CN117629216A - Autonomous operation planning system and method for excavator - Google Patents
Autonomous operation planning system and method for excavator Download PDFInfo
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- CN117629216A CN117629216A CN202311606902.5A CN202311606902A CN117629216A CN 117629216 A CN117629216 A CN 117629216A CN 202311606902 A CN202311606902 A CN 202311606902A CN 117629216 A CN117629216 A CN 117629216A
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Abstract
The invention discloses an autonomous operation planning system and method for an excavator, wherein the method comprises the following steps: collecting construction environment data of the excavator in the construction process; acquiring the current excavation area by using construction environment data; discretizing the current excavation area and combining the operation process of the excavator to obtain a bucket tooth tip path planning; re-planning the bucket tooth point path planning to generate a bucket tooth point path track conforming to the motion condition; and controlling the excavator through the track of the tooth point path of the bucket which meets the motion condition. According to the invention, through establishing a relation function between the bucket tooth point path planning and the excavating volume and combining the pose condition of the excavating point and the self-limiting condition of the excavator, the track of the bucket tooth point path which accords with the excavating operation habit and can fill the bucket is calculated.
Description
Technical Field
The invention belongs to the technical field of excavators, and relates to an autonomous operation planning system and method for an excavator.
Background
An excavator is a common engineering machine and is widely applied to various places for earth works. The existing semi-automatic or automatic operation mode of the excavator generally comprises the steps of acquiring the whole information of an excavating surface through a visual sensor, partitioning and planning the excavating surface according to an excavating area, and issuing the excavating surface to a vehicle for execution after planning is completed and completing a preset number of work cycles. The process does not consider the profile change of the materials after each digging, so the requirement of digging a full bucket cannot be ensured, and the conditions of overexcavation and underexcavation often occur.
In the process of autonomous operation of the excavator, the automatic operation planning can improve the working safety and control accuracy of the excavator, but the problems of over-digging and under-digging exist, and the adaptability to the digging surface with larger floating is lacking. For example, publication number CN114819256a proposes a continuous real-time track planning method for a backhoe excavator, and adopts a neural network offline training mode to automatically generate a bucket tooth tip track by combining the length, width and depth of a manually input groove; this method requires given trench size information to be excavated and requires a lot of sample training, and is not suitable for general excavation work. For example, CN 109778939A proposes an intelligent control system and method for an excavator arm capable of autonomously planning a track, where the method obtains information of obstacles around a vehicle through an environment sensing system to achieve an effect of avoiding obstacles in a planning process, but does not consider situation information of an actual digging surface and requirements of how to ensure full digging.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides an autonomous operation planning system and method for an excavator, which are used for acquiring an excavating area through collected construction environment data, performing vertical height discretization on the excavating area, establishing a relation function between bucket tooth tip path planning and excavating volume, and solving a bucket tooth tip path track which meets excavating operation habit and can meet full bucket requirements by combining pose conditions of excavating control points and limiting conditions of the excavator.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
in one aspect, the present invention provides a method for planning autonomous operations of an excavator, including:
collecting construction environment data of the excavator in the construction process;
acquiring the current excavation area by utilizing the construction environment data;
discretizing the current excavation area and combining the operation process of the excavator to obtain a bucket tooth tip path planning; re-planning the bucket tooth point path planning to generate a bucket tooth point path track conforming to the motion condition;
and controlling the excavator through the bucket tooth point path track conforming to the motion condition.
Optionally, the construction environment data includes excavator swing, boom, arm and bucket angle information, excavator positioning information, excavation surface information, and obstacle information.
Optionally, the angle information is obtained by angle sensors installed at the joints of the excavator swing, the movable arm, the bucket rod and the bucket.
Optionally, the method for obtaining the excavator positioning information includes:
establishing an RTK positioning system coordinate system through an RTK navigation sensor arranged above a cab of the excavator;
and acquiring the positioning information of the excavator in real time by utilizing the coordinate system and the angle information of the RTK positioning system and through a coordinate conversion relation.
Optionally, the excavation surface information and the obstacle information are acquired by a lidar installed above a cab of the excavator.
Optionally, the acquiring the current excavation area by using the construction environment data includes:
the method comprises the steps of utilizing excavator positioning information to define an operation area of an excavator;
setting an initial excavation range of the excavator and a maximum excavation depth of the excavator in a working area of the excavator according to a bucket size of the excavator;
and acquiring the current excavation area through excavation surface information and the initial excavation range of the excavator.
Optionally, the current digging area includes an area highest point coordinate, an area four vertex coordinates, a shovel-in point pose coordinate and a shovel-out point pose coordinate.
Optionally, discretizing the current excavation area and combining the excavator operation process to obtain a bucket tooth tip path plan; re-planning the bucket tooth tip path planning to generate a bucket tooth tip path track conforming to the motion condition, including:
performing vertical height discretization on the acquired current excavation area, and calculating the average height;
dividing the path track of the tooth tip of the bucket into three processes of shoveling, dragging and lifting according to the working process of the excavator, and respectively representing by using a cubic spline curve;
obtaining discretized height information through the discretized excavation area; utilizing discretization height information and combining the path track of the bucket tooth tip to establish a functional relation between the bucket tooth tip path planning and the excavating volume of the excavating area:
calculating a bucket tooth point path planning through a functional relation between the bucket tooth point path planning and the digging volume, the position coordinates of the in-shovel point and the position coordinates of the out-shovel point, and simultaneously adding constraint conditions of the excavator;
and re-planning the bucket tooth point path planning by using an IPTP time optimal trajectory algorithm to generate the bucket tooth point path trajectory meeting the motion condition.
Optionally, the constraint conditions of the excavator include: maximum acceleration, maximum speed limit, shovel-in angle and shovel-out angle of the excavator mechanical arm.
On the other hand, the invention also provides an excavator autonomous operation planning system, which is applied to the excavator autonomous operation planning method in the first aspect, and comprises the following steps:
the data acquisition module is used for acquiring construction environment data of the excavator in the construction process;
the data processing module is used for processing the construction environment data acquired by the data acquisition unit in real time and acquiring the current mining area;
the path planning module is used for generating a bucket tooth point path track which accords with the movement condition by utilizing the current excavation area acquired by the data processing module and combining the excavator operation process;
and the execution module is used for receiving the path planning sent by the path planning module and converting the path planning into an excavator control signal to control the excavator.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an autonomous operation planning system and method of an excavator, which are characterized in that an excavating area is acquired through collected construction environment data, vertical height discretization is carried out on the excavating area, a relation function between bucket tooth tip path planning and excavating volume is established, and a bucket tooth tip path track which meets excavating operation habit and can meet full bucket requirements is solved by combining pose conditions of excavating control points and limiting conditions of the excavator; along with the change of the profile of the material after each digging, the requirement of digging a full bucket is ensured, and the conditions of overexcavation and underexcavation are avoided.
Drawings
For a clearer description of an embodiment of the invention or of the solutions of the prior art, the drawings that are needed in the embodiment will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, in which:
FIG. 1 is a flow chart illustrating a method for planning autonomous operations of an excavator in accordance with one embodiment of the present invention;
FIG. 2 is a schematic diagram of the current excavation area according to an embodiment of the present invention;
FIG. 3 is a cubic spline plot of the path trajectory of the bucket tooth tip in one embodiment of the invention;
FIG. 4 is a block diagram illustrating an implementation of an autonomous operation planning system for an excavator in accordance with one embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
Example 1
The embodiment of the invention provides an excavator autonomous operation planning method, as shown in fig. 1, which is a flow chart of the excavator autonomous operation planning method in the embodiment of the invention, and the method comprises the following steps:
step 1: collecting construction environment data of the excavator in the construction process;
step 2: acquiring the current excavation area by using construction environment data;
step 3: discretizing the current excavation area and combining the operation process of the excavator to obtain a bucket tooth tip path planning; re-planning the bucket tooth point path planning to generate a bucket tooth point path track conforming to the motion condition;
step 4: and controlling the excavator through the track of the tooth point path of the bucket which meets the motion condition.
According to the method for planning the autonomous operation of the excavator, disclosed by the embodiment of the invention, the relation function between the bucket tooth point path planning and the excavating volume is established, and the track of the bucket tooth point path which accords with the excavating operation habit and can fill the bucket is calculated by combining the pose condition of the excavating point and the self-limiting condition of the excavator.
In one specific implementation of the embodiment of the invention, the construction environment data includes excavator swing, angle information of a boom, an arm and a bucket, excavator positioning information, excavation surface information and obstacle information;
the angle information is obtained by angle sensors mounted on the excavator swing, boom, stick and bucket joint nodes.
The method for acquiring the positioning information of the excavator comprises the following steps: establishing an RTK positioning system coordinate system through an RTK navigation sensor arranged above a cab of the excavator; and acquiring the positioning information of the excavator in real time by utilizing the coordinate system and the angle information of the RTK positioning system and through a coordinate conversion relation.
The excavation surface information and the obstacle information are acquired by a lidar installed above the cab of the excavator.
In the embodiment of the invention, the specific steps of collecting the construction environment data of the excavator in the construction process comprise the following steps:
step 1.1: the URDF model parameters of the excavator are derived through the three-dimensional model of the excavator;
step 1.2: establishing a joint coordinate system according to the positions of all joints of the excavator and URDF model parameters;
step 1.3: acquiring angle information of a swing, a movable arm, a bucket rod and a bucket of the excavator according to angle sensors arranged on joints of the excavator;
step 1.4: calibrating the position of the RTK above the vehicle body cab, and establishing an RTK positioning system coordinate system;
step 1.5: measuring a fixed conversion relation between a coordinate system of an RTK positioning system and a cab (a base coordinate system) through a handheld RTK mobile station;
step 1.6: according to the fixed conversion relation and the combination of the angle information, the coordinate system conversion relation between the working area of the excavator and the excavator is issued in real time, and the positioning information of the excavator is obtained;
step 1.7: acquiring obstacle information and excavation area surface height information according to a laser radar arranged above a cab; acquiring excavation surface information through excavation area surface height information; wherein: the obstacle information is used for an anti-collision function during operation.
In a specific implementation manner of the embodiment of the present invention, the specific steps of obtaining the current excavation area by using the construction environment data include:
step 2.1: the method comprises the steps of utilizing excavator positioning information to define an operation area of an excavator;
step 2.2: setting an initial excavation Range (l_init, w_init) of the excavator and a maximum Depth max_depth of excavation in a work area of the excavator according to a bucket size of the excavator;
step 2.3: acquiring the current excavation region through excavation surface information and an initial excavation Range (L_init, W_init) of the excavator; the method specifically comprises the following steps:
acquiring original point cloud data of a laser radar, filtering the point cloud data, and removing points with too far and too near distances;
converting the radar point cloud data to the position under a base standard system through the conversion relation between the radar coordinate system and the excavator base coordinate system;
the highest point coordinate H_F (x, y, Z) can be obtained under the base mark, namely the point cloud data with the largest Z-axis direction in the current excavation range; at the same time, four vertex coordinates P of the current digging area can be obtained 1 、P 2 、P 3 、P 4 And a shovel point position coordinate A and a shovel point position coordinate D; as shown in fig. 2.
In a specific implementation manner of the embodiment of the present invention, the discretizing the current excavation area and combining with the excavator operation process to obtain a bucket tooth tip path plan; re-planning the bucket tooth tip path planning to generate a bucket tooth tip path track conforming to the motion condition, including:
step 3.1: performing vertical height discretization (discretization area is Deltav) on the current excavation area obtained in the step 2, and calculating the average height D ij I e (0, 1, …, m) j e (0, 1, …, n); specific:
dividing the current digging area into m and n equal parts in the L_init direction (X-axis direction) and the H_init direction (Y-axis direction) respectively;
the digging area has m multiplied by n block dividing areas, and four vertexes of each block area under the base standard can be obtainedCoordinate values;
calculating the number and the height of the laser radar point clouds contained in the area, thereby calculating the average height D ij 。
Step 3.2: according to the working process of the excavator, the path track of the tooth tip of the bucket is divided into three processes of shoveling, dragging and lifting, and the three processes are respectively represented by a cubic spline curve, as shown in fig. 3, namely:
f AB (t)＝{q i＝1 (t),t∈[t A ,t B ]}
f BC (t)＝{q i＝2 (t),t∈[t B ,t C ]}
f CD (t)＝{q i＝3 (t),t∈[t C ,t D ]}
wherein: a is a shovel-in point, D is a shovel-out point, B is a drag start point, C is a drag end point, AB is a shovel-in section, BC is a drag section, and CD is a lifting section.
Step 3.3: obtaining discretized height information through the discretized excavation area; utilizing discretization height information and combining the path track of the bucket tooth tip to establish a functional relation between the bucket tooth tip path planning and the excavating volume of the excavating area, namely:
V out ＝V acc +V drag +V lift
wherein: deltav is the discretized area, V out To excavate the volume, V acc To dig into the digging volume of section AB, V drag To drag the excavated volume of segment BC, V lift To raise the excavated volume of segment CD.
Step 3.4: calculating a bucket tooth point path planning through a functional relation between the bucket tooth point path planning and the excavation volume, a shovel-in point pose coordinate A and a shovel-out point pose coordinate D, and simultaneously adding constraint conditions of the excavator;
specifically, constraints for an excavator include: maximum acceleration a of mechanical arm of excavator max Maximum speed limit v max A shovel-in angle and a shovel-out angle;
maximum acceleration a of mechanical arm of excavator max And maximum velocity v max The method is influenced by the mechanical performance of the excavator, is obtained by debugging before delivery, and can be generally obtained according to the acceleration curve and the maximum speed setting parameters of the excavator;
the angle of the shovel is set according to the type of the material to be excavated and the actual working experience.
Step 3.5: and re-planning the bucket tooth point path planning by using an IPTP time optimal trajectory algorithm to generate the bucket tooth point path trajectory meeting the motion condition.
Example 2
Based on the method for planning autonomous operation of an excavator in embodiment 1, the embodiment provides an autonomous operation planning system of an excavator, as shown in fig. 4, including:
the data acquisition module is used for acquiring construction environment data of the excavator in the construction process;
the data processing module is used for processing the construction environment data acquired by the data acquisition unit in real time and acquiring the current mining area;
the path planning module is used for generating a bucket tooth point path track which accords with the movement condition by utilizing the current excavation area acquired by the data processing module and combining the excavator operation process;
and the execution module is used for receiving the path planning sent by the path planning module and converting the path planning into an excavator control signal to control the excavator.
In a specific implementation manner of the embodiment of the present invention, the data acquisition module includes an angle acquisition unit, a positioning information acquisition unit, and an excavation surface acquisition unit;
the angle acquisition unit is used for acquiring angle information of the rotation, the movable arm, the bucket rod and the bucket of the excavator;
the positioning information acquisition unit is used for acquiring the positioning information of the excavator by utilizing the angle information and the RTK navigation sensor;
the excavation surface acquisition unit is used for acquiring obstacle information and excavation surface information.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are all within the protection of the present invention.
Claims (10)
1. An excavator autonomous operation planning method, comprising:
collecting construction environment data of the excavator in the construction process;
acquiring the current excavation area by utilizing the construction environment data;
discretizing the current excavation area and combining the operation process of the excavator to obtain a bucket tooth tip path planning; re-planning the bucket tooth point path planning to generate a bucket tooth point path track conforming to the motion condition;
and controlling the excavator through the bucket tooth point path track conforming to the motion condition.
2. The method of autonomous operation planning for an excavator according to claim 1, wherein the construction environment data includes excavator swing, angle information of a boom, an arm and a bucket, excavator positioning information, excavation surface information and obstacle information.
3. The method for planning autonomous operation of an excavator according to claim 2, wherein the angle information is obtained by angle sensors installed at joints of the excavator swing, boom, arm and bucket.
4. The method for planning autonomous operation of an excavator according to claim 2, wherein the method for acquiring the excavator positioning information comprises:
establishing an RTK positioning system coordinate system through an RTK navigation sensor arranged above a cab of the excavator;
and acquiring the positioning information of the excavator in real time by utilizing the coordinate system and the angle information of the RTK positioning system and through a coordinate conversion relation.
5. The method of autonomous operation planning for an excavator according to claim 2, wherein the excavation surface information and the obstacle information are acquired by a lidar installed above a cab of the excavator.
6. The method for planning autonomous operation of an excavator according to claim 2, wherein the acquiring the current excavation region using the construction environment data comprises:
the method comprises the steps of utilizing excavator positioning information to define an operation area of an excavator;
setting an initial excavation range of the excavator and a maximum excavation depth of the excavator in a working area of the excavator according to a bucket size of the excavator;
and acquiring the current excavation area through excavation surface information and the initial excavation range of the excavator.
7. The method for planning autonomous operation of an excavator according to claim 6, wherein the current excavation region comprises a region highest point coordinate, four region vertex coordinates, and a shoveling point pose coordinate.
8. The method for planning autonomous operation of an excavator according to claim 1, wherein the discretizing the current excavation area and combining with the excavator operation process to obtain a bucket tooth tip path plan; re-planning the bucket tooth tip path planning to generate a bucket tooth tip path track conforming to the motion condition, including:
performing vertical height discretization on the acquired current excavation area, and calculating the average height;
dividing the path track of the tooth tip of the bucket into three processes of shoveling, dragging and lifting according to the working process of the excavator, and respectively representing by using a cubic spline curve;
obtaining discretized height information through the discretized excavation area; utilizing discretization height information and combining the path track of the bucket tooth tip to establish a functional relation between the bucket tooth tip path planning and the excavating volume of the excavating area:
calculating a bucket tooth point path planning through a functional relation between the bucket tooth point path planning and the digging volume, the position coordinates of the in-shovel point and the position coordinates of the out-shovel point, and simultaneously adding constraint conditions of the excavator;
and re-planning the bucket tooth point path planning by using an IPTP time optimal trajectory algorithm to generate the bucket tooth point path trajectory meeting the motion condition.
9. The method for planning autonomous operations of an excavator of claim 8 wherein the constraints of the excavator comprise: maximum acceleration, maximum speed limit, shovel-in angle and shovel-out angle of the excavator mechanical arm.
10. An excavator autonomous operation planning system applied to the excavator autonomous operation planning method of any one of claims 1 to 9, characterized by comprising:
the data acquisition module is used for acquiring construction environment data of the excavator in the construction process;
the data processing module is used for processing the construction environment data acquired by the data acquisition unit in real time and acquiring the current mining area;
the path planning module is used for generating a bucket tooth point path track which accords with the movement condition by utilizing the current excavation area acquired by the data processing module and combining the excavator operation process;
and the execution module is used for receiving the path planning sent by the path planning module and converting the path planning into an excavator control signal to control the excavator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311606902.5A CN117629216A (en) | 2023-11-29 | 2023-11-29 | Autonomous operation planning system and method for excavator |
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| CN202311606902.5A CN117629216A (en) | 2023-11-29 | 2023-11-29 | Autonomous operation planning system and method for excavator |
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| CN202311606902.5A Pending CN117629216A (en) | 2023-11-29 | 2023-11-29 | Autonomous operation planning system and method for excavator |
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