Working track planning method and device of excavator working device capable of avoiding obstacles
A technology of working device and trajectory planning, applied in two-dimensional position/channel control, motor vehicles, transportation and packaging, etc., to alleviate the limitation of relying on professional talents and improve work efficiency
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Embodiment 1
[0059] An embodiment of the present invention provides an obstacle-avoidable excavator working device operation trajectory planning method, which specifically includes the following steps:
[0060] Step (1) generates the motion obstacle avoidance path point of the excavator working device;
[0061] Step (2) based on the moving obstacle avoidance path point, carry out the movement trajectory planning of the working device of the excavator, and generate the optimal path;
[0062] Step (3) Controlling the movement of the working device of the excavator based on the optimal path.
[0063] In a specific implementation manner of the embodiment of the present invention, the method for generating the moving obstacle avoidance waypoint includes:
[0064] Obtain the position information and shape information of the obstacle;
[0065] Based on the coordinate information of the movement start point and the movement target point of the excavator working device, as well as the position in...
Embodiment 2
[0175] An embodiment of the present invention provides an obstacle-avoidable excavator working device operation trajectory planning system, including:
[0176] The obstacle avoidance unit generates the movement obstacle avoidance path point of the working device of the excavator;
[0177] The planning unit, based on the moving obstacle avoidance path points, performs movement trajectory planning of the working device of the excavator to generate an optimal path;
[0178] A control unit controls the movement of the excavator working device based on the optimal path.
[0179] In a specific implementation manner of the embodiment of the present invention, the method for generating the moving obstacle avoidance waypoint includes:
[0180] Obtain the position information and shape information of the obstacle;
[0181] Based on the coordinate information of the movement start point and the movement target point of the excavator working device, as well as the position information a...
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Abstract
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Application Information
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