Loader and automatic shoveling control method thereof

Abstract

The invention relates to the technical field of unmanned driving of loaders, in particular to a loader and an automatic shoveling control method thereof. The loader comprises a monitoring system, a control system and an execution system; the control system comprises a track planning unit used for receiving monitoring data of the monitoring system and formulating a shoveling track of the loader, atrack tracking unit used for controlling the execution system to execute material shoveling according to the shoveling track transmitted by the track planning unit, an intervention control unit and atrack re-planning unit; the intervention control unit is used for taking over the control right of the track tracking unit when the execution system is blocked and controlling the execution system toexecute related protection actions; and the track re-planning unit is used for formulating a new shoveling track. The loader has the beneficial effects that the shoveling tracks for different materials can be planned reasonably, the bucket fullness rate can be increased, the energy consumption can be reduced, intervention can be performed when track tracking is difficult, and the shoveling track can be planned again.

Description

technical field [0001] The invention relates to the technical field of unmanned driving of loaders, in particular to a loader and an autonomous shoveling control method thereof. Background technique [0002] Driving a loader is a boring job. Repeated operations for a long time can easily lead to driver fatigue, affect work efficiency and pose potential safety hazards. Carrying out research on unmanned driving technology of loaders has very important practical significance in reducing the labor intensity of drivers, reducing operating accidents and improving operating efficiency. The operating objects of the loader mainly include bulk materials such as coal, gravel, sand and soil, which are discontinuous media. During the shoveling process, the load of the bucket changes drastically, and many parameters such as the strength of the material will affect the filling of the bucket. Therefore, how to complete the autonomous shoveling of the loader is the key and difficult technol...

AI Technical Summary

Problems solved by technology

[0004] There is a common shortcoming in the existing shovel loading methods, that is, the shovel loading operation is a fixed pattern, and the same action is performed every time the shovel loading is performed, and the process of the loader shoveling materials is a very complicated process. Affected by various factors, a fixed shoveling trajectory is obviously not suitable for the working environment with changing shapes

The existing loader autonomous shoveling adopts a semi-automatic mode, the driver controls the direction and throttle of the loader, the loader control system controls the movement of the boom cylinder and bucket cylinder, and controls the manipulation of the boom and bucket The lever is easy to operate, so this method can only reduce driver fatigue to a small extent, and cannot guarantee a good shoveling effect, and is of little value in actual production operations

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