液压挖掘机自主挖掘系统规划级技术研究  

Research on the technique of planning level used in the hydraulic excavating-robot's self-working system

作　　者：贺继林[1,2] 宋军[1] 赵喻明[1] 

机构地区：[1]中南大学高性能复杂制造国家重点实验室,湖南长沙410083 [2]山河智能装备股份有限公司,湖南长沙410100

出　　处：《广西大学学报（自然科学版）》2012年第5期921-927,共7页Journal of Guangxi University（Natural Science Edition）

基　　金：国家科技支撑计划项目(2011BAF04B01)

摘　　要：以完善挖掘机器人自主挖掘控制系统规划级对各关节运动规划的能力为目标,提出了一种基于规则的规划级设计方案,通过智能启发式搜索方法搜索挖掘关键点以完成设定挖掘任务的分解,使得整体搜索时间小于20 s,搜索速度快且精度较高;采用基于多目标的角度最优方法解决挖掘路径点的最优插值问题,分析结果表明该算法对于动臂及斗杆的运动优化较为明显,其对应驱动液压缸的运动行程平均减少了73 mm和131 mm;采用基于动态时间最优算法完成整个过程中各关节的轨迹规划问题,并生成整个过程中各关节对应的最优运动序列。仿真分析结果表明,该方案可以有效完成设定任务的整体规划,并大幅减少挖掘过程中液压系统的冲击和振动以及驱动液压缸的运动幅度,使得挖掘机器人工作装置运动更为平稳并具有节能性。A design scheme for planning level based on rule is proposed to improve the planning a bility of hydraulic excavatingrobot＇s selfdigging control system. In order to accomplish the decom position of excavating task, a heuristic search method was adopted for searching critical excavating points so that the overall search time is less than 20 s. At the same time, the optimal interpolation problem of excavating path point was solved successfully by using multiobjective angle optimal con trol algorithm. The results show that this algorithm is helpful to the motion optimization of boom and arm, and the average motion displacement of corresponding driving hydraulic cylinders are decreased by 73 mm and 131 ram, respectively. Moreover, the system completed the whole trajectory planning task and generated the corresponding optimal motion sequence of each joint by using the dynamic re altime optimal algorithm. The simulation result shows that the scheme developed in this study can complete the planning of the whole task effectively and reduce the shock of hydraulic system and the movement amplitude of corresponding driving hydraulic cylinder significantly, thus making the work ing device of excavatingrobot more stable and energy saving.

关 键 词：液压挖掘机器人 自主挖掘 规划级 任务分解 路径规划 轨迹规划 最优算法 

分 类 号：TU621[建筑科学—建筑技术科学] TP391.9[自动化与计算机技术—计算机应用技术]