Excavator loading planning method and device and excavator

Abstract

The invention discloses an excavator loading planning method and device and an excavator. Safe and efficient unmanned excavator loading work can be achieved. The excavator comprises an excavating assembly, and the excavator loading planning method comprises the steps that based on mechanism characteristics of the excavator, comprehensive performance indexes of the excavator are determined; wherein the comprehensive performance index is used for reflecting the movement performance of the excavator; determining a plurality of key waypoints and operation stages based on the comprehensive performance index and the historical loading path; wherein the key waypoint is used for indicating the working angle of the excavation assembly and the working coordinate of the excavation assembly; optimizing the loading time of each operation stage according to a preset constraint condition, the plurality of key waypoints and the operation stages; wherein the sum of the loading time of each operation stage is the total time of the loading process of the excavator; and generating a loading scheme of the excavator based on the plurality of key waypoints, the operation stages and the loading time of each operation stage.

Description

Technical Field

[0001] The present application relates to the technical field of excavators, and in particular to an excavator loading planning method, device and excavator. Background Art

[0002] With the rapid development of global infrastructure construction, excavators, as important earth-moving machinery, play an indispensable role in various engineering fields. In the early days, excavator loading mainly relied on the operator's experience and skills, and completed the loading task through manual judgment and control. Although this method is simple and direct, it is inefficient and easily affected by the operator's skill level and fatigue. With the development of technology, some excavators began to be equipped with auxiliary systems, such as GPS positioning, laser ranging, etc., to achieve semi-automatic loading planning. These methods can improve loading efficiency to a certain extent, but still require manual intervention and judgment. Summary of the invention

[0003] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide an excavator loading planning method, device and excavator, which can realize safe and efficient unmanned excavator loading work.

[0004] According to a first aspect of the present application, there is provided an excavator loading planning method, the excavator comprising an excavating component, the excavator loading planning method comprising: determining a comprehensive performance index of the excavator based on the structural characteristics of the excavator; wherein the comprehensive performance index is used to reflect the motion performance of the excavator; determining a plurality of key waypoints and operating stages based on the comprehensive performance index and a historical loading path; wherein the operating stage represents an operating process from one key waypoint to another key waypoint, and the key waypoint is used to indicate a working angle of the excavating component and a working coordinate of the excavating component; optimizing the loading time of each operating stage according to preset constraints, a plurality of the key waypoints and the operating stage; wherein the sum of the loading time of each operating stage is the total loading process time of the excavator; generating a loading plan for the excavator based on the plurality of key waypoints, the operating stage and the loading time of each operating stage.

[0005] As a possible implementation method, the loading time of each operating stage is optimized according to preset constraints, multiple key waypoints and the operating stages, and also includes: determining the theoretical shortest movement time of the excavation component in each operating stage according to the multiple key waypoints and the structural characteristics of the excavator; optimizing the working speed of each operating stage based on the preset constraints and the theoretical shortest movement time of each operating stage to obtain the optimized working time of each operating stage that meets the preset constraints; combining the working time of each operating stage to obtain multiple total loading time combinations of the excavator; using the shortest total loading time that meets the preset requirements among the multiple total loading time combinations as the total loading process time of the excavator.

[0006] As a possible implementation method, after determining the theoretical shortest movement time of the excavation component in each operation stage based on multiple key waypoints and the mechanical characteristics of the excavator, the excavator loading planning method also includes: for each operation stage, obtaining multiple feasible movement times of the excavation component based on the empirical value of the smooth movement of the excavation component obtained from the experiment; taking the maximum value from the multiple feasible movement times as the feasible value corresponding to the operation stage; wherein the feasible value represents the upper limit of the operation time of the excavation component in the current operation stage.

[0007] As a possible implementation method, based on the preset constraints and the theoretical shortest movement time of each operating stage, the working speed of each operating stage is optimized to obtain the working time of each operating stage that satisfies the preset constraints after optimization, including: for each operating stage, taking the theoretical shortest movement time as the initial value, and gradually increasing it to a feasible value; discretizing from the initial value to the feasible value, traversing and calculating the satisfaction of the preset constraints, and obtaining the shortest working time of each operating stage that satisfies the preset constraints.

[0008] As a possible implementation method, setting the preset constraints includes: calculating the cylinder force and the rotational torque based on the dynamic model of the excavator's working device; setting the preset constraints based on the joint angle, angular velocity, angular acceleration, the cylinder force, the rotational torque and system power to optimize the loading time of each operating stage.

[0009] As a possible implementation, the excavation assembly includes a boom, an arm, a bucket and a slewing system; preset constraints are set based on joint angles, angular velocities, angular accelerations, the cylinder force, the slewing torque and system power, including: for the boom, the arm and the bucket, the joint angles of each of the excavation assemblies are smaller than their corresponding maximum angles and are larger than their corresponding minimum angles; for the boom, the arm and the bucket, the absolute value of the angular velocity of each of the excavation assemblies is smaller than its corresponding maximum angular velocity; for the boom, the arm and the bucket, the absolute value of the angular velocity of each of the excavation assemblies is smaller than its corresponding maximum angular velocity; bucket, the absolute value of the angular acceleration of each excavating component is smaller than the corresponding maximum angular acceleration of itself; based on the continuous function, the boom, the dipper arm and the bucket are set to have continuity respectively; for the boom, the dipper arm and the bucket, the cylinder force of each excavating component is respectively greater than the maximum tension of its own cylinder, and the cylinder force of each excavating component is respectively less than the maximum thrust of its own cylinder; the absolute value of the rotational torque of the rotary system is less than the preset maximum rotational torque; the sum of the instantaneous power of the boom, the dipper arm, the bucket and the rotary system is less than the engine power.

[0010] As a possible implementation method, the excavation component includes a boom and a stick; based on the mechanical characteristics of the excavator, the comprehensive performance index of the excavator is determined, including: based on the mechanical characteristics of the excavator, a first output transfer index of the boom, a second output transfer index of the stick, and a dexterity index of the excavation component are determined; the first output transfer index and the second output transfer index are related to the input motion spin, the transmission force spin and the potential maximum input power, the spin is used to describe the motion and force of the excavation component, and the dexterity index represents the absolute value of the sine value of the angle between the boom and the stick; the product of the first output transfer index, the second output transfer index and the dexterity index is calculated; the cube root of the product is taken to obtain the comprehensive performance index.

[0011] As a possible implementation, the excavation component includes a boom, a dipper arm and a bucket; based on the comprehensive performance index and the historical loading path, multiple key waypoints and operation stages are determined, including: based on the mine truck position, the comprehensive performance index and the historical loading path of the excavation component, the loading starting point, the boom lifting point, the intermediate position point, the mine truck cargo box edge point and the loading position point are determined as key waypoints; wherein the loading position point is related to the mine truck position; based on the key waypoints, the operation stage is determined; wherein the operation stage includes a first operation stage, a second operation stage, a third operation stage and a fourth operation stage; the first operation stage represents lifting the boom from the loading starting point to the boom lifting point, the second operation stage represents returning from the boom lifting point to the intermediate position point, the third stage represents returning from the intermediate position point to the mine truck cargo box edge point, and the fourth stage represents from the mine truck cargo box edge point to the loading position point.

[0012] According to a second aspect of the present application, there is provided an excavator loading planning device, the excavator including an excavating component, the excavator loading planning device including: a first determination module, based on the mechanical characteristics of the excavator, determining the comprehensive performance index of the excavator; wherein the comprehensive performance index is used to reflect the motion performance of the excavator; a second determination module, based on the comprehensive performance index and the historical loading path, determining a plurality of key waypoints and operation stages; wherein the operation stage represents the operation process from one key waypoint to another key waypoint, and the key waypoint is used to indicate the working angle of the excavating component and the working coordinates of the excavating component; an optimization module, according to preset constraints, a plurality of the key waypoints and the operation stage, optimizing the loading time of each of the operation stages; wherein the sum of the loading time of each of the operation stages is the total loading process time of the excavator; a planning module, based on the plurality of key waypoints, the operation stage and the loading time of each of the operation stages, generating a loading plan for the excavator.

[0013] According to a third aspect of the present application, there is provided an excavator, comprising: an excavating component; and an excavator loading planning device as provided in the second aspect, wherein the excavator loading planning device is communicatively connected to the excavating component.

[0014] The excavator loading planning method, device and excavator provided in the present application, in order to ensure that the excavator working device has good mechanical characteristics during the loading process, calculates key waypoints based on the comprehensive performance indicators of the excavator, and plans the path based on the key waypoints. Then, the excavation component can load materials along the planned path to complete the process of loading the materials into the mining truck cargo box. Under the premise of knowing the planned path, in order to achieve efficient loading and ensure that the motion instructions during the loading process meet the mechanical characteristics of the excavator, efficient loading trajectory planning is carried out according to the results of path planning, and under the preset constraints, the optimal loading time and smooth movement are achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 It is a flowchart of an excavator loading planning method provided by an exemplary embodiment of the present application.

[0017] Figure 2 It is a flowchart of trajectory optimization solution provided by an exemplary embodiment of the present application.

[0018] Figure 3 It is a structural schematic diagram of an excavator loading planning device provided by an exemplary embodiment of the present application.

[0019] Figure 4 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0020] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0021] With the rapid development of global infrastructure construction, excavators, as important earth-moving machinery, play an indispensable role in the fields of roads, bridges, buildings, underground projects and open-pit mining. Excavator loading is one of the important criteria for measuring the excavation capacity of excavators, and its planning method is directly related to the efficiency and cost of engineering construction. Excavator loading refers to the process of loading materials into transport vehicles or stockpiles after the excavator digs the materials through the bucket. This process requires not only the excavator to have efficient operating capabilities, but also a reasonable planning method to ensure loading efficiency and safety. Traditional excavators require manual operation and complete loading tasks through manual judgment and control. Now, intelligent unmanned excavation can be achieved through unmanned excavators, but loading planning for unmanned excavators is required.

[0022] At present, when planning the loading of unmanned excavators, the trajectory planning problem of unmanned excavators is usually analyzed separately, without considering the problem of collaborative construction between unmanned excavators and unmanned mining trucks. In order to realize unmanned construction in mines, unmanned excavators and unmanned mining trucks must work together. It is necessary to comprehensively consider unmanned excavators and unmanned mining trucks to carry out unmanned excavator loading motion planning. In addition, the mechanism characteristics of the excavator working device are not considered in the trajectory planning of unmanned excavators at this stage. According to the theory of mechanism performance evaluation, the working device of the unmanned excavator has different mechanism performances at different positions in the workspace. It can efficiently transmit motion and force at positions with good mechanism performance, and the motion transmission efficiency is low at positions with poor mechanism performance, which increases energy consumption and is easily disturbed by external forces. Finally, if the acceleration of each component obtained by trajectory planning is discontinuous and there are mutations, it will cause impact.

[0023] Therefore, in order to solve the above problems, Figure 1 is a flow chart of an excavator loading planning method provided by an exemplary embodiment of the present application, see Figure 1 The present invention can determine the comprehensive performance index of the excavator based on the mechanical characteristics of the excavator (see Figure 1 The comprehensive performance index is used to reflect the motion performance of the excavator. The mechanism characteristics are specifically manifested as motion and force transmission characteristics, which are a kind of mechanism characteristic indicators. Based on the comprehensive performance indicators and the historical loading path, multiple key waypoints and operation stages are determined (see Figure 1 S200 in the figure), wherein the operation stage represents the operation process from one key waypoint to another key waypoint. The key waypoint is used to indicate the working angle and working coordinates of the excavation component. In order to ensure that the unmanned excavator working device has good mechanical characteristics during the loading process, the coordinates of the key waypoints are calculated based on the comprehensive performance indicators of the unmanned excavator. According to the preset constraints, multiple key waypoints and operation stages, the loading time of each operation stage is optimized (see Figure 1The sum of the loading time of each operation stage is the total loading time of the excavator. The loading time is optimized to improve the loading efficiency, and the motion smoothness is optimized by preset constraints. Based on multiple key waypoints, operation stages and the loading time of each operation stage, a loading plan for the excavator is generated (see Figure 1 The loading scheme of the excavator not only refers to the position of the unmanned mining truck to form the collaborative operation of the unmanned excavator and the unmanned mining truck, but also takes into account the mechanical characteristics of the excavator to ensure that the unmanned excavator working device has good mechanical characteristics during the loading process. In addition, according to the results of path planning, efficient loading trajectory planning is carried out in the joint space of the excavation component of the excavator to achieve the optimal loading time and continuous joint angular velocity and angular acceleration under the preset constraints.

[0024] Combined with the following Figure 1 , a more detailed introduction is given to the excavator loading planning method provided in the embodiment of the present application.

[0025] In S100, the comprehensive performance index of the excavator is determined based on the mechanical characteristics of the excavator. Among them, the comprehensive performance index is used to reflect the motion performance of the excavator. The mechanical characteristics of the excavator mainly refer to the unique properties and characteristics of the mechanical structure, which directly affect the function, performance and adaptability of the excavator in different working environments. According to the theory of mechanism performance evaluation, the working device of the unmanned excavator has different mechanical performances at different positions in the working space. It can efficiently transmit motion and force at positions with good mechanical performance, and the motion transmission efficiency is low at positions with poor mechanical performance. Therefore, the performance of the excavator at different positions in space is evaluated by the comprehensive performance index of the excavator, so that a position with better performance can be selected to provide a performance basis for the excavation path of the excavator.

[0026] In some embodiments, the excavation assembly includes a boom and a stick; S100 (determining the comprehensive performance index of the excavator based on the structural characteristics of the excavator) may include: determining the first output transfer index of the boom, the second output transfer index of the stick, and the dexterity index of the excavation assembly based on the structural characteristics of the excavator; the first output transfer index and the second output transfer index are related to the input motion spin, the transmission force spin, and the potential input maximum power, the spin is used to describe the motion and force of the excavation assembly, and the dexterity index represents the absolute value of the sine value of the angle between the boom and the stick; calculating the product of the first output transfer index, the second output transfer index, and the dexterity index; taking the cube root of the product to obtain the comprehensive performance index. Since the excavation assembly of the excavator includes a boom and a stick, when performing loading work, it is necessary to consider the performance impact of each component on loading. Therefore, the structural characteristics of each excavation assembly are considered separately to determine the comprehensive performance index of the entire excavator.

[0027] A possible implementation of S100 may be: the motion and force transmission characteristic is a mechanism characteristic index, and the motion and force transmission characteristic index includes an input transmission index (ITI) and an output transmission index (OTI), and the value range is [0, 1]. The motion and force transmission characteristic index uses the screw of the screw theory to describe the motion and force of the mechanism, and the screw can be expressed as Formula 1:

[0028] $=(s;s 0 )=(s;r×s+hs)Formula 1;

[0029] In formula 1, s is a unit vector, representing the axis of the spinor, r is the vector from the origin of the coordinate system to the axis of the spinor, and h is the pitch of the spinor. The spinor of rotational motion is expressed as (ω; r×ω), where ω is the axis vector of rotational motion; the spinor of movement is expressed as (0; v), where ω is the axis vector of rotation. The spinor of a pure force is expressed as (f; r×f), where f is the direction vector of the pure force; the spinor of a pure couple is expressed as (0; τ), where τ represents the couple vector.

[0030] The reciprocal product operation of the spinor is formula 2:

[0031]

[0032] In formula 2, $1=(s1;s 01 ), $2=(s2;s 02 ), the reciprocal product of the motion spinor and the force spinor represents the power.

[0033] The input transfer index of the calculation organization is calculated using Formula 3:

[0034]

[0035] In formula 3, ITI is the input transfer index of the institution, $ I is the input motion rotation, $ T is the transmitted force screw, and the denominator is the apparent power of the input motion screw and the transmitted force screw, that is, the potential maximum power.

[0036] The output transfer index of the calculation mechanism adopts formula 4:

[0037]

[0038] In formula 4, OTI is the output transfer index of the institution, $ O is the output motion screw, $ T is the transmitted force screw.

[0039] The input transfer indexes of the boom mechanism, the arm mechanism, and the bucket mechanism are defined as ITI1, ITI2, and ITI3, respectively, and the output transfer indexes are defined as OTI1, OTI2, and OTI3, respectively. The dexterity index (DI) of the working device mechanism is defined as the absolute value of the sine value of the angle between the boom and the arm.

[0040] The dexterity index is calculated using Formula 5:

[0041] DI=|sin∠CFQ|Formula 5;

[0042] In Formula 5, D represents the dexterity index, and sin∠CFQ represents the sine value of the angle between the boom and the stick.

[0043] In order to evaluate the comprehensive performance of the unmanned excavator, the comprehensive performance index (Comprehensive Index, CI) of the excavator working device is defined as the geometric mean of OTI1, OTI2 and DI.

[0044] The comprehensive performance index is calculated using formula 6:

[0045]

[0046] In Formula 6, CI represents the comprehensive performance index, OTI1 represents the output transmission index of the boom mechanism, OTI2 represents the output transmission index of the stick mechanism, and DI represents the dexterity index.

[0047] Comprehensive performance indicators can provide the coordinates of key waypoints. For example, from the perspective of mechanical foundations, the characteristics of force transmission can be evaluated, which positions transmit force better and which positions save effort, thereby calculating comprehensive performance indicators. Comprehensive performance indicators indicate different coordinates and have different characteristics at different coordinates. When planning the path, the coordinates corresponding to the positions with better characteristics are selected, so that loading work can be carried out efficiently.

[0048] Continue to see Figure 1 In S200, based on the comprehensive performance index and the historical loading path, multiple key waypoints and operation stages are determined. The operation stage represents the operation process from one key waypoint to another key waypoint, and the key waypoint is used to indicate the working angle and working coordinates of the excavation component. The historical loading path can be a path for manual loading, and the loading path of the manual excavation component is recorded to provide data reference for dividing waypoints and operation stages.

[0049] In some embodiments, the excavation assembly includes a boom, a dipper arm and a bucket; S200 (determining multiple key waypoints and operation stages based on comprehensive performance indicators and historical loading paths) may include: determining the loading start point, boom lifting point, intermediate position point, mining truck cargo box edge point and loading position point as key waypoints based on the mining truck position, comprehensive performance indicators and historical loading paths of the excavation assembly; wherein the loading position point is related to the mining truck position; determining the operation stage based on the key waypoints; wherein the operation stage includes the first operation stage, the second operation stage, the third operation stage and the fourth operation stage; the first operation stage represents lifting the boom from the loading start point to the boom lifting point, the second operation stage represents returning from the boom lifting point to the intermediate position point, the third stage represents returning from the intermediate position point to the mining truck cargo box edge point, and the fourth stage represents from the mining truck cargo box edge point to the loading position point. The excavator requires the cooperation of multiple excavation assemblies to achieve loading, therefore, each excavation assembly is disassembled, and then the key waypoints are divided based on the manual operation habits and the movement of each excavation assembly. For example, the excavation end point is equivalent to the loading starting point. The position after excavation is fixed. Then the boom will generally be lifted first, and then rotated after lifting. After rotating, it will move to the edge of the mining truck cargo box, and then move to the unloading point. Based on this manual operation habit, the key waypoints can be divided into the loading starting point, the boom lifting point, the middle position point, the edge point of the mining truck cargo box and the loading position point. Finally, the position of the key waypoints is optimized based on the comprehensive performance indicators.

[0050] As an example, among the five key waypoints, the three key waypoints of the boom lifting point, the middle position point, and the edge point of the unmanned mining truck cargo box can be optimized and set, and the loading position point is determined by the position of the mining truck cargo box. After the excavation action is completed, the loading starting point is obtained, and the loading position point is generated according to the position of the mining truck cargo box, and the rotation angle and bucket angle corresponding to the boom lifting point, the middle position point, and the edge point of the unmanned mining truck cargo box are obtained. The boom and dipper angles corresponding to the boom lifting point, the middle position point, and the edge point of the unmanned mining truck cargo box can be preset, according to the comprehensive performance indicators and safety settings of the unmanned excavator working device, and the results are rounded. The so-called loading position point is equivalent to the end point. The excavation end point is actually related to the autonomous excavation of the previous movement. After the excavation is completed, the excavation end point can be known, which is the starting point of loading, which is given. After the mining truck is docked, the loading position point can be obtained, and then the edge point of the mining truck can be obtained according to the detection, so the edge point of the unmanned mining truck cargo box is also known. The boom lifting is actually a direct lift, so the boom lifting point can be obtained. The so-called intermediate position point is a transition point between the boom lifting point and the loading position point. It can be obtained by taking an intermediate mean value or calculating it according to the empirical formula. After the unmanned mining truck cargo box edge point, boom lifting point and intermediate position point are initially set, its specific position is optimized through comprehensive performance indicators to obtain the final coordinates. When some of the rotation angles and bucket angles are known, the boom and dipper angles are optimized. After the optimization is completed, the boom and dipper are lifted to the preset position and angle for each excavation to achieve high-performance loading effects.

[0051] As an example, the location of a mining truck can be directly obtained through target detection by LiDAR.

[0052] In other embodiments, the key waypoints may be divided into other numbers other than five, and the operation phase may also change with the increase or decrease of the key waypoints. For example, the key waypoints may be divided into six, and the operation phase may be changed to five, or the key waypoints may be divided into seven, and the operation phase may be changed to six.

[0053] After completing the path planning of S200, in order to ensure smooth movement and achieve optimal efficiency, and to complete the loading of materials in the shortest time, trajectory optimization is performed through S300. Figure 1 In S300, the loading time of each operation stage is optimized according to the preset constraints, multiple key waypoints and the operation stage. The sum of the loading time of each operation stage is the total loading process time of the excavator.

[0054] Smooth motion requires that the angles, angular velocities, and angular accelerations of each joint are continuous during the loading process and meet the kinematic and dynamic constraints during the motion process. The shorter the time, the higher the efficiency, but it will also lead to higher component movement speeds and accelerations, and the required cylinder thrust and rotational torque will be greater. Therefore, by taking the loading time as the objective function, the cylinder force and rotational torque are calculated according to the dynamics model of the unmanned excavator working device, and setting the joint angles, angular velocities, angular accelerations, cylinder forces, rotational torques, and system power as constraints, the time of each loading stage is optimized, and the trajectory planning result is obtained by solving.

[0055] In some embodiments, S300 (optimizing the loading time of each operating stage based on preset constraints, multiple key waypoints and operating stages) may also include: determining the theoretical shortest movement time of the excavation component in each operating stage based on multiple key waypoints and the structural characteristics of the excavator; optimizing the working speed of each operating stage based on the preset constraints and the theoretical shortest movement time of each operating stage to obtain the optimized working time of each operating stage that meets the preset constraints; combining the working time of each operating stage to obtain multiple total loading time combinations of the excavator; using the shortest total loading time that meets the preset requirements among the multiple total loading time combinations as the total loading process time of the excavator.

[0056] As an example, with the bucket center as the end, the unmanned excavator loading path contains five key waypoints and is divided into four stages. The five key waypoints are the loading starting point, the boom lifting point, the middle position point, the edge point of the unmanned mining truck cargo box, and the loading position point. The first stage is to lift the boom from the loading starting point, the second stage is to rotate from the boom lifting point to the middle position point, the third stage is to rotate to the edge of the unmanned mining truck cargo box, and the fourth stage is to reach the loading position point above the cargo box, and then the bucket flips to put the material into the cargo box. According to the five key waypoints, the initial time of the four loading stages is given. The so-called initial time can be: five waypoints correspond to five coordinates, and the five coordinates are used to find the kinematic reaction point to get the angle of each joint. Returning to each joint, between two waypoints, it is the change of the single degree of freedom of the joint angle. Then the change of the single degree of freedom is directly calculated using the maximum speed. Without considering whether it can be achieved, the theoretical shortest movement time of each joint can be obtained based on the maximum rotation speed and the range of joint motion. However, due to kinematic constraints, cylinder force constraints, power constraints, etc., the theoretical shortest motion time cannot be directly achieved. Therefore, by searching with the shortest motion time as the initial value, the variable combination that meets the constraints can be solved, and then the objective function can be calculated for optimization. The time variable of each stage of the loading process increases from the initial value to the feasible value, and all variable combinations that meet the constraints are recorded. The combination with the best objective function is selected, which is the result of trajectory optimization.

[0057] In order to prevent the time variable from increasing from an initial value to an infinite value in the above example, an upper limit is set for the progression of the time variable. The upper limit value can be: for each operation stage, multiple feasible movement times of the mining component are obtained according to the empirical value of the smooth movement of the mining component obtained from the experiment; the maximum value is taken from the multiple feasible movement times as the feasible value for the corresponding operation stage; wherein the feasible value represents the upper limit of the operation time of the mining component in the current operation stage.

[0058] The excavation component includes at least one joint. The so-called empirical value of the smooth movement of the excavation component obtained by the experiment, each joint has an empirical value of smooth movement, and this empirical value can be considered as the average speed. The experiment collects data of manual operation and records the average speed of each joint movement. For example, when the joint changes from angle A to angle B, the difference between angle A and angle B is divided by the average speed to get a feasible movement time. Each joint has a feasible movement time (feasible value). In the same operation stage, the movement time of all joints in the experiment is integrated. First, the maximum movement time of each joint is taken as the feasible movement time of the corresponding joint, and then the maximum feasible movement time of all joints is taken as the feasible value of the operation stage to ensure that all joints can complete the corresponding action in the movement stage. Alternatively, no matter how many joints there are, all the times in the experiment are integrated and sorted, and the maximum movement time is directly taken as the feasible value of the operation stage. It does not distinguish which joint the maximum movement time specifically corresponds to, and it can also ensure that all joints complete the action within the feasible value. When the feasible movement time is taken as the maximum value, the joint runs the slowest. It can be understood that the joint here can be a bucket, a dipper rod or a boom.

[0059] In some embodiments, Figure 2 is a schematic diagram of a trajectory optimization solution provided by an exemplary embodiment of the present application, refer to Figure 2, after calculating the theoretical shortest motion time according to the maximum angular velocity and motion range of each joint (S500), and calculating the feasible value of the loading time according to the empirical value (S600), one implementation method of trajectory optimization solution can be: for each operation stage, take the theoretical shortest motion time as the initial value, and gradually increase it to the feasible value; from the initial value to the feasible value discretization, calculate the satisfaction of the preset constraint conditions (S700), and judge whether the traversal calculation is completed (S800). If the traversal calculation is completed, the shortest working time of each operation stage that meets the preset constraint conditions is obtained, and the optimal result of the objective function is obtained in the traversal combination that meets the constraints (S900). If the traversal calculation is not completed, continue to execute S700. For example, after obtaining the theoretical shortest motion time, for each operation stage, increase the theoretical shortest motion time by 0.1 second or 0.01 second each time, and then check whether it can meet the constraints of dynamics and kinematics. When it is increased to a value that can meet the preset constraint conditions, it is determined that this value is the working time of the current operation stage.

[0060] As an example of a possible implementation of S300, during the loading process of the unmanned excavator, the mining truck is in a parking waiting state. The shorter the loading time, the shorter the waiting time of the mining truck. Assuming that the unmanned excavator is in a continuous working state, the shorter the single loading time, the more materials can be loaded in one shift, and the greater the total output of the mine. In order to achieve efficient loading, the optimization goal of the excavator loading planning method is to smoothly load the materials into the mining truck cargo box in the shortest time. Therefore, the unmanned excavator dynamics modeling is carried out, and the objective function is the total time of the loading process, which is expressed by Formula 7:

[0061]

[0062] In formula 7, t k Indicates the time required for the kth stage of the loading process. A value of 4 indicates 4 running stages.

[0063] The kinematic constraints of the unmanned excavator working device include joint angle, angular velocity and angular acceleration constraints. Therefore, in some embodiments, setting the preset constraints may be: calculating the cylinder force and rotational torque based on the dynamic model of the excavator's working device; setting the preset constraints based on the joint angle, angular velocity, angular acceleration, cylinder force, rotational torque and system power to optimize the loading time of each operation stage.

[0064] The construction of the dynamic model of the excavator's working device is usually based on the classic Newton-Euler equation, which is a method widely used in the dynamic analysis of multi-body systems. By carefully analyzing the motion and force conditions of each component in the excavator's working device, establishing their own Newton-Euler dynamic equations, and then performing comprehensive solutions, we can finally obtain the motion differential equation of the entire system.

[0065] When the excavation assembly includes a boom, an arm, a bucket and a slewing system, a setting method for setting preset constraints based on joint angles, angular velocity, angular acceleration, cylinder force, slewing torque and system power may be: for the boom, arm and bucket, the joint angle of each excavation assembly is less than its corresponding maximum angle and greater than its corresponding minimum angle; for the boom, arm and bucket, the absolute value of the angular velocity of each excavation assembly is less than its corresponding maximum angular velocity; for the boom, arm and bucket, the absolute value of the angular acceleration of each excavation assembly is less than its corresponding maximum angular acceleration; based on a continuous function, the boom, arm and bucket are set to have continuity; for the boom, arm and bucket, the cylinder force of each excavation assembly is greater than its own maximum cylinder tension, and the cylinder force of each excavation assembly is less than its own maximum cylinder thrust; the absolute value of the slewing torque of the slewing system is less than the preset maximum slewing torque; the sum of the instantaneous powers of the boom, arm, bucket and slewing system is less than the engine power.

[0066] As an example of a constraint condition, kinematic constraints include joint angle, angular velocity, and angular acceleration constraints. For the boom, dipper, and bucket, the joint angle of each excavation component is smaller than its corresponding maximum angle and larger than its corresponding minimum angle, which can be expressed as constraint condition 1:

[0067] q imin i imax Constraint 1:

[0068] For the boom, dipper and bucket, the absolute value of the angular velocity of each excavation component is less than its corresponding maximum angular velocity, which can be expressed as constraint condition 2:

[0069]

[0070] For the boom, dipper arm and bucket, the absolute value of the angular acceleration of each excavation component is less than its corresponding maximum angular acceleration, which can be expressed as constraint three:

[0071]

[0072] In constraints 1, 2, and 3, q i represents the joint rotation angle of the i-th joint. The angle range of the i-th joint is [q imin ,q imax ], represents the maximum angular velocity of the i-th joint, ​​Indicates the maximum angular acceleration of the i-th joint. In addition, the first joint can be set as the boom, the second joint as the dipper stick, and the third joint as the bucket. The constraints need to include rotation, and the reloading system is used as the fourth joint. When i is 1, constraints 1, 2, and 3 constrain the joint angle, angular velocity, and angular acceleration of the first joint. When i is 2, constraints 1, 2, and 3 constrain the joint angle, angular velocity, and angular acceleration of the second joint. When i is 3, constraints 1, 2, and 3 constrain the joint angle, angular velocity, and angular acceleration of the third joint. When i is 4, constraints 1, 2, and 3 constrain the joint angle, angular velocity, and angular acceleration of the fourth joint.

[0073] As an example of constraint conditions, next, to ensure the smoothness of the motion process, the rotation angle, angular velocity, and angular acceleration of each joint should be continuous. Therefore, the boom, arm, and bucket are set to have continuity based on the continuous function, which can be set as constraint conditions four, five, and six respectively:

[0074] q i ∈C[0,t] Constraint 4;

[0075]

[0076] In constraints 4, 5, and 6, q i represents the joint rotation angle of the i-th joint, represents the maximum angular velocity of the i-th joint, Represents the maximum angular acceleration of the i-th joint, and C[0,t] represents a continuous function during the loading phase.

[0077] As an example of a constraint condition, for the boom, dipper rod and bucket, the cylinder force of each excavation component is greater than the maximum tension of its own cylinder, and the cylinder force of each excavation component is less than the maximum thrust of its own cylinder, which can be expressed as constraint condition seven:

[0078] f imin <f i <f imax Constraint seven;

[0079] In constraint seven, f i represents the cylinder force on the i-th joint, f imin is the maximum tension of the cylinder of the i-th joint, the value is negative, f imax It is the maximum thrust of the cylinder of the i-th joint, and the value is positive.

[0080] As an example of a constraint condition, the absolute value of the rotation torque of the rotation system is less than the preset maximum rotation torque, which can be expressed as constraint condition eight:

[0081] |τ4|<τ 4max Constraint eight;

[0082] In constraint condition eight, because the rotation system is the fourth joint, i is directly set to 4. The rotation torque τ4 is calculated based on the rotation angular acceleration and rotation inertia, where τ 4max is the maximum rotational torque.

[0083] As an example of a constraint, the sum of the instantaneous power of the boom, arm, bucket, and swing system is less than the engine power, which can be expressed as constraint nine:

[0084]

[0085] Constraint 9: represents the angular velocity of the i-th joint, P s represents the engine power, τ i represents the torque of the i-th joint.

[0086] As an example of a possible implementation of S300, the loading trajectory can be obtained by using an interpolation method. In order to achieve smooth and efficient loading, a 4th-order B-spline curve is used to achieve angular velocity continuity and angular acceleration continuity. The variables for unmanned excavator trajectory optimization are the time t of the four loading stages. k For each loading stage, the theoretical shortest movement time of each joint can be obtained according to the maximum rotation speed and the range of joint movement. However, due to the effects of kinematic constraints, cylinder force constraints, power constraints, etc., the theoretical shortest movement time cannot be directly achieved. By searching with the shortest movement time as the initial value, the variable combination that meets the constraints can be solved, and then the objective function can be calculated for optimization.

[0087] The so-called angular velocity continuity means that at every point on the curve, the rotational speed of the object (i.e., angular velocity) changes smoothly without sudden jumps or breakpoints. In manipulators, robots, or other systems that require precise control of rotational motion, angular velocity continuity is very important because it can reduce mechanical wear and improve motion accuracy and stability. The so-called angular acceleration continuity goes a step further and requires that not only the angular velocity is smooth, but also the rate of change of the angular velocity (i.e., angular acceleration) is smooth. This means that at every point on the curve, the acceleration of the rotation changes continuously without mutations. Angular acceleration continuity is particularly important for systems that require precise control of dynamic characteristics (such as high-speed rotating machinery, precision positioning systems, etc.) because it can further reduce vibration and improve control accuracy and response speed. The so-called 4th-order B-spline curve, due to its high-order polynomial representation, can well achieve the continuity of angular velocity and angular acceleration. This is because high-order polynomials can more accurately simulate complex curve shapes, including those that require smooth transitions and continuously changing speed / acceleration. In path planning, low-order B-spline curves are not smooth enough and high-order B-spline curves may oscillate. Therefore, in some embodiments, a 4th-order B-spline curve may be used to generate a rotational motion trajectory that is both smooth and precise, thereby meeting the stringent requirements of high-performance mechanical systems.

[0088] Continue to refer Figure 1 In S400, a loading plan for the excavator is generated based on multiple key waypoints, operation stages, and the loading time of each operation stage. For example, the loading plan for the excavator first provides a basis for autonomous loading path planning by defining the comprehensive performance indicators of the unmanned excavator, and then sets the number and distribution of key waypoints of the loading path, calculates the coordinates of the key waypoints based on the comprehensive performance indicators of the unmanned excavator, establishes kinematic, dynamic, driving force and power constraints, and adopts the 4th-order B-spline curve method to achieve optimal loading time and continuous joint angular velocity and angular acceleration. Each excavator component of the excavator performs loading based on the motion speed related to the optimal loading time and the coordinates of the key waypoints to form a complete loading plan.

[0089] Figure 3 is a schematic diagram of the structure of an excavator loading planning device provided by an exemplary embodiment of the present application, such as Figure 3As shown, the excavator includes an excavation component, and the excavator loading planning device 3 includes: a first determination module 31, which determines the comprehensive performance index of the excavator based on the mechanical characteristics of the excavator; wherein the comprehensive performance index is used to reflect the movement performance of the excavator; a second determination module 32, which determines multiple key waypoints and operation stages based on the comprehensive performance index and the historical loading path; wherein the operation stage represents the operation process from one key waypoint to another key waypoint, and the key waypoints are used to indicate the working angle of the excavation component and the working coordinates of the excavation component; an optimization module 33, which optimizes the loading time of each operation stage according to preset constraints, multiple key waypoints and operation stages; wherein the sum of the loading time of each operation stage is the total loading process time of the excavator; a planning module 34, which generates a loading plan for the excavator based on multiple key waypoints, operation stages and the loading time of each operation stage.

[0090] The excavator loading planning device provided in the present application calculates key waypoints based on the comprehensive performance indicators of the excavator to ensure that the excavator working device has good mechanical characteristics during the loading process, and plans the path based on the key waypoints. Then, the excavation component can load materials along the planned path to complete the process of loading the materials into the mining truck cargo box. Under the premise of knowing the planned path, in order to achieve efficient loading and ensure that the motion instructions during the loading process meet the mechanical characteristics of the excavator, efficient loading trajectory planning is carried out according to the results of path planning, and under the preset constraints, the optimal loading time and smooth movement are achieved.

[0091] In one embodiment, the optimization module 33 can be configured as follows: determining the theoretical shortest movement time of the excavation component in each operating stage based on multiple key waypoints and the mechanical characteristics of the excavator; optimizing the working speed of each operating stage based on preset constraints and the theoretical shortest movement time of each operating stage to obtain the optimized working time of each operating stage that meets the preset constraints; combining the working time of each operating stage to obtain multiple total loading time combinations of the excavator; and using the shortest total loading time that meets the preset requirements among the multiple total loading time combinations as the total loading process time of the excavator.

[0092] In one embodiment, the excavator loading planning device 3 may include: for each operation stage, obtaining multiple feasible movement times of the excavation component based on the empirical value of the smooth movement of the excavation component obtained from the experiment; taking the maximum value from the multiple feasible movement times as the feasible value of the corresponding operation stage; wherein the feasible value represents the upper limit of the operation time of the excavation component in the current operation stage.

[0093] In one embodiment, the optimization module 33 can also be configured as follows: for each operation stage, the theoretical shortest movement time is used as the initial value, and gradually increased to a feasible value; from the initial value to the feasible value discretization, traversal calculation of the satisfaction of the preset constraints, and obtaining the shortest working time of each operation stage that meets the preset constraints.

[0094] In one embodiment, the module for setting preset constraints can be configured as follows: calculating the cylinder force and rotational torque based on the dynamic model of the excavator's working device; setting preset constraints based on joint angle, angular velocity, angular acceleration, cylinder force, rotational torque and system power to optimize the loading time of each operating stage.

[0095] In one embodiment, the module for setting preset constraints can also be configured as follows: for the boom, arm and bucket, the joint angle of each excavating component is smaller than its corresponding maximum angle and larger than its corresponding minimum angle; for the boom, arm and bucket, the absolute value of the angular velocity of each excavating component is smaller than its corresponding maximum angular velocity; for the boom, arm and bucket, the absolute value of the angular acceleration of each excavating component is smaller than its corresponding maximum angular acceleration; based on a continuous function, the boom, arm and bucket are set to have continuity; for the boom, arm and bucket, the cylinder force of each excavating component is larger than its own maximum cylinder tension, and the cylinder force of each excavating component is smaller than its own maximum cylinder thrust; the absolute value of the rotational torque of the slewing system is smaller than the preset maximum rotational torque; the sum of the instantaneous power of the boom, arm, bucket and slewing system is smaller than the engine power.

[0096] In one embodiment, the first determination module 31 can be configured as follows: based on the mechanical characteristics of the excavator, determine the first output transfer index of the boom, the second output transfer index of the boom, and the dexterity index of the excavating component; the first output transfer index and the second output transfer index are related to the input motion spin, the transmission force spin and the potential maximum input power, the spin is used to describe the motion and force of the excavating component, and the dexterity index represents the absolute value of the sine value of the angle between the boom and the boom; calculate the product of the first output transfer index, the second output transfer index and the dexterity index; and take the cube root of the product to obtain a comprehensive performance index.

[0097] In one embodiment, the second determination module 32 can be configured as follows: based on the position of the mining truck, comprehensive performance indicators and the historical loading path of the excavation component, determine the loading start point, the boom lifting point, the intermediate position point, the edge point of the mining truck cargo box and the loading position point as key waypoints; wherein the loading start point and the loading position point are related to the position of the mining truck; based on the key waypoints, determine the operation stage; wherein the operation stage includes a first operation stage, a second operation stage, a third operation stage and a fourth operation stage; the first operation stage represents lifting the boom from the loading start point to the boom lifting point, the second operation stage represents returning from the boom lifting point to the intermediate position point, the third stage represents returning from the intermediate position point to the edge point of the mining truck cargo box, and the fourth stage represents from the edge point of the mining truck cargo box to the loading position point.

[0098] In some implementations, the excavator can use the above-mentioned excavator loading planning device, which is connected to the excavation component in the excavator in communication, so as to instruct the excavation component to load materials according to the most optimized loading plan after the loading planning is completed. For example, when the excavator is an unmanned excavator, the excavator needs to excavate according to the planned path and trajectory. In order to ensure that the excavator working device has good mechanical characteristics during the loading process, the key waypoints are calculated based on the comprehensive performance indicators of the excavator, and the path planning is planned based on the key waypoints. Then, the excavation component can load materials along the planned path and complete the process of loading materials into the cargo box of the mining truck. Under the premise of knowing the planned path, in order to achieve efficient loading and ensure that the motion instructions during the loading process meet the mechanical characteristics of the excavator, efficient loading trajectory planning is carried out according to the results of path planning, and the optimal loading time and smooth movement are achieved under the preset constraints.

[0099] An electronic device includes: a processor; a memory for storing instructions executable by the processor; and a processor for executing the excavator loading planning method described in the embodiment provided in the present application.

[0100] Below, reference Figure 4 The electronic device according to the embodiment of the present application is described. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signal from them.

[0101] Figure 4 A block diagram of an electronic device according to an embodiment of the present application is illustrated.

[0102] like Figure 4 As shown, the electronic device 40 includes one or more processors 41 and a memory 42 .

[0103] The processor 41 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 40 to perform desired functions.

[0104] The memory 42 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 41 may run the program instructions to implement the excavator loading planning method of each embodiment of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0105] In one example, the electronic device 40 may further include: an input device 43 and an output device 44, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0106] When the electronic device is a stand-alone device, the input device 43 may be a communication network connector for receiving collected input signals from the first device and the second device.

[0107] In addition, the input device 43 may also include, for example, a keyboard, a mouse, etc.

[0108] The output device 44 can output various information to the outside, including the determined distance information, direction information, etc. The output device 44 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0109] Of course, to simplify, Figure 4 Only some of the components related to the present application in the electronic device 40 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the electronic device 40 may also include any other appropriate components.

[0110] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0111] A computer-readable storage medium stores a computer program, and the computer program is used to execute the excavator loading planning method described in the embodiment provided in the present application.

[0112] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0113] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for excavator loading planning, characterized in that: The excavator includes an excavation component, and the excavator loading planning method includes: Determine the comprehensive performance index of the excavator based on the mechanical characteristics of the excavator; wherein the comprehensive performance index is used to reflect the motion performance of the excavator; Based on the comprehensive performance index and the historical loading path, a plurality of key waypoints and operation phases are determined; wherein the operation phase represents the operation process from one key waypoint to another key waypoint, and the key waypoint is used to indicate the working angle of the excavation component and the working coordinates of the excavation component; According to the preset constraint conditions, the plurality of key waypoints and the operation phases, the loading time of each operation phase is optimized; wherein the sum of the loading time of each operation phase is the total loading process time of the excavator; A loading plan for the excavator is generated based on the plurality of key waypoints, the operation phases, and the loading time of each of the operation phases.

2. The excavator loading planning method according to claim 1, characterized in that: Optimizing the loading time of each operation stage according to preset constraints, the plurality of key waypoints and the operation stage, further comprising: Determining the theoretical shortest movement time of the excavation component at each operation stage based on the plurality of said key waypoints and the mechanical characteristics of the excavator; Based on the preset constraint conditions and the theoretical shortest motion time of each operation stage, the working speed of each operation stage is optimized to obtain the optimized working time of each operation stage that satisfies the preset constraint conditions; Combining the working time of each operation stage to obtain a plurality of total loading time combinations of the excavator; The shortest total loading time that meets the preset requirements among multiple total loading time combinations is taken as the total loading process time of the excavator.

3. The excavator loading planning method according to claim 2, characterized in that: After determining the theoretical shortest movement time of the excavation component in each operation phase according to the plurality of key waypoints and the mechanical characteristics of the excavator, the excavator loading planning method further includes: For each operation stage, multiple feasible movement times of the excavation component are obtained according to the empirical value of the smooth movement of the excavation component obtained by the experiment; The maximum value is taken from the multiple feasible motion times as the feasible value corresponding to the running stage; wherein the feasible value represents the upper limit of the running time of the mining component in the current running stage.

4. The excavator loading planning method according to claim 3, characterized in that: Based on the preset constraints and the theoretical shortest motion time of each operation stage, the working speed of each operation stage is optimized to obtain the optimized working time of each operation stage that satisfies the preset constraints, including: For each operation stage, the theoretical shortest movement time is used as an initial value and gradually increased to a feasible value; Discrete from the initial value to the feasible value, traverse and calculate the satisfaction of the preset constraint conditions, and obtain the shortest working time of each operation stage that satisfies the preset constraint conditions.

5. The excavator loading planning method according to claim 2, characterized in that: Setting the preset constraint condition includes: According to the dynamic model of the excavator's working device, calculate the cylinder force and rotation torque; Preset constraints are set based on joint angles, angular velocities, angular accelerations, the cylinder forces, the rotational torques, and system power to optimize loading time at each operating stage.

6. The excavator loading planning method according to claim 5, characterized in that: The excavation assembly includes a boom, a dipper arm, a bucket and a slewing system; preset constraints are set based on joint angles, angular velocities, angular accelerations, the cylinder force, the slewing torque and system power, including: For the boom, the dipper arm and the bucket, the joint angle of each excavating assembly is smaller than its corresponding maximum angle and larger than its corresponding minimum angle; For the boom, the arm and the bucket, the absolute value of the angular velocity of each of the excavating components is smaller than the maximum angular velocity corresponding to itself; For the boom, the dipper arm and the bucket, the absolute value of the angular acceleration of each of the digging components is smaller than the maximum angular acceleration corresponding to itself; Based on a continuous function, the boom, the arm and the bucket are each set to have continuity; With respect to the boom, the dipper arm and the bucket, the cylinder force of each of the excavating components is respectively greater than the maximum pulling force of its own cylinder, and the cylinder force of each of the excavating components is respectively less than the maximum thrust of its own cylinder; The absolute value of the rotation torque of the rotation system is less than the preset maximum rotation torque; The sum of instantaneous powers of the boom, the arm, the bucket and the slewing system is less than the engine power.

7. The excavator loading planning method according to claim 1, characterized in that: The excavation components include the boom and the stick; based on the mechanical characteristics of the excavator, the comprehensive performance indicators of the excavator are determined, including: Based on the mechanism characteristics of the excavator, a first output transfer index of the boom, a second output transfer index of the arm, and a dexterity index of the excavating assembly are determined; the first output transfer index and the second output transfer index are related to the input motion screw, the transmission force screw, and the potential maximum input power, the screw is used to describe the motion and force of the excavating assembly, and the dexterity index represents the absolute value of the sine value of the angle between the boom and the arm; calculating a product of the first output transfer index, the second output transfer index, and the dexterity index; The cube root of the product is calculated to obtain the comprehensive performance index.

8. The excavator loading planning method according to claim 1, characterized in that: The excavation assembly includes the boom, stick and bucket; Based on the comprehensive performance indicators and historical loading paths, multiple key waypoints and operation phases are determined, including: Based on the location of the mining truck, the comprehensive performance index and the historical loading path of the excavation component, the loading starting point, the boom lifting point, the intermediate position point, the edge point of the mining truck cargo box and the loading position point are determined as key waypoints; wherein the loading position point is related to the location of the mining truck; Based on the key waypoints, the operation stages are determined; wherein the operation stages include a first operation stage, a second operation stage, a third operation stage and a fourth operation stage; the first operation stage represents lifting the boom from the loading starting point to the boom lifting point, the second operation stage represents returning from the boom lifting point to the middle position point, the third stage represents returning from the middle position point to the edge point of the mining truck cargo box, and the fourth stage represents from the edge point of the mining truck cargo box to the loading position point.

9. An excavator loading planning device, characterized in that: The excavator includes an excavation component, and the excavator loading planning device includes: A first determination module determines a comprehensive performance index of the excavator based on the mechanical characteristics of the excavator; wherein the comprehensive performance index is used to reflect the motion performance of the excavator; A second determination module determines a plurality of key waypoints and operation stages based on the comprehensive performance index and the historical loading path; wherein the operation stage represents the operation process from one key waypoint to another key waypoint, and the key waypoint is used to indicate the working angle of the excavation component and the working coordinates of the excavation component; An optimization module, which optimizes the loading time of each operation stage according to preset constraints, the plurality of key waypoints and the operation stage; wherein the sum of the loading time of each operation stage is the total loading process time of the excavator; The planning module generates a loading plan for the excavator based on the plurality of key waypoints, the operation phases and the loading time of each of the operation phases.

10. An excavator, characterized in that: include: Mining components; The excavator loading planning device of claim 9, wherein the excavator loading planning device is communicatively connected to the excavating component.

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