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A platform for research: civil engineering, architecture and urbanism
Facade cleaning vehicle, mechanical arm obstacle avoidance control method and device thereof and storage medium
The invention discloses a facade cleaning vehicle, a mechanical arm obstacle avoidance control method and device thereof and a storage medium, the facade cleaning vehicle is provided with a mechanical arm used for cleaning a facade, and the method comprises the following steps that obstacle information in a facade cleaning area is obtained, and an initial arm support tail end obstacle avoidance path is generated according to the obstacle information; multiple pieces of arm support posture information of the mechanical arm and vehicle speed information of the vertical face cleaning vehicle are obtained; and according to the initial boom tail end obstacle avoidance path, the multiple pieces of boom posture information and the vehicle speed information, the mechanical arm is controlled to perform automatic obstacle avoidance. Therefore, based on the mechanical arm obstacle avoidance control method of the facade cleaning vehicle, the obstacle information can be automatically obtained, the initial arm support tail end obstacle avoidance path planning is performed according to the obstacle information, meanwhile, the mechanical arm is controlled to perform automatic obstacle avoidance in combination with the posture information of the multiple arm supports and the vehicle speed information, and therefore a large amount of manual operation cost is reduced, and the working efficiency is improved. And the cleaning efficiency and the obstacle avoidance accuracy of the vertical surface cleaning vehicle are effectively improved.
本发明公开一种立面清洗车及其机械臂避障控制方法、装置和存储介质，其中，立面清洗车上设有用于清洗立面的机械臂，方法包括以下步骤：获取立面清洗区域内的障碍物信息，并根据障碍物信息生成初始臂架末端避障路径；获取机械臂的多个臂架姿态信息和立面清洗车的车速信息；根据初始臂架末端避障路径、多个臂架姿态信息和车速信息，控制机械臂进行自动避障。由此，基于本发明实施例的立面清洗车的机械臂避障控制方法，能够自动获取障碍物信息，并根据障碍物信息进行初始臂架末端避障路径规划，同时结合多个臂架姿态信息和车速信息，控制机械臂进行自动避障，从而降低大量人力操作成本，有效提高立面清洗车的清洗效率与避障准确度。
Facade cleaning vehicle, mechanical arm obstacle avoidance control method and device thereof and storage medium
The invention discloses a facade cleaning vehicle, a mechanical arm obstacle avoidance control method and device thereof and a storage medium, the facade cleaning vehicle is provided with a mechanical arm used for cleaning a facade, and the method comprises the following steps that obstacle information in a facade cleaning area is obtained, and an initial arm support tail end obstacle avoidance path is generated according to the obstacle information; multiple pieces of arm support posture information of the mechanical arm and vehicle speed information of the vertical face cleaning vehicle are obtained; and according to the initial boom tail end obstacle avoidance path, the multiple pieces of boom posture information and the vehicle speed information, the mechanical arm is controlled to perform automatic obstacle avoidance. Therefore, based on the mechanical arm obstacle avoidance control method of the facade cleaning vehicle, the obstacle information can be automatically obtained, the initial arm support tail end obstacle avoidance path planning is performed according to the obstacle information, meanwhile, the mechanical arm is controlled to perform automatic obstacle avoidance in combination with the posture information of the multiple arm supports and the vehicle speed information, and therefore a large amount of manual operation cost is reduced, and the working efficiency is improved. And the cleaning efficiency and the obstacle avoidance accuracy of the vertical surface cleaning vehicle are effectively improved.
本发明公开一种立面清洗车及其机械臂避障控制方法、装置和存储介质，其中，立面清洗车上设有用于清洗立面的机械臂，方法包括以下步骤：获取立面清洗区域内的障碍物信息，并根据障碍物信息生成初始臂架末端避障路径；获取机械臂的多个臂架姿态信息和立面清洗车的车速信息；根据初始臂架末端避障路径、多个臂架姿态信息和车速信息，控制机械臂进行自动避障。由此，基于本发明实施例的立面清洗车的机械臂避障控制方法，能够自动获取障碍物信息，并根据障碍物信息进行初始臂架末端避障路径规划，同时结合多个臂架姿态信息和车速信息，控制机械臂进行自动避障，从而降低大量人力操作成本，有效提高立面清洗车的清洗效率与避障准确度。
Facade cleaning vehicle, mechanical arm obstacle avoidance control method and device thereof and storage medium
立面清洗车及其机械臂避障控制方法、装置和存储介质
ZHANG MINGYAO (author) / ZHANG LIANGJUN (author) / LIU CUNLIANG (author) / CHEN HUA (author) / LI ZHEN (author) / ZHAO QIULE (author) / XIAO YAOWU (author) / HUANG ZHIPENG (author)
2023-04-07
Patent
Electronic Resource
Chinese
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