Method and apparatus for controlling excavator

Patent metadata

Field	Value
Publication number	US-11401698-B2
Application number	US-201916674989-A
Country	US
Kind code	B2
Filing date	Nov 5, 2019
Priority date	Jan 25, 2019
Publication date	Aug 2, 2022
Grant date	Aug 2, 2022

Abstract

A method and an apparatus for controlling an excavator are provided according to the embodiments. The method includes: determining, according to preset value ranges of trajectory parameters in at least two trajectory parameters, trajectory parameter value combinations, to obtain a first trajectory parameter value combination set; determining, from the first trajectory parameter value combination set, trajectory parameter value combinations for moving from a preset starting position to a preset end position, to obtain a second trajectory parameter value combination set; determining, in the second trajectory parameter value combination set, a trajectory parameter value combination that satisfies a preset excavation condition, to obtain a third trajectory parameter value combination set; determining a target excavation trajectory from the third trajectory parameter value combination set; and sending a control instruction to the excavator to enable the excavator to excavate material according to the target excavation trajectory.

First claim

What is claimed is:

1. A method for controlling an excavator, the method comprising:
determining, according to preset value ranges of trajectory parameters in at least two trajectory parameters, a plurality of trajectory parameter value combinations, to obtain a first trajectory parameter value combination set, the trajectory parameter value combination comprising a parameter value of the trajectory parameter in the at least two trajectory parameters;
determining, from the first trajectory parameter value combination set, a plurality of trajectory parameter value combinations for moving from a preset starting position to a preset end position, to obtain a second trajectory parameter value combination set;
determining, in the second trajectory parameter value combination set, a trajectory parameter value combination that satisfies a preset excavation condition, to obtain a third trajectory parameter value combination set;
determining a target excavation trajectory from the third trajectory parameter value combination set, wherein the target excavation trajectory comprises an excavation trajectory indicated by a trajectory parameter value combination having a minimum excavation resistance; and
sending a control instruction to the excavator to enable the excavator to excavate material according to the target excavation trajectory,
wherein determining, according to preset value ranges of trajectory parameters in at least two trajectory parameters, a plurality of trajectory parameter value combinations, to obtain a first trajectory parameter value combination set, comprises:
determining, for the trajectory parameter in the at least two trajectory parameters, at least two trajectory parameter values of the trajectory parameter according to the preset value range of the trajectory parameter; and
combining trajectory parameter values of the at least two trajectory parameters respectively to obtain the first trajectory parameter value combination set.

2. The method according to claim 1 , wherein the determining, from the first trajectory parameter value combination set, a plurality of trajectory parameter value combinations for moving from a preset starting position to a preset end position, comprises:
determining a first horizontal distance and a first vertical distance between the starting position and the end position;
determining, for the trajectory parameter value combination in the first trajectory parameter value combination set, a second horizontal distance and a second vertical distance of an excavation trajectory indicated by the trajectory parameter value combination; and
determining, in response to determining that the first horizontal distance is same as the second horizontal distance and the first vertical distance is same as the second vertical distance, the trajectory parameter value combination for moving from the starting position to the end position.

3. The method according to claim 1 , wherein the determining, in the second trajectory parameter value combination set, a trajectory parameter value combination that satisfies a preset excavation condition, to obtain a third trajectory parameter value combination set, comprises:
determining, for the trajectory parameter value combination in the second trajectory parameter value combination set, whether the trajectory parameter value combination satisfies the preset excavation condition as follows: when an excavation trajectory indicated by the trajectory parameter value combination is executed, no obstacle is collided, and an excavation power is greater than excavation resistance; and
adding, in response to determining that the trajectory parameter value combination satisfies the above condition, the trajectory parameter value combination to the third trajectory parameter value combination set.

4. The method according to claim 1 , wherein the determining a target excavation trajectory from the third trajectory parameter value combination set, comprises:
determining excavation volumes corresponding to trajectory parameter value combinations in the third trajectory parameter value combination set, to obtain an excavation volume set; and
determining the target excavation trajectory based on the excavation volume set.

5. The method according to claim 4 , wherein the determining the target excavation trajectory based on the excavation volume set, comprises:
determining at least one excavation volume that is less than a bucket capacity in the excavation volume set;
determining, a trajectory parameter value combination corresponding to a maximum excavation volume in the at least one excavation volume, as a target trajectory parameter value combination; and
determining an excavation trajectory indicated by the target trajectory parameter value combination as the target excavation trajectory.

6. An apparatus for controlling an excavator, the apparatus comprising:
at least one processor; and
a memory storing instructions, wherein the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising
determining, according to preset value ranges of trajectory parameters in at least two trajectory parameters, a plurality of trajectory parameter value combinations, to obtain a first trajectory parameter value combination set, the trajectory parameter value combination comprising a parameter value of the trajectory parameter in the at least two trajectory parameters;
determining, from the first trajectory parameter value combination set, a plurality of trajectory parameter value combinations for moving from a preset starting position to a preset end position, to obtain a second trajectory parameter value combination set;
determining, in the second trajectory parameter value combination set, a trajectory parameter value combination that satisfies a preset excavation condition, to obtain a third trajectory parameter value combination set;
determining a target excavation trajectory from the third trajectory parameter value combination set, wherein the target excavation trajectory comprises an excavation trajectory indicated by a trajectory parameter value combination having a minimum excavation resistance; and
sending a control instruction to the excavator to enable the excavator to excavate material according to the target excavation trajectory,

wherein the determining, according to preset value ranges of trajectory parameters in at least two trajectory parameters, a plurality of trajectory parameter value combinations, to obtain a first trajectory parameter value combination set, comprises:
determining, for the trajectory parameter in the at least two trajectory parameters, at least two trajectory parameter values of the trajectory parameter according to the preset value range of the trajectory parameter; and
combining trajectory parameter values of the at least two trajectory parameters respectively to obtain the first trajectory parameter value combination set.

7. The apparatus according to claim 6 , wherein the determining, from the first trajectory parameter value combination set, a plurality of trajectory parameter value combinations for moving from a preset starting position to a preset end position, comprises:
determining a first horizontal distance and a first vertical distance between the starting position and the end position;
determining, for the trajectory parameter value combination in the first trajectory parameter value combination set, a second horizontal distance and a second vertical distance of an excavation trajectory indicated by the trajectory parameter value combination; and
determining, in response to determining that the first horizontal distance is same as the second horizontal distance and the first vert

Assignees

• Beijing Baidu Netcom Sci & Tech Co Ltd

Inventors

• Cheng Xinjing
• Yang Ruigang
• Yang Yajue
• Lu Feixiang
• Xu Hao

Classifications

• E02F3/435 Primary

  for dipper-arms, backhoes or the like · CPC title

• E02F3/439

  Automatic repositioning of the implement, e.g. automatic dumping, auto-return (E02F3/438 takes precedence) · CPC title

• E02F9/20

  Drives; Control devices (gearings in general F16H; controlling in general G05; electric multi-motor drives H02K, H02P) · CPC title

• E02F3/434

  providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig · CPC title

• E02F3/437

  providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant · CPC title