Excavator loading planning method, device and excavator

Abstract

The present application discloses an excavator loading planning method, device, and excavator, which can realize safe and efficient unmanned excavator loading work. The excavator includes an excavation component, and the excavator loading planning method includes: determining 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 historical loading paths, determining multiple key waypoints and operation stages; wherein the key waypoints are used to indicate the working angle and working coordinates of the excavation component; optimizing the loading time of each operation stage based on 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; and generating a loading plan for the excavator based on the multiple key waypoints, 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 essential earthmoving machines, play an indispensable role in various engineering fields. In the early days, excavator loading relied primarily on the operator's experience and skills, using manual judgment and control to complete the loading task. While simple and straightforward, this method was inefficient and susceptible to operator skill and fatigue. With technological advancements, some excavators have begun to be equipped with auxiliary systems such as GPS positioning and laser ranging to achieve semi-automated loading planning. These methods can improve loading efficiency to a certain extent, but still require human 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, a method for excavator loading planning is provided, wherein the excavator includes an excavating component, and the method for excavator loading planning includes: 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 operation stages based on the comprehensive performance index and a 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 excavating component and the working coordinates of the excavating component; optimizing the loading time of each of the operation stages according to preset constraints, a plurality of the key waypoints and 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; and generating a loading plan for the excavator based on the plurality of key waypoints, the operation stages and the loading time of each of the operation stages.

[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 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; 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.

[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 meets 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 meets the preset constraints.

[0008] As a possible implementation method, setting the preset constraints includes: 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, 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 excavation assembly are smaller than their corresponding maximum angles and larger than their corresponding minimum angles; for the boom, the arm, and the bucket, the absolute value of the angular velocity of each excavation assembly 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 excavation assembly is smaller than its corresponding maximum angular velocity; Bucket, the absolute value of the angular acceleration of each excavating component is less than its corresponding maximum angular acceleration; based on a continuous function, the boom, the dipper arm and the bucket are set to have continuity; 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 slewing 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 slewing system is less than the engine power.

[0010] As a possible implementation method, the excavation component includes a boom and a bucket arm; 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, determining a first output transfer index of the boom, a second output transfer index of the bucket arm, and a dexterity index of the excavation 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 excavation component, and the dexterity index represents the absolute value of the sine value of the angle between the boom and the bucket arm; 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.

[0011] As a possible implementation method, the excavation component includes a boom, a dipper arm and a bucket; based on the comprehensive performance indicators and the historical loading path, multiple key waypoints and operation stages are determined, including: based on the mine truck position, the comprehensive performance indicators 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, an excavator loading planning device is provided, the excavator includes an excavating component, and the excavator loading planning device includes: a first determination module, 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 motion performance of the excavator; a second determination module, which determines a plurality of key waypoints and an operation stage based on the comprehensive performance index and a 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 and the working coordinate of the excavating component; an optimization module, which optimizes the loading time of each of the operation stages according to preset constraints, a plurality of the key waypoints and 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, which generates a loading plan for the excavator based on the plurality of key waypoints, the operation stages and the loading time of each of the operation stages.

[0013] According to a third aspect of the present application, an excavator is provided, 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 this application, in order to ensure that the excavator working device has good mechanical characteristics during the loading process, calculate key waypoints based on the comprehensive performance indicators of the excavator, and plan 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] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended 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 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 herein.

[0021] With the rapid development of global infrastructure construction, excavators, as essential earthmoving machinery, play an indispensable role in areas such as roads, bridges, buildings, underground projects, and open-pit mining. Excavator loading, a key metric for measuring an excavator's digging capacity, is directly impacted by its planning method, which is crucial for the efficiency and cost of construction. Excavator loading refers to the process by which an excavator's bucket excavates material and then loads it into a transport vehicle or stockpile. This process requires not only efficient excavator operation but also sound planning methods to ensure efficient and safe loading. Traditional excavators require manual operation, relying on human judgment and control to complete loading tasks. However, unmanned excavators can now achieve intelligent unmanned excavation, but this requires loading planning for these unmanned excavators.

[0022] Currently, when planning loading for unmanned excavators, the trajectory planning problem is typically analyzed separately, without considering the collaborative operation between the unmanned excavator and the unmanned mining truck. To achieve unmanned construction in mines, unmanned excavators and unmanned mining trucks must work together. This requires comprehensive consideration of both unmanned excavators and unmanned mining trucks when planning loading motion for the unmanned excavator. Furthermore, the mechanical characteristics of the excavator's working device are currently not considered in unmanned excavator trajectory planning. According to the theory of mechanical performance evaluation, the working device of an unmanned excavator exhibits different mechanical performance at different locations in the workspace. Locations with excellent mechanical performance can efficiently transmit motion and force, while locations with poor mechanical performance suffer from inefficient motion transmission, increasing energy consumption and susceptibility to external interference. Finally, if the acceleration of each component obtained from trajectory planning is discontinuous or abrupt, this can lead to impact.

[0023] Therefore, in order to solve the above problems, Figure 1 This 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 kinematic performance of the excavator. The mechanism characteristics are specifically manifested as the kinematic and force transmission characteristics, which are a kind of mechanism characteristic index. Based on the comprehensive performance index and the historical loading path, multiple key waypoints and operation stages are determined (see Figure 1 In S200, the operation phase represents the operation process from one key waypoint to another key waypoint. The key waypoints are used to indicate the working angle and working coordinates of the excavation component. 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. Based on the preset constraints, multiple key waypoints and operation phases, the loading time of each operation phase is optimized (see Figure 1The sum of the loading time of each operation phase 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 pre-set constraints. Based on multiple key waypoints, operation phases and the loading time of each operation phase, a loading plan for the excavator is generated (see Figure 1 The excavator's loading plan not only considers the location of the unmanned mining truck, enabling collaborative operation of the two machines, but also takes into account the mechanical characteristics of the excavator to ensure that the unmanned excavator's working device has good mechanical properties during the loading process. In addition, based on the results of path planning, efficient loading trajectory planning is carried out in the joint space of the excavator's digging component, achieving optimal loading time and continuous joint angular velocity and angular acceleration within preset constraints.

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

[0025] In S100, the comprehensive performance indicators of the excavator are determined based on the mechanical characteristics of the excavator. Among them, the comprehensive performance indicators are 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. These characteristics directly affect the function, performance and adaptability of the excavator in different working environments. According to the theory of mechanical performance evaluation, the working device of the unmanned excavator has different mechanical performance at different positions in the workspace. In positions with good mechanical performance, it can efficiently transmit motion and force, while in positions with poor mechanical performance, the motion transmission efficiency is low. Therefore, the performance of the excavator at different positions in space is evaluated by the comprehensive performance indicators of the excavator, so that the position with better performance can be selected, providing a performance basis for the excavation path of the excavator.

[0026] In some embodiments, the excavation assembly includes a boom and an arm; S100 (determining the comprehensive performance index of the excavator based on the mechanical characteristics of the excavator) may include: determining a first output transfer index of the boom, a second output transfer index of the arm, and a dexterity index of the excavation assembly based on the mechanical 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 maximum input 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 arm; 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 a comprehensive performance index. Since the excavation assembly of the excavator includes a boom and an arm, when performing loading work, it is necessary to consider the performance impact of each component on loading. Therefore, the mechanical 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, which includes an input transmission index (ITI) and an output transmission index (OTI), with a value range of [0, 1]. The motion and force transmission characteristic index uses the screw theory's screw to describe the mechanism's motion and force. The screw can be expressed as Formula 1:

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

[0029] In Formula 1, s is the unit vector representing the spinor's axis, r is the vector from the coordinate system origin to the spinor's axis, and h is the spinor's pitch. A rotational spinor is represented by (ω; r × ω), where ω is the rotational axis vector; a moving spinor is represented by (0; v), where ω is the rotational axis vector. A pure force spinor is represented by (f; r × f), where f is the pure force's direction vector; and a pure couple spinor is represented by (0; τ), where τ is 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 kinetic 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 is calculated using formula 4:

[0037]

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

[0039] The input transfer indices of the boom, arm, and bucket mechanisms are defined as ITI1, ITI2, and ITI3, respectively, and the output transfer indices 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 of the angle between the boom and arm.

[0040] Formula 5 is used to calculate the dexterity index:

[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 (CI) of the excavator working device is defined as the geometric mean of OTI1, OTI2 and DI.

[0044] Formula 6 is used to calculate the comprehensive performance index:

[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, multiple key waypoints and operation phases are determined based on the comprehensive performance indicators and historical loading paths. An operation phase represents the process of moving from one key waypoint to another. Key waypoints indicate the working angle and coordinates of the excavation assembly. Historical loading paths can be manual loading paths. Recording these paths provides data reference for demarcating waypoints and operation phases.

[0049] In some embodiments, an excavation assembly includes a boom, an arm, and a bucket; S200 (determining multiple key waypoints and operation phases based on comprehensive performance indicators and historical loading paths) may include: determining a loading start point, a boom raising point, an intermediate position, an edge of the truck's cargo box, and a loading position as key waypoints based on the truck's position, the comprehensive performance indicators, and the excavation assembly's historical loading paths; wherein the loading position is associated with the truck's position; determining an operation phase based on the key waypoints; wherein the operation phase includes a first operation phase, a second operation phase, a third operation phase, and a fourth operation phase; wherein the first operation phase represents raising the boom from the loading start point to the boom raising point, the second operation phase represents returning from the boom raising point to the intermediate position, the third operation phase represents returning from the intermediate position to the edge of the truck's cargo box, and the fourth operation phase represents returning from the edge of the truck's cargo box to the loading position. Excavator loading requires the cooperation of multiple excavation components; therefore, each excavation component is disassembled and then key waypoints are divided based on human operating habits and the movement of each excavation component. 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 boom raising point, the midpoint, and the unmanned mining truck cargo box edge can be optimized. The loading point is determined by the truck cargo box position. After the excavation is completed, the loading starting point is determined. The loading point is generated based on the truck cargo box position. The corresponding swing angles and bucket angles for the boom raising point, the midpoint, and the unmanned mining truck cargo box edge are also determined. The boom and arm angles corresponding to the boom raising point, the midpoint, and the unmanned mining truck cargo box edge can be preset, and the results are rounded based on the comprehensive performance indicators and safety settings of the unmanned excavator's working device. The loading point is equivalent to the end point. The excavation end point is actually related to the previous autonomous excavation movement. After the excavation is completed, the excavation end point is known, which is the starting point of loading. This is a given. After the mining truck is docked, the loading point is determined. The truck edge point can be determined based on detection, so the unmanned mining truck cargo box edge point is also known. The boom raising is actually a direct lift, so the boom raising point can be determined. The so-called intermediate position is the transition point between the boom lift point and the loading position. It can be obtained by taking an intermediate average or calculating it using an empirical formula. After the unmanned mining truck's cargo box edge, boom lift point, and intermediate position are initially set, its specific position is finally determined through comprehensive performance optimization. With some of the rotation angles and bucket angles known, the boom and arm angles are optimized. After optimization is completed, the boom and arm are raised to the preset position and angle for each excavation to achieve high-performance loading results.

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

[0052] In other embodiments, the number of key waypoints may be other than five, and the operation phase may also change as the number of key waypoints increases or decreases. For example, if the number of key waypoints is six, the operation phase may be changed to five; if the number of key waypoints is seven, 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, the trajectory optimization is performed through S300. Figure 1 In S300 , the loading time of each operation phase is optimized based on the preset constraints, multiple key waypoints, and the operation phase. The sum of the loading time of each operation phase is the total loading process time of the excavator.

[0054] Smooth motion requires that the angles, angular velocities, and angular accelerations of each joint be continuous during the loading process, and that kinematic and dynamic constraints be met during the motion. Shorter loading times result in higher efficiency, but this also increases component speed and acceleration, requiring greater cylinder thrust and rotational torque. Therefore, by using loading time as the objective function and calculating the cylinder force and rotational torque based on the dynamics model of the unmanned excavator's working device, the joint angles, angular velocities, angular accelerations, cylinder force, rotational torque, and system power are set as constraints. The time for each loading stage is optimized to obtain the trajectory planning result.

[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; 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.

[0056] For example, with the bucket center as the endpoint, the loading path of an unmanned excavator consists of five key waypoints and is divided into four phases. These five key waypoints are the loading start point, the boom lift point, the midpoint, the edge of the truck's cargo box, and the loading position. The first phase involves raising the boom from the loading start point, the second phase involves swinging the boom from the lift point to the midpoint, the third phase involves swinging to the edge of the truck's cargo box, and the fourth phase involves reaching the loading position above the cargo box, where the bucket then flips and deposits the material. Based on these five key waypoints, the initial times for the four loading phases are determined. These initial times can be calculated as follows: five waypoints correspond to five coordinates. The kinematic reaction points of these five coordinates yield the angles of each joint. Regressing to each joint, the change in the single degree of freedom of the joint angle between two waypoints is then calculated. This single degree of freedom change is then directly calculated using the maximum velocity. Regardless of achievability, the theoretical minimum motion time for each joint can be determined based on the maximum rotation velocity and joint range of motion. However, due to kinematic constraints, cylinder force constraints, and power constraints, the theoretical minimum motion time cannot be directly achieved. Therefore, by using the shortest motion time as the initial value for the search, we can find a variable combination that satisfies the constraints, and then calculate the objective function for optimization. The time variable for each stage of the loading process is incremented from the initial value to a feasible value. All variable combinations that satisfy the constraints are recorded, and the combination that optimizes the objective function is selected as the trajectory optimization result.

[0057] In order to prevent the time variable from increasing from the 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, based on the empirical value of the smooth movement of the mining component obtained from the experiment, multiple feasible movement times of the mining component are obtained; the maximum value is taken 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 mining component in the current operation stage.

[0058] The excavation assembly includes at least one joint. The empirical value of smooth excavation assembly movement obtained through testing is an empirical value for smooth movement for each joint, which can be considered an average speed. The test collects data from manual operation and records the average speed of each joint. For example, when a joint moves from angle A to angle B, the difference between angle A and angle B is divided by the average speed to obtain a feasible movement time. Each joint has a feasible movement time (feasible value). During the same operation phase, the movement times of all joints in the test are combined. First, the maximum movement time of each joint is taken as the feasible movement time for that joint. Then, the maximum feasible movement time among all joints is taken as the feasible value for that operation phase. This ensures that all joints can complete the corresponding movement during the movement phase. Alternatively, regardless of the number of joints involved, all the times in the test are combined and sorted, and the maximum movement time is directly taken as the feasible value for that operation phase. This ensures that all joints complete the movement within the feasible value. The joint with the maximum feasible movement time is the slowest when the feasible movement time is taken. It is understood that the joint here can be a bucket, arm, or boom.

[0059] In some embodiments, Figure 2 This is a flow chart of 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 the trajectory optimization solution can be: for each operation stage, use 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, calculate the satisfaction of the preset constraints (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 constraints is obtained, and the optimal result of the objective function is taken 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 seconds or 0.01 seconds each time, and then check whether it can meet the constraints of various aspects of dynamics and kinematics. When it is increased to a value that can meet the preset constraints, this value is determined to be the working time of the current operation stage.

[0060] As an example of a possible implementation of S300, during the loading process of an unmanned excavator, the truck is in a parked waiting state. The shorter the loading time, the shorter the waiting time. Assuming that the unmanned excavator is in a continuous working state, the shorter the single loading time, the more material can be loaded within a shift, and the greater the total output of the mine. To achieve efficient loading, the optimization goal of the excavator loading planning method is to smoothly load the material into the truck cargo box in the shortest time. Therefore, the unmanned excavator dynamic model is performed, and the objective function is the total loading process time, which is expressed using 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 constraint conditions can be: calculating the cylinder force and rotational torque based on the dynamic model of the excavator's working device; setting the preset constraint conditions 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 dynamics model of an excavator's working device is typically constructed based on the classic Newton-Euler equations, a method widely used in multi-body system dynamics analysis. By carefully analyzing the motion and forces of each component in the excavator's working device, the Newton-Euler dynamics equations are established for each component. These equations are then comprehensively solved to ultimately derive the differential equation of motion for the entire system.

[0065] When the excavation assembly includes a boom, an arm, a bucket, and a slewing system, one way to set preset constraints based on joint angles, angular velocities, angular accelerations, cylinder forces, slewing torques, and system power may be as follows: for the boom, arm, and bucket, the joint angles of each excavation assembly are less than their corresponding maximum angles and greater than their corresponding minimum angles; 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 each 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; and 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, kinematic constraints include joint angle, angular velocity, and angular acceleration constraints. For the boom, arm, and bucket, the joint angle of each excavating component must be smaller than its corresponding maximum angle and larger than its corresponding minimum angle. This can be expressed as constraint one:

[0067] q imin i imax Constraint 1;

[0068] For the boom, arm, 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 two:

[0069]

[0070] For the boom, arm, and bucket, the absolute value of the angular acceleration of each excavating 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 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, ​​represents the maximum angular acceleration of the i-th joint. Alternatively, the first joint can be set as the boom, the second joint as the arm, and the third joint as the bucket. The constraints need to include rotation, with the reloading system 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 a constraint condition, to ensure smooth motion, the joint angles, angular velocities, and angular accelerations must be continuous. Therefore, the boom, arm, and bucket are each set to have continuity based on continuous functions. These can be set as constraint conditions four, five, and six, respectively:

[0074] q i ∈C[0,t] Constraint four;

[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, for the boom, arm, and bucket, the cylinder force of each excavating component is greater than the maximum pulling force of its own cylinder, and the cylinder force of each excavating component is less than the maximum thrust of its own cylinder. This can be expressed as constraint 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 is the maximum thrust of the cylinder at the i-th joint, and the value is positive.

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

[0081] |τ4|<τ 4max Constraint eight;

[0082] In constraint eight, since the rotation system is the fourth joint, i is directly set to 4. The rotation torque τ4 is calculated based on the rotational angular acceleration and rotational 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 nine: 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, an interpolation method can be used to obtain the loading trajectory. To achieve smooth and efficient loading, a 4th-order B-spline curve is used to achieve continuous angular velocity and continuous angular acceleration. The variables for unmanned excavator trajectory optimization are the time t of the four loading stages. k For each loading phase, the theoretical minimum motion time for each joint can be obtained based on the maximum rotation speed and joint motion range. However, due to kinematic constraints, cylinder force constraints, power constraints, and other factors, the theoretical minimum motion time cannot be directly achieved. By searching with the shortest motion time as the initial value, we can find a variable combination that meets the constraints, and then calculate the objective function for optimization.

[0087] Angular velocity continuity means that at every point on the curve, the object's rotational speed (i.e., angular velocity) changes smoothly, without sudden jumps or discontinuities. In robotic arms, robots, or other systems requiring precise rotational motion control, angular velocity continuity is crucial because it reduces mechanical wear and improves motion accuracy and stability. Angular acceleration continuity goes a step further, requiring not only smooth angular velocity but also smooth rate of change of angular velocity (i.e., angular acceleration). This means that at every point on the curve, the rotational acceleration changes continuously, without abrupt changes. Angular acceleration continuity is particularly important for systems requiring precise dynamic control, such as high-speed rotating machinery and precision positioning systems, as it further reduces vibration and improves control accuracy and response speed. Fourth-order B-spline curves, due to their high-order polynomial representation, are well-suited to achieving continuity in both angular velocity and angular acceleration. This is because high-order polynomials can more accurately model complex curve shapes, including those requiring smooth transitions and continuously varying velocity / acceleration. In path planning, low-order B-spline curves are not smooth enough, and high-order B-spline curves will oscillate. Therefore, in some embodiments, a 4th-order B-spline curve can be used to generate a smooth and precise rotational motion trajectory, thereby meeting the strict requirements of high-performance mechanical systems.

[0088] Continue to refer Figure 1 In S400, an excavator loading plan is generated based on multiple key waypoints, operating phases, and the loading time for each operating phase. For example, the excavator loading plan first defines the unmanned excavator's comprehensive performance indicators to provide a basis for autonomous loading path planning. The number and distribution of key waypoints along the loading path are then determined. The coordinates of these key waypoints are calculated based on the unmanned excavator's comprehensive performance indicators. Kinematic, dynamic, driving force, and power constraints are established, and a fourth-order B-spline curve method is used to achieve optimal loading time and continuous joint angular velocity and angular acceleration. Each excavator component executes loading based on the motion speed associated with the optimal loading time and the coordinates of the key waypoints, forming a complete loading plan.

[0089] Figure 3 This is a schematic diagram of the structure of an excavator loading planning device provided by an exemplary embodiment of the present application. 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 waypoint is 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 this application is designed to ensure that the excavator working device has good mechanical characteristics during the loading process. Key waypoints are calculated based on the comprehensive performance indicators of the excavator, and path planning is planned 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 and 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 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 excavating component is less than its corresponding maximum angular velocity; for the boom, arm and bucket, the absolute value of the angular acceleration of each excavating component 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 excavating component is greater than the maximum tension of its own cylinder, and the cylinder force of each excavating component is less than the maximum thrust of its own cylinder; the absolute value of the rotational torque of the slewing system is less than the preset maximum rotational torque; the sum of the instantaneous power of the boom, arm, bucket and slewing system is less than the engine power.

[0096] In one embodiment, the first determination module 31 can be configured to: determine the first output transfer index of the boom, the second output transfer index of the arm, and the dexterity index of the excavating assembly based on the mechanical 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 maximum input power, the spin 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; 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 to: determine the loading starting 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 path of the excavation component; wherein the loading starting point and the loading position point are related to the mining truck position; based on the key waypoints, determine the operation stage; 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 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 mining truck cargo box edge point, and the fourth stage represents from the mining truck cargo box edge point to the loading position point.

[0098] In some implementations, the excavator can adopt the above-mentioned excavator loading planning device, which is communicated with the excavation component in the excavator 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, 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 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.

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

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

[0101] Figure 4 The figure shows a block diagram of an electronic device according to an embodiment of the present application.

[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, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, 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 execute 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, configured to receive 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, and the like.

[0108] The output device 44 can output various information to the outside, including 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, the electronic device 40 may further include any other appropriate components according to specific application scenarios.

[0110] The computer program product may be written in any combination of one or more programming languages to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages such as Java, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's 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 for executing the excavator loading planning method described in the embodiment provided in this 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, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. 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 thereof.

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

Claims

1. A method for excavator loading planning, characterized in that: The excavator includes an excavation assembly, wherein the excavation assembly includes a boom, an arm, and a bucket; and the excavator loading planning method includes: Determining 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; Determining a plurality of key waypoints and operation phases based on the comprehensive performance index and the historical loading path; wherein the operation phase represents the operation process from one key waypoint to another key waypoint, and the key waypoints are used to indicate the working angle and working coordinates of the excavation assembly; Based on the position of the mining truck, the comprehensive performance index, and the historical loading path of the excavation assembly, determining 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 position point is related to the position of the mining truck; Optimizing the loading time of each operation phase according to preset constraints, the plurality of key waypoints, and the operation phase; wherein the sum of the loading time of each operation phase is the total loading process time of the excavator; generating 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; The determination of the comprehensive performance index of the excavator based on the mechanical characteristics of the excavator includes: Based on the mechanical 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 twist, the transmitted force twist, and the potential maximum input power; the twist is used to describe the motion and force of the excavating assembly; and the dexterity index represents the absolute value of the sine 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; Calculating the cube root of the product to obtain the comprehensive performance index.

2. The excavator loading planning method according to claim 1, characterized in that: Optimizing the loading time of each operation phase according to preset constraints, the plurality of key waypoints, and the operation phase, further comprising: determining a theoretical shortest motion time of the excavation assembly at each operation stage based on the plurality of key waypoints and the mechanical characteristics of the excavator; 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 meets the preset constraints; Combining the working time of each operation phase 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 used 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 assembly in each operation phase based on 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 based on the empirical value of the smooth movement of the excavation component obtained from the experiment; A maximum value is taken from the plurality of feasible motion times as a 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 meets the preset constraints, including: For each operation stage, the theoretical shortest movement time is used as the 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 meets the preset constraint conditions.

5. The excavator loading planning method according to claim 2, characterized in that: Setting the preset constraint conditions includes: Calculate the cylinder force and rotational torque based on the excavator's working device dynamics model; Preset constraints are set based on joint angle, angular velocity, angular acceleration, the cylinder force, the rotational torque and system power to optimize the loading time of each operation stage.

6. The excavator loading planning method according to claim 5, characterized in that: 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 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 excavating assembly is less than its corresponding maximum angular velocity; For the boom, the arm, and the bucket, the absolute value of the angular acceleration of each of the excavating components is less than its corresponding maximum angular acceleration; Based on a continuous function, setting the boom, the arm, and the bucket to have continuity; For the boom, the dipper arm, and the bucket, the cylinder force of each excavating assembly is respectively greater than the maximum pulling force of its own cylinder, and the cylinder force of each excavating assembly is respectively less than the maximum thrust of its own cylinder; The absolute value of the rotational torque of the rotation system is less than a preset maximum rotational 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: Based on the comprehensive performance indicators and the historical loading path, the operation phase is determined, including: 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 intermediate position point, the third operation stage represents returning from the intermediate position point to the edge point of the mining truck cargo box, and the fourth operation stage represents from the edge point of the mining truck cargo box to the loading position point.

8. An excavator loading planning device, characterized in that: The excavator includes an excavation assembly, wherein the excavation assembly includes a boom, a dipper arm, and a bucket; 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, based on the comprehensive performance index and the historical loading path, determining a plurality of key waypoints and operation phases; wherein the operation phase represents the operation process from one key waypoint to another key waypoint, and the key waypoints are used to indicate the working angle and working coordinates of the excavation assembly; 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; a planning module, generating 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; Wherein, the first determining module is configured as follows: Based on the mechanical 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 twist, the transmitted force twist, and the potential maximum input power; the twist is used to describe the motion and force of the excavating assembly; and the dexterity index represents the absolute value of the sine 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; Taking the cube root of the product to obtain the comprehensive performance index; The second determination module is configured as follows: Based on the position of the mining truck, the comprehensive performance indicators 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 position of the mining truck.

9. An excavator, characterized in that: include: mining components; The excavator loading planning device of claim 8, wherein the excavator loading planning device is communicatively connected to the excavation component.

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