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Loader autonomous shoveling and loading dynamic control method based on segmented shoveling and loading method
The invention relates to the technical field of loader unmanned driving, and particularly relates to a loader autonomous shoveling and loading dynamic control method based on a segmented shoveling andloading method. The method comprises the following steps that a sliding rotation threshold value of a loader is calibrated, and the sliding rotation threshold value is applied to a control system ofthe loader to obtain a related set value; a monitoring system monitors the state of a material pile, the state of the loader and related position parameters; the control system controls the loader tomove to shovel and load materials, the load of a bucket is judged according to monitoring data of the monitoring system, the posture of the bucket is adjusted, and after the sliding rotation thresholdvalue is corrected, shoveling and loading are continued to trigger a transportation instruction; and after the load of the bucket enables the loader to trigger the transportation instruction, the control system controls the loader to retreat and transfer the materials. The method has the beneficial effects that autonomous shoveling and loading operation of the same kind of materials in differentenvironments can be realized, and the operation efficiency is effectively improved; and dynamic control over the shoveling and digging operation can be carried out according to the states of the loader and the environment, and the accident situation can be responded in time.
本发明涉及装载机无人驾驶技术领域，具体是一种基于分段铲装法的装载机自主铲装动态控制方法，包括以下步骤：标定装载机的滑转阈值，将滑转阈值应用于装载机的控制系统得到相关设定值；监测系统监测物料堆的状态、装载机的状态及相关位置参数；控制系统控制装载机运动进行物料的铲装，根据监测系统的监测数据判断铲斗的载荷，并调整铲斗的姿态，修正滑转阈值后继续铲装以触发运输指令；当铲斗的载荷使装载机触发运输指令后，控制系统控制装载机后退并转移物料。本发明的有益效果是：可实现在不同环境中对同种类物料的自主铲装作业，有效提高作业效率；并能根据装载机与环境的状态进行铲掘作业的动态控制，及时响应意外情况。
Loader autonomous shoveling and loading dynamic control method based on segmented shoveling and loading method
The invention relates to the technical field of loader unmanned driving, and particularly relates to a loader autonomous shoveling and loading dynamic control method based on a segmented shoveling andloading method. The method comprises the following steps that a sliding rotation threshold value of a loader is calibrated, and the sliding rotation threshold value is applied to a control system ofthe loader to obtain a related set value; a monitoring system monitors the state of a material pile, the state of the loader and related position parameters; the control system controls the loader tomove to shovel and load materials, the load of a bucket is judged according to monitoring data of the monitoring system, the posture of the bucket is adjusted, and after the sliding rotation thresholdvalue is corrected, shoveling and loading are continued to trigger a transportation instruction; and after the load of the bucket enables the loader to trigger the transportation instruction, the control system controls the loader to retreat and transfer the materials. The method has the beneficial effects that autonomous shoveling and loading operation of the same kind of materials in differentenvironments can be realized, and the operation efficiency is effectively improved; and dynamic control over the shoveling and digging operation can be carried out according to the states of the loader and the environment, and the accident situation can be responded in time.
本发明涉及装载机无人驾驶技术领域，具体是一种基于分段铲装法的装载机自主铲装动态控制方法，包括以下步骤：标定装载机的滑转阈值，将滑转阈值应用于装载机的控制系统得到相关设定值；监测系统监测物料堆的状态、装载机的状态及相关位置参数；控制系统控制装载机运动进行物料的铲装，根据监测系统的监测数据判断铲斗的载荷，并调整铲斗的姿态，修正滑转阈值后继续铲装以触发运输指令；当铲斗的载荷使装载机触发运输指令后，控制系统控制装载机后退并转移物料。本发明的有益效果是：可实现在不同环境中对同种类物料的自主铲装作业，有效提高作业效率；并能根据装载机与环境的状态进行铲掘作业的动态控制，及时响应意外情况。
Loader autonomous shoveling and loading dynamic control method based on segmented shoveling and loading method
一种基于分段铲装法的装载机自主铲装动态控制方法
LI XUEFEI (author) / LI YINGNAN (author) / YAO ZONGWEI (author) / BI QIUSHI (author) / CHEN GUANLONG (author)
2021-01-08
Patent
Electronic Resource
Chinese
IPC:
E02F
Baggern
,
DREDGING
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