Considering the force feedback, we put forward a rule-based trajectory planning method for telescopic excavator, obtained the trajectory route of telescopic excavator in a single operation cycle, and proposed that the trajectory route obtained should be discretized according to the equal step method to achieve the desired excavation effect. Let's get to know it with Machinery.

　　在伸缩臂挖掘机的轨迹规划中，采用轨迹规划算法，可以有效地提高挖掘效率，但是伸缩臂挖掘机轨迹规划方面存在一些特殊性，与普通的机器人轨迹规划存在差异：

　　In the trajectory planning of telescopic excavator, the trajectory planning algorithm can effectively improve the efficiency of excavation, but there are some particularities in the trajectory planning of telescopic excavator, which are different from the trajectory planning of ordinary robots.

　　(1)自动伸缩臂挖掘机的轨迹规划不仅需要满足各关节角度、角速度等限制，而且须要保证规划轨迹后获得的挖土量为伸缩臂挖掘机指定挖土量，实现高速挖掘。

　　(1) The trajectory planning of the automatic telescopic arm excavator not only needs to satisfy the limitations of joint angle and angular velocity, but also needs to ensure that the amount of excavation obtained after the trajectory planning is the specified amount of excavation for the telescopic arm excavator, so as to realize high-speed excavation.

　　(2)传统的路径规划多适用于障碍物位置大小已知的情况，或通过机器视觉等方法探测障碍物边界，从而运用避障方法进行避障。而伸缩臂挖掘机在挖掘过程中，由于土壤环境的复杂性和未知性，铲斗不可避免地会与大障碍物发生直接碰撞，导致挖掘效率降低。

　　(2) Traditional path planning is mostly applicable to the situation where the location and size of obstacles are known, or the boundary of obstacles can be detected by machine vision, so that obstacle avoidance method can be used. In the excavation process of telescopic excavator, due to the complexity and unknown of soil environment, the bucket will inevitably collide directly with large obstacles, resulting in lower excavation efficiency.

　　这些差异导致在设计伸缩臂挖掘机轨迹规划时所需约束条件增多，环境因素越复杂，对轨迹规划的要求也相应越高。本文针对挖掘过程中遇到多障碍物的情况，利用盲人摸路算法以及原像规划算法进行规划，实现连续避开障碍物，且能满足指定挖土量；运用Matlab图形用户界面GUI(Graphical User Interface)设计了一个可视化界面，提供操作及管理功能，方便分析避障结果，对算法的运行机理和控制策略的有效性进行验证。

　　These differences lead to more constraints when designing trajectory planning for telescopic boom excavators. The more complex the environmental factors are, the higher the requirements for trajectory planning are. In this paper, aiming at the situation of multiple obstacles encountered in the process of mining, we use the blind path finding algorithm and the original image planning algorithm to plan to achieve continuous obstacle avoidance and meet the specified amount of excavation. We use the Graphical User Interface (GUI) of MATLAB to design a visual interface, which provides operation and management functions, facilitates the analysis of obstacle avoidance results and the operation of the algorithm. The validity of mechanism and control strategy is verified.

　　针对伸缩臂挖掘机在复杂的土壤环境中挖掘，将不规则障碍物近似用小面积包络圆或椭圆替代，提出了一种基于盲人摸路算法和原像规划算法的避障轨迹规划，铲斗在碰到障碍物时无法及时进行动作调整的问题。

　　Aiming at digging in complex soil environment by telescopic arm excavator, irregular obstacles are approximately replaced by small envelope circle or ellipse. A New Obstacle Avoidance Trajectory Planning Method Based on blind man's path finding algorithm and image planning algorithm is proposed to solve the problem that bucket can not adjust its action in time when it encounters obstacles.

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