Reversing obstacle avoidance and path planning method for autonomous operation loader
A path planning and loader technology, applied in the direction of motor vehicles, vehicle position/route/height control, transportation and packaging, etc., can solve the problems of untimely map update and inability to consider site obstacles in real time, so as to improve computing speed, Effects of reducing the probability of accidents at work and saving computing power
Pending Publication Date: 2022-03-15
JILIN UNIV
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[0005] The purpose of the present invention is to provide a method for reversing obstacles and path planning of an autonomous loader to solve the problems that path planning cannot take real-time consideration of site obstacles and map updates are not timely
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[0042]In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the drawings and embodiments; in the drawings or descriptions, similar or identical parts use the same symbols, and in actual In application, the shape, thickness or height of each part can be enlarged or reduced. The various embodiments listed in the present invention are only used to illustrate the present invention, and are not intended to limit the scope of the present invention. Any obvious modifications or changes made to the present invention do not depart from the spirit and scope of the present invention.
[0043] The embodiment of the present invention discloses a method for reversing obstacles and path planning of an autonomous loader, including the following steps:
[0044] Step S1: Use RTK positioning device 1 and UWB device 2 to cooperate with each other to obtain the position o...
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The invention discloses a backing-up obstacle avoidance and path planning method for an autonomous operation loader, and relates to the technical field of loaders, and the method comprises the steps: carrying out the high-speed real-time detection of the distance between an object at the rear part and an object at the side rear part of a loader body, and carrying out the world coordinate position conversion according to an ultrasonic ranging device signal and an installation positioning parameter; the real-time position relation of the object relative to the loader is judged; according to the world coordinate information of the objects on the rear portion and the side rear portion of the vehicle, the motion state of the objects is accurately judged; path planning is carried out according to existing information before autonomous operation, and path planning information is corrected in real time according to detection information during autonomous operation; and aiming at the condition that path planning at an extreme moment has no solution, carrying out local feasible path condition hypothesis and trying to plan again, and searching a nearest feasible path implementation method. The reversing obstacle avoidance and path planning method provided by the invention is simple and reliable, has high portability, and is suitable for various autonomous operation loaders and other similar autonomous operation devices.
Description
technical field [0001] The invention relates to the technical field of loaders, in particular to a method for reversing obstacles and path planning of an autonomous loader. Background technique [0002] As the main construction machinery, loaders are widely used in industries such as mines, steel mills, coal washing plants, thermal power plants and infrastructure. However, traditional loaders have complex roads and harsh working environments. During the operation, the driver's physical and mental health are seriously challenged and they are always faced with safety threats caused by vehicle instability. In recent years, as loader drivers' willingness to work has continued to decline, there has been a phenomenon of difficulty in recruiting workers. At the same time, due to their special working mode, it has also brought about difficulties in personnel management. With the large-scale practicality of loaders and the decrease in the number of loader drivers, research and devel...
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IPC IPC(8): G05D1/02
CPCG05D1/0255G05D1/0257
Inventor 李学飞于忠瀚李英男李雪陈冠龙
Owner JILIN UNIV