Automatic control system and optimal trajectory planning method of intelligent excavator

Abstract

The invention discloses an automatic control system and an optimal trajectory planning method of an intelligent excavator. The system comprises a data acquiring and executing module, a network, a processor and a storage device; and the data acquiring and executing module comprises a 3D scanner, a power sensor, a proximity sensor, a displacement sensor, an angle sensor, a torque sensor, an information device, a controller, the processor, the storage device and a wireless transceiver. According to the automatic control system and the optimal trajectory planning method of the intelligent excavator, because the 3D scanner is adopted to determine the contour of the surface of a to-be-excavated material, the coordinate matrix of the contour is obtained through the processor, and therefore accurate modeling is performed on a material pile, and accurate prediction on the surface load of the excavated complex material pile is achieved. According to the automatic control system and the optimal trajectory planning method of the intelligent excavator, because the information device and the processor are used for optimizing control parameters in the excavating process of the excavator, the purposes that the excavating load is minimum, and the excavating energy consumption is lowest are achieved. According to the automatic control system and the optimal trajectory planning method of the intelligent excavator, the accuracy of a load predicting algorithm is improved, and accurate prediction on the excavating load is achieved.

Description

technical field [0001] The invention relates to a control technology of an excavator, in particular to an optimal trajectory planning method of an intelligent excavator. Background technique [0002] The operation of large machines such as large mining excavators is more complicated, and the operating techniques and operating habits of different operators are different, resulting in the operation not being standardized. Therefore, manual operation of large mining excavators is inefficient and unstable. [0003] In addition, the current determination of the stockpile is generally to fit the scanned stockpile to a slope with a fixed accumulation angle, which does not take into account the fluctuation and complexity of different positions of the stockpile, which may lead to problems including excavation that cannot be full, Excessive excavation resistance, excessive excavation energy consumption, and excessive wear on the bucket and bucket teeth. [0004] In addition, there ha...

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Problems solved by technology

[0002] The operation of large machines such as large mining excavators is more complicated, and the operating techniques and operating habits of different operators are different, resulting in the operation not being standardized, so manual operation of large mining excavators is inefficient and unstable

[0003] In addition, the current determination of the stockpile is generally to fit the scanned stockpile to a slope with a fixed accumulation angle, which does not take into account the fluctuation and complexity of different positions of the stockpile, which may lead to problems including excavation that cannot be full, Excessive excavation resistance, excessive excavation energy consumption, and excessive wear on the bucket and bucket teeth

[0004] In addition, there has always been a lack of a relatively complete mathematical analysis formula for excavation load prediction

Due to the complexity of the material, the material parameters (such as internal friction angle, external friction angle, viscosity, angle between the material failure surface and the surface, etc.) in different working conditions are quite different and difficult to measure, which affects the accuracy of prediction. had a great impact

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