CN115544768A - Autonomous excavation operation track generation method and system - Google Patents
Autonomous excavation operation track generation method and system Download PDFInfo
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- CN115544768A CN115544768A CN202211240479.7A CN202211240479A CN115544768A CN 115544768 A CN115544768 A CN 115544768A CN 202211240479 A CN202211240479 A CN 202211240479A CN 115544768 A CN115544768 A CN 115544768A
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Abstract
The invention provides an autonomous excavation operation track generation method and system, which relate to the technical field of excavators and comprise the following steps: analyzing excavation operation movement by fusing operation characteristics of skilled operators on an excavator experimental platform to obtain an excavation path model; based on the excavation path model, adopting a segmented Bezier curve to represent an excavation track; based on the segmented Bezier curve, taking the time of excavation operation motion as an optimization target, and taking continuity constraint, boundary constraint and dynamic feasibility constraint as constraint conditions to establish a target function of a time optimal trajectory generation problem; based on a discretization method, the time optimal track generation problem is reconstructed into a solvable second-order cone optimization problem, and the second-order cone optimization problem is subjected to iterative solution to obtain a time optimal digging track. The invention ensures that the machine completes the operation task in the shortest time and improves the operation efficiency of the excavator.
Description
Technical Field
The invention relates to the technical field of excavators, in particular to an autonomous excavation operation track generation method and system.
Background
The excavator is widely applied, and occupies an important place in the fields of urban and rural construction, transportation, emergency rescue and disaster relief and the like, in recent years, with the development of computers and control technologies, the development of the autonomous operation excavator is focused on the engineering machinery industry, so far, the operation of the excavator is seriously dependent on the operation of a skilled operator, which causes the low efficiency of excavation operation, in addition, the safety of the operator is greatly threatened in the face of severe and variable operation environments, and the development of the autonomous operation excavator is urgently needed to realize the autonomous excavation operation aiming at the reasons of the two aspects, wherein the key technology is that an efficient motion track is autonomously generated, and the high efficiency of the excavation operation means that the optimal time distribution is needed in the excavation process.
Aiming at the problem of generating the optimal digging track of the excavator, the prior art discloses a method for performing dynamic modeling on the excavator to generate a digging track with the minimum torque and a method for generating the digging track with the minimum torque meeting dynamic constraints by adopting a piecewise polynomial. Although the optimal digging track is obtained by the method, the optimal time distribution problem is not solved, the optimal time distribution method generally comprises a heuristic method and an optimization method, the prior art provides a scheme for distributing the optimal digging time by adopting a heuristic algorithm, and for large-scale digging track generation, the method has high calculation cost and is difficult to meet real-time track generation.
The time optimality refers to that a driver properly increases speed and acceleration under the premise of not violating the physical limit of a machine, even reaches the physical limit state of the driver, so that the machine can complete work tasks in the minimum time, the efficiency is improved, the time optimality problem is researched, the conventional method usually meets the physical limit constraint of the machine and converts the machine into a nonlinear optimization problem for solving, however, the performance of the driver is not fully exerted by the scheme, namely, the time optimality cannot be guaranteed, in addition, the scheme needs to provide an initial solution during solving, the problem is solved by seriously depending on the selection of the initial solution, and the problem is possibly trapped in a local solution and the global optimality cannot be guaranteed.
Disclosure of Invention
In view of this, the invention provides an autonomous digging operation track generation method and system, and solves the technical problem of how to ensure time optimality of digging tracks in the prior art.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention provides an autonomous excavation operation track generation method, which comprises the following steps:
analyzing excavation operation movement by fusing operation characteristics of skilled operators on an excavator experimental platform to obtain an excavation path model;
based on the excavation path model, adopting a segmented Bezier curve to represent an excavation track;
based on the segmented Bezier curve, taking the time of excavation operation movement as an optimization target, taking continuity constraint, boundary constraint and dynamic feasibility constraint as constraint conditions, and establishing a target function of a time optimal trajectory generation problem;
based on a discretization method, the time optimal track generation problem is reconstructed into a second-order cone optimization problem which can be solved, and the second-order cone optimization problem is iteratively solved to obtain a time optimal excavation track.
Preferably, the excavator experimental platform is provided with an inclination angle sensor and an absolute encoder, the inclination angle sensor and the absolute encoder are respectively used for measuring the variation of the angle values of a rotary joint, a movable arm, a bucket rod and a bucket joint in the movement process of the excavator, data acquisition and processing are carried out through a computer, and finally track tracking is carried out through a controller.
Preferably, the job characteristics of the skilled operator are obtained by analyzing mining path topology information of the skilled operator based on mining path generation rules of the skilled operator for a mining task.
Preferably, the method for analyzing the excavation operation movement by fusing the operation characteristics of a skilled operator on the excavator experimental platform to obtain the excavation path model comprises the following steps:
analyzing excavation operation movement by fusing operation characteristics of a skilled operator on an excavator experiment platform to obtain topological information of a track in a joint space;
processing the topological information of the tracks in the joint space in a time sequence signal alignment mode to enable the data lengths in the topological information of the tracks in the joint space to be consistent;
carrying out noise reduction processing on the topological information of the track in the joint space by adopting a moving average filtering method;
averaging a plurality of groups of joint space tracks in the topological information of the tracks in the joint space to obtain an average excavation path;
and transforming the average excavation path to a pose space, finding key path points by adopting a Douglas-Peucker algorithm, and establishing an excavation path model.
Preferably, the segmented bezier curve satisfies the following constraint:
path point constraint, ensuring that the track passes through the key path point;
boundary value constraint, setting the speed and acceleration values of the excavation operation track at the starting point and the ending point of the track so as to meet the state requirement of excavation operation;
and continuous constraint is carried out to ensure that the order derivatives of the two connected tracks at the break point are continuous to obtain a smooth track.
The invention also provides an autonomous excavation operation track generation system, which comprises:
the acquisition module is used for analyzing the excavation operation movement by fusing the operation characteristics of a skilled operator on the excavator experiment platform to obtain an excavation path model;
the representing module is used for representing the excavation track through a segmented Bezier curve;
the building module is used for building a target function of a time optimal track generation problem by taking the time of excavation operation motion as an optimization target and taking continuity constraint, boundary constraint and dynamic feasibility constraint as constraint conditions;
and the processing module is used for reconstructing the time optimal track generation problem into a solvable second-order cone optimization problem, and performing iterative solution on the second-order cone optimization problem to obtain a time optimal digging track.
Compared with the prior art, the invention has the beneficial effects that: the invention provides an autonomous excavation operation track generation method and system, comprising the following steps: analyzing excavation operation movement by fusing operation characteristics of skilled operators on an excavator experimental platform to obtain an excavation path model; based on the excavation path model, adopting a segmented Bezier curve to represent an excavation track; based on the segmented Bezier curve, taking the time of excavation operation motion as an optimization target, and taking continuity constraint, boundary constraint and dynamic feasibility constraint as constraint conditions to establish a target function of a time optimal trajectory generation problem; based on a discretization method, the time optimal track generation problem is reconstructed into a solvable second-order cone optimization problem, iteration solution is carried out on the second-order cone optimization problem, and a time optimal excavation track is obtained, so that the machine can complete operation tasks in the shortest time, and the operation efficiency of the excavator is improved.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a flowchart of an autonomous mining operation trajectory generation method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an excavation trajectory analysis and waypoint search of a skilled operator according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a movement state of a swing joint of an excavator according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a state of motion of a boom joint of an excavator according to an embodiment of the present invention;
FIG. 5 is a schematic view of the state of the arm joint of the excavator according to the embodiment of the present invention;
FIG. 6 illustrates an example of an excavator bucket articulation configuration provided by an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating a comparison of trajectories in an excavator pose space provided by embodiments of the present invention;
fig. 8 is a schematic structural diagram of an autonomous mining operation trajectory generation system according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The invention aims to provide an autonomous digging operation track generation method and system, and solves the technical problem of how to ensure time optimality of digging tracks in the prior art.
Referring to fig. 1, an autonomous mining operation trajectory generation method includes the following steps:
step S101: analyzing excavation operation movement by fusing operation characteristics of skilled operators on an excavator experimental platform to obtain an excavation path model;
step S102: based on the excavation path model, adopting a segmented Bezier curve to represent an excavation track;
step S103: based on the segmented Bezier curve, the time of excavation operation motion is used as an optimization target, continuity constraint, boundary constraint and dynamic feasibility constraint are used as constraint conditions, and an objective function of a time optimal trajectory generation problem is established, and the method specifically comprises the following steps:
in order to generate motion as fast as possible and to satisfy the kinematic constraints of the four axes, a function τ (t) is introduced to map the time domain variable t to the imaginary domain variable τ. The following equation is used to describe the mapping relationship between the virtual domain and the time domain:
wherein T = { T = { (T) 0 ，T 1 ，…T N ]Is a time series of each trace of the path.
(1) Objective function
In order to improve the efficiency of autonomous excavator operation, the total time of excavation operation needs to be reduced under the condition of satisfying the dynamic constraint of the machine, so the time of excavation operation movement is taken as an optimization target. The total time required to perform the excavation task is T S Then the optimization objective can be written as follows:
for solving the nonlinear optimization problem, the nonlinear optimization problem needs to be converted into a convex optimization form, so that a global optimal solution can be obtained without depending on an initial value. Based on this, two functions a (τ), (τ) are introduced.
Simultaneously ordering:
b i (τ)≥0
through the conversion, the speed and acceleration continuity constraint, the boundary constraint and the kinematic feasibility constraint of the segmented track can be represented by a (tau) and b (tau).
(2) And (3) continuous constraint:
B′ i (1)a i (1)+B″ i (1)b i (1)＝B′ i+1 (0)a i+1 (0)+B″ i+1 (0)b i+1 (0)
(3) And (3) boundary constraint:
B′ 0 (0)a 0 (0)+B″ 0 (0)b 0 (0)＝a 0
B′ N (1)a N (1)+B″ N (1)b N (1)＝a f
(4) And (3) dynamic feasibility constraint:
-a max ≤B′ i (s)a i (s)+B″ i (s)b i (s)≤a max
in the formula, v 0 、v f And a 0 、a f Velocity and acceleration at the start and end of the trajectory, respectively; v. of max 、a max Respectively the maximum speed and the maximum acceleration of the digging motion.
Step S104: based on a discretization method, the time optimal track generation problem is reconstructed into a solvable second-order cone optimization problem, and the second-order cone optimization problem is subjected to iterative solution to obtain a time optimal digging track.
In order to obtain a global optimal solution of the above optimization problem, the above trajectory generation problem needs to be reconstructed into a standard second-order cone optimization form. In the present invention, for each segment the trace τ ∈ [0,1 ]]Are divided into M portions, such that a i (τ)，b i (τ) is also discretized into
a i (τ) is set to piecewise constant, then b i (τ) is written as:
thus, introducing a relaxation variable
And
the objective function can be rewritten as:
where M =0,1,. Cndot, M-1, i =0,1,. Cndot. Also, there is the following formula:
wherein, the above two inequalities can be written as the following second order cone:
where M =0,1,. And M-1, i =0,1,. N.
Wherein M =0,1., M, i =0,1.,. N.
The velocity and acceleration continuity constraints of the preceding segmented trajectory, the boundary value constraints of the digging trajectory, and the kinematic feasibility constraints of the trajectory may also be written in discrete form. Finally, generating question mark functions and constraint conditions by the original track to reconstruct a second-order cone optimization problem:
min A T d
in the formula, the continuity constraint and the boundary value constraint are collectively referred to as an equality constraint (A) eq x＝b sq ) The dynamic feasibility constraint is denoted as an inequality constraint (A) is x≤b is ) The optimization variable x is composed of
The vector quantity of the components is determined,
the track generation problem is a standard second-order cone optimization problem, and the convex optimization problem can be solved in a real-time iterative optimization mode to obtain a global optimal excavation track.
The invention provides an autonomous digging operation track generation method, which can obtain a time-optimal digging track, so that a machine can complete an operation task in the shortest time, and the operation efficiency of a digging machine is improved.
Furthermore, the realization of the autonomous operation of the excavator is required to depend on a sensing technology, which is the basis of the realization of the autonomous operation, therefore, the invention arranges an inclination angle sensor and an absolute encoder on the excavator experimental platform, the inclination angle sensor and the absolute encoder are respectively used for measuring the variation of the angle values of a rotary joint, a movable arm, a bucket rod and a bucket joint in the movement process of the excavator, and carry out data acquisition and processing through a computer and finally carry out track tracking through a controller.
Further, the work characteristics of the skilled operator are obtained by analyzing the excavation path topology information of the skilled operator based on the excavation path generation rules of the skilled operator for the excavation task.
For a given excavation task, the excavation motion requires planning of the bucket tooth tip motion in the pose space, whereas the excavator trajectory generation is typically done in the joint space. Therefore, the angle value in the joint space needs to be converted into the pose space to complete the mutual conversion between the joint space and the pose space, the D-H parameters of the D-H parameters are shown in the table 1, and the angles in the joint spaces of the rotation, the movable arm, the bucket rod and the bucket are (theta) 1 ，θ 2 ，θ 3 ，θ 4 ) Position and attitude space coordinate O of bucket tooth point 4 (x, y, z, ξ) can be obtained by the following formula:
in the formula, a 1 、a 2 、a 3 、a 4 Respectively indicate link lengths of joint axes of swing, boom, arm, and bucket, d 1 Represents X 0 To X 1 Link offset between the shafts.
TABLE 1 SWE50E mining robot D-H parameters
Before analyzing excavation path topology information of a skilled operator, in order to establish an excavation path generation rule of the skilled operator for a trenching mission (trapezoidal trench), a complete working process for a excavation pit can be divided into five stages: inserting the tooth point of the bucket, dragging the bucket, lifting the bucket, turning to a soil unloading point, and turning to a shoveling point.
The analysis of the excavation rules comes from the experience of a skilled driver (more than 10 years) in excavating the excavation trajectory formed by digging a trench for a plurality of times, firstly, in the preparation excavation phase, the initial position of the bucket is selected as the position where the bucket is easy to move to the excavation initial point, the initial posture of the bucket is the direction of small cutting resistance (usually the angle between the bucket and the ground is 30-60 degrees), secondly, in the bucket dragging phase, the bucket is kept to be full of excavation material and horizontal dragging is completed quickly, thirdly, in the bucket lifting phase, after the second step is completed, the bucket is lifted and rotated to keep, the excavation material is kept not to fall out of the bucket, fourthly, in the rotation to the soil unloading phase, the bucket is lifted to keep the excavation action unchanged and is rotated to the material unloading point quickly (the invention is set to rotate 90 degrees anticlockwise), in the bucket is decelerated and soil unloading is completed near the soil unloading point, and finally, in the rotation to the initial excavation point phase, the working device keeps the state of the previous stage, and is adjusted to the posture of the first stage when the excavation point is approached.
Further, the method for analyzing the excavation operation movement by fusing the operation characteristics of a skilled operator on the excavator experimental platform to obtain an excavation path model comprises the following steps:
analyzing excavation operation movement by fusing operation characteristics of skilled operators on an excavator experimental platform to obtain topological information of a track in a joint space;
processing the topological information of the track in the joint space by adopting a time sequence signal alignment mode to ensure that the data lengths in the topological information of the track in the joint space are consistent;
carrying out noise reduction processing on the topological information of the track in the joint space by adopting a moving average filtering method;
averaging a plurality of groups of joint space tracks in the topological information of the tracks in the joint space to obtain an average excavation path;
and transforming the average excavation path to a pose space, finding key path points by adopting a Douglas-Peucker algorithm, and establishing the excavation path model.
After the tracks of the skilled operators are generated through the process, topology information of the tracks in the joint space needs to be analyzed, as shown in fig. 2, firstly, data are processed in a time sequence signal alignment mode, the data lengths are consistent, because in the operation process, a plurality of groups of tests need to be carried out on excavation tasks, the operator cannot guarantee that the initial states of the test processes are completely consistent each time, then, the interference of noise signals on the tracks of the excavator can be reduced through moving average filtering, corresponding noise interference is generated because the hydraulic cylinder of the excavator has certain impact in the operation process, and finally, the average value of the plurality of groups of tracks is taken for the excavation path of the skilled operators, and the statistical average excavation path is obtained.
In addition, in view of the fact that the excavation operation path of a skilled operator is extremely poor, and the geometric shape and time distribution of the excavation operation path are far from optimal, the obtained joint space trajectory is useless or even harmful for trajectory optimization, however, topological information of the manually excavated path is essential, the topological information reflects the human intention (namely fastest excavation and stable operation), in order to keep the topological information of the found path and improve the efficiency and quality of generating the trajectory, the invention provides an intelligent path point selection strategy for generating a sparse excavated path, so that the obtained key path points provide great self-confidence for trajectory optimization, the path point selection strategy borrows one idea of a Doug-Peucker algorithm, and once all the path points are found, the optimal trajectory meeting dynamic constraints can be generated.
Furthermore, the track of the excavation operation needs to pass through the key path point p, and therefore the key path points need to be connected through a series of curves.
The segmented bezier curve of order n parameterized for τ is represented as follows:
in the formula (I), the compound is shown in the specification,
represents the jth control point on the ith bezier curve,
representing a combination number, the imaginary parameter τ ∈ [0,1 ]]In order to ensure the smoothness of the generated time optimal track, the order n of the segmented Bezier curve is selected to be 5, and the segmented Bezier curve needs to meet the following constraint:
(1) And (3) path point constraint: ensuring that the trajectory passes the critical path point.
(2) And (3) boundary value constraint: and setting the speed and acceleration values of the excavation operation track at the starting point and the ending point of the track so as to meet the state requirement of excavation operation.
(3) And (3) continuous constraint: ensuring that the n-1 order derivatives of the two connected tracks at the break point are continuous to obtain a smooth track.
As shown in fig. 8, the present invention further provides an autonomous mining work trajectory generation system 12, including:
an obtaining module 1201, configured to analyze an excavation operation motion by fusing operation characteristics of a skilled operator on an excavator experiment platform to obtain an excavation path model;
a representation module 1202 for representing the excavation trajectory by a segmented Bezier curve;
an establishing module 1203, configured to establish a target function of a time optimal trajectory generation problem by using the time of the excavation operation motion as an optimization target and using continuity constraints, boundary constraints, and dynamic feasibility constraints as constraint conditions;
the processing module 1204 is configured to reconstruct the time-optimal trajectory generation problem into a second-order cone optimization problem that can be solved, and perform iterative solution on the second-order cone optimization problem to obtain a time-optimal excavation trajectory.
The invention provides an autonomous digging operation track generating system, which can obtain a time-optimal digging track, so that a machine can complete an operation task in the shortest time, and the operation efficiency of a digging machine is improved.
In order to verify the feasibility of the scheme, the simulation result and the measured data are compared and analyzed, the measured data comprise angle values of joints in the processes of trench digging, rotation, dumping and returning when the excavator performs operation, the digging operation process is repeated for 7 periods to calculate a digging cycle, under the condition that the rotating speed of an engine of the excavator is 1500rpm, 15 digging cycles are performed in total for analyzing and comparing to ensure the validity of the measured data, and the comparison and analysis text is convenient to analyze only one digging cycle. The kinematic feasibility constraints for each joint are shown in table 2.
TABLE 2 dynamic feasibility constraints of working devices
As fig. 3 to 6 show the angle, velocity and acceleration change curves of each joint during excavation, it can be seen that the time required for the method proposed herein (red dotted line) is 10.7s less than the measured time (blue solid line) 11.0s when one excavation cycle is completed, which indicates that the method can generate a minimum time excavation trajectory by fully utilizing the physical limits of the actuator.
In order to verify the feasibility of the scheme, the characteristics of the two trajectories in the pose space are analyzed, as shown in fig. 7, it can be seen that the two trajectories are generally similar, and the optimized trajectory (dotted line) has a large local change, which may be because the performance of the excavator is fully exerted when the excavation task is executed under the power, and meanwhile, the speed and acceleration reach the limit state at the moment, so that the excavator generates large impact, and the local sudden change of the trajectory is caused.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention, and thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (6)
1. An autonomous excavation operation trajectory generation method is characterized by comprising the following steps:
analyzing excavation operation movement by fusing operation characteristics of skilled operators on an excavator experimental platform to obtain an excavation path model;
based on the excavation path model, adopting a segmented Bezier curve to represent an excavation track;
based on the segmented Bezier curve, taking the time of excavation operation motion as an optimization target, and taking continuity constraint, boundary constraint and dynamic feasibility constraint as constraint conditions to establish a target function of a time optimal trajectory generation problem;
based on a discretization method, the time optimal track generation problem is reconstructed into a solvable second-order cone optimization problem, and the second-order cone optimization problem is subjected to iterative solution to obtain a time optimal digging track.
2. The method for generating the autonomous excavation operation trajectory according to claim 1, wherein the excavator experimental platform is provided with an inclination sensor and an absolute encoder, the inclination sensor and the absolute encoder are respectively used for measuring the variation of the angle values of the swing joint, the movable arm, the arm and the bucket joint in the movement process of the excavator, data acquisition and processing are performed through a computer, and trajectory tracking is finally performed through a controller.
3. The autonomous mining operation trajectory generation method according to claim 1, characterized in that the operation characteristics of the skilled operator are obtained by analyzing mining path topology information of the skilled operator based on mining path generation rules of the skilled operator for a mining task.
4. The autonomous excavation work trajectory generation method according to claim 1, wherein analyzing an excavation work movement by fusing the work characteristics of a skilled operator on an excavation machine experiment platform to obtain an excavation path model, comprises:
analyzing excavation operation movement by fusing operation characteristics of skilled operators on an excavator experimental platform to obtain topological information of a track in a joint space;
processing the topological information of the track in the joint space by adopting a time sequence signal alignment mode to ensure that the data lengths in the topological information of the track in the joint space are consistent;
carrying out noise reduction processing on the topological information of the track in the joint space by adopting a moving average filtering method;
averaging a plurality of groups of joint space tracks in the topological information of the tracks in the joint space to obtain an average excavation path;
and transforming the average excavation path to a pose space, finding key path points by adopting a Douglas-Peucker algorithm, and establishing the excavation path model.
5. The autonomous mining work trajectory generation method of claim 1, wherein the segmented bezier curve satisfies the following constraints:
path point constraint, ensuring that the track passes through the key path point;
boundary value constraint, setting the speed and acceleration values of the excavation operation track at the initial point and the final point of the track so as to meet the state requirement of excavation operation;
and (4) continuous constraint, which ensures that the order derivative of the two connected tracks at the breakpoint is continuous to obtain a smooth track.
6. An autonomous mining work trajectory generation system applied to the autonomous mining work trajectory generation method according to any one of claims 1 to 5, comprising:
the acquisition module is used for analyzing the excavation operation movement by fusing the operation characteristics of a skilled operator on the excavator experiment platform to obtain an excavation path model;
the representing module is used for representing the excavation track through a segmented Bezier curve;
the establishment module is used for establishing a target function of a time optimal trajectory generation problem by taking the time of excavation operation motion as an optimization target and taking continuity constraint, boundary constraint and dynamic feasibility constraint as constraint conditions;
and the processing module is used for reconstructing the time optimal track generation problem into a second-order cone optimization problem which can be solved, and performing iterative solution on the second-order cone optimization problem to obtain a time optimal excavation track.
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