A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Control method of excavating machine and excavating machine
The invention provides a control method of an excavating machine and the excavating machine, and relates to the technical field of automation control, in particular to the field of automation control of engineering machinery. According to the specific implementation scheme, the position of an initial excavation point and the current position of an excavation machine are determined; determining a linear path formed by the initial excavation point position and the current position; acquiring surrounding environment information of the excavating machine, wherein the surrounding environment information comprises obstacle positions in a sensing range of the excavating machine; the obstacle position comprises at least one of a static obstacle position and a dynamic obstacle position; under the condition that the linear path conflicts with the position of the obstacle, the lateral safe distance position of the position of the obstacle is used as a track relay position; and determining a planned trajectory of the excavating machine by using the initial excavating point position, the current position and the trajectory relay position. According to the invention, automatic control of the excavating machinery can be realized.
本公开提供了一种挖掘机械的控制方法和挖掘机械，涉及自动化控制技术领域，尤其涉及工程机械的自动化控制领域。具体实现方案为：确定初始挖掘点位置及挖掘机械的当前位置；确定初始挖掘点位置和当前位置构成的直线路径；获取挖掘机械的周边环境信息，周边环境信息包括挖掘机械感知范围内的障碍物位置；障碍物位置包括静态障碍物位置和动态障碍物位置中的至少一项；在直线路径与障碍物位置发生冲突的情况下，将障碍物位置的侧向安全距离位置作为轨迹中继位置；利用初始挖掘点位置、当前位置和轨迹中继位置，确定挖掘机械的规划轨迹。采用本公开，可以实现对挖掘机械的自动控制。
Control method of excavating machine and excavating machine
The invention provides a control method of an excavating machine and the excavating machine, and relates to the technical field of automation control, in particular to the field of automation control of engineering machinery. According to the specific implementation scheme, the position of an initial excavation point and the current position of an excavation machine are determined; determining a linear path formed by the initial excavation point position and the current position; acquiring surrounding environment information of the excavating machine, wherein the surrounding environment information comprises obstacle positions in a sensing range of the excavating machine; the obstacle position comprises at least one of a static obstacle position and a dynamic obstacle position; under the condition that the linear path conflicts with the position of the obstacle, the lateral safe distance position of the position of the obstacle is used as a track relay position; and determining a planned trajectory of the excavating machine by using the initial excavating point position, the current position and the trajectory relay position. According to the invention, automatic control of the excavating machinery can be realized.
本公开提供了一种挖掘机械的控制方法和挖掘机械，涉及自动化控制技术领域，尤其涉及工程机械的自动化控制领域。具体实现方案为：确定初始挖掘点位置及挖掘机械的当前位置；确定初始挖掘点位置和当前位置构成的直线路径；获取挖掘机械的周边环境信息，周边环境信息包括挖掘机械感知范围内的障碍物位置；障碍物位置包括静态障碍物位置和动态障碍物位置中的至少一项；在直线路径与障碍物位置发生冲突的情况下，将障碍物位置的侧向安全距离位置作为轨迹中继位置；利用初始挖掘点位置、当前位置和轨迹中继位置，确定挖掘机械的规划轨迹。采用本公开，可以实现对挖掘机械的自动控制。
Control method of excavating machine and excavating machine
一种挖掘机械的控制方法和挖掘机械
JIANG HE (author) / ZHANG LIANGJUN (author)
2022-05-13
Patent
Electronic Resource
Chinese
IPC:
E02F
Baggern
,
DREDGING
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