Excavator operation track planning method and device

Abstract

The invention provides an excavator operation track planning method and device. The method comprises the steps of obtaining the gradient parameters of an excavator operation target plane and the tooth tip initial pose information of a bucket of an excavator; on the basis of the tooth tip initial pose information and the gradient parameters, determining the tooth tip track information of the bucket when the excavator works; and based on the tooth top track information, determining the angle track information of all joints during the operation of the excavator. Due to the fact that the information of the included angles between the bucket and the horizontal plane at all positions is the same when the excavator works, a planned tooth tip track can keep the included angle between the bucket and the working face unchanged, an algorithm is efficient, the operation speed is high, and the functions of leveling and slope brushing can be achieved according to the specific excavator postures. Due to the fact that the angle information of the joint between a bucket rod and the bucket of the excavator at each position is the same, the planned tooth tip track can keep the angle information of the joint between the bucket rod and the bucket unchanged, the algorithm is efficient, and the operation speed is high.

Description

technical field [0001] The invention relates to the technical field of excavator control, in particular to an excavator operation trajectory planning method and device. Background technique [0002] At present, intelligent and unmanned technologies are more and more widely used on excavators. A variety of auxiliary excavation functions are configured on the excavator, which reduces the operator's operating burden, improves work efficiency, and optimizes operation accuracy and effect. In order to ensure that the excavator operation has a good effect, it is very important to plan the operation trajectory of the excavator. [0003] In the prior art, a non-linear optimization method is usually used to plan the movement trajectory of the excavator during operation, but the calculation is complex and requires high computing power. Contents of the invention [0004] The invention provides an excavator operation track planning method and device to solve the defects in the prior ...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the nonlinear optimization method is usually used to plan the movement trajectory of the excavator during operation, but the calculation is complex and requires high computing power

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