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A platform for research: civil engineering, architecture and urbanism
Excavator bucket tooth tip trajectory planning method and device and excavator
The invention relates to the technical field of mechanical engineering, and provides an excavator bucket tooth tip trajectory planning method and device and an excavator. The method comprises the steps that a target joint angle of the current time duration in the operation process of the excavator in a target excavation area and a target point cloud map corresponding to the target joint angle are obtained, obtaining target topographic features corresponding to the target excavation area; inputting the target joint angle, the target point cloud map and the target topographic feature into a bucket tooth tip action prediction model, and obtaining a target bucket tooth tip action sequence prediction result output by the bucket tooth tip action prediction model; and trajectory planning is carried out based on the target bucket tooth tip action sequence prediction result, and a target bucket tooth tip trajectory planning result of the current time duration is determined. According to the method, the efficiency and precision of excavation operation can be remarkably improved, energy consumption and the labor intensity of operators are reduced, the accuracy and reliability of planning of the track of the tooth tip of the bucket can be greatly improved, and the method has important practical value and wide market prospects.
本发明涉及机械工程技术领域，提供一种挖掘机铲斗齿尖轨迹规划方法、装置及挖掘机，其中方法包括：获取挖掘机在目标挖掘区域作业过程中当前时间长度的目标关节角度和目标关节角度对应的目标点云地图，及目标挖掘区域对应的目标地形特征；将目标关节角度、目标点云地图和目标地形特征输入至铲斗齿尖动作预测模型中，获取铲斗齿尖动作预测模型输出的目标铲斗齿尖动作序列预测结果；基于目标铲斗齿尖动作序列预测结果进行轨迹规划，确定当前时间长度的目标铲斗齿尖轨迹规划结果。本发明不仅能够显著提高挖掘作业的效率和精度，降低能耗和操作员的劳动强度，也能大幅提高铲斗齿尖轨迹规划的准确性和可靠性，具有重要的实用价值和广阔的市场前景。
Excavator bucket tooth tip trajectory planning method and device and excavator
The invention relates to the technical field of mechanical engineering, and provides an excavator bucket tooth tip trajectory planning method and device and an excavator. The method comprises the steps that a target joint angle of the current time duration in the operation process of the excavator in a target excavation area and a target point cloud map corresponding to the target joint angle are obtained, obtaining target topographic features corresponding to the target excavation area; inputting the target joint angle, the target point cloud map and the target topographic feature into a bucket tooth tip action prediction model, and obtaining a target bucket tooth tip action sequence prediction result output by the bucket tooth tip action prediction model; and trajectory planning is carried out based on the target bucket tooth tip action sequence prediction result, and a target bucket tooth tip trajectory planning result of the current time duration is determined. According to the method, the efficiency and precision of excavation operation can be remarkably improved, energy consumption and the labor intensity of operators are reduced, the accuracy and reliability of planning of the track of the tooth tip of the bucket can be greatly improved, and the method has important practical value and wide market prospects.
本发明涉及机械工程技术领域，提供一种挖掘机铲斗齿尖轨迹规划方法、装置及挖掘机，其中方法包括：获取挖掘机在目标挖掘区域作业过程中当前时间长度的目标关节角度和目标关节角度对应的目标点云地图，及目标挖掘区域对应的目标地形特征；将目标关节角度、目标点云地图和目标地形特征输入至铲斗齿尖动作预测模型中，获取铲斗齿尖动作预测模型输出的目标铲斗齿尖动作序列预测结果；基于目标铲斗齿尖动作序列预测结果进行轨迹规划，确定当前时间长度的目标铲斗齿尖轨迹规划结果。本发明不仅能够显著提高挖掘作业的效率和精度，降低能耗和操作员的劳动强度，也能大幅提高铲斗齿尖轨迹规划的准确性和可靠性，具有重要的实用价值和广阔的市场前景。
Excavator bucket tooth tip trajectory planning method and device and excavator
挖掘机铲斗齿尖轨迹规划方法、装置及挖掘机
GAO LE (author) / PENG SHUANGCHENG (author) / XI CHUAN (author)
2024-08-16
Patent
Electronic Resource
Chinese
| European Patent Office | 2020