Excavator unloading operation auxiliary system and trajectory planning method

Abstract

The invention discloses an excavator unloading operation auxiliary system and a trajectory planning method. A data collection unit, a trajectory control unit, an error control unit, an action execution unit, a manual operation unit, a parameter input unit, a position calculation unit, a trajectory planning unit, a data storage unit and an error calculation unit are arranged on the system, whereinthe action execution unit can execute manual operation or automatic control, the trajectory planning method comprises the following steps that (1) a D-H coordinate system is established on an excavator, and the position of a bucket tip of the bucket is determined; (2) a vehicle body coordinate system is established on an unloading vehicle; (3) an unloading track constraint point is established; and (4) an unloading track is planned. Automatic unloading can be achieved through the unloading operation auxiliary system by the excavator, anti-collision factors are considered in unloading trajectory planning, turning point constraints are set, turning points are selected with the shortest path as the target in each path planning, an excavation starting point, the turning points and a target unloading point serve as path constraint points, and an anti-collision unloading trajectory is obtained by adopting an interpolation algorithm.

Description

technical field [0001] The invention relates to an excavator unloading operation control, in particular to an excavator unloading operation auxiliary system and a control method thereof. Background technique [0002] The current large-scale excavators are complex to operate and require relatively high operating skills for drivers. For new drivers, it takes a long period of training before they can carry out actual operations, and the training costs are high. [0003] In order to prevent the bucket from hitting the dump truck during the unloading operation, the driver must be highly focused, and the unloading condition accounts for a large proportion of the excavator's operating time, and the driver's continuous unloading operation is labor-intensive. [0004] One of the technological development trends of excavators is to design a special operation assistance system for specific and recurring operating conditions, and to maximize benefits through man-machine collaborative op...

AI Technical Summary

Problems solved by technology

[0005] At present, for excavator unloading operations, there is no operation assistance system that can realize automatic control of unloading.

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