CN113833038A - Loader shovel loading trajectory planning method for automatic shovel loading - Google Patents

Loader shovel loading trajectory planning method for automatic shovel loading Download PDF

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CN113833038A
CN113833038A CN202111020297.4A CN202111020297A CN113833038A CN 113833038 A CN113833038 A CN 113833038A CN 202111020297 A CN202111020297 A CN 202111020297A CN 113833038 A CN113833038 A CN 113833038A
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bucket
loader
displacement
shovel
loading
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CN113833038B (en
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谌炎辉
向上升
蔡登胜
郑特
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Guangxi University of Science and Technology
Guangxi Liugong Machinery Co Ltd
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Guangxi University of Science and Technology
Guangxi Liugong Machinery Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/3604—Devices to connect tools to arms, booms or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/425—Drive systems for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
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    • G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis

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Abstract

The invention discloses a shovel loading trajectory planning method for a loader for automatic shovel loading, which comprises the following steps: A. calculating a spading sectional area curve S according to the rated load capacity, the material density, the clearance rate of the materials and the bucket width of the loader; B. simplifying the bucket lifting interval in the spading sectional area curve S into a vertical line QR, and calculating the parallel spading length LPQ(ii) a C. Calculating the parallel shovel loading length LPQPlanning and setting the range of the bucket rotation angle theta under the condition that the maximum bucket rotation angle of the interval is lower than the maximum bucket rotation angle; D. based on the parallel shovel length PQ and the bucket rotation angle range, a driving function of the displacement of the whole vehicle and the displacement of the movable arm oil cylinder and the rotary bucket oil cylinder is constructed based on the structural parameters of the working device of the loader, and the displacement parameters of the whole vehicle, the displacement of the movable arm oil cylinder and the displacement of the rotary bucket oil cylinder in the whole shovel operation process are calculated, so that a shovel track planning scheme of the loader is obtained. The invention provides a shovel loading trajectory planning method, which improves the reliability of automatic shovel loading operation.

Description

Loader shovel loading trajectory planning method for automatic shovel loading
Technical Field
The invention belongs to the technical field of machinery, and particularly relates to a shovel loading trajectory planning method for a loader for automatic shovel loading.
Background
The loader is a kind of earth and stone construction machinery widely used in highway, railway, building, water and electricity, port and mine, and is mainly used for shoveling and loading bulk materials such as soil, gravel, lime and coal, and also for light shoveling and digging of ore and hard soil. The different auxiliary working devices can be replaced to carry out bulldozing, hoisting and other material loading and unloading operations such as wood. In road construction, particularly in high-grade highway construction, the loader is used for filling and digging of roadbed engineering, and collecting and loading of asphalt mixture and cement concrete yards. Besides, the machine can also carry out the operations of pushing and transporting soil, scraping the ground, pulling other machines and the like. The loader has the advantages of high operation speed, high efficiency, good maneuverability, light operation and the like, so the loader becomes one of the main types of earthwork construction in engineering construction.
At present, the shoveling operation is carried out by manual operation, the labor intensity is high, operators are easy to be fatigued, and the working efficiency is low. The existing automatic shovel loading technology is still in an emerging stage, and the technology is not mature enough. The track planning is the basis for realizing automatic shovel loading of the loader, and the reasonable track planning has great influence on shovel loading operation effect, energy consumption and the like.
Disclosure of Invention
The invention provides a method for planning the loading track of a loader facing automatic loading, which is more accurate and higher in automatic working efficiency, and improves the reliability of automatic loading operation.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the shovel loading trajectory planning method for the automatic shovel loading-oriented loader comprises the following steps:
A. calculating a spading sectional area curve S according to the rated load capacity of the loader, the material repose angle, the material density, the material clearance rate and the bucket width;
B. setting a production digging depth h, simplifying a bucket lifting interval in a digging sectional area curve S into a vertical line QR, and calculating a parallel digging length LPQ；
C. Obtaining the parallel shovel length L based on the material repose anglePQSetting the bucket corner theta value of each time point in the shoveling process based on the linear interpolation method in the range of 0 degree to the maximum bucket corner in the interval;
the local maximum bucket corner is used for correction, and if the bucket corner theta value of each time point is smaller than the maximum corner theta of the corresponding shoveling lengthmaxThen, the bucket corner theta value planned by the linear interpolation method is used as an actual corner; if the bucket angle theta of each time point is the maximum angle theta of the corresponding shoveling lengthmaxUsing the maximum rotation angle theta of the shovel lengthmaxAs an actual turning angle;
D. based on the parallel shovel length PQ and the bucket rotation angle range, a driving function of the displacement of the whole vehicle, the displacement of the movable arm oil cylinder and the displacement of the rotating bucket oil cylinder is constructed based on structural parameters of a working device of the loader, and the displacement parameters of the whole vehicle, the displacement of the movable arm oil cylinder and the displacement of the rotating bucket oil cylinder in the whole shovel loading process are calculated, so that a shovel loading track planning scheme for the automatic shovel loading loader is obtained.
In the step a, the calculation formula of the excavation sectional area curve S is as follows:
Figure BDA0003241151700000021
wherein W is the rated load capacity of the loader, rho is the material density, epsilon is the clearance rate of the material, and M is the bucket width.
In the step B, the length L of the shovel is parallelPQThe calculation formula of (a) is as follows:
in the step B, the length L of the shovel is parallelPQThe calculation formula of (a) is as follows:
Figure BDA0003241151700000022
wherein S is the spading sectional area, alpha is the material repose angle, and h is the spading depth.
(2)
Wherein S is the spading sectional area, alpha is the material repose angle, and h is the spading depth.
In said step C, θmaxThe calculation formula of (a) is as follows:
Figure BDA0003241151700000023
wherein lTBThe length from a point B to a point T of the shovel, the delta z is a coordinate difference in the height direction, and the point B is the hinge point position of a movable arm pin shaft at the connecting position of a movable arm and a bucket on the left and right of the loader.
In the step D, a calculation function of the displacement of the whole vehicle is constructed as follows:
Figure BDA0003241151700000024
in the step D, the calculation function establishment process of the displacement of the movable arm oil cylinder is as follows:
the hinge point position of a left and a right movable arms and a rocker arm on the shovel working part of the loader is set as E, the hinge point position of a movable arm pin shaft at the connection part of the left and the right movable arms and a bucket of the loader is set as B, the hinge point position of a piston rod of a movable arm oil cylinder 3 and a movable arm 1 is set as I, the hinge point position of a rotating bucket oil cylinder 4 and a rocker arm 2 is set as F, the hinge point position of the rocker arm 2 and a connecting rod/bracket 5 is set as D, and the hinge point position of the connecting rod/bracket 5 and the bucket is set as C;
selecting bucket tip and material of loader bucketEstablishing a coordinate system by taking the stack contact point as a coordinate origin, and expressing the initial position of each point in the coordinate system by using a letter with a subscript 0 to form a connecting line:
Figure BDA0003241151700000025
accordingly, the calculation function of the boom cylinder displacement is as follows:
Figure BDA0003241151700000031
where ω is a boom angle.
The calculation function of the boom rotation angle omega is as follows:
Figure BDA0003241151700000032
the calculation function of the displacement of the rotating bucket oil cylinder is as follows:
Figure BDA0003241151700000033
in the formula:
Figure BDA0003241151700000034
Figure BDA0003241151700000035
Figure BDA0003241151700000036
Figure BDA0003241151700000037
Figure BDA0003241151700000038
wherein < a >0e0In X-and & lt dex-, X-represents the negative direction of X axis of coordinate system, and lower case letters represent the real-time position of each point in the coordinate system.
The invention has the beneficial effects that:
according to the method, the optimized automatic shovel loading control track of the loader can be compiled through a uniquely designed loader shovel track planning method, the optimal control of the displacement of the whole vehicle, the displacement of the movable arm oil cylinder and the displacement of the rotating bucket oil cylinder is realized, and the operation precision, the stability and the reliability of the automatic shovel loading operation are effectively guaranteed.
Drawings
FIG. 1 is a graph S of the spading cross-sectional area constructed by the present invention;
FIG. 2 is a parallel shovel length L of the present inventionPQAn interval maximum bucket corner schematic diagram;
FIG. 3 is a schematic diagram of the calculation of the displacement of the whole vehicle, the displacement of the movable arm cylinder and the displacement of the rotating bucket cylinder.
The numbers and names in the figure are as follows:
1-a movable arm; 2-a rocker arm; 3-a boom cylinder; 4-rotating bucket oil cylinder; 5-link/bracket; 6-movable arm pin shaft.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments in conjunction with the accompanying drawings.
Example 1
The shovel loading trajectory planning method for the automatic shovel loading-oriented loader comprises the following steps:
A. as shown in fig. 1, a cutting sectional area curve S is calculated according to the rated load capacity of the loader, the material repose angle, the material density, the clearance rate of the materials and the bucket width;
in the step a, the calculation formula of the excavation sectional area curve S is as follows:
Figure BDA0003241151700000041
wherein W is the rated load capacity of the loader, rho is the material density, epsilon is the clearance rate of the material, and M is the bucket width.
B. Setting a production digging depth h, simplifying a bucket lifting interval in a digging sectional area curve S into a vertical line QR, and calculating a parallel digging length LPQ；
In the step B, the length L of the shovel is parallelPQThe calculation formula of (a) is as follows:
Figure BDA0003241151700000042
wherein S is the spading sectional area, alpha is the material repose angle, and h is the spading depth.
(2)
Wherein S is the spading sectional area, alpha is the material repose angle, and h is the spading depth;
C. obtaining the parallel shovel length L based on the material repose anglePQSetting the bucket corner theta value of each time point in the shoveling process based on the linear interpolation method in the range of 0 degree to the maximum bucket corner in the interval;
the local maximum bucket corner is used for correction, and if the bucket corner theta value of each time point is smaller than the maximum corner theta of the corresponding shoveling lengthmaxThen, the bucket corner theta value planned by the linear interpolation method is used as an actual corner; if the bucket angle theta of each time point is the maximum angle theta of the corresponding shoveling lengthmaxUsing the maximum rotation angle theta of the shovel lengthmaxAs an actual turning angle;
in said step C, θmaxThe calculation formula of (a) is as follows:
Figure BDA0003241151700000043
wherein lTBThe length from the point B to the point T of the shovel is shown, and the delta z is the coordinate difference in the height direction;
this implementationIn the example, the repose angle is equal to 40 degrees when the operation material is broken stone, and the parallel shovel loading length LPQThe angle of repose corresponding to the maximum bucket angle in the interval is also 40 degrees, and the corresponding PQ length in the shoveling process can be obtained by adopting a linear interpolation method
Figure BDA0003241151700000051
The values of the bucket rotation angle theta are 0, 10, 20, 30 and 40 degrees in sequence; meanwhile, the maximum rotation angle θ of the corresponding shovel length at each time point is calculated based on equation 3maxAre all larger than the corresponding values, so that the corresponding AB lengths can be planned
Figure BDA0003241151700000052
The bucket rotation angles θ are 0, 10, 20, 30, 40, respectively.
D. Based on the parallel shovel length PQ and the bucket rotation angle range, a driving function of the displacement of the whole vehicle, the displacement of the movable arm oil cylinder and the displacement of the rotating bucket oil cylinder is constructed based on structural parameters of a working device of the loader, and the displacement parameters of the whole vehicle, the displacement of the movable arm oil cylinder and the displacement of the rotating bucket oil cylinder in the whole shovel loading process are calculated, so that a shovel loading track planning scheme for the automatic shovel loading loader is obtained.
In the step D, the calculation function of the displacement of the whole vehicle is as follows:
Figure BDA0003241151700000053
the hinge point position of the left and right movable arms 1 and the rocker arm 2 on the shovel working part of the loader is set as E, the position of a movable arm pin shaft 6 at the connection part of the left and right movable arms 1 and the bucket of the loader is set as B, the hinge point position of a piston rod of a movable arm cylinder 3 and the movable arm 1 is set as I, the hinge point position of a rotating bucket cylinder 4 and the rocker arm 2 is set as F, the hinge point position of the rocker arm 2 and a connecting rod/bracket 5 is set as D, and the hinge point position of the connecting rod/bracket 5 and the bucket is set as C;
selecting a bucket tip of a loader bucket and a contact point of a material pile as an origin of coordinates to establish a coordinate system, and representing the corresponding positions of the points at the origin of coordinates by capital letters to form a connecting line:
Figure BDA0003241151700000054
the calculation function of the displacement of the boom cylinder is as follows:
Figure BDA0003241151700000055
where ω is a boom angle.
The calculation function of the boom rotation angle omega is as follows:
Figure BDA0003241151700000056
the calculation function of the displacement of the rotating bucket oil cylinder is as follows:
Figure BDA0003241151700000057
in the formula:
Figure BDA0003241151700000061
Figure BDA0003241151700000062
Figure BDA0003241151700000063
Figure BDA0003241151700000064
Figure BDA0003241151700000065
wherein < a >0e0In X-and & lt dex-, X-represents the negative direction of X axis of coordinate system, and lower case letters represent the real-time position of each point in the coordinate system.
E. The obtained parameters of the whole forklift displacement, the movable arm oil cylinder displacement and the rotary bucket oil cylinder displacement in the whole forklift loading process are input into the existing forklift automatic forklift loading control system, and the forklift automatic forklift loading control system automatically controls the whole forklift displacement, the movable arm oil cylinder displacement and the rotary bucket oil cylinder displacement, so that automatic forklift loading operation can be realized.

Claims (8)

1. A method for planning a loading track of a loader facing automatic loading is characterized by comprising the following steps:
A. calculating a spading sectional area curve S according to the rated load capacity of the loader, the material repose angle, the material density, the material clearance rate and the bucket width;
B. setting a production digging depth h, simplifying a bucket lifting interval in a digging sectional area curve S into a vertical line QR, and calculating a parallel digging length LPQ；
C. Obtaining the parallel shovel length L based on the material repose anglePQSetting the bucket corner theta value of each time point in the shoveling process based on the linear interpolation method in the range of 0 degree to the maximum bucket corner in the interval;
the local maximum bucket corner is used for correction, and if the bucket corner theta value of each time point is smaller than the maximum corner theta of the corresponding shoveling lengthmaxThen, the bucket corner theta value planned by the linear interpolation method is used as an actual corner; if the bucket angle theta of each time point is the maximum angle theta of the corresponding shoveling lengthmaxUsing the maximum rotation angle theta of the shovel lengthmaxAs an actual turning angle;
D. based on the parallel shovel length PQ and the bucket rotation angle range, a driving function of the displacement of the whole vehicle, the displacement of the movable arm oil cylinder and the displacement of the rotating bucket oil cylinder is constructed based on structural parameters of a working device of the loader, and the displacement parameters of the whole vehicle, the displacement of the movable arm oil cylinder and the displacement of the rotating bucket oil cylinder in the whole shovel loading process are calculated, so that a shovel loading track planning scheme for the automatic shovel loading loader is obtained.
2. The method for planning the loading trajectory of the automatic loading oriented loader according to claim 1, characterized in that:
in the step a, the calculation formula of the excavation sectional area curve S is as follows:
Figure FDA0003241151690000011
wherein W is the rated load capacity of the loader, rho is the material density, epsilon is the clearance rate of the material, and M is the bucket width.
3. The method for planning the loading trajectory of the automatic loading oriented loader according to claim 1, characterized in that:
in the step B, the length L of the shovel is parallelPQThe calculation formula of (a) is as follows:
Figure FDA0003241151690000012
wherein S is the spading sectional area, alpha is the material repose angle, and h is the spading depth.
4. The method for planning the loading trajectory of the automatic loading oriented loader according to claim 1, characterized in that:
in said step C, θmaxThe calculation formula of (a) is as follows:
Figure FDA0003241151690000013
wherein lTBThe length from a point B to a point T of the shovel, and the delta z is a coordinate difference in the height direction; b is the hinge point position of a movable arm pin shaft (6) at the connecting part of the movable arm (1) and the bucket on the left and right of the loader.
5. The method for planning the loading trajectory of the automatic loading oriented loader according to claim 1, characterized in that:
in the step D, a calculation function of the displacement of the whole vehicle is constructed as follows:
Figure FDA0003241151690000021
6. the method for planning the loading trajectory of the automatic loading oriented loader according to claim 5, characterized in that:
in the step D, the calculation function establishment process of the displacement of the movable arm oil cylinder is as follows:
the hinge point position of a left movable arm (1) and a right movable arm (2) on a shovel working part of the loader is set as E, the hinge point position of a movable arm pin shaft (6) at the connection part of the left movable arm (1) and the right movable arm (1) of the loader and a bucket is set as B, the hinge point position of a piston rod of a movable arm oil cylinder (3) and the movable arm (1) is set as I, the hinge point position of a rotating bucket oil cylinder (4) and the rocker arm (2) is set as F, the hinge point position of the rocker arm (2) and a connecting rod/bracket (5) is set as D, and the hinge point position of the connecting rod/bracket (5) and the bucket is set as C;
selecting a bucket tip of a loader bucket and a contact point of a material pile as a coordinate origin to establish a coordinate system, and expressing the initial positions of all points in the coordinate system by using letters with subscript 0 to form a connecting line:
Figure FDA0003241151690000022
Figure FDA0003241151690000023
accordingly, the calculation function of the boom cylinder displacement is as follows:
Figure FDA0003241151690000024
where ω is a boom angle.
7. The method for planning the loading trajectory of the automatic loading oriented loader according to claim 6, wherein: the calculation function of the boom rotation angle omega is as follows:
Figure FDA0003241151690000025
8. the method for planning the loading trajectory of the automatic loading oriented loader according to claim 7, wherein:
the calculation function of the displacement of the rotating bucket oil cylinder is as follows:
Figure FDA0003241151690000026
in the formula:
Figure FDA0003241151690000027
Figure FDA0003241151690000031
Figure FDA0003241151690000032
Figure FDA0003241151690000033
Figure FDA0003241151690000034
wherein the content of the first and second substances,
Figure FDA0003241151690000035
and & dex-, wherein X-represents the negative direction of the X axis of the coordinate system, and lower case letters represent the real-time position of each point in the coordinate system.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114295273A (en) * 2022-01-11 2022-04-08 柳州职业技术学院 Accurate measuring method for work resistance work of loader

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001040688A (en) * 1999-08-04 2001-02-13 Komatsu Ltd Bucket for shovel loader
CN106836364A (en) * 2017-01-17 2017-06-13 大连理工大学 The automatic control system and optimal trajectory planning method of intelligent excavator

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001040688A (en) * 1999-08-04 2001-02-13 Komatsu Ltd Bucket for shovel loader
CN106836364A (en) * 2017-01-17 2017-06-13 大连理工大学 The automatic control system and optimal trajectory planning method of intelligent excavator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114295273A (en) * 2022-01-11 2022-04-08 柳州职业技术学院 Accurate measuring method for work resistance work of loader
CN114295273B (en) * 2022-01-11 2022-06-17 柳州职业技术学院 Accurate measuring method for work resistance work of loader

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