# US 2022/0034071 A1 · Engineering machinery equipment, and method, system, and storage medium for operation trajectory planning thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2022/0034071 A1 - Document ID: US20220034071A1 - Status: Published application - Kind: A1 - Application number: 16/944,895 - Filed: 2020-07-31 - Published: 2022-02-03 - Earliest claimed: 2020-07-31 - Assignees: Baidu USA LLC - Applicants: Baidu USA LLC - Inventors: Jinxin ZHAO; Liangjun ZHANG; Liyang WANG - Web page: https://patentgrep.com/patent/US20220034071A1 ## CPC - E02F 9/265: {with follow-up actions (e.g. control signals sent to actuate the work tool)} - E02F 3/437: {providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant} - E02F 9/2025: {Particular purposes of control systems not otherwise provided for (E02F3/16, E02F3/26, sub-groups of E02F3/43, E02F3/651, sub-groups of E02F3/84, E02F3/907, E02F5/145 take precedence)} - E02F 9/2033: {Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin (sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123)} - E02F 9/2041: {Automatic repositioning of implements, i.e. memorising determined positions of the implement (for dipper-arms or bucket-arms E02F3/434, E02F3/437, E02F3/438, E02F3/439 take precedence)} - E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)} - E02F 9/262: {with follow-up actions to control the work tool, e.g. controller} - E02F 3/32: working downwardly and towards the machine, e.g. with backhoes - E02F 3/439: {Automatic repositioning of the implement, e.g. automatic dumping, auto-return (E02F3/438 takes precedence)} - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) ## Abstract The present disclosure discloses an engineering machinery equipment, and a method, system, and storage medium for operation trajectory planning thereof, and relates to the field of artificial intelligence, automatic control, and engineering machinery technologies. A method can include: 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 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 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. ## Claims ### Claim 1 A method for operation trajectory planning of an engineering machinery equipment, 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 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 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. ### Claim 2 (depends on 1) The method according to claim 1, wherein the determining 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 comprises: determining a maximum material loading quantity of the engineering machinery equipment in a single loading operation based on the structural design information of the engineering machinery equipment; and determining the loading operation position on the material pile based on the three-dimensional model of the material pile and the maximum material loading quantity of the engineering machinery equipment in the single loading operation, wherein a total quantity of loaded material of the engineering machinery equipment when executing the single loading operation on the material pile at the loading operation position does not exceed the maximum material loading quantity. ### Claim 3 (depends on 2) The method according to claim 2, wherein an operation efficiency of the engineering machinery equipment when executing the single loading operation on the material pile at the loading operation position satisfies a preset operation efficiency constraint. ### Claim 4 (depends on 1) The method according to claim 1, wherein the mechanical structural component comprises a displacement component and a loading component, the loading component is connected to the displacement component, and the loading component moves with a pose change of the displacement component; and the 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 comprises: generating a first operation trajectory of moving the loading component to the loading operation position from a position characterized by position information of the displacement component. ### Claim 5 (depends on 4) The method according to claim 4, wherein the 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 further comprises: planning a loading operation trajectory of the loading component based on the loading operation position, to generate a second operation trajectory of the loading component executing the material loading operation. ### Claim 6 (depends on 5) The method according to claim 5, wherein the 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 further comprises: acquiring category attribute information and density information of the material pile; and the planning a loading operation trajectory of the loading component based on the loading operation position comprises: planning the loading operation trajectory of the loading component based on the loading operation position, the category attribute information of the material pile, the density information of the material pile, and a preset force range of the loading component executing the loading operation. ### Claim 7 (depends on 1) The method according to claim 1, wherein the method further comprises: sending, based on the operation trajectory of the mechanical structural component executing the material loading operation and state information of a power mechanism of the mechanical structural component, corresponding power control information to the power mechanism. ### Claim 8 (depends on 1) The method according to claim 1, wherein the method further comprises: acquiring pose information of a material loading device and position information of the mechanical structural component when completing a loading operation on the material pile; determining a material unloading position of the mechanical structural component of the engineering machinery equipment based on the pose information of the material loading device; and planning an operation trajectory of the mechanical structural component executing the material unloading operation based on the position information of the mechanical structural component when completing the loading operation on the material pile and the material unloading position of the mechanical structural component. ### Claim 9 (depends on 8) The method according to claim 8, wherein the method further comprises: acquiring loading state information of the material loading device; and wherein the determining a material unloading position of the mechanical structural component of the engineering machinery equipment based on the pose information of the material loading device comprises: determining the material unloading position of the mechanical structural component of the engineering machinery equipment based on the pose information and the loading state information of the material loading device. ### Claim 10 (depends on 9) The method according to claim 9, wherein the loading state information comprises distribution information of the loaded material within a loading space; and the determining the material unloading position of the mechanical structural component of the engineering machinery equipment based on the pose information and the loading state information of the material loading device comprises: determining the material unloading position of the mechanical structural component of the engineering machinery equipment based on the pose information of the loading device and the distribution information of the loaded material within the loading space, and in accordance with a preset unloaded material distribution strategy. ### Claim 11 (depends on 9) The method according to claim 9, wherein the method further comprises: sending, in response to determining that the material loading device reaches a maximum loading capacity based on the loading state information, control information for controlling the mechanical structural component to stop operation to a power mechanism of the mechanical structural component. ### Claim 12 (depends on 8) The method according to claim 8, wherein the acquiring pose information of the material loading device comprises: acquiring spatial sensing data of a work area of the engineering machinery equipment, and performing object detection based on the spatial sensing data to determine the pose information of the material loading device. ### Claim 13 (depends on 8) The method according to claim 8, wherein the method further comprises: sending, based on the operation trajectory of the mechanical structural component executing the material unloading operation and state information of a power mechanism of the mechanical structural component, corresponding power control information to the power mechanism. ### Claim 14 (depends on 1) The method according to claim 1, wherein the acquiring position information of a mechanical structural component of the engineering machinery equipment comprises: acquiring an inclination angle of the mechanical structural component sensed by an inclination angle sensor provided on the mechanical structural component; and determining the position information of the mechanical structural component based on a kinematic model of the engineering machinery equipment and the inclination angle of the mechanical structural component. ### Claim 15 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. ### Claim 16 (depends on 15) The system according to claim 15, wherein the system further comprises: a spatial data sensor, the spatial data sensor collecting spatial sensing data of a work area of the engineering machinery equipment. ### Claim 17 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. ### Claim 18 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.