Research On Concrete Pump Vehicle’s Pouring Path Planning

Concrete pump vehicle’s operation can be divided into three categories:first, given concrete pump vehicle’s initial state and target state, concrete pump vehicle from initial state after a series of actions reach the target state; second, given concrete pump vehicle’s initial state and the end hose pouring location at end time, concrete pump vehicle from initial state, through adjusting the angle of each boom and the slewing table make the end hose reach the specified pouring location; third, the end hose move along a given trajectory. The control of the concrete pump vehicle mainly relies on the cab driver control handle or the operator in venues control remote control to adjust the angle of each boom and the slewing table, it is a sophisticated work for the operator to get a collision free and lowest cost path. So, concrete pump vehicle’s path planning is very necessary for improving the efficiency and the safety of concrete pump vehicle.This paper first defines the problem of concrete pump vehicle’s path planning, and then describes the concrete pump vehicle’s state and the distance function for two states in configuration space. These works are the preparation to research the concrete pump vehicle’s planning problem.In order to solve the problem of concrete pump vehicle’s path planning in which the initial state and target state are given, an advanced RRT algorithm, bi-directional RRT with multi-step extension (RRTConCon) is adopted to solve the problem. Through replacing foundation pouring location case and pouting at the top of the tall building case demonstrate the effectiveness that using RRTConCon algorithm to solve this problem. The path planning problem in which the initial state and target state are given is not very common in practical work, and the purpose of this article to resolve this problem is to lay the foundation for the latter two problems.For concrete pump vehicle’s path planning problem in which the initial state and end-effector’s location at end time are given, an inverse kinematics method and an improved RRT algorithm, Muti-RRTs base on goal restriction,(GoalRestMutiConRRT) algorithm, are adopted to solve the problem. Finally the GoalRestMutiConRRT algorithm is applied to two cases in which concrete pump vehicle pour inside the window and change the pouring window. The experiments verified that using this algorithm can find a motion sequence of the concrete pump vehicle which meets the practical requirements in a short time. In order to solve the problem of path planning of concrete pump vehicle with end-effector’s specified path, this paper first disperses the end-effector’s paths and uses an improved RRT algorithm, multi configuration points of the random tree mapped with a disperse point and bi-directional RRT with multi-step extension,(TraceGivenConConRRT) algorithm, to solve the problem. TraceGivenConConRRT algorithm is applied to two cases in which the end-effector’s trajectories are reciprocating line and sine curve, the result verifies the feasibility and validity to solve this problem with using TraceGivenConConRRT algorithm. And then analysis two variables, inverse kinematics maximal executed number iInvNum and the ending inverse kinematics cycle threshold d2, on the quality of the entire path.This paper using two improved RRT algorithm solved two type of concrete pump vehicle’s path planning problems. Using the method of this paper can provide a safe and reliable motion plan for the real pouring work of concrete pump vehicle, and this paper also laid the foundation for the fully automatic concrete pump vehicle operation in the future.