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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

Pending Publication Date: 2021-11-02
JIANGSU XCMG CONSTR MASCH RES INST LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

There is no optimization process in this scheme, such as optimal time, optimal energy consumption, etc.

Method used

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  • Working track planning method and device of excavator working device capable of avoiding obstacles
  • Working track planning method and device of excavator working device capable of avoiding obstacles
  • Working track planning method and device of excavator working device capable of avoiding obstacles

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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

The invention discloses a working track planning method and device of an excavator working device capable of avoiding obstacles. The method comprises the following steps: generating a movement obstacle avoidance path point of the excavator working device; based on the motion obstacle avoidance path points, performing motion track planning of the excavator working device, and generating an optimal path; and based on the optimal path, controlling the movement of the working device of the excavator. According to the method, obstacle avoidance and collision avoidance in the movement process of the excavator working device are achieved, the operational constraints of all nodes of the excavator working device are met, the purpose of optimal time can be achieved at the same time, and therefore the working efficiency of the excavator working device is improved, and the limitation that excavation operation depends on professional talents is relieved.

Description

technical field [0001] The invention belongs to the technical field of excavating arm operation trajectory planning, and in particular relates to an obstacle-avoidable excavator working device operation trajectory planning method and device. Background technique [0002] With the continuous progress and development of society, in order to better serve human beings, the operation quality requirements of excavators also need to be improved urgently. How to improve their work efficiency and work reliability has become a top priority. The trajectory planning of the excavator so that it can quickly and smoothly complete the excavation task can effectively solve the above problems, thereby improving the overall performance of the excavator. The main content of the trajectory planning research is to first obtain the obstacle avoidance path point through the obstacle avoidance algorithm according to the environmental information, and then plan the displacement, velocity and accelera...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0257G05D1/0223G05D1/0221G05D1/0278G05D1/0276
Inventor 徐标杨超艾云峰高娇
Owner JIANGSU XCMG CONSTR MASCH RES INST LTD
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