by the embodiment of the invention, the actual pose of the tail end of the arm support arm can be rapidly and accurately detected by matching the adjustable deflection angle reflecting mirror, the photoelectric sensor and the laser range finder, and the actual effect and the accurate position of the accumulated pose of the flexible deformation can be detected. Optionally, a pin shaft or an actuating mechanism for driving the next arm support arm to rotate is installed at the tail end of the arm support arm. Optionally, the boom arm may be telescopically slidable in the length direction or fixed in length. Optionally, the cantilever crane further comprises at least two photoelectric sensors, wherein the at least two photoelectric sensors are respectively arranged on two radial sides of the laser range finder perpendicular to the laser ranging direction and face the rotation center, and are used for judging the deflection deformation direction of the cantilever crane support arm. Optionally, two radial sides perpendicular to the laser ranging direction are one side of the end of the boom arm in the load acting direction and one side of the corresponding opposite direction. Optionally, the system further comprises a control system, wherein the control system is electrically connected with the laser range finder, the photoelectric sensor and the adjustable deflection angle reflecting mirror respectively and is used for: optionally, driving the arm support arm to rotate according to a preset angle, and controlling the deflection angle adjustable reflector to conduct deflection angle fine adjustment towards the opposite direction of the deflection deformation direction according to the deflection deformation direction of