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| 自动挖掘机的动作规划 | |
| 引用本文： | 邵辉,胡伟石,罗继亮,宋军. 自动挖掘机的动作规划[J]. 控制工程, 2012, 19(4): 594-597 |
| 作者姓名： | 邵辉 胡伟石 罗继亮 宋军 |
| 作者单位： | 1. 华侨大学信息科学与工程学院,福建厦门,361021 2. 华侨大学实验室与设备管理处,福建厦门,361021 3. 北京博实联创科技有限公司,北京,100193 |
| 基金项目： | 华侨大学高层次引进人才科研启动项目，国家青年自然科学基金项目，北京市留学人员科技计划项目 |
| 摘 要： | 针对施工现场有设计目标的挖掘任务,提出自动挖掘机动作规划方法,并同时保证挖掘效率及挖掘任务的精度.首先提供了一种有效的机械几何空间约束的分析方法,继而分析了熟练驾驶员的挖掘动作,并基于以上分析描述了一种有效的自动挖掘机挖掘动作的轨迹规划方法,且对挖掘过程的一系列动作进行规划,最终完成了沟断面挖掘动作的连续动作规划.设计通过实验得到验证,结果为自动挖掘动作的效率可以和熟练驾驶员的动作媲美,且挖掘精度满足设计要求. |
| 关 键 词： | 自动化挖掘机 动作规划 轨迹规划 |
Action Planning of Automatic Excavator |
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| SHAO Hui , HU Wei-shi , LUO JI-liang , SONG Jun. Action Planning of Automatic Excavator[J]. Control Engineering of China, 2012, 19(4): 594-597 | |
| Authors: | SHAO Hui HU Wei-shi LUO JI-liang SONG Jun |
| Affiliation: | 1.College of Information Science and Engineering,Huaqiao University,Xiamen 361021,China; 2.Department of Laboratory and Device Management,Huaqiao University,Xiamen 361021,China; 3.Beijing Boshi Linkage Technology Co.Ltd,Beijing 100193,China) |
| Abstract: | An efficient action planning strategy is proposed for excavator tasks,in which the digging process is designed to ensure high efficient and high precision simultaneously.Firstly,an analysis method of mechanical geometry constraint is presented.Then,the excavating actions of skilled operators are analyzed.Based on above two points,a trajectory planning method for digging action is described, also a series of planning of other actions of excavation process are designed.At last,a continuous excavation planning for trench section tasks is completed.The experiments are performed to testify the proposed approach.The results show that the efficiency of the automatic control can be comparable with skilled operators’operation,and the shaping precision meet the design requirement. |
| Keywords: | automatic excavator action planning trajectory planning |
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