Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Loader and automatic shoveling control method thereof
The invention relates to the technical field of unmanned driving of loaders, in particular to a loader and an automatic shoveling control method thereof. The loader comprises a monitoring system, a control system and an execution system; the control system comprises a track planning unit used for receiving monitoring data of the monitoring system and formulating a shoveling track of the loader, atrack tracking unit used for controlling the execution system to execute material shoveling according to the shoveling track transmitted by the track planning unit, an intervention control unit and atrack re-planning unit; the intervention control unit is used for taking over the control right of the track tracking unit when the execution system is blocked and controlling the execution system toexecute related protection actions; and the track re-planning unit is used for formulating a new shoveling track. The loader has the beneficial effects that the shoveling tracks for different materials can be planned reasonably, the bucket fullness rate can be increased, the energy consumption can be reduced, intervention can be performed when track tracking is difficult, and the shoveling track can be planned again.
本发明涉及装载机无人驾驶技术领域，具体是一种装载机及其自主铲装控制方法，装载机包括监测系统、控制系统和执行系统，所述控制系统包括：轨迹规划单元，用于接收监测系统的监测数据并制定装载机的铲掘轨迹；轨迹跟踪单元，用于控制执行系统按轨迹规划单元传输的铲掘轨迹执行物料的铲掘；以及干预控制单元和轨迹再规划单元，所述干预控制单元用于在执行系统受阻时接管轨迹跟踪单元的控制权，并控制执行系统执行相关保护动作；所述轨迹再规划单元用于制定新的铲掘轨迹。本发明的有益效果是：能对不同物料进行铲掘轨迹的合理规划，提高铲斗满斗率，减少能耗，且能够在轨迹跟踪出现困难时进行干预，并对铲掘轨迹重新进行规划。
Loader and automatic shoveling control method thereof
The invention relates to the technical field of unmanned driving of loaders, in particular to a loader and an automatic shoveling control method thereof. The loader comprises a monitoring system, a control system and an execution system; the control system comprises a track planning unit used for receiving monitoring data of the monitoring system and formulating a shoveling track of the loader, atrack tracking unit used for controlling the execution system to execute material shoveling according to the shoveling track transmitted by the track planning unit, an intervention control unit and atrack re-planning unit; the intervention control unit is used for taking over the control right of the track tracking unit when the execution system is blocked and controlling the execution system toexecute related protection actions; and the track re-planning unit is used for formulating a new shoveling track. The loader has the beneficial effects that the shoveling tracks for different materials can be planned reasonably, the bucket fullness rate can be increased, the energy consumption can be reduced, intervention can be performed when track tracking is difficult, and the shoveling track can be planned again.
本发明涉及装载机无人驾驶技术领域，具体是一种装载机及其自主铲装控制方法，装载机包括监测系统、控制系统和执行系统，所述控制系统包括：轨迹规划单元，用于接收监测系统的监测数据并制定装载机的铲掘轨迹；轨迹跟踪单元，用于控制执行系统按轨迹规划单元传输的铲掘轨迹执行物料的铲掘；以及干预控制单元和轨迹再规划单元，所述干预控制单元用于在执行系统受阻时接管轨迹跟踪单元的控制权，并控制执行系统执行相关保护动作；所述轨迹再规划单元用于制定新的铲掘轨迹。本发明的有益效果是：能对不同物料进行铲掘轨迹的合理规划，提高铲斗满斗率，减少能耗，且能够在轨迹跟踪出现困难时进行干预，并对铲掘轨迹重新进行规划。
Loader and automatic shoveling control method thereof
一种装载机及其自主铲装控制方法
LI XUEFEI (Autor:in) / CHEN GUANLONG (Autor:in) / YAO ZONGWEI (Autor:in) / BI QIUSHI (Autor:in) / LI YINGNAN (Autor:in)
12.01.2021
Patent
Elektronische Ressource
Chinesisch
IPC:
E02F
Baggern
,
DREDGING
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