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A platform for research: civil engineering, architecture and urbanism
Digital twin-based excavation trajectory generation of Uncrewed excavators for autonomous mining
Abstract As modern large-capacity excavators, cable shovels provide payload capacities of more than 100-tons per scoop. The presence of a high dynamic payload combined with the self-weight may result in severe stress loading of the whole shovel front-end components during excavation. Structural performance analysis based on numerical simulations typically demands a prohibitively heavy computation, so conventional optimization-based excavation trajectory generation methods generally do not consider structural performance constraints, which may cause sudden component failure or unanticipated costly downtime. Herein, a shape–performance integrated digital twin was constructed to analyze the shape and structural performance of an uncrewed cable shovel (UCS) in real time, which was further used to support optimal excavation trajectory generation. The proposed procedure presents salient features that the time-consuming structural performance response was taken as an additional constraint, which could effectively prevent the sudden structural failures. The effectiveness and applicability were demonstrated via field tests with a UCS prototype (1:7 scale model of the WK-55 type).
Highlights A digital twin of an uncrewed excavator is constructed and further used to support optimal excavation trajectory generation. Digital twin-based excavation trajectory generation method considers structural performance response to prevent failures. The proposed method has been integrated with a mining excavator to verify the superiority and applicability. Experimental results proved this method can generate excavation trajectory in real-time and outperform manual operation.
Digital twin-based excavation trajectory generation of Uncrewed excavators for autonomous mining
Abstract As modern large-capacity excavators, cable shovels provide payload capacities of more than 100-tons per scoop. The presence of a high dynamic payload combined with the self-weight may result in severe stress loading of the whole shovel front-end components during excavation. Structural performance analysis based on numerical simulations typically demands a prohibitively heavy computation, so conventional optimization-based excavation trajectory generation methods generally do not consider structural performance constraints, which may cause sudden component failure or unanticipated costly downtime. Herein, a shape–performance integrated digital twin was constructed to analyze the shape and structural performance of an uncrewed cable shovel (UCS) in real time, which was further used to support optimal excavation trajectory generation. The proposed procedure presents salient features that the time-consuming structural performance response was taken as an additional constraint, which could effectively prevent the sudden structural failures. The effectiveness and applicability were demonstrated via field tests with a UCS prototype (1:7 scale model of the WK-55 type).
Highlights A digital twin of an uncrewed excavator is constructed and further used to support optimal excavation trajectory generation. Digital twin-based excavation trajectory generation method considers structural performance response to prevent failures. The proposed method has been integrated with a mining excavator to verify the superiority and applicability. Experimental results proved this method can generate excavation trajectory in real-time and outperform manual operation.
Digital twin-based excavation trajectory generation of Uncrewed excavators for autonomous mining
Fu, Tao (author) / Zhang, Tianci (author) / Lv, Yilin (author) / Song, Xueguan (author) / Li, Guang (author) / Yue, Haifeng (author)
2023-03-28
Article (Journal)
Electronic Resource
English
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