Excavator Trajectory Control for Autonomous Digging Paths
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Solution Overview
Problem
Operating an excavator is complex due to varying operator skills and habits, leading to non-uniform operations, and determining an optimal excavation trajectory for autonomous excavators remains a challenge.
Innovation Solution
A method and apparatus that determine a target excavation trajectory by generating multiple trajectory parameter value combinations within preset ranges, filtering those that satisfy specific conditions such as obstacle avoidance and sufficient excavation power, to optimize the excavation process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple trajectory parameter value combinations are generated and filtered to determine the optimal excavation trajectory, then excavation efficiency is improved, but the computational complexity and control system complexity increase
Solution Approach 1:
The system pre-establishes value ranges for trajectory parameters (bucket angle, arm angle, boom angle) and generates multiple parameter combinations in advance. By performing this computational work before actual excavation, the system can quickly select optimal trajectories during operation, improving excavation efficiency while managing control complexity through advance preparation
Solution Approach 2:
The trajectory control is segmented into multiple independent parameters (bucket angle, arm angle, boom angle), each with its own value range. This segmentation allows the system to independently optimize each parameter combination and filter them systematically, making the complex control problem manageable through modular parameter optimization
2Manufacturing precision
If trajectory parameters are optimized to achieve precise excavation trajectories, then manufacturing precision is improved, but the ease of operation deteriorates
Solution Approach 1:
The control system automatically generates multiple trajectory parameter combinations, filters them based on excavation conditions, and determines optimal trajectories without requiring manual intervention. This self-service capability achieves precise trajectory control while eliminating the need for operators to manually calculate or adjust complex parameters, thereby maintaining ease of operation
Solution Approach 2:
The system filters trajectory parameter combinations based on feedback from excavation conditions (obstacle avoidance, excavation power requirements, material type). This feedback mechanism automatically adjusts trajectory parameters to achieve precise excavation while adapting to real-time conditions, removing the burden of manual precision control from the operator
Data Source
AI summary
A method and an apparatus for controlling an excavator are provided according to the embodiments. The method includes: determining, according to preset value ranges of trajectory parameters in at least two trajectory parameters, trajectory parameter value combinations, to obtain a first trajectory parameter value combination set; determining, from the first trajectory parameter value combination set, trajectory parameter value combinations for moving from a preset starting position to a preset end position, to obtain a second trajectory parameter value combination set; determining, in the second trajectory parameter value combination set, a trajectory parameter value combination that satisfies a preset excavation condition, to obtain a third trajectory parameter value combination set; determining a target excavation trajectory from the third trajectory parameter value combination set; and sending a control instruction to the excavator to enable the excavator to excavate material according to the target excavation trajectory.