多臂凿岩机器人的碰撞检测方法研究

Research on Collision Detection Method of Multi-arm Rock Drilling Robot

针对多臂凿岩机器人在隧道工作中易发生碰撞事故的问题,提出了一种多臂凿岩机器人的碰撞检测算法。该算法通过对机器人各机械臂间、钻臂与隧道间的实时距离进行计算和碰撞判别,实现凿岩机器人的碰撞检测。以空间圆柱体包络盒作为凿岩机器人各机械臂的碰撞检测模型,将凿岩机器人各机械臂间的碰撞检测问题转化为空间圆柱体包络盒距离求解问题,提出了一种空间两圆柱体碰撞判别方法。将钻臂与隧道轮廓的碰撞问题转化为钻臂在隧道壁面的投影矩形与隧道壁面的干涉问题,提出了一种钻臂与隧道轮廓的碰撞判别方法。最后在MATLAB软件和实际多臂凿岩机器人上进行实验,实验结果表明:该算法能实时检测凿岩机器人各机械臂间、钻臂和隧道间的碰撞情况,在钻臂进入非安全范围时及时给出碰撞信号,使系统及时预警从而避免碰撞干涉事故的发生。

Aiming at the problem of collision accident of multi-arm rock drilling robot in tunnel work,a collision detection algorithm of multi-arm rock drilling robot was proposed in this paper.The algorithm realized the collision detection of rock drilling robot by calculating the real-time distance between each robot arms and between the drill arm and the tunnel.Taking the envelope box of spatial cylinder as the collision detection model of each manipulator of rock drilling robot,the collision detection problem between each manipulator of rock drilling robot was transformed into the problem of solving the distance of envelope box of spatial cylinder.The method of collision detection between two spatial cylinders was proposed.The collision problem between the drill arm and the tunnel contour was transformed into the interference problem between the projection rectangle of the drill arm on the tunnel wall and the tunnel wall.The collision discrimination method between the drill arm and the tunnel contour was proposed.Finally,the experiment was carried out on MATLAB and actual multi arm rock drilling robot.The experimental results show that the algorithm can detect the collision between each mechanical arms of rock drilling robot,and between the drill arm and the tunnel in real time.The collision signal in time is given when the drill arm enters the non-safety range,so that the system can give a timely warning to avoid collision interference accidents.