Path planning method and device for dynamic compactor and dynamic compactor

Abstract

The application provides a strong rammer path planning method, device and strong rammer, wherein the method comprises the following steps: acquiring current pose information and work task information of the strong rammer; determining a work path of the strong rammer based on the current pose information, the work task information and a sliding radius of the strong rammer; the work task information comprises arrangement information of each row of ramming points, and positions of a starting ramming point and an ending ramming point of each row of ramming points; and the sliding radius is a radius of a circle of a movement track of a turning center of the strong rammer when the strong rammer performs differential steering. The method, device and strong rammer provided by the application realize automatic planning of a strong rammer path, improve the intelligent level of the strong rammer, and improve the construction precision and construction efficiency of the strong rammer.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and in particular to a strong rammer path planning method and device and a strong rammer. BACKGROUND

[0002] In the construction engineering, the strong rammer is often used to deal with the compaction of the loose soil. There are many types of strong rammers, such as frog type, vibration type, leap type, ramming type, and hanging weight hammering type. Different types of strong rammers can be used according to the engineering needs.

[0003] In the prior art, the walking and construction of the strong rammer are manually operated by the construction personnel, and the control precision is poor and the construction efficiency is low. SUMMARY

[0004] The present application provides a strong rammer path planning method and device and a strong rammer to solve the technical problems of poor control precision and low construction efficiency of the strong rammer in the prior art.

[0005] The present application provides a strong rammer path planning method, comprising:

[0006] obtaining current pose information and work task information of the strong rammer;

[0007] determining a work path of the strong rammer based on the current pose information and the work task information and a sliding radius of the strong rammer;

[0008] The work task information includes arrangement information of each row of ramming points, and positions of a starting ramming point and an ending ramming point of each row of ramming points; and the sliding radius is a radius of a circular motion track of a turning center of the strong rammer when the strong rammer is differentially turned.

[0009] According to the strong rammer path planning method provided by the present application, the work path includes a driving path and a ramming path;

[0010] The driving path is a path of the strong rammer from a current position to a first ramming point;

[0011] The ramming path is a path of the strong rammer for ramming construction between the first ramming point and a last ramming point.

[0012] According to the strong rammer path planning method provided by the present application, the determination of the work path of the strong rammer based on the current pose information and the work task information and the sliding radius of the strong rammer comprises:

[0013] determining a driving path based on the sliding radius of the strong rammer, the current pose information, and arrangement information of a first row of ramming points and a position of a starting ramming point in the work task information;

[0014] determine a tamping path based on the slip radius of the rammer, arrangement information of each row of tamping points in the work task information, and a starting tamping point and an ending tamping point in each row of tamping points.

[0015] According to the rammer path planning method provided in the present application, the driving path is determined based on the slip radius of the rammer, the current pose information, and arrangement information of the first row of tamping points and a position of a starting tamping point in the work task information, and includes:

[0016] determine a first turning center based on the current pose information and the slip radius of the rammer;

[0017] determine a second turning center based on arrangement information of the first row of tamping points and a position of the starting tamping point in the work task information, and a tamping hammer extension distance of the rammer;

[0018] determine the driving path based on the first turning center, the second turning center, and the slip radius.

[0019] According to the rammer path planning method provided in the present application, the driving path is determined based on the first turning center, the second turning center, and the slip radius, and includes:

[0020] determine a straight driving path of the rammer based on the first turning center and a straight driving end point;

[0021] determine a driving buffer path of the rammer based on a distance between a tamping hammer center and a first tamping point after differential steering of the rammer at the straight driving end point;

[0022] determine the driving path based on the straight driving path and the driving buffer path;

[0023] The straight driving end point is a position determined after extending one slip radius backward from the second turning center along a straight line determined by the first turning center and the second turning center.

[0024] determine a tamping path based on the slip radius of the rammer, arrangement information of each row of tamping points in the work task information, and a starting tamping point and an ending tamping point in each row of tamping points.

[0025] determine a single-row tamping path of the rammer based on arrangement information of a current row of tamping points in the work task information and a position of a starting tamping point in the current row of tamping points;

[0026] determine an inter-row lane-changing path of the dynamic compactor based on the position of the ending ramming point in the current row of ramming points, the position of the starting ramming point in the next row of ramming points, and a slip radius of the dynamic compactor;

[0027] determine the ramming path based on the single-row ramming path and the inter-row lane-changing path.

[0028] The method for planning a path of a dynamic compactor provided by the application includes the following steps:

[0029] determine a first circular arc path for differential steering of the dynamic compactor, with the position of the ending ramming point in the current row of ramming points as a starting point;

[0030] determine a lane-changing straight path for inter-row lane-changing of the dynamic compactor, with the ending point of the first circular arc path as a starting point and an interval distance between the current row of ramming points and the next row of ramming points as a length;

[0031] determine a second circular arc path for differential steering of the dynamic compactor, with the ending point of the lane-changing straight path as a starting point;

[0032] determine the inter-row lane-changing path of the dynamic compactor based on the first circular arc path, the lane-changing straight path, and the second circular arc path;

[0033] The first circular arc path and the second circular arc path both have the slip radius of the dynamic compactor as a radius.

[0034] The method for planning a path of a dynamic compactor provided by the application includes the following steps:

[0035] determine a plurality of motion control points of the dynamic compactor based on the work path;

[0036] determine a work path point list of the dynamic compactor based on the plurality of motion control points and a dynamic compactor action instruction corresponding to each motion control point.

[0037] The method for planning a path of a dynamic compactor provided by the application includes the following steps:

[0038] determine a nearest distance point and a pre-aiming point of the dynamic compactor based on the work path point list and a preset aiming distance;

[0039] determine a driving curvature of the dynamic compactor based on the current position of the dynamic compactor, the position of the nearest distance point and the position of the preview point;

[0040] determine a desired speed of each side track of the dynamic compactor based on the driving curvature and a preset driving speed of the dynamic compactor.

[0041] The application further provides a dynamic compactor path planning device, comprising:

[0042] an acquisition unit configured to acquire current pose information and task information of the dynamic compactor;

[0043] a determination unit configured to determine a working path of the dynamic compactor based on the current pose information and the task information and a slip radius of the dynamic compactor.

[0044] The task information comprises arrangement information of each row of ramming points, and the position of a starting ramming point and the position of an ending ramming point of each row of ramming points; and the slip radius is the radius of a circle of a movement track of a turning center of the dynamic compactor when the dynamic compactor is differentially steered.

[0045] The application further provides a dynamic compactor comprising a controller configured to execute the dynamic compactor path planning method.

[0046] The application further provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the dynamic compactor path planning method.

[0047] The application further provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program is executable on a processor to implement the steps of the dynamic compactor path planning method.

[0048] The dynamic compactor path planning method, device and dynamic compactor provided by the application determine a working path of the dynamic compactor based on current pose information and task information of the dynamic compactor and a slip radius of the dynamic compactor, the task information comprises arrangement information of each row of ramming points and the position of a starting ramming point and the position of an ending ramming point of each row of ramming points, the arrangement information and the positions of the ramming points in the task information are utilized to automatically plan the path of the dynamic compactor, the intelligent level of the dynamic compactor is improved, and the construction precision and efficiency of the dynamic compactor are improved. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to make the technical solutions in the present application or prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced below. Obviously, the accompanying drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0050] Figure 1 A flowchart of a path planning method of the strong rammer provided by the present application is shown in the figure.

[0051] Figure 2 A differential steering motion trajectory of the strong rammer provided by the present application is shown in the figure.

[0052] Figure 3 A driving path of the strong rammer provided by the present application is shown in the figure.

[0053] Figure 4 A driving action of the strong rammer provided by the present application is shown in the figure.

[0054] Figure 5 A ramming path of the strong rammer provided by the present application is shown in the figure.

[0055] Figure 6 A ramming action of the strong rammer provided by the present application is shown in the figure.

[0056] Figure 7 A structure diagram of a path planning device of the strong rammer provided by the present application is shown in the figure.

[0057] Figure 8 A structure diagram of an electronic device provided by the present application is shown in the figure. DETAILED DESCRIPTION

[0058] In order to make the technical solutions in the present application or prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced below. Obviously, the accompanying drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0059] The strong rammer is a common engineering machine. The existing strong rammer is operated by the construction personnel in the cab through the operation handle. The construction environment of the strong rammer is harsh, and there are many safety hazards, which threaten the personal safety of the construction personnel. In addition, the construction precision of the strong rammer is poor, and the construction efficiency is low.

[0060] In view of the deficiencies of the prior art, Figure 1 A flowchart of a path planning method of the strong rammer provided by the present application is shown in the figure. Figure 1As shown, the method comprises:

[0061] In step 110, current pose information and task information of the dynamic compactor are acquired. The task information includes arrangement information of each row of ramming points, and positions of the starting ramming point and the ending ramming point of each row of ramming points.

[0062] Specifically, the working principle of the dynamic compactor is that the rigid connecting rope of the winch is first placed at the lowest position, the rammer is lifted to move upwards, the winch stops working when a certain height is reached, the rammer does free fall to hit the ground to compact the filling material, and the winch is reversely rotated. The working process of the dynamic compactor is to construct from the previous ramming point to the next ramming point in sequence according to the order of the ramming points.

[0063] The current pose information is the position and attitude of the dynamic compactor at the current position. The position can be the longitude and latitude coordinates of the center of rotation of the dynamic compactor in the world coordinate system, or can be the relative coordinates of the center of rotation of the dynamic compactor in the construction area coordinate system. The attitude can be the direction of the rammer extension of the dynamic compactor.

[0064] The task information is the arrangement information and positions of the ramming points that the dynamic compactor needs to construct in the construction area. The ramming points are generally distributed in a row-column manner. For example, the distribution of the ramming points in a certain construction area that the dynamic compactor needs to enter is M rows, M is a positive integer. Each row has multiple ramming points. When the dynamic compactor constructs the ramming points in any row, it can start from the starting ramming point of the row and end at the ending ramming point of the row. Therefore, the task information can include the arrangement information of each row of ramming points, and the positions of the starting ramming point and the ending ramming point of each row of ramming points.

[0065] In step 120, based on the current pose information and the task information, and the slip radius of the dynamic compactor, the construction path of the dynamic compactor is determined. The slip radius is the radius of the circular trajectory of the center of rotation of the dynamic compactor when differential steering is performed.

[0066] Specifically, since the task information includes the arrangement information of each row of ramming points, and the positions of the starting ramming point and the ending ramming point of each row of ramming points, the first ramming point in the construction area and the ramming sequence of all the ramming points can be determined.

[0067] During the driving process of the dynamic compactor, the vehicle body will slip due to the influence of factors such as ground conditions and hydraulic pressure, thereby deviating from the intended driving trajectory. For example, Figure 2 The differential steering motion trajectory diagram of the dynamic compactor provided by the present application is as follows: Figure 2As shown in the figure, the unit of the figure is meter, when the dynamic compactor performs differential steering, the two sides of the track move at equal size and opposite direction, in theory, the turning center of the vehicle should remain in place. However, in fact, due to the effect of slippage, the turning center of the dynamic compactor moves along a circle with a radius of about 1 meter. These slippage characteristics must be considered in path planning, otherwise it is easy to cause the walking trajectory to deviate or the dynamic compactor to move unsmoothly.

[0068] The slippage radius is the radius of the motion trajectory of the turning center of the dynamic compactor when the dynamic compactor performs differential steering. The slippage radius is used to characterize the slippage characteristics of the dynamic compactor. The size of the slippage radius is closely related to the type of the dynamic compactor and the construction ground conditions and other factors. For example, the larger the model of the dynamic compactor, the larger the slippage radius, and the smaller the model of the dynamic compactor, the smaller the slippage radius. When planning the path of the dynamic compactor, the slippage radius of the dynamic compactor can be determined in advance according to the type of the dynamic compactor and the construction ground conditions, so as to improve the accuracy of path planning.

[0069] The dynamic compactor path planning method provided by the embodiment of the application determines the work path of the dynamic compactor through the current pose information and work task information of the dynamic compactor and the slippage radius of the dynamic compactor, the work task information includes the arrangement information of each row of ramming points, and the position of the starting ramming point and the position of the ending ramming point of each row of ramming points, and the arrangement information and the position of the ramming points in the work task information are used to realize automatic planning of the path of the dynamic compactor, improve the intelligent level of the dynamic compactor, and improve the construction accuracy and construction efficiency of the dynamic compactor.

[0070] Based on the above embodiment, the work path includes a driving path and a ramming path;

[0071] The driving path is a path for the dynamic compactor to drive from the current position to the first ramming point;

[0072] The ramming path is a path for the dynamic compactor to perform ramming construction between the first ramming point and the last ramming point.

[0073] Specifically, the work path of the dynamic compactor includes a driving path and a ramming path. The driving path is used to represent the path of the dynamic compactor from the current position to the construction area. The ramming path is used to represent the path of the dynamic compactor for ramming construction in the construction area.

[0074] For example, according to the current pose information of the dynamic compactor and the position of the first ramming point, and the slippage radius of the dynamic compactor, the driving path of the dynamic compactor can be determined.

[0075] For another example, according to the ramming sequence of all the ramming points, the position of the starting ramming point and the position of the ending ramming point of each row of ramming points, and the slippage radius of the dynamic compactor, the ramming path of the dynamic compactor can be determined.

[0076] Based on any of the above embodiments, step 120 comprises:

[0077] determining the driving path based on the slip radius of the dynamic compactor, the current pose information, and the arrangement information of the first row of ramming points and the position of the starting ramming point in the task information;

[0078] determining the ramming path based on the slip radius of the dynamic compactor, the arrangement information of each row of ramming points in the task information, and the starting ramming point and the ending ramming point in each row of ramming points.

[0079] Specifically, according to the task information, the first ramming point at which the dynamic compactor starts to ram can be determined, i.e., the starting ramming point in the first row of ramming points. According to the pose information of the current position of the dynamic compactor and the position of the first ramming point, the heading angle of the dynamic compactor at the current position and the driving path to the construction area can be determined. The heading angle is the direction angle deviated when the dynamic compactor turns. For example, a straight line can be determined based on the current position of the dynamic compactor and the position of the first ramming point, and the included angle between the straight line and the straight line in which the rammer extends out can be the heading angle of the dynamic compactor at the current position. According to the distance between the current position and the position of the first ramming point, the driving path of the dynamic compactor from the current position to the construction area can be determined.

[0080] According to the arrangement information of each row of ramming points in the task information, the ramming sequence of all ramming points can be determined. Further, according to the position of the starting ramming point and the position of the ending ramming point of each row of ramming points, the path for completing the ramming task in the construction area, i.e., the ramming path, can be determined.

[0081] Based on any of the above embodiments, determining the driving path based on the slip radius of the dynamic compactor, the current pose information, and the arrangement information of the first row of ramming points and the position of the starting ramming point in the task information comprises:

[0082] determining a first turning center based on the current pose information and the slip radius of the dynamic compactor;

[0083] determining a second turning center based on the arrangement information of the first row of ramming points and the position of the starting ramming point in the task information, and the rammer extension distance of the dynamic compactor;

[0084] determining the driving path based on the first turning center, the second turning center, and the slip radius.

[0085] Specifically, the first turning center is determined according to the current pose information and the slip radius of the dynamic compactor. The first turning center is the position of the turning center when the dynamic compactor differentially turns from the current position. According to the movement law of the dynamic compactor, the first turning center is located on the straight line in which the rammer of the dynamic compactor extends out, and the distance from the turning center is one slip radius.

[0086] According to the arrangement information of the first row of ramming points in the task information, a connecting line of the first row of ramming points is determined. A point on the connecting line of the first row of ramming points, which is a distance equal to the rammer extension distance of the dynamic compactor from the position of the starting ramming point of the first row of ramming points, is taken as a second turning center. The rammer extension distance is the distance between the center of the rammer and the turning center of the dynamic compactor.

[0087] A position determined by extending backward from the second turning center to the position determined by the first turning center and the second turning center is taken as a straight running end point of the dynamic compactor. A straight running path determined by the first turning center and the straight running end point is part of the driving path.

[0088] In addition, since there may be an error between the center of the rammer and the starting ramming point of the first row of ramming points after the dynamic compactor performs differential steering at the straight running end point, the distance between the second turning center and the starting ramming point of the first row of ramming points can also be set as the sum of the rammer extension distance and a buffer distance, so as to determine the position of the second turning center. The buffer distance can be set as needed for posture adjustment of the dynamic compactor. Accordingly, in addition to the straight running path, the driving path can also include a driving buffer path determined by the buffer distance.

[0089] Based on any of the above embodiments, the driving path is determined based on the first turning center, the second turning center, and the slip radius, including:

[0090] a straight running path of the dynamic compactor is determined based on the first turning center and the straight running end point;

[0091] a driving buffer path of the dynamic compactor is determined based on the distance between the center of the rammer and the first ramming point after the dynamic compactor performs differential steering at the straight running end point;

[0092] the driving path is determined based on the straight running path and the driving buffer path;

[0093] wherein the straight running end point is a position determined by extending backward from the second turning center to the position determined by the first turning center and the second turning center.

[0094] Specifically, for example, Figure 3 a driving path diagram of the dynamic compactor provided by the present application is as shown in Figure 3 The driving path of the dynamic compactor is not continuous but composed of two straight line segments, i.e., the straight running path and the driving buffer path. Corresponding to the driving path, Figure 4 a driving action diagram of the dynamic compactor provided by the present application is as shown in Figure 4 The action of the dynamic compactor includes four actions in sequence, i.e., differential steering, forward straight running, differential steering, and forward straight running. The specific steps are as follows:

[0095] Step one, find the first steering center according to the starting point pose and the slip characteristics of the dynamic steering of the rammer. The first steering center should be right behind the starting point, and the distance is the slip radius of the turning center when dynamic steering.

[0096] Step two, determine the second steering center. Along the line of the first row of ramming points, retreat from the first ramming point position by a rammer extension distance plus a buffer distance, which is the second steering center.

[0097] Step three, determine the straight-line end point. Along the line connecting the first and second steering centers, extend from the second steering center by a slip radius, which is the straight-line end point.

[0098] Step four, the rammer dynamic steers from the starting point to the line connecting the first and second steering centers.

[0099] Step five, along the straight-line path, advance to the straight-line end point.

[0100] Step six, dynamic steering at the straight-line end point to the line connecting the second steering center and the first ramming point, with the vehicle heading pointing to the first ramming point. After driving along the driving buffer path, accurately aim at the first ramming point.

[0101] Based on any of the above embodiments, based on the slip radius of the rammer, the arrangement information of each row of ramming points in the task information, and the starting and ending ramming points in each row of ramming points, the ramming path is determined, including:

[0102] Based on the arrangement information of the current row of ramming points in the task information, and the position of the starting ramming point in the current row of ramming points, the single-row ramming path of the rammer is determined;

[0103] Based on the position of the ending ramming point in the current row of ramming points, the position of the starting ramming point in the next row of ramming points, and the slip radius of the rammer, the row-to-row lane-changing path of the rammer is determined;

[0104] Based on the single-row ramming path and the row-to-row lane-changing path, the ramming path is determined.

[0105] Specifically, the ramming path includes a plurality of single-row ramming paths and row-to-row lane-changing paths between the single-row ramming paths.

[0106] The ramming sequence of the ramming points can be to ram according to the order number of the ramming points. The single-row ramming path is the path of the rammer when completing the ramming task of a row of ramming points. Taking the current row of ramming points as an example, according to the arrangement information of the current row of ramming points, the positions of the ramming points in the current row can be determined, and the single-row ramming path of the rammer is determined by traversing each ramming point from the starting ramming point in the current row of ramming points.

[0107] The inter-row change path is the route taken by the dynamic compaction machine from the current row to the next row for compaction. When traveling between the current and next rows, the dynamic compaction machine can move from the end point of the current row's compaction points to the start point of the next row's compaction points. Therefore, the starting point of the inter-row change path is the end point of the current row's compaction points, and the ending point is the start point of the next row's compaction points.

[0108] Based on any of the above embodiments, the inter-row lane changing path of the dynamic compaction machine is determined based on the position of the end compaction point in the current row, the position of the start compaction point in the next row, and the sliding radius of the dynamic compaction machine, including:

[0109] Taking the position of the end of the compaction point in the current compaction point as the starting point, determine the first circular arc path for the dynamic compaction machine to perform differential turning;

[0110] Taking the end point of the first circular arc path as the starting point and the distance between the current row of compaction points and the next row of compaction points as the length, determine the straight-line path for the dynamic compaction machine to change lanes between rows;

[0111] Starting from the end of the straight-ahead path after lane change, determine the second circular arc path for the dynamic compaction machine to perform differential turning;

[0112] Based on the first circular arc path, the straight-line path for lane changing, and the second circular arc path, the lane changing path between rows of the dynamic compaction machine is determined.

[0113] The first and second circular arc paths both use the sliding radius of the dynamic compaction machine as the radius of the circle.

[0114] Specifically, the lane-changing path between rows includes a first circular path, a lane-changing straight path, and a second circular path.

[0115] For example, Figure 5 This is a schematic diagram of the compaction path provided by the present invention, as shown below. Figure 5 As shown in the figure, the units of measurement are meters. The dynamic compaction machine is compacting between three rows of compaction points. This corresponds to the compaction path. Figure 6 This is a schematic diagram of the compaction action of the dynamic compaction machine provided by the present invention, as shown below. Figure 6 As shown in the figure, the units of measurement are meters. The compaction work of this dynamic compaction machine can be summarized as a cyclical process of "reverse compaction + turning around and changing lanes + reverse compaction". The sequence of actions in each cycle is as follows: reverse straight movement, differential steering, reverse straight movement, differential steering, and reverse straight movement. The specific steps are as follows:

[0116] Step 1: Move backward and straight ahead to complete the tamping of all the tamping points in the current row one by one.

[0117] Step 2: To ensure space for turning around, reverse and drive straight for a buffer distance.

[0118] Step three, differential steering 90°, here the path of the dynamic compactor is an arc, and the slip radius is the radius of the arc.

[0119] Step four, straight back, the straight distance is the vertical distance between the adjacent two rows of ramming points.

[0120] Step five, differential steering 90° again, here the path of the dynamic compactor is an arc, and the slip radius is the radius of the arc.

[0121] Step six, straight back until the first ramming point of the next row is aligned.

[0122] Based on any of the above embodiments, step 120 further includes:

[0123] determining a plurality of motion control points of the dynamic compactor based on the work path;

[0124] determining a work path point list of the dynamic compactor based on the plurality of motion control points and the action instruction of the dynamic compactor corresponding to each motion control point.

[0125] Specifically, after the work path of the dynamic compactor is planned, a work path point list of the dynamic compactor can be generated. Each point in the work path point list is a motion control point of the dynamic compactor, which is used to control the motion of the dynamic compactor. The selection of the motion control point can be selected according to actual needs. For example, according to the size and speed of the dynamic compactor, a motion control point can be selected every 20 meters in the work path.

[0126] The action instruction of the dynamic compactor is the action instruction required to be executed by the dynamic compactor at the current motion control point. For example, straight forward, straight backward, differential steering, etc.

[0127] The position and action instruction of the motion control point are sent to the dynamic compactor as a work path point, so that the dynamic compactor automatically executes the ramming task. The format of the work path point can be [motion control point position, action instruction].

[0128] Based on any of the above embodiments, the action instruction of the dynamic compactor includes a straight instruction and a differential steering instruction.

[0129] Specifically, in general path planning schemes, when the dynamic compactor turns around or turns, a circular arc segment is directly planned. After receiving the planned path point, the dynamic compactor generally adopts single-sided track steering or double-sided track differential steering.

[0130] In the actual construction process, the strong rammer machine often has large tracking error in the circular arc segment. For example, when changing lanes in the full ramming process, the vertical distance between the two rows of ramming points is 2.2 m, which is the length of a rammer diameter. If the strong rammer machine turns around according to the circular arc, the planning will give a circular arc with a radius of 1.1 m. Considering that the width of the strong rammer machine body is 5 m, if the strong rammer machine turns around according to the circular arc path, the turning radius is certainly much larger than 1.1 m, and the trajectory is similar to centrifugal. Therefore, when turning around in the full ramming process, the strong rammer machine can only choose differential steering, and the path planning should not issue a circular arc path.

[0131] The strong rammer machine path planning method provided by the embodiment of the application has simple strong rammer machine action instructions, is easy to execute, and simplifies the operation of the strong rammer machine.

[0132] Based on any one of the above embodiments, based on the plurality of motion control points and the strong rammer machine action instructions corresponding to each motion control point, the working path point sequence of the strong rammer machine is determined, and then the following steps are included:

[0133] Based on the working path point sequence and the preset aiming distance, the closest distance point and the pre-aiming point of the strong rammer machine are determined.

[0134] Based on the current position of the strong rammer machine, the position of the closest distance point, and the position of the pre-aiming point, the driving curvature of the strong rammer machine is determined.

[0135] Based on the driving curvature and the preset driving speed of the strong rammer machine, the expected speeds of the two side tracks of the strong rammer machine are determined respectively.

[0136] Specifically, after receiving the working path point sequence, the expected speeds of the two side tracks of the strong rammer machine can be determined, and the expected speeds are used for speed control of the strong rammer machine tracks.

[0137] In the working path point sequence, the motion control point closest to the current position of the strong rammer machine, i.e., the closest distance point, can be determined. In order to ensure the continuity of the motion of the strong rammer machine and reduce speed fluctuations, the pre-aiming point can be determined according to the preset aiming distance. The pre-aiming point is used for correcting the speed of the strong rammer machine. The preset aiming distance is the distance between the closest distance point and the pre-aiming point, which can be set according to actual conditions.

[0138] According to the current position of the strong rammer machine, the position of the closest distance point, and the position of the pre-aiming point, an arc can be determined, and the curvature of the arc is the driving curvature, which is used for correcting the speeds of the two side tracks, so that the actual motion trajectory of the strong rammer machine is as close as possible to the working path. According to the driving curvature and the preset driving speed of the strong rammer machine, the expected speeds of the two side tracks of the strong rammer machine can be determined respectively, which is expressed by the formula as follows:

[0139]

[0140] In the formula, v l is the expected speed of the left track of the rammer, v r is the expected speed of the right track of the rammer, γ is the driving curvature, B is the distance between the left and right tracks, and v is the preset driving speed.

[0141] After determining the expected speeds of the left and right tracks of the rammer, the expected speeds can be sent to the motion controllers of the left and right tracks of the rammer to control the motion of the rammer.

[0142] Based on any of the above embodiments, when the rammer reaches the specified ramming point, a camera can be further used to improve the alignment accuracy of the ramming point.

[0143] For example, a camera is installed on the front section of the slewing support or above the jib of the rammer, the position of the rammer is photographed, the error between the center of the rammer and the specified ramming point is determined, and the posture of the rammer is adjusted. For example, the transverse distance between the calculated position of the center of the rammer and the line connecting the rammer and the ramming point is determined, the rammer is moderately differential steered to ensure that the direction of the jib is on the same line as the line connecting the rammer and the ramming point. If there is still a transverse error, the rammer is moderately slewing. Finally, the amplitude is adjusted according to the pitch angle of the vehicle to compensate.

[0144] Based on any of the above embodiments, Figure 7 A structure diagram of a rammer path planning device provided by the present application is shown in FIG. 7. Figure 7 As shown in FIG. 7, the device comprises:

[0145] An acquisition unit 710 is configured to acquire current pose information and task information of the rammer.

[0146] A determination unit 720 is configured to determine a task path of the rammer based on the current pose information and the task information of the rammer and a slip radius of the rammer. The task information comprises arrangement information of each row of ramming points, and positions of a starting ramming point and an ending ramming point of each row of ramming points. The slip radius is the radius of the motion track of the turning center of the rammer when differential steering.

[0147] The rammer path planning device provided by the embodiment of the present application determines the task path of the rammer based on the current pose information and the task information of the rammer and the slip radius of the rammer. The task information comprises arrangement information of each row of ramming points and positions of a starting ramming point and an ending ramming point of each row of ramming points. The arrangement information and the positions of the ramming points in the task information are used to automatically plan the path of the rammer, improve the intelligent level of the rammer, and improve the construction accuracy and efficiency of the rammer.

[0148] Based on any of the above embodiments, the task path comprises a driving path and a ramming path.

[0149] The driving path is a path of the dynamic compactor from the current position to the first ramming point;

[0150] The ramming path is a path of the dynamic compactor between the first ramming point and the last ramming point.

[0151] Based on any of the above embodiments, the determining unit 720 comprises:

[0152] The driving path determining sub-unit is configured to determine the driving path based on the slip radius of the dynamic compactor, the current pose information, and the arrangement information of the first row of ramming points and the position of the starting ramming point in the task information.

[0153] The ramming path determining sub-unit is configured to determine the ramming path based on the slip radius of the dynamic compactor, the arrangement information of each row of ramming points in the task information, and the starting ramming point and the ending ramming point in each row of ramming points.

[0154] Based on any of the above embodiments, the driving path determining sub-unit comprises:

[0155] The first turning center determining module is configured to determine the first turning center based on the current pose information and the slip radius of the dynamic compactor.

[0156] The second turning center determining module is configured to determine the second turning center based on the arrangement information of the first row of ramming points and the position of the starting ramming point in the task information, and the rammer extension distance of the dynamic compactor.

[0157] The driving path determining module is configured to determine the driving path based on the first turning center, the second turning center, and the slip radius.

[0158] Based on any of the above embodiments, the driving path determining module is specifically configured to:

[0159] Determine the straight driving path of the dynamic compactor based on the first turning center and the straight driving end point.

[0160] Determine the driving buffer path of the dynamic compactor based on the distance between the rammer center of the dynamic compactor after differential steering at the straight driving end point and the first ramming point.

[0161] Determine the driving path based on the straight driving path and the driving buffer path.

[0162] The straight driving end point is a position determined after extending one slip radius backward from the second turning center along the straight line determined by the first turning center and the second turning center.

[0163] Based on any of the above embodiments, the ramming path determining sub-unit is specifically configured to:

[0164] The single-row ramming path determination module is configured to determine a single-row ramming path of the dynamic compactor based on arrangement information of a current row of ramming points in the task information and a position of a starting ramming point in the current row of ramming points.

[0165] The row-to-row lane-changing path determination module is configured to determine a row-to-row lane-changing path of the dynamic compactor based on a position of an ending ramming point in the current row of ramming points, a position of a starting ramming point in a next row of ramming points, and a slip radius of the dynamic compactor.

[0166] The ramming path determination module is configured to determine a ramming path based on the single-row ramming path and the row-to-row lane-changing path.

[0167] Based on any of the above embodiments, the row-to-row lane-changing path determination module is specifically configured to:

[0168] determine, starting from the position of the ending ramming point in the current row of ramming points, a first circular arc path in which the dynamic compactor performs differential steering;

[0169] determine, starting from an end point of the first circular arc path and with a distance between the current row of ramming points and the next row of ramming points as a length, a lane-changing straight path in which the dynamic compactor performs row-to-row lane changing;

[0170] determine, starting from an end point of the lane-changing straight path, a second circular arc path in which the dynamic compactor performs differential steering;

[0171] determine the row-to-row lane-changing path of the dynamic compactor based on the first circular arc path, the lane-changing straight path, and the second circular arc path;

[0172] The first circular arc path and the second circular arc path both have the slip radius of the dynamic compactor as a radius.

[0173] Based on any of the above embodiments, the device further includes:

[0174] The task path point list determination unit is configured to determine a plurality of motion control points of the dynamic compactor based on the task path, and determine a task path point list of the dynamic compactor based on the plurality of motion control points and an action instruction of the dynamic compactor corresponding to each motion control point.

[0175] Based on any of the above embodiments, the task path point list determination unit further includes a speed control subunit, which is specifically configured to:

[0176] determine a closest distance point and a pre-aiming point of the dynamic compactor based on the task path point list and a preset aiming distance;

[0177] determine a driving curvature of the dynamic compactor based on a current position of the dynamic compactor, a position of the closest distance point, and a position of the pre-aiming point;

[0178] determine expected speeds of two sides of a track of the dynamic compactor based on the driving curvature and a preset driving speed of the dynamic compactor.

[0179] Based on any of the above embodiments, the present invention also provides a dynamic compaction machine, including a controller, which executes the dynamic compaction machine path planning method as described above.

[0180] Based on any of the above embodiments Figure 8 This is a schematic diagram of the structure of the electronic device provided by the present invention, such as... Figure 8 As shown, the electronic device may include: a processor 810, a communications interface 820, a memory 830, and a communications bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other via the communications bus 840. The processor 810 can call logical commands stored in the memory 830 to execute the following methods:

[0181] Obtain the current position and orientation information and task information of the dynamic compaction machine;

[0182] Based on the current position and task information, as well as the sliding radius of the dynamic compaction machine, the working path of the dynamic compaction machine is determined.

[0183] The task information includes the arrangement of each row of compaction points, as well as the positions of the starting and ending compaction points of each row; the sliding radius is the radius of the circle of motion trajectory of the rotation center when the dynamic compaction machine makes differential turn.

[0184] Furthermore, the logical commands in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several commands to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0185] The processor in the electronic device provided in this embodiment of the invention can call logical instructions in the memory to implement the above method. Its specific implementation method is the same as the aforementioned method implementation method and can achieve the same beneficial effects, which will not be repeated here.

[0186] The embodiment of the present application also provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method provided by the above-mentioned embodiments, for example, comprising:

[0187] Obtaining current pose information and task information of the dynamic compactor;

[0188] Determining a working path of the dynamic compactor based on the current pose information and the task information, and a slip radius of the dynamic compactor;

[0189] The task information comprises arrangement information of each row of ramming points, and positions of a starting ramming point and an ending ramming point of each row of ramming points; and the slip radius is a radius of a circle of a movement track of a turning center of the dynamic compactor when the dynamic compactor is differentially steered.

[0190] The computer program stored on the non-transitory computer readable storage medium provided by the embodiment of the present application is executed to implement the above-mentioned method, the specific implementation manners are consistent with the above-mentioned method implementation manners, and the same beneficial effects can be achieved, and thus details are not described herein.

[0191] The device embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme. Those skilled in the art can understand and implement without creative labor.

[0192] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and necessary universal hardware platforms, and of course, can also be realized by hardware. Based on such understanding, the above technical solutions essentially or in other words, the part of the prior art that makes a contribution can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of commands for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the method described in each embodiment or some parts of the embodiment.

[0193] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that the technical solutions recorded in the foregoing examples can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for path planning of a dynamic compactor, characterized in that, The method comprises: obtaining current pose information and task information of the rammer; determining a work path of the rammer based on the current pose information, the task information, and a slip radius of the rammer; the task information comprises arrangement information of each row of ramming points, and positions of a starting ramming point and an ending ramming point of each row of ramming points; and the slip radius is a radius of a circle of a movement track of a turning center of the rammer when the rammer is differentially turned; the work path comprises a driving path, and the driving path is a path of the rammer from a current position to a first ramming point, and comprises: determining a first turning center based on the current pose information and the slip radius of the rammer; determining a second turning center based on arrangement information and the position of the starting ramming point of the first row of ramming points in the task information, and a rammer extension distance of the rammer; determining a straight driving path of the rammer based on the first turning center and a straight driving end point; determining a driving buffer path of the rammer based on a distance between a rammer center and the first ramming point after the rammer is differentially turned at the straight driving end point; determining the driving path based on the straight driving path and the driving buffer path; the straight driving end point is a position determined after the straight line determined by the first turning center and the second turning center is extended by one slip radius toward the second turning center; the driving path is not continuous; after the work path of the rammer is determined based on the current pose information, the task information, and the slip radius of the rammer, the method further comprises: determining a plurality of movement control points of the rammer based on the work path; determining a work path point list of the rammer based on the plurality of movement control points and action instructions of the rammer corresponding to each movement control point.

2. The method of claim 1, wherein, the work path comprises a ramming path; the ramming path is a path of the rammer for ramming construction between a first ramming point and a last ramming point.

3. The method of claim 2, wherein, determining the work path of the rammer based on the current pose information, the task information, and the slip radius of the rammer comprises: determining a driving path based on the slip radius of the rammer, the current pose information, and arrangement information of the first row of ramming points and the position of the starting ramming point in the task information; determining a ramming path based on the slip radius of the rammer, arrangement information of each row of ramming points in the task information, and a starting ramming point and an ending ramming point in each row of ramming points.

4. The method of claim 3, wherein, determining the ramming path based on the slip radius of the rammer, arrangement information of each row of ramming points in the task information, and a starting ramming point and an ending ramming point in each row of ramming points comprises: determining a single-row ramming path of the rammer based on arrangement information of a current row of ramming points in the task information and the position of the starting ramming point in the current row of ramming points; determining an inter-row lane-changing path of the rammer based on the position of the ending ramming point in the current row of ramming points, the position of a starting ramming point in a next row of ramming points, and the slip radius of the rammer; and Determine the ramming path based on the single-row ramming path and the row-to-row changing path.

5. The method of claim 4, wherein, Determine the row-to-row changing path of the dynamic compactor based on the position of the ending ramming point in the current row, the position of the starting ramming point in the next row, and the radius of the dynamic compactor. Determine a first circular arc path of the dynamic compactor based on the position of the ending ramming point in the current row as the starting point. Determine a changing straight path of the dynamic compactor based on the length of the interval distance between the current row and the next row. Determine a second circular arc path of the dynamic compactor based on the ending point of the first circular arc path as the starting point. Determine the row-to-row changing path of the dynamic compactor based on the first circular arc path, the changing straight path, and the second circular arc path. The first circular arc path and the second circular arc path both have the radius of the dynamic compactor as the radius.

6. The method of claim 1, wherein, Determine the work path point list of the dynamic compactor based on the plurality of motion control points and the action instruction of the dynamic compactor corresponding to each motion control point. Determine the closest distance point and the pre-aiming point of the dynamic compactor based on the work path point list and the preset aiming distance. Determine the travel curvature of the dynamic compactor based on the current position of the dynamic compactor, the position of the closest distance point, and the position of the pre-aiming point. Determine the expected speed of the two sides of the track of the dynamic compactor based on the travel curvature and the preset travel speed of the dynamic compactor.

7. A dynamic compactor path planning device, characterized by, The method comprises the following steps. An acquisition unit is configured to acquire the current pose information and the work task information of the dynamic compactor. A determination unit is configured to determine the work path of the dynamic compactor based on the current pose information, the work task information, and the radius of the dynamic compactor. The work task information comprises the arrangement information of each row of ramming points, the position of the starting ramming point, and the position of the ending ramming point of each row of ramming points. The radius is the radius of the circular path of the turning center of the dynamic compactor when the dynamic compactor performs differential steering. The work path comprises a travel path, which is the path of the dynamic compactor from the current position to the first ramming point. Determine the first turning center based on the current pose information and the radius of the dynamic compactor. Determine the second turning center based on the arrangement information and the position of the starting ramming point of the first row of ramming points in the work task information, and the rammer extension distance of the dynamic compactor. Determine the straight path of the dynamic compactor based on the first turning center and the straight end point. Determine the travel buffer path of the dynamic compactor based on the distance between the rammer center of the dynamic compactor after differential steering at the straight end point and the first ramming point. Determine the travel path based on the straight path and the travel buffer path. The straight end point is a position determined by extending the straight line along the first turning center and the second turning center by one radius of the dynamic compactor. The travel path is not continuous. The method comprises the following steps of: determining a working path of the dynamic compactor based on the current pose information, the working task information, and a sliding radius of the dynamic compactor; determining a plurality of motion control points of the dynamic compactor based on the working path; 8. A dynamic compactor characterized by, determining a working path point list of the dynamic compactor based on the plurality of motion control points and a corresponding dynamic compactor action instruction of each motion control point. The method comprises a controller, which executes the dynamic compactor path planning method according to any one of claims 1 to 6.

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