Method and device for planning obstacle avoidance path for segment erector

Abstract

The invention discloses a method and device for planning an obstacle avoidance path for a segment erector. The method comprises steps of obtaining a real-time image during the movement of the segmenterector; if it is determined according to the image that there is an obstacle on the moving path of the segment erector, constructing a sphere capable of completely enveloping the obstacle and havingthe minimum radius as an obstacle model according to an extracted obstacle feature, constructing a cylinder capable of completely enveloping the joint connecting rod of the segment erector and havingthe minimum radius as a joint connecting rod model according to the kinematic model of the segment erector, and constructing a rectangular parallelepiped capable of completely enveloping a part of thesegment erector from a truss to an end effector and having the minimum volume as a model of the part from the truss to the end effector; and planning a path of the segment erector from a current position to a target position according to the respective models in order that the segment erector cannot collide with the obstacle when moving along the path. Therefore, the method achieves an effect that the segment erector automatically plans the obstacle avoidance path when encountering the obstacle.

Description

technical field [0001] The invention relates to the technical field of robot motion planning, in particular to an obstacle avoidance path planning method and device for a segment assembly machine. Background technique [0002] The segment assembly machine is one of the important components of the shield tunneling equipment. Its main function is to install the prefabricated segment on the inner surface of the newly excavated tunnel to support the tunnel. The prerequisite for stable construction of tunneling equipment. At present, the segment assembly machine used at home and abroad is controlled by the operator through remote control to complete the segment assembly work. However, this method depends on the operator's technical level and operation proficiency, and has the advantages of low positioning accuracy and low construction speed. The shortcoming of being slow, resulting in relatively high construction costs. [0003] With the development of industrial robot technolo...

AI Technical Summary

Problems solved by technology

At present, the segment assembly machine used at home and abroad is controlled by the operator through remote control to complete the segment assembly work. However, this method depends on the operator's technical level and operation proficiency, and has the advantages of low positioning accuracy and low construction speed. The disadvantage of being slow, resulting in a relatively high total construction cost

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