Engineering machinery equipment, and method, system, and storage medium for operation trajectory planning thereof

A system for operation trajectory planning of an engineering machinery equipment, comprising:

• at least one processor;
• and
• a memory communicatively connected to the at least one processor;
• wherein
• the memory stores instructions that, when executed by the at least one processor, cause the at least one processor to:
• acquire three-dimensional sensing data of a material pile, to construct a three-dimensional model of the material pile based on the three-dimensional sensing data;
• determine a loading operation position of the engineering machinery equipment on the material pile based on the three-dimensional model of the material pile and structural design information of the engineering machinery equipment;
• and
• acquire position information of a mechanical structural component of the engineering machinery equipment, and perform operation trajectory planning based on the position information of the mechanical structural component and the loading operation position, to generate an operation trajectory of the mechanical structural component executing a material loading operation.

An engineering machinery equipment, comprising:

• a mechanical structural component and an operation trajectory planning system;
• wherein the operation trajectory planning system of the engineering machinery equipment comprises:
• at least one processor;
• and a memory communicatively connected to the at least one processor;
• and
• wherein the memory stores instructions that, when executed by the at least one processor, cause the at least one processor to:
• acquire three-dimensional sensing data of a material pile, to construct a three-dimensional model of the material pile based on the three-dimensional sensing data;
• determine a loading operation position of the engineering machinery equipment on the material pile based on the three-dimensional model of the material pile and structural design information of the engineering machinery equipment;
• and
• acquire position information of a mechanical structural component of the engineering machinery equipment, and perform operation trajectory planning based on the position information of the mechanical structural component and the loading operation position, to generate an operation trajectory of the mechanical structural component executing a material loading operation.

A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions cause a computer to execute a method comprising:

• acquiring three-dimensional sensing data of a material pile, to construct a three-dimensional model of the material pile based on the three-dimensional sensing data;
• determining a loading operation position of an engineering machinery equipment on the material pile based on the three-dimensional model of the material pile and structural design information of the engineering machinery equipment;
• and
• acquiring position information of a mechanical structural component of the engineering machinery equipment, and performing operation trajectory planning based on the position information of the mechanical structural component and the loading operation position, to generate an operation trajectory of the mechanical structural component executing a material loading operation.