Method for improving bucket fullness rate in automatic excavation process of excavator, control system, medium and excavator thereof

Abstract

The present invention discloses a method for improving the full bucket rate during the automatic excavation process of an excavator, a control system, a medium and an excavator thereof. The method includes obtaining the starting point, the ending point and the bucket width of the excavation trajectory. A plurality of trajectory midpoints are preset between the starting point and the ending point. A real-time relationship of the excavation trajectory length is established using the selected trajectory midpoints, the starting point and the ending point, and a real-time relationship of the excavation medium volume is further established in combination with the bucket width. When the excavation volume of a certain trajectory midpoint is greater than or equal to 90% of the bucket loading capacity, it is set as the new excavation trajectory ending point. According to the volume of each trajectory midpoint, the operating parameters of the excavator are adjusted, and the trajectory midpoint is planned for the trajectory midpoint using a robot trajectory planning algorithm to obtain a new trajectory midpoint. Based on the starting point, the new trajectory midpoint and the new ending point, the adjusted parameters are used for excavation, which effectively improves the excavation efficiency, reduces the bucket empty rate, and realizes efficient and accurate automatic excavation.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a method for improving the full bucket rate in the automatic excavation process of an excavator, a control system, a medium and an excavator thereof. Background Art

[0002] In the existing field of engineering machinery, excavators are crucial earthmoving equipment, and their excavation efficiency and quality are directly linked to the progress and cost of the entire project. When the excavation environment changes, such as uneven media distribution or shifting geological conditions, the control system struggles to adjust the excavator's operating parameters and digging trajectory in a timely manner, leading to a further increase in the bucket empty rate. This is primarily because the excavator's digging trajectory and operating parameters often rely on the operator's experience and skills, making it difficult to accurately perceive and adaptively adjust the excavation environment. However, during autonomous excavation, excavators generally face the problem of a high bucket empty rate.

[0003] Specifically, existing excavators often fail to obtain real-time critical information, such as the distribution of the excavation medium and geological conditions, during autonomous excavation. This results in inaccurate excavation trajectory planning and delayed adjustments to the excavation depth and angle. Furthermore, the excavator's bucket posture and angle may not be adjusted precisely due to a lack of precise control, making it prone to emptying the bucket when loaded. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: how to solve the problem of high empty bucket rate during autonomous excavation of an excavator.

[0005] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions:

[0006] In a first aspect, the present invention provides a method for improving the full bucket rate during the automatic excavation process of an excavator, comprising the following steps:

[0007] Obtain the starting point and ending point of the excavation trajectory and the width of the excavator bucket;

[0008] Preset multiple track middle points between the starting point and the ending point of the excavation track, and select the track middle point from the preset multiple track middle points according to the characteristics of the excavation task;

[0009] Using the selected trajectory midpoint, excavation trajectory starting point and excavation trajectory ending point, a real-time excavation trajectory relational expression of the trajectory midpoint is established;

[0010] According to the width of the excavator bucket and the real-time relationship formula of the excavation trajectory at the midpoint of the trajectory, a real-time relationship formula of the excavation medium volume at the midpoint of the trajectory is established to calculate the excavation medium volume at each midpoint of the trajectory;

[0011] Comparing the excavated medium volume at each midpoint of the trajectory with the excavator bucket loading capacity in sequence, and when the excavated medium volume at each midpoint of the trajectory is greater than or equal to 90% of the bucket loading capacity, the midpoint of the trajectory is used as the new end point of the excavation trajectory;

[0012] Using the robot trajectory planning algorithm, the trajectory planning is performed on the selected trajectory midpoint to obtain a new trajectory midpoint;

[0013] After adjusting the operating parameters of the excavator according to the volume of the excavated medium at each midpoint of the trajectory, the excavation task is continued based on the starting point of the excavation trajectory, the new midpoint of the trajectory, and the new end point of the excavation trajectory. The operating parameters include bucket width and bucket capacity.

[0014] Furthermore, using the selected trajectory midpoint, excavation trajectory starting point, and excavation trajectory ending point, the excavation trajectory real-time relationship of the trajectory midpoint is established, which is expressed as:

[0015] (1);

[0016] Among them, f(x) is the integrand, f(x)>0, represents the length of the excavation trajectory at the middle point of the current trajectory, a represents the starting point of the excavation trajectory, and b represents the ending point of the excavation trajectory.

[0017] According to the excavator bucket width and the real-time relational expression of the excavation trajectory at the midpoint of the trajectory, a real-time relational expression of the excavation medium volume at the midpoint of the trajectory is established. The real-time relational expression of the excavation medium volume at each midpoint of the trajectory is expressed as:

[0018] (2);

[0019] Where V represents the volume of the excavated medium at the middle point P of the current trajectory, P represents the middle point of the current trajectory, a represents the starting point of the excavation trajectory, b represents the ending point of the excavation trajectory, |f p (x)| represents the length of the excavation trajectory at the middle point P of the current trajectory, Indicates the width of the excavator bucket.

[0020] If the excavation trajectory at the midpoint of the established trajectory is a curved trapezoid, the curved trapezoid area calculation method is used to express the real-time relationship of the excavation medium volume at each midpoint of the trajectory as follows:

[0021] (3);

[0022] Among them, V dis When the excavation trajectory at the middle point of the established trajectory is a curved trapezoid, the volume of the excavated medium at the middle point of the current trajectory, y i +y i+1The sum of the upper and lower bases of the curved trapezoid representing the trajectory of the midpoint of the i-th trajectory, x i+1 -x i Represents the height of the curved trapezoid of the motion trajectory of the middle point of the i-th trajectory, where , n represents the sampling frequency, Indicates the width of the excavator bucket.

[0023] Furthermore, the robot trajectory planning algorithm includes a cubic polynomial trajectory interpolation algorithm, a quintic polynomial trajectory interpolation algorithm and a NURBS trajectory planning algorithm.

[0024] In a second aspect, the present invention provides a control system for improving the bucket fill rate during the automatic excavation process of an excavator, comprising the following modules:

[0025] Initialization module, used to obtain the starting point of the excavation trajectory, the ending point of the excavation trajectory and the width of the excavator bucket;

[0026] The intermediate point preset and selection module is used to preset multiple track intermediate points between the starting point and the ending point of the excavation track, and select the track intermediate point from the preset multiple track intermediate points according to the characteristics of the excavation task;

[0027] A trajectory real-time relationship establishment module is used to establish a real-time excavation trajectory relationship equation of the trajectory midpoint using the selected trajectory midpoint, the excavation trajectory starting point, and the excavation trajectory ending point;

[0028] An excavation medium volume establishment and calculation module is used to establish a real-time excavation medium volume relationship at the midpoint of the trajectory based on the excavator bucket width and the real-time excavation trajectory relationship at the midpoint of the trajectory, and calculate the excavation medium volume at each midpoint of the trajectory;

[0029] A bucket loading capacity comparison module is used to sequentially compare the excavated medium volume at each trajectory midpoint with the excavator bucket loading capacity, and when the excavated medium volume at each trajectory midpoint is greater than or equal to 90% of the bucket loading capacity, the trajectory midpoint is used as the new excavation trajectory end point;

[0030] The trajectory planning module is used to plan the trajectory of the selected trajectory midpoint using the robot trajectory planning algorithm to obtain a new trajectory midpoint;

[0031] The operating parameter adjustment and trajectory optimization module is used to adjust the operating parameters of the excavator according to the volume of the excavated medium at each midpoint of the trajectory, and then continue to perform the excavation task based on the starting point of the excavation trajectory, the new midpoint of the trajectory, and the new end point of the excavation trajectory. The operating parameters include bucket width and bucket capacity.

[0032] In a third aspect, the present invention provides a computer-readable storage medium having a computer program / instruction stored thereon, wherein the computer program / instruction, when executed by a processor, implements the steps of any of the above-mentioned methods.

[0033] In a fourth aspect, the present invention provides an excavator, comprising a cabin, a boom, a dipper arm, a bucket, a tooth space, a boom cylinder, a dipper arm cylinder and a bucket cylinder, wherein the cabin is connected to the boom, the boom is connected to the dipper arm, the dipper arm is connected to the bucket, the boom cylinder drives the boom to move, the dipper arm cylinder drives the dipper arm to move, and the bucket cylinder drives the bucket to move. The invention also includes a controller, which is used to execute the method for improving the full bucket rate in the automatic excavation process of the excavator as described in any of the above items.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] This invention uses a robotic trajectory planning algorithm to plan a new excavation trajectory, enabling dynamic adjustment of the excavator's excavation trajectory. It can adapt to environmental changes in real time, ensuring that the excavation trajectory matches the excavation task, thereby improving operational efficiency. Furthermore, it uses intermediate points to establish a relationship between trajectory and volume, accurately calculating the excavation volume and increasing the bucket fill rate. Advanced trajectory planning methods ensure a smooth and continuous path, reducing movement and energy consumption, and optimizing excavation efficiency. Operating parameters are adjusted based on the planning results to further improve excavation efficiency and quality, enabling efficient and accurate automated excavation. This solves the existing problem of high bucket empty rates during autonomous excavation by excavators. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a structural diagram of an excavator to which a control system for improving the bucket fill rate during automatic excavation of the excavator is applied, provided by the present invention;

[0037] Figure 2 It is a schematic diagram of the curved-edge trapezoid area integral of a method for improving the full bucket rate in the automatic excavation process of an excavator provided by the present invention.

[0038] Reference numerals:

[0039] 1-Cockpit; 2-Boom; 3-Arm; 4-Bucket; 5-Gear Space; 6-Boom Cylinder; 7-Arm Cylinder; 8-Bucket Cylinder. DETAILED DESCRIPTION

[0040] Example 1

[0041] The present invention provides a method for improving the full bucket rate during the automatic excavation process of an excavator, which specifically comprises the following steps:

[0042] In this embodiment, before starting excavation, the excavator obtains the starting point and ending point of the excavation trajectory and the width of the excavator bucket, and calculates the approximate direction and length of the excavation trajectory and the straight-line distance between the starting point and the ending point based on the coordinates of the starting point and the ending point of the excavation trajectory.

[0043] Determine the starting point coordinates (x0, y0) of the current position of the excavator, and the far end point of the target excavation area is the ending point coordinates (x m , y m ). According to the excavation requirements, set the excavation length to L, the excavation width to B, and the excavation depth to H.

[0044] The excavator's travel path is planned based on the required excavation length L. This path is a trapezoidal curve from the starting point to the end point, with a length roughly equal to or slightly greater than L. To ensure excavation continuity and efficiency, while also considering the required excavation width B, the excavation area is divided into several excavation units of width B.

[0045] Multiple track midpoints are preset between the starting point and the ending point of the excavation track. Based on the characteristics of the excavation task, the appropriate track midpoint is selected from the preset multiple track midpoints to generate a smooth and satisfactory excavation track.

[0046] According to the trajectory midpoint, the excavation trajectory starting point and the excavation trajectory ending point, the excavation trajectory real-time relationship formula of the trajectory midpoint is established in combination with the integral method. The excavation trajectory real-time relationship formula of the trajectory midpoint is:

[0047] (1);

[0048] Among them, f(x) is the integrand, f(x)>0, represents the length of the excavation trajectory at the middle point of the current trajectory, a represents the starting point of the excavation trajectory, and b represents the ending point of the excavation trajectory.

[0049] According to the excavator bucket width and the real-time relational expression of the excavation trajectory at the midpoint of the trajectory, a real-time relational expression of the excavation medium volume at the midpoint of the trajectory is established. The real-time relational expression of the excavation medium volume at each midpoint of the trajectory is expressed as:

[0050] (2);

[0051] Where V represents the volume of the excavated medium at the middle point P of the current trajectory, P represents the middle point of the current trajectory, a represents the starting point of the excavation trajectory, b represents the ending point of the excavation trajectory, |f p (x)| represents the length of the excavation trajectory at the middle point P of the current trajectory, Indicates the width of the excavator bucket.

[0052] To calculate the excavation volume, we first need to determine the motion trajectory of the excavator bucket tooth tip. This trajectory is derived from the excavator's kinematic model and the position information of the bucket tooth tip. After performing excavation trajectory planning, we obtain the trajectory function and the upper and lower bounds of the excavation trajectory. The excavation trajectory is then evenly divided according to the specified sampling time to generate multiple small trajectory segments.

[0053] The motion trajectory of the excavator bucket fitting is as follows: Figure 2 As shown, if the excavation trajectory of the midpoint of the established trajectory is a curved trapezoid, according to the definition of integral, the method of calculating the area of ​​the curved trapezoid is used on each midpoint trajectory to calculate the volume of the excavated medium on each midpoint trajectory, that is, the area of ​​the curved trapezoid is multiplied by the excavation width of the bucket.

[0054] The calculation formula for the excavation medium volume V between the middle points of each trajectory is:

[0055] (3);

[0056] Among them, V dis When the excavation trajectory at the middle point of the established trajectory is a curved trapezoid, the volume of the excavated medium at the middle point of the current trajectory, y i +y i+1 The sum of the upper and lower bases of the curved trapezoid representing the trajectory of the midpoint of the i-th trajectory, x i+1 -x i Represents the height of the curved trapezoid of the motion trajectory of the middle point of the i-th trajectory, where , n represents the sampling frequency, Indicates the width of the excavator bucket.

[0057] Comparing the excavated medium volume at each midpoint of the trajectory with the excavator bucket loading capacity in sequence, and when the excavated medium volume at each midpoint of the trajectory is greater than or equal to 90% of the bucket loading capacity, the midpoint of the trajectory is used as the new end point of the excavation trajectory;

[0058] The loading capacity V of the excavator bucket is a known value, and a threshold close to full load is set. In this embodiment, the threshold close to full load is set to 90% of the bucket loading capacity;

[0059] Using the above method, calculate the excavation medium volume V at each midpoint of the trajectory in turn. i ,in i Indicates the i midpoint of the trajectory;

[0060] If the volume of the excavated medium at each midpoint of the trajectory is V i The threshold value equal to 90% of the bucket loading capacity is V i >= V*90%, the middle point of the trajectory is used as the new excavation trajectory end point;

[0061] Determining the end of the trajectory means the bucket is nearly full and it is time to start planning the next excavation segment or dumping operation.

[0062] Adjust the excavation trajectory according to the actual situation on site to ensure that the excavator can move to the unloading point smoothly and efficiently.

[0063] According to the volume of excavated medium at the middle point of each trajectory, the excavator's operating parameters such as bucket width and bucket capacity are adjusted to optimize the excavation trajectory of the excavator;

[0064] Using the multi-iteration trajectory planning method, the trajectory planning is performed on the selected trajectory midpoint to obtain the new trajectory midpoint;

[0065] In addition to using the multi-interpolation trajectory planning method, other robot trajectory planning algorithms can also be selected according to actual conditions to perform trajectory planning on the selected trajectory midpoint, such as the NURBS trajectory planning algorithm.

[0066] The excavator excavates the trajectory using the adjusted operating parameters according to the excavation trajectory starting point, the new trajectory middle point, and the new excavation trajectory ending point.

[0067] The method provided by the present invention improves the bucket fill rate by carefully planning the excavation trajectory of the excavator. First, the excavation trajectory of the excavator and its key parameters, including the starting point, the ending point, and the bucket width, are obtained. Then, multiple trajectory intermediate points are preset between the starting point and the ending point and selected according to the characteristics of the excavation task. Next, a real-time relationship for the length of the excavation trajectory is established using the selected intermediate points, the starting point, and the ending point. Furthermore, a real-time relationship for the volume of the excavated medium is established in combination with the bucket width to calculate the volume of the excavated medium at each intermediate point. By comparing these volumes with the bucket loading capacity, the new excavation trajectory ending point is determined. Based on the volume of the intermediate points, the operating parameters of the excavator, such as the bucket width and capacity, are adjusted. Finally, the trajectory of the intermediate points is planned using the robot trajectory planning algorithm to obtain new intermediate points, and excavation is performed based on these points using the adjusted parameters.

[0068] The method provided by this invention effectively improves excavation efficiency and reduces the bucket empty rate through precise trajectory planning and parameter adjustment, achieving efficient and accurate automatic excavation. This not only saves time and costs, but also improves the service life and overall performance of the excavator.

[0069] Example 2

[0070] Similar to the concept of Example 1, this embodiment introduces a control system for improving the bucket fill rate during the automatic excavation process of an excavator, including the following modules:

[0071] Initialization module, used to obtain the starting point of the excavation trajectory, the ending point of the excavation trajectory and the width of the excavator bucket;

[0072] The intermediate point preset and selection module is used to preset multiple track intermediate points between the starting point and the ending point of the excavation track, and select the track intermediate point from the preset multiple track intermediate points according to the characteristics of the excavation task;

[0073] A trajectory real-time relationship establishment module is used to establish a real-time excavation trajectory relationship equation of the trajectory midpoint using the selected trajectory midpoint, the excavation trajectory starting point, and the excavation trajectory ending point;

[0074] An excavation medium volume establishment and calculation module is used to establish a real-time excavation medium volume relationship at the midpoint of the trajectory based on the excavator bucket width and the real-time excavation trajectory relationship at the midpoint of the trajectory, and calculate the excavation medium volume at each midpoint of the trajectory;

[0075] A bucket loading capacity comparison module is used to sequentially compare the excavated medium volume at each trajectory midpoint with the excavator bucket loading capacity, and when the excavated medium volume at each trajectory midpoint is greater than or equal to 90% of the bucket loading capacity, the trajectory midpoint is used as the new excavation trajectory end point;

[0076] The trajectory planning module is used to plan the trajectory of the selected trajectory midpoint using the robot trajectory planning algorithm to obtain a new trajectory midpoint;

[0077] The operating parameter adjustment and trajectory optimization module is used to adjust the operating parameters of the excavator according to the volume of the excavated medium at each midpoint of the trajectory, and then continue to perform the excavation task based on the starting point of the excavation trajectory, the new midpoint of the trajectory, and the new end point of the excavation trajectory. The operating parameters include bucket width and bucket capacity.

[0078] The specific functional implementation of each of the above modules can be found in the relevant content of the method in Example 1 and will not be elaborated on here.

[0079] Example 3

[0080] Based on the same inventive concept as other embodiments, this embodiment introduces a computer-readable storage medium on which computer instructions are stored, characterized in that the computer instructions implement the steps of the method of the above-mentioned embodiment 1 when executed by a processor.

[0081] Example 4

[0082] Based on the same inventive concept as other embodiments, Figure 1As shown, this embodiment introduces an excavator, including a cabin 1, a boom 2, a dipper arm 3, a bucket 4, a tooth space 5, a boom cylinder 6, a dipper arm cylinder 7 and a bucket cylinder 8, the cabin 1 is connected to the boom 2, the boom 2 is connected to the dipper arm 3, the dipper arm 3 is connected to the bucket 4, the boom cylinder 6 pushes the boom 2 to move, the dipper arm cylinder 8 pushes the dipper arm 3 to move, and the bucket cylinder 8 pushes the bucket 4 to move, and also includes a controller, which is used to execute the method for improving the full bucket rate in the automatic excavation process of the excavator described in Example 1.

[0083] In summary, the present invention uses a robotic trajectory planning algorithm to plan a new excavation trajectory, enabling dynamic adjustment of the excavator's excavation trajectory. This allows for real-time adaptation to environmental changes, ensuring that the trajectory matches the conditions and improving operational efficiency. Furthermore, by using intermediate points to establish a relationship between trajectory and volume, the excavation volume can be accurately calculated, increasing the bucket fill rate. Advanced trajectory planning methods ensure a smooth and continuous path, reducing movement and energy consumption, and optimizing excavation efficiency. Operating parameters are adjusted based on the planning results to further improve excavation efficiency and quality, enabling efficient, precise, and automated excavation. This addresses the prior art issue of high bucket empty rates during autonomous excavation by excavators.

[0084] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0085] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0086] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0087] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0088] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which are all protected by the present invention.

Claims

1. A method for improving the full bucket rate during the automatic excavation process of an excavator, characterized in that: The following steps are involved: Obtain the starting point and ending point of the excavation trajectory and the width of the excavator bucket; Preset multiple track middle points between the starting point and the ending point of the excavation track, and select the track middle point from the preset multiple track middle points according to the characteristics of the excavation task; Using the selected trajectory midpoint, excavation trajectory starting point and excavation trajectory ending point, a real-time excavation trajectory relational expression of the trajectory midpoint is established; According to the width of the excavator bucket and the real-time relationship formula of the excavation trajectory at the midpoint of the trajectory, a real-time relationship formula of the excavation medium volume at the midpoint of the trajectory is established to calculate the excavation medium volume at each midpoint of the trajectory; Comparing the excavated medium volume at each midpoint of the trajectory with the excavator bucket loading capacity in sequence, and when the excavated medium volume at each midpoint of the trajectory is greater than or equal to 90% of the bucket loading capacity, the midpoint of the trajectory is used as the new end point of the excavation trajectory; Using the robot trajectory planning algorithm, the trajectory planning is performed on the selected trajectory midpoint to obtain a new trajectory midpoint; After adjusting the operating parameters of the excavator according to the volume of the excavated medium at each midpoint of the trajectory, the excavation task is continued based on the starting point of the excavation trajectory, the new midpoint of the trajectory, and the new end point of the excavation trajectory, the operating parameters including bucket width and bucket capacity; Using the selected trajectory midpoint, excavation trajectory starting point, and excavation trajectory ending point, the excavation trajectory real-time relationship of the trajectory midpoint is established, which is expressed as: （1）； in, is the integrand, , represents the length of the excavation trajectory at the middle point of the current trajectory, Indicates the starting point of the excavation trajectory, Indicates the end point of the excavation trajectory; According to the excavator bucket width and the real-time relational expression of the excavation trajectory at the midpoint of the trajectory, a real-time relational expression of the excavation medium volume at the midpoint of the trajectory is established. The real-time relational expression of the excavation medium volume at each midpoint of the trajectory is expressed as: （2）； in, Indicates the middle point of the current track The volume of excavated medium, Indicates the middle point of the current track The length of the excavation trajectory, Indicates the width of the excavator bucket.

2. The method for improving the full bucket rate during the automatic excavation process of an excavator according to claim 1, characterized in that: If the excavation trajectory at the midpoint of the established trajectory is a curved trapezoid, the curved trapezoid area calculation method is used to express the real-time relationship of the excavation medium volume at each midpoint of the trajectory as follows: （3）； in, When the excavation trajectory at the middle point of the established trajectory is a curved trapezoid, the volume of the excavated medium at the middle point of the current trajectory is Indicates the The sum of the upper and lower bases of the curved trapezoid of the trajectory of the middle point of the trajectory, Indicates the The height of the curved trapezoid of the trajectory of the middle point of the trajectory, where , Indicates the sampling frequency.

3. The method for improving the full bucket rate during the automatic excavation process of an excavator according to claim 1, characterized in that: The robot trajectory planning algorithm includes a multi-item trajectory interpolation algorithm.

4. The method for improving the full bucket rate during the automatic excavation process of an excavator according to claim 1, characterized in that: The robot trajectory planning algorithm includes a NURBS trajectory planning algorithm.

5. A control system for improving the full bucket rate during the automatic excavation process of an excavator, characterized in that: The method for improving the full bucket rate during the automatic excavation process of an excavator according to any one of claims 1 to 4 comprises the following modules: Initialization module, used to obtain the starting point of the excavation trajectory, the ending point of the excavation trajectory and the width of the excavator bucket; The intermediate point preset and selection module is used to preset multiple track intermediate points between the starting point and the ending point of the excavation track, and select the track intermediate point from the preset multiple track intermediate points according to the characteristics of the excavation task; A trajectory real-time relationship establishment module is used to establish a real-time excavation trajectory relationship equation of the trajectory midpoint using the selected trajectory midpoint, the excavation trajectory starting point, and the excavation trajectory ending point; An excavation medium volume establishment and calculation module is used to establish a real-time excavation medium volume relationship at the midpoint of the trajectory based on the excavator bucket width and the real-time excavation trajectory relationship at the midpoint of the trajectory, and calculate the excavation medium volume at each midpoint of the trajectory; A bucket loading capacity comparison module is used to sequentially compare the excavated medium volume at each trajectory midpoint with the excavator bucket loading capacity, and when the excavated medium volume at each trajectory midpoint is greater than or equal to 90% of the bucket loading capacity, the trajectory midpoint is used as the new excavation trajectory end point; The trajectory planning module is used to plan the trajectory of the selected trajectory midpoint using the robot trajectory planning algorithm to obtain a new trajectory midpoint; The operating parameter adjustment and trajectory optimization module is used to adjust the operating parameters of the excavator according to the volume of the excavated medium at each midpoint of the trajectory, and then continue to perform the excavation task based on the starting point of the excavation trajectory, the new midpoint of the trajectory, and the new end point of the excavation trajectory. The operating parameters include bucket width and bucket capacity.

6. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed by a processor, the steps of the method for improving the full bucket rate in the automatic excavation process of an excavator as described in any one of claims 1 to 4 are implemented.

7. An excavator, comprising a cabin, a boom, an arm, a bucket, a tooth space, a boom cylinder, an arm cylinder and a bucket cylinder, wherein the cabin is connected to the boom, the boom is connected to the arm, the arm is connected to the bucket, the boom cylinder drives the boom to move, the arm cylinder drives the arm to move, and the bucket cylinder drives the bucket to move, characterized in that: It also includes a controller, which is used to execute the method for improving the full bucket rate in the automatic excavation process of an excavator as described in any one of claims 1 to 4.

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