CN113833038B - 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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Publication number
CN113833038B
CN113833038B CN202111020297.4A CN202111020297A CN113833038B CN 113833038 B CN113833038 B CN 113833038B CN 202111020297 A CN202111020297 A CN 202111020297A CN 113833038 B CN113833038 B CN 113833038B
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bucket
loader
displacement
shovel
oil cylinder
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CN113833038A (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
    • G06F17/10—Complex mathematical operations
    • G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis

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 L PQ (ii) a C. Calculating the parallel shovel loading length L PQ Planning 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, hydroelectric power, port, mine and other construction engineering, and is mainly used for shoveling and loading bulk materials such as soil, sandstone, lime, coal and the like, and also can be used for light shoveling and digging operation of ore, hard soil and the like. 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 machines for 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 method for planning the loading track of the loader facing automatic loading comprises the following steps:
A. calculating a shoveling 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 the production digging depth h, simplifying the bucket lifting interval in the digging sectional area curve S into a vertical line QR, and calculating the parallel digging length L PQ ；
C. Obtaining the parallel shovel length L based on the material repose angle PQ Setting 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 length max Then, thenUsing the bucket corner theta value planned by the linear interpolation method as an actual corner; if the value of the bucket rotation angle theta of each time point is larger than the maximum rotation angle theta of the corresponding shoveling length max Then using the maximum rotation angle theta of the shovel length max As the 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 GDA0003730361230000021
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 parallel PQ The calculation formula of (a) is as follows:
in the step B, the length L of the shovel is parallel PQ The calculation formula of (a) is as follows:
Figure GDA0003730361230000022
wherein S is the spading sectional area, alpha is the material repose angle, and h is the spading depth.
In said step C, θ max The calculation formula of (a) is as follows:
Figure GDA0003730361230000023
wherein l TB Is the length between B point and T point of the shovel, the delta z is the coordinate difference in the height direction, and B is the boom pin at the joint of the left and right booms and the bucket of the loaderThe location of the hinge point of the shaft.
In the step D, a calculation function of the displacement of the whole vehicle is constructed as follows:
Figure GDA0003730361230000024
in the step D, the calculation function of the displacement of the boom cylinder is established 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 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 GDA0003730361230000031
accordingly, the calculation function of the boom cylinder displacement is as follows:
Figure GDA0003730361230000032
where ω is a boom angle.
The calculation function of the boom rotation angle omega is as follows:
Figure GDA0003730361230000033
the calculation function of the displacement of the rotating bucket oil cylinder is as follows:
Figure GDA0003730361230000034
in the formula:
Figure GDA0003730361230000035
Figure GDA0003730361230000036
Figure GDA0003730361230000037
Figure GDA0003730361230000038
Figure GDA0003730361230000039
wherein < a > 0 e 0 In 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 shoveling control track of the loader can be compiled through a uniquely designed loader bucket track planning method, so that 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, stability and reliability of automatic shoveling operation are effectively guaranteed.
Drawings
FIG. 1 is a graph S of the cutting cross-sectional area constructed according to the present invention;
FIG. 2 is a parallel shovel length L of the present invention PQ An 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 GDA0003730361230000041
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 L PQ ；
In the step B, the length L of the shovel is parallel PQ The calculation formula of (a) is as follows:
Figure GDA0003730361230000042
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 angle PQ Setting 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;
using local maximum bucket angle for correction, if each timeThe value of the bucket corner theta of the intermediate point is smaller than the maximum corner theta of the corresponding shoveling length max Then the bucket corner theta value planned by the linear interpolation method is used as an actual corner; if the value of the bucket rotation angle theta of each time point is larger than the maximum rotation angle theta of the corresponding shoveling length max Using the maximum rotation angle theta of the shovel length max As an actual turning angle;
in said step C, θ max The calculation formula of (a) is as follows:
Figure GDA0003730361230000051
wherein l TB The 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;
in the embodiment, the repose angle is equal to 40 degrees when the operation materials are crushed stones, and the parallel shoveling length L PQ The maximum bucket corner of the interval is also 40 degrees corresponding to the repose angle, the corresponding PQ length 0 in the shoveling process can be obtained by adopting a linear interpolation method,
Figure GDA0003730361230000052
the value of the bucket angle theta at 1 is 0, 10, 20, 30 and 40 degrees in sequence; meanwhile, the maximum rotation angle θ corresponding to the shoveling length at each time point is calculated based on equation 3 max Are greater than the corresponding values, so that the corresponding AB length 0 can be planned,
Figure GDA0003730361230000053
the bucket rotation angles θ at 1 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 GDA0003730361230000054
the hinge point position of a left and a right movable arms 1 and a rocker arm 2 on a shovel working part of the loader is set as E, the position of a movable arm pin shaft 6 at the joint of the left and the 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 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 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 GDA0003730361230000055
the calculation function of the displacement of the boom cylinder is as follows:
Figure GDA0003730361230000056
where ω is a boom angle.
The calculation function of the boom rotation angle omega is as follows:
Figure GDA0003730361230000057
the calculation function of the displacement of the rotating bucket oil cylinder is as follows:
Figure GDA0003730361230000058
in the formula:
Figure GDA0003730361230000061
Figure GDA0003730361230000062
Figure GDA0003730361230000063
Figure GDA0003730361230000064
Figure GDA0003730361230000065
wherein < a 0 e 0 In 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 (3)

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 L PQ ；
C. Obtaining the parallel shovel length L based on the material repose angle PQ Setting 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, if the bucket corner theta value of each time point is smaller than the maximum corner theta of the corresponding shoveling length max Then, the bucket corner theta value planned by the linear interpolation method is used as an actual corner; if the value of the bucket rotation angle theta of each time point is larger than the maximum rotation angle theta of the corresponding shoveling length max Then using the maximum rotation angle theta of the shovel length max As an actual turning angle;
D. based on parallel shovel dress length L PQ Constructing 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 based on the structural parameters of the working device of the loader, and calculating the parameters of the displacement of the whole vehicle, the displacement of the movable arm oil cylinder and the displacement of the rotating bucket oil cylinder in the whole shoveling process, thereby obtaining a shoveling track planning scheme of the loader facing automatic shoveling;
in the step a, the calculation formula of the excavation sectional area curve S is as follows:
Figure FDA0003730361220000011
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 parallel PQ The calculation formula of (a) is as follows:
Figure FDA0003730361220000012
wherein S is the spading sectional area, alpha is the material repose angle, and h is the spading depth;
in the step D, a calculation function of the displacement of the whole vehicle is constructed as follows:
Figure FDA0003730361220000013
in the step D, the calculation function of the displacement of the boom cylinder is established 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 FDA0003730361220000021
Figure FDA0003730361220000022
accordingly, the calculation function of the boom cylinder displacement is as follows:
Figure FDA0003730361220000023
wherein, omega is a swing arm corner;
the calculation function of the displacement of the rotating bucket oil cylinder is as follows:
Figure FDA0003730361220000024
in the formula:
Figure FDA0003730361220000025
Figure FDA0003730361220000026
Figure FDA0003730361220000027
Figure FDA0003730361220000028
Figure FDA0003730361220000029
wherein < a > 0 e 0 In X-and-dex-, X-represents the negative direction of X axis of coordinate system, and lower case letters represent the real-time positions of the points of the corresponding capital letters in the coordinate system.
2. The method for planning the loading trajectory of the automatic loading oriented loader according to claim 1, characterized in that:
in said step C, θ max The calculation formula of (a) is as follows:
Figure FDA00037303612200000210
wherein l TB The length from the point B to the point T is shown, and the delta z is the coordinate difference in the height direction; b is the hinge point position of a movable arm pin shaft (6) at the joint of the movable arm (1) and the bucket on the left and right of the loader.
3. The method for planning the loading trajectory of the automatic loading oriented loader according to claim 1, characterized in that:
the calculation function of the boom rotation angle omega is as follows:
Figure FDA0003730361220000031
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