Excavation Trajectory Planning Using Accumulation Height Data
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Solution Overview
Problem
Existing methods for generating excavation trajectories do not adequately consider the accumulation state of the excavation object, such as volume and shape, leading to inefficient excavation.
Innovation Solution
A method and apparatus that obtain information about the excavation point, accumulation height, and excavation possible range to generate a trajectory for an excavator, allowing efficient excavation by considering these factors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If existing trajectory generation methods are used, then the excavator can operate automatically, but the excavation efficiency is low due to not considering accumulation state
Solution Approach 1:
The system performs preliminary measurement of accumulation height information before generating the excavation trajectory. By obtaining the accumulation state data in advance and using it as input for trajectory generation, the system enables efficient excavation without requiring complex real-time adjustments during operation.
2Productivity
If trajectory is generated without considering accumulation height, then the generation process is simple, but the excavation becomes inefficient
Solution Approach 1:
The accumulation height measurement is performed as a preliminary step before trajectory generation. This advance measurement allows the trajectory to be optimized based on actual accumulation state without adding time during the excavation operation itself, thus improving overall efficiency.
3Reliability
If automated operation is implemented, then operator safety improves, but trajectory optimization for accumulation state is lacking
Solution Approach 1:
The system uses measured accumulation height information as feedback to optimize the excavation trajectory. By incorporating this feedback loop, the automated system achieves both safety (through automation) and efficiency (through optimized trajectory based on actual accumulation state).
Data Source
AI summary
In order to generate a trajectory that enables efficient excavation of an object, an excavation trajectory generation apparatus 4 includes: an excavation point obtaining section 110 configured to obtain information related to an excavation point at which an object 2 is to be excavated; a parameter calculation section 120 configured to calculate a parameter to be used for generating an excavation trajectory; and an excavation trajectory generation section 140 configured to generate a trajectory with which an excavator 3 excavates the object 2, based on the excavation point, accumulation height information for the object 2 at the excavation point, and an excavation possible range for the excavator 3 to excavate the object 2.