Research On Trajectory Planning And Task Decision Of Intelligent Excavator

As one of the most versatile construction machinery,the excavator has the most complex structure and the most typical function.It plays an irreplaceable role in basic engineering construction,rescue and relief work and other tasks.In order to cope with the increasingly high operational requirements in terms of accuracy and efficiency,and to adapt to the dangerous and harsh working environment,intelligence and autonomation have become the main development trend of the excavator in the future.The intelligent control system,trajectory planning of the working device and the decision-making of the work task are the basis for the excavator to realize the autonomous operation.This paper focuses on the planning control of excavating robots.Firstly,the intelligent control system and modification scheme are designed,then the communication link for wireless to wired data interaction is designed.Then the kinematics model of the working device is established,with which the working area is analyzed and the trajectory planning method for the excavation is studied in the Cartesian space and joint space.The 3D visualization simulation system of the excavation robot is built.The planning control and condition monitoring of the simulation model are realized through the software framework and control program.The feasibility of the simulation system and the control program is demonstrated through simulation experiments.Finally,for the typical work tasks,the task flow of the mission planning is studied and simulated.The main research contents of each chapter of this paper are as follows:The first chapter introduces the background and significance of the research content of this paper,and introduces the research status of intelligent mining robot and trajectory planning methods at home and abroad.Based on this,the main research content of this paper is proposed.In the second chapter,a three-layer intelligent control system is proposed,and the excavator modification scheme and main hardware selection are designed.Based on the TCP/IP network communication protocol,CAN bus protocol,multi-channel I/O transfer framework,etc.,the WiFi and CAN bus data communication links among the three terminals are developed and tested.The third chapter and the fourth chapter establish the kinematics model of the working device,study the positive and inverse solutions of kinematics and the transformation relationship between joint space and driving space,and analyze and describe the scope of work based on Monte Carlo method.The working device simulation model is established based on MATLAB RTB,and the segmentation trajectory planning simulation is completed after mining.Aiming at the continuous trajectory of mining,the NURBS curve fitting of Cartesian space,the piecewise polynomial interpolation of joint space(33333,33533)and the interpolation planning method of joint space NURBS curve are proposed.The characteristics of the above methods are analyzed by simulation.The time and impact integrated optimal trajectory optimization method is further studied based on genetic algorithm..In the fifth chapter and the sixth chapter,based on ROS a three-dimensional visual simulation platform for mining robots is built,based on MoveIt! the software framework and control program of the trajectory planning of the working device is designed,and the planning control of the simulation model through the ros control planning controller is realized.Based on the four-degree-of-freedom manipulator design work device trajectory planning simulation experiment,the feasibility of the simulation system and control program is studied.In the seventh chapter,based on the analysis of typical job tasks,it performs task planning for the basic job types;designs the operation flow,and performs corresponding simulation analysis.At the same time,based on the planning scene listener in the ROS environment,the collision detection of the working device is studied to improve the safety and timeliness of the planning control.The eighth chapter summarizes the research content of this paper and gives corresponding conclusions,and looks forward to further research work,finally,gives opinions and suggestions.