CN-121995843-A - Method for optimizing loading operation movement track of skid steer loader

CN121995843ACN 121995843 ACN121995843 ACN 121995843ACN-121995843-A

Abstract

The invention relates to the technical field of engineering machinery control, in particular to a method for optimizing a loading operation movement track of a skid steer loader. The method comprises the steps of carrying out environment-aware loading attribute feature identification processing on the basis of loading operation demand data and multi-source environment awareness data to generate loading attribute environment awareness monitoring data, obtaining design parameters of a skid-steer loader, relating to an optimized loader multi-body dynamics model on the basis of the design parameters of the skid-steer loader, establishing a loading attribute panoramic awareness coordinate system on the basis of the loading attribute environment awareness monitoring data to obtain a loading attribute panoramic awareness coordinate system, carrying out overall path analysis of skid-steer loading according to the loading attribute panoramic awareness coordinate system to generate skid-steer loading overall path data, and carrying out loading motion trail optimization processing on the skid-steer loading overall path data to obtain skid-steer loading overall optimized motion trail data. The intelligent optimization control of the loading operation movement track of the skid steer loader is realized.

Inventors

WU SHUYUAN
ZHU FENGJIN
JIA PU
MENG XU
LV GUIZHI
FU SHOUCHONG
JIANG FENG
LIU GANGYI
JIA XIANGZHENG
LI ZHANBIAO
GAO JIAN
ZHANG XIAOFENG
ZHANG YIFENG
CHEN JIE
ZHENG GUOJIAN

Assignees

山东威肯科技有限公司

Dates

Publication Date: 20260508
Application Date: 20251112

Claims (10)

1. The method for optimizing the loading operation movement track of the skid steer loader is characterized by comprising the following steps of: the method comprises the steps of S1, acquiring loading operation demand data, carrying out multi-source environment sensing monitoring processing on a loading operation area by utilizing multi-source image monitoring equipment built in a skid steer loader to obtain multi-source environment sensing data, carrying out environment sensing loading attribute feature identification processing on the basis of the loading operation demand data and the multi-source environment sensing data, and generating loading attribute environment sensing monitoring data; Step S2, acquiring design parameters of the skid-steer loader, carrying out loader multi-body dynamics modeling and operation characteristic parameter identification optimization processing based on the design parameters of the skid-steer loader so as to obtain an optimized loader multi-body dynamics model; Step S3, establishing a loading attribute panoramic sensing coordinate system based on loading attribute environment sensing monitoring data to obtain a loading attribute panoramic sensing coordinate system; Step S4, carrying out target load image extraction at each local loading time according to loading attribute environment sensing monitoring data and skid-mounted global path data to obtain local time target load image data, carrying out bucket loading contact optimization track analysis associated with local time of a group based on the local time target load image data to obtain group local time optimized bucket contact track data, carrying out loading motion track optimization processing on the skid-mounted global path data according to the group local time optimized bucket contact track data to obtain skid-mounted global optimized motion track data, and carrying out intelligent control operation of skid-mounted loader loading based on the skid-mounted global optimized motion track data.
2. The method for optimizing a loading operation motion trajectory of a skid steer loader according to claim 1, wherein the step S1 comprises the steps of: Step S11, acquiring loading operation demand data; S12, carrying out multi-source environment sensing monitoring processing on a loading operation area by utilizing multi-source image monitoring equipment arranged in the skid steer loader to generate multi-source environment sensing data, and carrying out geometric external reference correction and time sequence synchronization processing of multi-source environment sensing fusion on the multi-source environment sensing data through internal and external participation calibration records of the multi-source image monitoring equipment to generate fusion environment sensing monitoring data; s13, performing environment-aware image contour segmentation processing according to the image binarization parameters fused with the environment-aware monitoring data to generate environment-aware image segmentation data; And S14, carrying out loading attribute characteristic identification processing of the segmented image on the environment-aware image segmentation data according to the loading job demand data to generate loading attribute environment-aware monitoring data.
3. The method for optimizing a loading operation motion trajectory of a skid steer loader according to claim 1, wherein the step S2 comprises the steps of: S21, acquiring design parameters of the skid steer loader; S22, carrying out loading part connection relation analysis according to design parameters of the skid steer loader to obtain loading part connection relation data, and carrying out loading part linkage kinematics constraint analysis according to the loading part connection relation data to generate loading part linkage kinematics constraint data; s23, analyzing a loader executive component according to design parameters of the skid steer loader to obtain loader executive component data, and carrying out executive component capacity profiling abstract processing through the loader executive component data to obtain loader executive component capacity data; S24, carrying out loading lifting characterization analysis according to design parameters of the skid steer loader to obtain loading lifting characterization data; step S25, carrying out loader multi-body dynamics modeling processing based on loading part linkage kinematics constraint data, loader executing element capacity data and loading lifting representation data to obtain a loader multi-body dynamics model; and S26, carrying out self-adaptive parameter identification optimization processing on the operating characteristics of the loader multi-body dynamics model to obtain an optimized loader multi-body dynamics model.
4. The method for optimizing a loading operation movement path of a skid steer loader according to claim 3, wherein the step S25 comprises the steps of: Step S251, carrying out lifting gesture dimension analysis according to the loading lifting characterization data to obtain lifting gesture dimension data; step S252, carrying out linearization characteristic analysis of lifting height and lifting capacity according to the loading lifting characteristic data so as to obtain lifting height-capacity characteristic data; Step 253, carrying out loader multi-body dynamics nonlinear boundary constraint and architecture modeling processing based on loading part linkage kinematics constraint data and loader execution element capacity data so as to obtain a loader multi-body dynamics architecture model; Step S254, mapping the lifting gesture dimension data and the lifting height-capacity characteristic data to a loader multi-body dynamics architecture model to carry out loading lifting dynamics characteristic mapping processing so as to obtain the loader multi-body dynamics model.
5. The method of optimizing a loading operation motion profile of a skid steer loader of claim 4, wherein step S252 comprises the steps of: and carrying out lifting dynamic order reduction processing according to the loading lifting characterization data to obtain lifting dynamic order reduction data of the loader, and carrying out linear approximation processing of lifting height and lifting capacity through the lifting dynamic order reduction data of the loader to obtain lifting height-capacity characteristic data.
6. The method for optimizing a loading operation motion trajectory of a skid steer loader according to claim 1, wherein the step S3 comprises the steps of: S31, establishing a loading attribute panoramic sensing coordinate system based on loading attribute environment sensing monitoring data to obtain the loading attribute panoramic sensing coordinate system; s32, carrying out sliding path feasible region analysis according to the loading attribute panoramic sensing coordinate system to obtain sliding path feasible region data; s33, carrying out path line supplementing and slip characteristic optimizing processing on the slip path feasible region data to obtain slip optimized feasible path data; Step S34, carrying out skid-mounted global path cost feature analysis based on an optimized loader multi-body dynamics model and loading attribute environment perception monitoring data to obtain skid-mounted global path cost feature data, wherein the skid-mounted global path cost feature data comprises path length cost data, skid-mounted energy consumption cost data, path gradient cost data, short-term dynamic obstacle probability penalty cost data, dynamic environment risk penalty cost data, loading lifting stability cost data and short-term operation efficiency cost data; Step 35, establishing a mapping relation between a global skid-mounted path and cost according to global skid-mounted path cost characteristic data, generating a preliminary global skid-mounted path cost model, and carrying out self-adaptive weight parameter adjustment processing on the preliminary global skid-mounted path cost model through loading operation demand data so as to obtain a global skid-mounted path cost model; and S36, transmitting the skid-optimized feasible path data to a skid-mounted global path cost model to perform skid-mounted global path search processing, and generating skid-mounted global path data.
7. The method of optimizing a loading operation movement path of a skid steer loader according to claim 6, wherein step S33 comprises the steps of: carrying out the skid property analysis of the loader according to the optimized multi-body dynamics model of the loader so as to obtain skid property data of the loader; and selecting intermediate nodes of the slippage feasible path domain data to perform slippage feasible path line supplementing processing so as to obtain slippage feasible path line supplementing data, and performing line supplementing fitting optimization processing of the slippage characteristics of the loader on the slippage feasible path line supplementing data according to the loader slippage characteristic data so as to obtain slippage optimization feasible path data.
8. The method for optimizing a loading operation motion trajectory of a skid steer loader according to claim 1, wherein the step S4 comprises the steps of: s41, extracting target load images at each local loading moment according to loading attribute environment sensing monitoring data and skid-mounted global path data to obtain target load image data at the local moment; Step S42, carrying out local moment bucket loading contact track analysis based on local moment target load image data so as to obtain local moment bucket loading contact track data; Step S43, carrying out group local time prediction processing of the bucket loading contact track according to the local time bucket loading contact track data and the local time target loading object image data so as to obtain bucket loading contact track prediction data; Step S44, a load dynamic change state transition matrix and a load dynamic change observation matrix are established according to the bucket loading contact track prediction data, wherein the load dynamic change state transition matrix reflects target load loading change relations of all local loading moments deduced based on the bucket loading contact track prediction data, and the load dynamic change observation matrix reflects target load natural deformation observation values of all local loading moments; Step S45, carrying out group local time-related bucket loading contact track optimization processing on the local time bucket loading contact track data according to the load dynamic change state transition matrix and the load dynamic change observation matrix so as to obtain group local time-optimized bucket contact track data; And step S46, carrying out loading motion trail optimization processing on the global sliding loading path data according to the global group local moment optimization bucket contact trail data to obtain global sliding loading optimization motion trail data, and executing intelligent sliding loader loading control operation based on the global sliding loading optimization motion trail data.
9. The method of optimizing a loading operation motion profile of a skid steer loader of claim 8, wherein step S42 comprises the steps of: step S421, carrying out bucket loading characteristic analysis of contact point position differences based on the target load image data at local time and the optimized loader multi-body dynamics model to obtain bucket loading characteristic data of the contact point position differences; step S422, carrying out stress potential energy field characteristic analysis of the bucket loading contact specificity according to the bucket loading characteristic data of the contact point difference so as to obtain stress potential energy field characteristic data of the bucket loading contact specificity; Step S423, carrying out local moment bucket loading contact track selection processing on the local moment target load image data through the bucket loading characteristic data with different contact points and the stress potential energy field characteristic data of the corresponding bucket loading contact specificity so as to obtain local moment bucket loading contact track data.
10. The method of optimizing a loading operation movement trajectory of a skid steer loader according to claim 9, wherein step S421 comprises the steps of: Carrying out the feature characteristic analysis of the local moment target load according to the local moment target load image data to obtain local moment target load feature data, and analyzing the bucket contact feature nodes and the corresponding maximum shovel loading depth feature data of the local moment target load feature data through optimizing a loader multi-body dynamics model; and carrying out bucket loading characteristic analysis of the contact point difference according to each bucket contact characteristic node and the corresponding maximum shovel loading depth characteristic data to obtain bucket loading characteristic data of the contact point difference.

Description

Method for optimizing loading operation movement track of skid steer loader Technical Field The invention relates to the technical field of engineering machinery control, in particular to a method for optimizing a loading operation movement track of a skid steer loader. Background The skid steer loader is used as flexible and efficient engineering mechanical equipment, is widely applied to the fields of building construction, mining, agricultural production and the like, and the efficiency and the precision of loading operation directly influence the overall engineering progress and the operation cost. The loading operation of the skid steer loader is mostly judged by experience of operators, and actions such as shoveling, lifting and unloading are completed through manual operation. The operation mode is high in labor intensity, is obviously influenced by human factors, and is easy to cause the problems of low loading efficiency, increased equipment energy consumption, even aggravated mechanical abrasion, increased operation safety risk and the like due to insufficient operation precision. With the deep application of the intelligent technology in the field of engineering machinery, higher requirements are put forward on the automation and precision operation of a skid steer loader, and particularly, under a complex operation environment, how to realize the optimization of the loading motion trail becomes a key technical bottleneck for improving the performance of equipment. However, the existing sliding loader loading operation movement track optimization method is lack of adaptability to dynamic operation scenes aiming at single working conditions or static environments, simple planning is only carried out based on preset paths, real-time change of the operation environments and dynamic characteristics of loaded materials are not fully considered, so that large deviation exists between an optimized track and actual operation requirements, multi-body dynamics characteristics of the loader are often simplified in a modeling process, mechanical response in the process of contact between a bucket and materials is ignored, and accuracy and feasibility of track optimization are difficult to guarantee. Disclosure of Invention Based on the above, the present invention provides a method for optimizing the motion trail of a loading operation of a skid steer loader, so as to solve at least one of the above technical problems. In order to achieve the above purpose, a method for optimizing the motion trail of the loading operation of a skid steer loader comprises the following steps: the method comprises the steps of S1, acquiring loading operation demand data, carrying out multi-source environment sensing monitoring processing on a loading operation area by utilizing multi-source image monitoring equipment built in a skid steer loader to obtain multi-source environment sensing data, carrying out environment sensing loading attribute feature identification processing on the basis of the loading operation demand data and the multi-source environment sensing data, and generating loading attribute environment sensing monitoring data; Step S2, acquiring design parameters of the skid-steer loader, carrying out loader multi-body dynamics modeling and operation characteristic parameter identification optimization processing based on the design parameters of the skid-steer loader so as to obtain an optimized loader multi-body dynamics model; Step S3, establishing a loading attribute panoramic sensing coordinate system based on loading attribute environment sensing monitoring data to obtain a loading attribute panoramic sensing coordinate system; Step S4, carrying out target load image extraction at each local loading time according to loading attribute environment sensing monitoring data and skid-mounted global path data to obtain local time target load image data, carrying out bucket loading contact optimization track analysis associated with local time of a group based on the local time target load image data to obtain group local time optimized bucket contact track data, carrying out loading motion track optimization processing on the skid-mounted global path data according to the group local time optimized bucket contact track data to obtain skid-mounted global optimized motion track data, and carrying out intelligent control operation of skid-mounted loader loading based on the skid-mounted global optimized motion track data. The application has the beneficial effects that the sensing precision and space-time consistency of the operation scene can be obviously improved by acquiring the loading operation requirement, adopting the multisource image monitoring equipment on the airborne platform to acquire the operation area, correcting the external parameters and synchronizing the time sequence and loading attribute characteristic identification based on binarization/segmentation. The multi-source fusion and geometric exte