Unmanned rolling machine group path planning method

Abstract

The invention discloses an unmanned rolling machine group path planning method. The method sequentially comprises the steps of bin surface splitting, sub-bin-surface internal operation path planning,sub-bin-surface transition operation path planning and machine group operation path splitting, wherein the bin surface splitting is to split the total operation bin surface into a plurality of sub binsurfaces; the sub-bin surface internal operation path planning is planning the rolling operation path of the rolling machine in the sub-bin surface; sub-bin-surface transition operation path planningis the planning a transition operation path of the rolling machine between different sub-bin surfaces; and the machine group operation path splitting is to gather the planned operation paths and thendistribute the gathered operation paths to each rolling machine. According to the invention, the unmanned rolling machine group operation requirement under the complex bin surface condition can be met, the construction quality is met, the construction progress is improved, and the collision-free operation path planning meets the safety requirement.

Description

technical field [0001] The invention relates to the technical field of rolling machine construction, in particular to a path planning method for an unmanned rolling machine group. Background technique [0002] At present, rolling is an important part of the dam construction process. The quality of rolling affects the construction quality of the dam and is directly related to the safety of the dam; the progress of rolling affects the construction of the subsequent links and restricts the overall construction of the dam. The schedule indirectly affects the construction cost. How to improve the management level of rolling construction and better control the construction quality and progress of rolling operations has always been the focus of scientific research workers. [0003] Unmanned rolling technology is a major breakthrough in the field of rolling construction in recent years. It has changed the traditional way of manually controlling the operation of rolling machines. Th...

AI Technical Summary

Problems solved by technology

Without scientific decision-making methods and efficient management and control systems, it will be difficult for unmanned crushing fleets to exert synergistic advantages

Under complex operating conditions, compared with the stand-alone operation of the unmanned rolling machine, the unmanned rolling machine group may have conflicts at the time, space, and task levels during the warehouse surface rolling operation, such as: collision with obstacles, adjacent Missing or over-rolling between working faces, unbalanced task division, low utilization rate of equipment, unmanned rolling machine model does not match the operating parameters and construction area, etc., which in turn affects the quality, progress and safety of dam rolling

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