Optimal track planning method for intelligent hydraulic excavator

A hydraulic excavator and trajectory planning technology, applied in the field of excavator control, can solve the problems of obvious vibration, complicated calculation, and the movement trajectory is not smooth enough, and achieve the effect of avoiding the semi-infinite constraint problem.

Active Publication Date: 2019-11-15
爱克斯维智能科技(苏州)有限公司
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Problems solved by technology

[0005] In the prior art, although many excavator trajectory planning methods have been disclosed, some trajectory planning methods have achieved optimal time control, but the trajectory is not smooth enough, the impact on the equipment is large, the vibration is obvious, and the working time of the excavator working device is shortened. service life; while other trajectory planning methods have obvious vibration reduction effects, but the calculation is complex, the trajectory error is large, and the efficiency is low

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  • Optimal track planning method for intelligent hydraulic excavator
  • Optimal track planning method for intelligent hydraulic excavator
  • Optimal track planning method for intelligent hydraulic excavator

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[0079] The present invention will be further described below in conjunction with drawings and embodiments.

[0080] refer to Figure 1 to Figure 3 , taking the autonomous excavation operation of an intelligent hydraulic excavator as an example, the intelligent hydraulic excavator includes a central controller, a vision module, a working module, a power module, an electric proportional control multi-way valve, and an electric proportional control multi-way valve connected to the The main valve of the excavator, the electric proportional control multi-way valve is connected to the central controller; wherein: the vision module is used to provide image signals for the central controller, which includes an image processor connected to the central controller And the camera that is arranged on the body of the excavator, the camera is connected with the image processor; the working module is an actuator, which includes a slewing device, a boom, a stick and a working head, and the cen...

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Abstract

The invention relates to the technical field of excavator controlling, and particularly relates to an optimal track planning method for an intelligent hydraulic excavator. The method comprises steps of: solving time optimal track optimization by using a sequence quadratic programming method with a superlinear convergence property, and solving smoothest track optimization in consideration of a joint dynamic constraint, a joint acceleration semi-infinite constraint problem and a cumulative effect. Compared with the prior art, the optimal track planning method mainly optimizes round trip time andsmoothness of the round trip path of the excavator, and realizes time optimal track planning and smoothest track planning simultaneously, thereby improving working efficiency of an automatic controlsystem of an excavator, making an operation track smoother, remarkably reducing excavator vibration, and prolonging service life of an excavator.

Description

technical field [0001] The invention relates to the technical field of excavator control, in particular to an optimal trajectory planning method for an intelligent hydraulic excavator. Background technique [0002] Excavators are widely used in construction sites for mining, building demolition, and road and bridge construction. In the prior art, excavators are generally driven by a hydraulic system and manually controlled for construction. However, due to the complexity of operating a large machine such as an excavator, the environment of the construction site is usually relatively harsh, and there are large differences in the skills and experience of different operators, etc., resulting in low efficiency of manual operation of the excavator and difficulty in meeting unified requirements. Therefore, intelligent excavators capable of unmanned operations are gradually being developed. In order to realize the intelligentization of the excavator and improve the autonomous exc...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/20G05D1/0212
Inventor 张彦群
Owner 爱克斯维智能科技(苏州)有限公司
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