A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Excavator unloading operation auxiliary system and trajectory planning method
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.
本发明公开一种挖掘机卸料作业辅助系统及轨迹规划方法，系统设置了数据采集单元、轨迹控制单元、误差控制单元、动作执行单元、人工操作单元、参数输入单元、位置计算单元、轨迹规划单元、数据储存单元、误差计算单元，动作执行单元可执行人工操作或自动操控，轨迹规划方法包括：(1)在挖掘机上建立D‑H坐标系，确定铲斗斗尖位置；(2)在卸料车上建立车体坐标系；(3)建立卸料轨迹约束点；(4)规划卸料轨迹。通过卸料作业辅助系统挖掘机可实现自动卸料。卸料轨迹规划考虑了防碰撞因素，设置了转折点约束，每次路径规划以路径最短为目标对转折点进行选择，以挖掘起点、转折点和目标卸料点为路径约束点，采用插补算法得到防碰撞卸料轨迹。
Excavator unloading operation auxiliary system and trajectory planning method
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.
本发明公开一种挖掘机卸料作业辅助系统及轨迹规划方法，系统设置了数据采集单元、轨迹控制单元、误差控制单元、动作执行单元、人工操作单元、参数输入单元、位置计算单元、轨迹规划单元、数据储存单元、误差计算单元，动作执行单元可执行人工操作或自动操控，轨迹规划方法包括：(1)在挖掘机上建立D‑H坐标系，确定铲斗斗尖位置；(2)在卸料车上建立车体坐标系；(3)建立卸料轨迹约束点；(4)规划卸料轨迹。通过卸料作业辅助系统挖掘机可实现自动卸料。卸料轨迹规划考虑了防碰撞因素，设置了转折点约束，每次路径规划以路径最短为目标对转折点进行选择，以挖掘起点、转折点和目标卸料点为路径约束点，采用插补算法得到防碰撞卸料轨迹。
Excavator unloading operation auxiliary system and trajectory planning method
挖掘机卸料作业辅助系统及轨迹规划方法
WANG JIXIN (author) / LIU SHUANG (author) / HAN YUNWU (author) / ZHANG YU (author) / ZHANG CHAO (author) / ZHANG ZIJUN (author) / LI MAOJIN (author) / ZHANG MINGYUAN (author) / LIU QIANG (author) / LI SHIDONG (author)
2020-10-02
Patent
Electronic Resource
Chinese
IPC:
E02F
Baggern
,
DREDGING
/
G06F
ELECTRIC DIGITAL DATA PROCESSING
,
Elektrische digitale Datenverarbeitung
/
G06Q
Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke
,
DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES
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